refine home encoder positions and add primary collimator motors

r1360 | dcl | 2006-12-11 08:56:25 +1100 (Mon, 11 Dec 2006) | 2 lines

site_ansto/instrument/hrpd/motor_configuration.tcl

@@ -1,3 +1,8 @@
+# $Revision: 1.7 $
+# $Date: 2006-12-10 21:56:25 $
+# Author: Ferdi Franceschini (ffr@ansto.gov.au)
+# Last revision by: $Author: dcl $
+
 # START MOTOR CONFIGURATION
 
 # Setup addresses of Galil DMC2280 controllers.
@@ -25,6 +30,8 @@ set dmc2280_controller4(port) pmc4-echidna
 
 ############################
 # Motor Controller 1
+# Motor Controller 1
+# Motor Controller 1
 ############################
 #:TP at HOME
 #
@@ -40,7 +47,7 @@ Motor mphi DMC2280 [params \
   maxDecel 1\
   stepsPerX -25000\
   absEnc 1\
-  absEncHome 7414753\
+  absEncHome 7415177\
   cntsPerX -8192]
 setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
 mphi speed 1
@@ -57,7 +64,7 @@ Motor mchi DMC2280 [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7818915\
+  absEncHome 7818798\
   cntsPerX 8192]
 setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
 mchi speed 1
@@ -74,7 +81,7 @@ Motor my DMC2280 [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7781680\
+  absEncHome 7779997\
   cntsPerX 8192]
 setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
 my speed 1
@@ -91,7 +98,7 @@ Motor mx DMC2280 [params \
   maxDecel 1\
   stepsPerX -25000\
   absEnc 1\
-  absEncHome 7562793\
+  absEncHome 7580365\
   cntsPerX -8192]
 setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
 mx speed 1
@@ -108,7 +115,7 @@ Motor mom DMC2280 [params \
   maxDecel 1\
   stepsPerX -12500\
   absEnc 1\
-  absEncHome 17694127\
+  absEncHome 13442932\
   cntsPerX -4096]
 setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
 mom speed 1
@@ -125,7 +132,7 @@ Motor mtth DMC2280 [params \
   maxDecel 0.2\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 10299428\
+  absEncHome 10604013\
   cntsPerX 93207]
 mtth hardlowerlim 85
 mtth hardupperlim 155
@@ -135,36 +142,44 @@ mtth home 120
 mtth speed 0.5
 mtth precision 0.01
 
-# Primary Collimator 1
+# Primary Collimator Translation X
-#Motor pc1 DMC2280 [params \
+Motor pcx DMC2280 [params \
-#  host $dmc2280_controller1(host)\
+  host $dmc2280_controller1(host)\
-#  port $dmc2280_controller1(port)\
+  port $dmc2280_controller1(port)\
-#  axis G\
+  axis G\
-#  units xxxx\
+  units mm\
-#  maxSpeed xxxx\
+  maxSpeed 1\
-#  maxAccel xxxx\
+  maxAccel 1\
-#  maxDecel xxxx\
+  maxDecel 1\
-#  stepsPerX xxxx]
+  stepsPerX [expr -25000/6]\
-#setHomeandRange -motor pc1 -home 0 -lowrange 0 -uprange 0
+  absEnc 1\
-#pc1 speed 1
+  absEncHome 8345644\
-#pc1 precision 0.01
+  cntsPerX [expr 8192/6]]
+setHomeandRange -motor pcx -home 0 -lowrange 0 -uprange 100
+pcx speed 0.1
+pcx precision 0.01
 
-# Primary Collimator 2
+# Primary Collimator Rotation
-#Motor pc2 DMC2280 [params \
+Motor pcr DMC2280 [params \
-#  host $dmc2280_controller1(host)\
+  host $dmc2280_controller1(host)\
-#  port $dmc2280_controller1(port)\
+  port $dmc2280_controller1(port)\
-#  axis H\
+  axis H\
-#  units xxxx\
+  units degrees\
-#  maxSpeed xxxx\
+  maxSpeed 0.1\
-#  maxAccel xxxx\
+  maxAccel 0.1\
-#  maxDecel xxxx\
+  maxDecel 0.1\
-#  stepsPerX xxxx]
+  stepsPerX [expr 25000*100]\
-#setHomeandRange -motor pc2 -home 0 -lowrange 0 -uprange 0
+  absEnc 1\
-#pc2 speed 1
+  absEncHome 6189745\
-#pc2 precision 0.01
+  cntsPerX [expr -8192*100]]
+setHomeandRange -motor pcr -home 0 -lowrange 10 -uprange 10
+pcr speed 0.01
+pcr precision 0.01
 
 ############################
 # Motor Controller 2
+# Motor Controller 2
+# Motor Controller 2
 ############################
 #:TP at HOME
 # 7924507, 7542917, 7626584, 24029910, 24984596, 14530407, 22369621, 22369621
@@ -220,7 +235,7 @@ setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
 sy speed 1
 sy precision 0.01
 
-# Sample Trans2. lower, x
+# Sample Trans2, lower, x
 Motor sx DMC2280 [params \
   host $dmc2280_controller2(host)\
   port $dmc2280_controller2(port)\
@@ -288,11 +303,13 @@ set slitStepRate 20180
 
 ############################
 # Motor Controller 3
+# Motor Controller 3
+# Motor Controller 3
 ############################
 #
 
-# Monochromator radius, focus
+# Monochromator Focusing (Ge)
-#Motor mr DMC2280 [params \
+#Motor mf1 DMC2280 [params \
 #  host $dmc2280_controller3(host)\
 #  port $dmc2280_controller3(port)\
 #  axis A\
@@ -304,10 +321,11 @@ set slitStepRate 20180
 #  absEnc 1\
 #  absEncHome xxxx\
 #  cntsPerX xxxx]
-#setHomeandRange -motor mr -home 0 -lowrange 0 -uprange 360
+#setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
-#mr speed 1
+#mf1 speed 1
-#mr precision 0.01
+#mf1 precision 0.01
 
+# Slit 1, right
 Motor ss1r DMC2280 [params \
   host $dmc2280_controller3(host)\
   port $dmc2280_controller3(port)\
@@ -320,6 +338,7 @@ Motor ss1r DMC2280 [params \
   motorHome [expr 54.5/2*$slitStepRate]]
 setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
+# Slit 1, left
 Motor ss1l DMC2280 [params \
   host $dmc2280_controller3(host)\
   port $dmc2280_controller3(port)\
@@ -332,6 +351,7 @@ Motor ss1l DMC2280 [params \
   motorHome [expr 54.5/2*$slitStepRate]]
 setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
+# Slit 1, up
 Motor ss1u DMC2280 [params \
   host $dmc2280_controller3(host)\
   port $dmc2280_controller3(port)\
@@ -344,6 +364,7 @@ Motor ss1u DMC2280 [params \
   motorHome [expr 207.5/2*$slitStepRate]]
 setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
+# Slit 1, down
 Motor ss1d DMC2280 [params \
   host $dmc2280_controller3(host)\
   port $dmc2280_controller3(port)\
@@ -358,10 +379,13 @@ setHomeandRange -motor ss1d  -home 0 -lowrange $vertSlitLowRange -uprange $vertS
 
 ############################
 # Motor Controller 4
+# Motor Controller 4
+# Motor Controller 4
 ############################
 #
 
 # Little is known about the Eularian Cradle
+## Eularian-phi
 #Motor ephi DMC2280 [params \
 #  host $dmc2280_controller4(host)\
 #  port $dmc2280_controller4(port)\
@@ -390,6 +414,7 @@ setHomeandRange -motor ss1d  -home 0 -lowrange $vertSlitLowRange -uprange $vertS
 #  cntsPerX xxxx]
 #setHomeandRange -motor echi -home 0 -lowrange 180 -uprange 180
 
+# Slit 2, right
 Motor ss2r DMC2280 [params \
   host $dmc2280_controller4(host)\
   port $dmc2280_controller4(port)\
@@ -402,6 +427,7 @@ Motor ss2r DMC2280 [params \
   motorHome [expr 52.25/2*$slitStepRate]]
 setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
+# Slit 2, left
 Motor ss2l DMC2280 [params \
   host $dmc2280_controller4(host)\
   port $dmc2280_controller4(port)\
@@ -414,6 +440,7 @@ Motor ss2l DMC2280 [params \
   motorHome [expr 52.25/2*$slitStepRate]]
 setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
+# Slit 2, up
 Motor ss2u DMC2280 [params \
   host $dmc2280_controller4(host)\
   port $dmc2280_controller4(port)\
@@ -426,6 +453,7 @@ Motor ss2u DMC2280 [params \
   motorHome [expr 204.1/2*$slitStepRate]]
 setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
+# Slit 2, down
 Motor ss2d DMC2280 [params \
   host $dmc2280_controller4(host)\
   port $dmc2280_controller4(port)\