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r3328 | jgn | 2012-01-05 09:25:12 +1100 (Thu, 05 Jan 2012) | 1 line

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This commit is contained in:
Jing Chen
2012-01-05 09:25:12 +11:00
committed by Douglas Clowes
parent dbc36222e8
commit ab07d2c1e0
1 changed files with 130 additions and 130 deletions
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260
site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
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@@ -22,8 +22,8 @@ set dmc2280_controller4(port) pmc4-$animal
set dmc2280_controller5(host) mc5-$animal set dmc2280_controller5(host) mc5-$animal
set dmc2280_controller5(port) pmc5-$animal set dmc2280_controller5(port) pmc5-$animal
set dmc2280_controller5(host) mc6-$animal set dmc2280_controller6(host) mc6-$animal
set dmc2280_controller5(port) pmc6-$animal set dmc2280_controller6(port) pmc6-$animal
if {$sim_mode == "true"} { if {$sim_mode == "true"} {
set motor_driver_type asim set motor_driver_type asim
@@ -111,7 +111,7 @@ dummy_motor home 0
# Moto: 100:1 gear, 2mm pitch # Moto: 100:1 gear, 2mm pitch
set ptzStepRate [expr (300000.0/100.0)/2.0] set ptzStepRate [expr (300000.0/100.0)/2.0]
Motor ptz $motor_driver_type [params \ #Motor ptz $motor_driver_type [params \
asyncqueue mc1\ asyncqueue mc1\
host mc1-pelican\ host mc1-pelican\
port pmc1-pelican\ port pmc1-pelican\
@@ -126,18 +126,18 @@ Motor ptz $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $ptz_Home\ absEncHome $ptz_Home\
cntsPerX 4096] cntsPerX 4096]
ptz part crystal #ptz part crystal
ptz long_name ptz #ptz long_name ptz
ptz softlowerlim 0 #ptz softlowerlim 0
ptz softupperlim 500 #ptz softupperlim 500
ptz home 0 #ptz home 0
#if $use_tiltstage { #if $use_tiltstage {
# mc1: Beryllium / Graphite filter shared - Z translation slide # mc1: Beryllium / Graphite filter shared - Z translation slide
# Moto: 100:1 gear, 2mm pitch # Moto: 100:1 gear, 2mm pitch
set ftzStepRate [expr (300000.0/100.0)/2.0] set ftzStepRate [expr (300000.0/100.0)/2.0]
Motor ftz $motor_driver_type [params \ #Motor ftz $motor_driver_type [params \
asyncqueue mc1\ asyncqueue mc1\
host mc1-pelican\ host mc1-pelican\
port pmc1-pelican\ port pmc1-pelican\
@@ -152,17 +152,17 @@ Motor ftz $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $ftz_Home\ absEncHome $ftz_Home\
cntsPerX 4096] cntsPerX 4096]
ftz part crystal #ftz part crystal
ftz long_name ftz #ftz long_name ftz
ftz softlowerlim 0 #ftz softlowerlim 0
ftz softupperlim 500 #ftz softupperlim 500
ftz home 0 #ftz home 0
#} #}
# mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow) # mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow)
set pomSetRate 25000 set pomSetRate 25000
Motor pom $motor_driver_type [params \ #Motor pom $motor_driver_type [params \
asyncqueue mc1\ asyncqueue mc1\
host mc1-pelican\ host mc1-pelican\
port pmc1-pelican\ port pmc1-pelican\
@@ -177,16 +177,16 @@ Motor pom $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $pom_Home\ absEncHome $pom_Home\
cntsPerX 4096] cntsPerX 4096]
pom part crystal #pom part crystal
pom long_name pom #pom long_name pom
pom softlowerlim 0 #pom softlowerlim 0
pom softupperlim 2 #pom softupperlim 2
pom home 0 #pom home 0
# mc1: Sample/Detector Chamber Rotation (Detector) # mc1: Sample/Detector Chamber Rotation (Detector)
set stthSetRate 25000 set stthSetRate 25000
Motor stth $motor_driver_type [params \ #Motor stth $motor_driver_type [params \
asyncqueue mc1\ asyncqueue mc1\
host mc1-pelican\ host mc1-pelican\
port pmc1-pelican\ port pmc1-pelican\
@@ -201,16 +201,16 @@ Motor stth $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $stth_Home\ absEncHome $stth_Home\
cntsPerX 4096] cntsPerX 4096]
stth part detector #stth part detector
stth long_name stth #stth long_name stth
stth softlowerlim -125 #stth softlowerlim -125
stth softupperlim 8 #stth softupperlim 8
stth home 0 #stth home 0
# mc1: Instrument Drive System (Main Drive) # mc1: Instrument Drive System (Main Drive)
set mtthSetRate 25000 set mtthSetRate 25000
Motor mtth $motor_driver_type [params \ #Motor mtth $motor_driver_type [params \
asyncqueue mc1\ asyncqueue mc1\
host mc1-pelican\ host mc1-pelican\
port pmc1-pelican\ port pmc1-pelican\
@@ -225,11 +225,11 @@ Motor mtth $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $mtth_Home\ absEncHome $mtth_Home\
cntsPerX 4096] cntsPerX 4096]
mtth part detector #mtth part detector
mtth long_name mtth #mtth long_name mtth
mtth softlowerlim 40 #mtth softlowerlim 40
mtth softupperlim 140 #mtth softupperlim 140
mtth home 0 #mtth home 0
############################ ############################
@@ -242,7 +242,7 @@ mtth home 0
# mc2: Slits Set AB1- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set) # mc2: Slits Set AB1- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
set sv1SetRate 25000 set sv1SetRate 25000
Motor sv1 $motor_driver_type [params \ #Motor sv1 $motor_driver_type [params \
asyncqueue mc2\ asyncqueue mc2\
host mc2-pelican\ host mc2-pelican\
port pmc2-pelican\ port pmc2-pelican\
@@ -257,16 +257,16 @@ Motor sv1 $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $sv1_Home\ absEncHome $sv1_Home\
cntsPerX 4096] cntsPerX 4096]
sv1 part aperture #sv1 part aperture
sv1 long_name sv1 #sv1 long_name sv1
sv1 softlowerlim -2 #sv1 softlowerlim -2
sv1 softupperlim 60 #sv1 softupperlim 60
sv1 home 0 #sv1 home 0
# mc2: Slits Set AB2- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set) # mc2: Slits Set AB2- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
set sh1SetRate 25000 set sh1SetRate 25000
Motor sh1 $motor_driver_type [params \ #Motor sh1 $motor_driver_type [params \
asyncqueue mc2\ asyncqueue mc2\
host mc2-pelican\ host mc2-pelican\
port pmc2-pelican\ port pmc2-pelican\
@@ -281,16 +281,16 @@ Motor sh1 $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $sh1_Home\ absEncHome $sh1_Home\
cntsPerX 4096] cntsPerX 4096]
sh1 part aperture #sh1 part aperture
sh1 long_name sh1 #sh1 long_name sh1
sh1 softlowerlim -2 #sh1 softlowerlim -2
sh1 softupperlim 50 #sh1 softupperlim 50
sh1 home 0 #sh1 home 0
# mc2: Slits Set AF1- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set) # mc2: Slits Set AF1- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
set sv2SetRate 25000 set sv2SetRate 25000
Motor sv2 $motor_driver_type [params \ #Motor sv2 $motor_driver_type [params \
asyncqueue mc2\ asyncqueue mc2\
host mc2-pelican\ host mc2-pelican\
port pmc2-pelican\ port pmc2-pelican\
@@ -305,16 +305,16 @@ Motor sv2 $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $sv2_Home\ absEncHome $sv2_Home\
cntsPerX 4096] cntsPerX 4096]
sv2 part aperture #sv2 part aperture
sv2 long_name sv2 #sv2 long_name sv2
sv2 softlowerlim -2 #sv2 softlowerlim -2
sv2 softupperlim 40 #sv2 softupperlim 40
sv2 home 0 #sv2 home 0
# mc2: Slits Set AF2- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set) # mc2: Slits Set AF2- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
set sh2SetRate 25000 set sh2SetRate 25000
Motor sh2 $motor_driver_type [params \ #Motor sh2 $motor_driver_type [params \
asyncqueue mc2\ asyncqueue mc2\
host mc2-pelican\ host mc2-pelican\
port pmc2-pelican\ port pmc2-pelican\
@@ -329,16 +329,16 @@ Motor sh2 $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $sh2_Home\ absEncHome $sh2_Home\
cntsPerX 4096] cntsPerX 4096]
sh2 part aperture #sh2 part aperture
sh2 long_name sh2 #sh2 long_name sh2
sh2 softlowerlim -2 #sh2 softlowerlim -2
sh2 softupperlim 30 #sh2 softupperlim 30
sh2 home 0 #sh2 home 0
# mc2: Graphite filter rotation stage (post 1st slit and post 1st Fermi chopper) # mc2: Graphite filter rotation stage (post 1st slit and post 1st Fermi chopper)
set gomSetRate 25000 set gomSetRate 25000
Motor gom $motor_driver_type [params \ #Motor gom $motor_driver_type [params \
asyncqueue mc2\ asyncqueue mc2\
host mc2-pelican\ host mc2-pelican\
port pmc2-pelican\ port pmc2-pelican\
@@ -353,16 +353,16 @@ Motor gom $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $gom_Home\ absEncHome $gom_Home\
cntsPerX 4096] cntsPerX 4096]
gom part sample #gom part sample
gom long_name gom #gom long_name gom
gom softlowerlim 0 #gom softlowerlim 0
gom softupperlim 15 #gom softupperlim 15
gom home 0 #gom home 0
# mc2: Sample rotation correction - 10 deg rotation # mc2: Sample rotation correction - 10 deg rotation
set scorSetRate 25000 set scorSetRate 25000
Motor scor $motor_driver_type [params \ #Motor scor $motor_driver_type [params \
asyncqueue mc2\ asyncqueue mc2\
host mc2-pelican\ host mc2-pelican\
port pmc2-pelican\ port pmc2-pelican\
@@ -377,11 +377,11 @@ Motor scor $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $scor_Home\ absEncHome $scor_Home\
cntsPerX 4096] cntsPerX 4096]
scor part sample #scor part sample
scor long_name scor #scor long_name scor
scor softlowerlim 0 #scor softlowerlim 0
scor softupperlim 360 #scor softupperlim 360
scor home 0 #scor home 0
############################ ############################
# Motor Controller 3 # Motor Controller 3
@@ -562,7 +562,7 @@ momc home 0
# mc4: Monochromator crystal stages tilt stage - G270 # mc4: Monochromator crystal stages tilt stage - G270
set mphiSetRate 25000 set mphiSetRate 25000
Motor mphi $motor_driver_type [params \ #Motor mphi $motor_driver_type [params \
asyncqueue mc4\ asyncqueue mc4\
host mc4-pelican\ host mc4-pelican\
port pmc4-pelican\ port pmc4-pelican\
@@ -577,16 +577,16 @@ Motor mphi $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $mphi_Home\ absEncHome $mphi_Home\
cntsPerX 4096] cntsPerX 4096]
mphi part crystal #mphi part crystal
mphi long_name mphi #mphi long_name mphi
mphi softlowerlim -5 #mphi softlowerlim -5
mphi softupperlim 5 #mphi softupperlim 5
mphi home 0 #mphi home 0
# mc4: Monochromator crystal stages tilt stage - G350 # mc4: Monochromator crystal stages tilt stage - G350
set nchiSetRate 25000 set nchiSetRate 25000
Motor nchi $motor_driver_type [params \ #Motor nchi $motor_driver_type [params \
asyncqueue mc4\ asyncqueue mc4\
host mc4-pelican\ host mc4-pelican\
port pmc4-pelican\ port pmc4-pelican\
@@ -601,16 +601,16 @@ Motor nchi $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $nchi_Home\ absEncHome $nchi_Home\
cntsPerX 4096] cntsPerX 4096]
nchi part crystal #nchi part crystal
nchi long_name nchi #nchi long_name nchi
nchi softlowerlim -5 #nchi softlowerlim -5
nchi softupperlim 5 #nchi softupperlim 5
nchi home 0 #nchi home 0
# mc4: Monochromator crystal stages Linear stage X - T250 # mc4: Monochromator crystal stages Linear stage X - T250
set mxSetRate 25000 set mxSetRate 25000
Motor mx $motor_driver_type [params \ #Motor mx $motor_driver_type [params \
asyncqueue mc4\ asyncqueue mc4\
host mc4-pelican\ host mc4-pelican\
port pmc4-pelican\ port pmc4-pelican\
@@ -625,16 +625,16 @@ Motor mx $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $mx_Home\ absEncHome $mx_Home\
cntsPerX 4096] cntsPerX 4096]
mx part crystal #mx part crystal
mx long_name mx #mx long_name mx
mx softlowerlim -5 #mx softlowerlim -5
mx softupperlim 5 #mx softupperlim 5
mx home 0 #mx home 0
# mc4: Monochromator crystal stages Linear stage Y - T250 # mc4: Monochromator crystal stages Linear stage Y - T250
set mySetRate 25000 set mySetRate 25000
Motor my $motor_driver_type [params \ #Motor my $motor_driver_type [params \
asyncqueue mc4\ asyncqueue mc4\
host mc4-pelican\ host mc4-pelican\
port pmc4-pelican\ port pmc4-pelican\
@@ -649,16 +649,16 @@ Motor my $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $my_Home\ absEncHome $my_Home\
cntsPerX 4096] cntsPerX 4096]
mx part crystal #mx part crystal
mx long_name my #mx long_name my
mx softlowerlim -50 #mx softlowerlim -50
mx softupperlim 50 #mx softupperlim 50
mx home 0 #mx home 0
# mc4: Monochromator crystal stages Rotation stage - R275 # mc4: Monochromator crystal stages Rotation stage - R275
set momSetRate 25000 set momSetRate 25000
Motor mom $motor_driver_type [params \ #Motor mom $motor_driver_type [params \
asyncqueue mc4\ asyncqueue mc4\
host mc4-pelican\ host mc4-pelican\
port pmc4-pelican\ port pmc4-pelican\
@@ -673,11 +673,11 @@ Motor mom $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $mom_Home\ absEncHome $mom_Home\
cntsPerX 4096] cntsPerX 4096]
mom part crystal #mom part crystal
mom long_name mom #mom long_name mom
mom softlowerlim 20 #mom softlowerlim 20
mom softupperlim 70 #mom softupperlim 70
mom home 0 #mom home 0
############################ ############################
@@ -688,7 +688,7 @@ mom home 0
# #
# mc6: Radial Collimator -- Oscillator # mc6: Radial Collimator -- Oscillator
Motor rco $motor_driver_type [params \ #Motor rco $motor_driver_type [params \
asyncqueue mc6\ asyncqueue mc6\
host mc6-pelican\ host mc6-pelican\
port pmc6-pelican\ port pmc6-pelican\
@@ -703,14 +703,14 @@ Motor rco $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $rco_Home\ absEncHome $rco_Home\
cntsPerX 4096] cntsPerX 4096]
rco part collimator #rco part collimator
rco long_name rco #rco long_name rco
rco softlowerlim 0 #rco softlowerlim 0
rco softupperlim 180 #rco softupperlim 180
rco home 0 #rco home 0
# mc6: Radial Collimator -- Z Translation # mc6: Radial Collimator -- Z Translation
Motor rcz $motor_driver_type [params \ #Motor rcz $motor_driver_type [params \
asyncqueue mc6\ asyncqueue mc6\
host mc6-pelican\ host mc6-pelican\
port pmc6-pelican\ port pmc6-pelican\
@@ -725,14 +725,14 @@ Motor rcz $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $rcz_Home\ absEncHome $rcz_Home\
cntsPerX 4096] cntsPerX 4096]
rcz part collimator #rcz part collimator
rcz long_name rcz #rcz long_name rcz
rcz softlowerlim 0 #rcz softlowerlim 0
rcz softupperlim 180 #rcz softupperlim 180
rcz home 0 #rcz home 0
# mc6: Beam Stop Stage - Rotation # mc6: Beam Stop Stage - Rotation
Motor bsr $motor_driver_type [params \ #Motor bsr $motor_driver_type [params \
asyncqueue mc6\ asyncqueue mc6\
host mc6-pelican\ host mc6-pelican\
port pmc6-pelican\ port pmc6-pelican\
@@ -747,14 +747,14 @@ Motor bsr $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $bsr_Home\ absEncHome $bsr_Home\
cntsPerX 4096] cntsPerX 4096]
bsr part sample #bsr part sample
bsr long_name bsr #bsr long_name bsr
bsr softlowerlim 0 #bsr softlowerlim 0
bsr softupperlim 180 #bsr softupperlim 180
bsr home 0 #bsr home 0
# mc6: Isolation Vaue -- Axis 1, currently this Axis is set to read ONLY to read the encoder # mc6: Isolation Vaue -- Axis 1, currently this Axis is set to read ONLY to read the encoder
Motor gv1 $motor_driver_type [params \ #Motor gv1 $motor_driver_type [params \
asyncqueue mc6\ asyncqueue mc6\
host mc6-pelican\ host mc6-pelican\
port pmc6-pelican\ port pmc6-pelican\
@@ -769,16 +769,16 @@ Motor gv1 $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $gv1_Home\ absEncHome $gv1_Home\
cntsPerX 4096] cntsPerX 4096]
gv1 part sample #gv1 part sample
gv1 long_name gv1 #gv1 long_name gv1
gv1 softlowerlim 0 #gv1 softlowerlim 0
gv1 softupperlim 180 #gv1 softupperlim 180
gv1 home 0 #gv1 home 0
# fix the motor # fix the motor
gv1 fixed -1 #gv1 fixed -1
# mc6: Isolation Vaue -- Axis 2, currently this Axis is set to read ONLY to read the encoder # mc6: Isolation Vaue -- Axis 2, currently this Axis is set to read ONLY to read the encoder
Motor gv2 $motor_driver_type [params \ #Motor gv2 $motor_driver_type [params \
asyncqueue mc6\ asyncqueue mc6\
host mc6-pelican\ host mc6-pelican\
port pmc6-pelican\ port pmc6-pelican\
@@ -793,13 +793,13 @@ Motor gv2 $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $gv2_Home\ absEncHome $gv2_Home\
cntsPerX 4096] cntsPerX 4096]
gv2 part sample #gv2 part sample
gv2 long_name gv2 #gv2 long_name gv2
gv2 softlowerlim 0 #gv2 softlowerlim 0
gv2 softupperlim 180 #gv2 softupperlim 180
gv2 home 0 #gv2 home 0
# fix the motor # fix the motor
gv2 fixed -1 #gv2 fixed -1
proc motor_set_sobj_attributes {} { proc motor_set_sobj_attributes {} {
} }