Commissioning calibration of collimator

virtual collimator motors r2154 | dcl | 2007-09-26 09:33:29 +1000 (Wed, 26 Sep 2007) | 3 lines
2007-09-26 09:33:29 +10:00
parent 07a1d939d9
commit bef9e542ae
1 changed files with 340 additions and 103 deletions
--- a/site_ansto/instrument/sans/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/sans/config/motors/motor_configuration.tcl
@@ -1,7 +1,7 @@
-# $Revision: 1.5 $
-# $Date: 2007-08-16 06:40:00 $
+# $Revision: 1.6 $
+# $Date: 2007-09-25 23:33:29 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: ffr $
+# Last revision by: $Author: dcl $

 # START MOTOR CONFIGURATION

@@ -39,22 +39,14 @@ set samx_Home 7414223
 set samy_Home 7548389
 set samz_Home 9945599
 set samthet_Home 22997883
-set det_Home 7500000
-set detoff_Home 7500000
+set det_Home 7194691
+set detoff_Home 7396273

-set c1_Home 7967536
-set c2_Home 7180101
-set c3_Home 8209736
-set c4_Home 6082786
-set c5_Home 7584833
-set c6_Home 8520594
-set c7_Home 23885626
-set c8_Home 8022666
-
-set c9_Home 7572825
-set c10_Home 25686602
 set pent_Home 8123563
-set srce_Home 7868762
+#set srce_Home 7868762
+#set srce_Home 7871476
+#set srce_Home 7827384
+set srce_Home 7826986
 set apx_Home 7500000
 set apz_Home 7500000
 set att_Home 7500000
@@ -68,6 +60,107 @@ set bs2_Home 7500000
 set bs1_Home 7500000
 set pol_Home 7500000

+# early Guide mesaurements
+#set c1_Home 7967536
+#set c2_Home 7180101
+#set c3_Home 8209736
+#set c4_Home 6082786
+#set c5_Home 7584833
+#set c6_Home 8520594
+#set c7_Home 23885626
+#set c8_Home 8022666
+#
+#set c9_Home 7572825
+#set c10_Home 25686602
+
+#set c1_Home 8130647
+#set c2_Home 7593804
+#set c3_Home 8441013
+#set c4_Home 6160389
+#if {0} {
+# 2007-08-29 Guide measurements
+#set c1_Home 8130106
+#set c2_Home 7595441
+#set c3_Home 8441907
+#set c4_Home 6161511
+#set c5_Home 7856229
+#set c6_Home 8798839
+#set c7_Home 24164694
+#set c8_Home 8302765
+#set c9_Home 7852000
+#set c10_Home 25977117
+#}
+
+#Guide Positions 2007-09-04 11:04
+#================================
+#
+#c1 send TP
+# 8130115, 7595447, 8441775, 6162749, 7856270, 8800694, 24164697, 8302140
+#c9 send TP
+# 7851835, 25977420, 8035113, 7369888, 0, 0, 9228662, 0
+#
+# Guide Positions 2007-09-06 20:08
+#================================
+#c1 send TP
+# 8130379, 7595711, 8441761, 6162739, 7856261, 8800677, 24167230, 8302153
+#c9 send TP
+# 7851826, 25977221, 7990530, 7191374, 0, 0, 9228662, 0
+set c1_Guide 8130379
+set c2_Guide 7595711
+set c3_Guide 8441761
+set c4_Guide 6162739
+set c5_Guide 7856261
+set c6_Guide 8800677
+set c7_Guide 24167230
+set c8_Guide 8302153
+set c9_Guide 7851826
+set c10_Guide 25977221
+
+set c1_Polarizer 7858577
+set c2_Polarizer 7323919
+
+#Aperture Position: 2007-09-05 09:08
+#===================================
+#c1 send TP
+# 8130097, 7595436, 8304247, 6029748, 7728739, 8663027, 24034030, 8169924
+#c9 send TP
+# 7719610, 25835487, 8029231, 7827402, 0, 0, 9228662, 0
+
+set c3_Aperture 8304247
+set c4_Aperture 6029748
+set c5_Aperture 7728739
+set c6_Aperture 8663027
+set c7_Aperture 24034030
+set c8_Aperture 8169924
+set c9_Aperture 7719610
+set c10_Aperture 25835487
+
+set c1_Home $c1_Guide
+set c2_Home $c2_Guide
+set c3_Home $c3_Guide
+set c4_Home $c4_Guide
+set c5_Home $c5_Guide
+set c6_Home $c6_Guide
+set c7_Home $c7_Guide
+set c8_Home $c8_Guide
+set c9_Home $c9_Guide
+set c10_Home $c10_Guide
+
+set c1_Empty [expr ($c1_Guide + $c1_Polarizer)/2]
+set c2_Empty [expr ($c2_Guide + $c2_Polarizer)/2]
+set c3_Empty [expr (2 * $c3_Guide) - $c3_Aperture]
+set c4_Empty [expr (2 * $c4_Guide) - $c4_Aperture]
+set c5_Empty [expr (2 * $c5_Guide) - $c5_Aperture]
+set c6_Empty [expr (2 * $c6_Guide) - $c6_Aperture]
+set c7_Empty [expr (2 * $c7_Guide) - $c7_Aperture]
+set c8_Empty [expr (2 * $c8_Guide) - $c8_Aperture]
+set c9_Empty [expr (2 * $c9_Guide) - $c9_Aperture]
+set c10_Empty [expr (2 * $c10_Guide) - $c10_Aperture]
+
+#Measured or computed step/count rates for collimator translation
+set coll_StepsPerX [expr -25000.0/6.0]
+set coll_CntsPerX [expr 8192.0/6.0]
+
 #Measured or computed step rate for samz (Sample Raise)
 #set samzStepRate -116500
 set samzStepRate -125000
@@ -219,6 +312,11 @@ samthet softlowerlim 0
 samthet softupperlim 180
 samthet home 0

+set det_StepsPerX [expr 25000.0*70.0*3.1415926*120.0]
+set det_StepsPerX [expr 25000.0/5.385]
+set det_CntsPerX [expr 8192.0/3.1415926/120.0]]
+set det_CntsPerX [expr 21.6898]
+
 # Detector translation along beam [0,20000] mm
 Motor det $motor_driver_type [params \
  asyncqueue mc1\
@@ -226,18 +324,18 @@ Motor det $motor_driver_type [params \
  port pmc1-quokka\
  axis G\
  units mm\
-  hardlowerlim 0\
+  hardlowerlim -20000\
  hardupperlim 20000\
  maxSpeed 10\
  maxAccel 1\
  maxDecel 10\
-  stepsPerX [expr -25000.0*70.0*3.1415926*120.0]\
+  stepsPerX $det_StepsPerX\
  absEnc 1\
  absEncHome $det_Home\
-  cntsPerX [expr -8192.0/3.1415926/120.0]]
+  cntsPerX $det_CntsPerX]
 det part detector
 det long_name detector_y
-det softlowerlim 0
+det softlowerlim -20000
 det softupperlim 20000
 det home 0

@@ -278,19 +376,26 @@ Motor c1 $motor_driver_type [params \
  port pmc2-quokka\
  axis A\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 5\
-  maxSpeed 1\
+  hardlowerlim -95\
+  hardupperlim 95\
+  maxSpeed 6\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX $coll_StepsPerX\
  absEnc 1\
  absEncHome $c1_Home\
-  cntsPerX -8192]
+  cntsPerX $coll_CntsPerX\
+  posit_count 5]
+c1 posit_1 [expr $c1_Guide + (10 * $coll_CntsPerX)]
+c1 posit_2 [expr $c1_Guide]
+c1 posit_3 [expr $c1_Empty]
+c1 posit_4 [expr $c1_Polarizer]
+c1 posit_5 [expr $c1_Polarizer - (10 * $coll_CntsPerX)]
 c1 part collimator
 c1 long_name c1
-setHomeandRange -motor c1 -home 0 -lowrange 0 -uprange 5
-c1 speed 1
+setHomeandRange -motor c1 -home 0 -lowrange 95 -uprange 95
+c1 speed 3
+c1 creep_offset 1

 # Collimation motor 2
 Motor c2 $motor_driver_type [params \
@@ -299,19 +404,26 @@ Motor c2 $motor_driver_type [params \
  port pmc2-quokka\
  axis B\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 5\
-  maxSpeed 1\
+  hardlowerlim -95\
+  hardupperlim 95\
+  maxSpeed 6\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX $coll_StepsPerX\
  absEnc 1\
  absEncHome $c2_Home\
-  cntsPerX -8192]
+  cntsPerX $coll_CntsPerX\
+  posit_count 5]
+c2 posit_1 [expr $c2_Guide + (10 * $coll_CntsPerX)]
+c2 posit_2 [expr $c2_Guide]
+c2 posit_3 [expr $c2_Empty]
+c2 posit_4 [expr $c2_Polarizer]
+c2 posit_5 [expr $c2_Polarizer - (10 * $coll_CntsPerX)]
 c2 part collimator
 c2 long_name c2
-setHomeandRange -motor c2 -home 0 -lowrange 0 -uprange 5
-c2 speed 1
+setHomeandRange -motor c2 -home 0 -lowrange 95 -uprange 95
+c2 speed 6
+c2 creep_offset 1

 # Collimation motor 3
 Motor c3 $motor_driver_type [params \
@@ -320,19 +432,26 @@ Motor c3 $motor_driver_type [params \
  port pmc2-quokka\
  axis C\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 5\
-  maxSpeed 1\
+  hardlowerlim -190\
+  hardupperlim 190\
+  maxSpeed 6\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX $coll_StepsPerX\
  absEnc 1\
  absEncHome $c3_Home\
-  cntsPerX -8192]
+  cntsPerX $coll_CntsPerX\
+  posit_count 5]
+c3 posit_1 [expr $c3_Home + (150 * $coll_CntsPerX)]
+c3 posit_2 [expr $c3_Empty]
+c3 posit_3 [expr $c3_Guide]
+c3 posit_4 [expr $c3_Aperture]
+c3 posit_5 [expr $c3_Home - (150 * $coll_CntsPerX)]
 c3 part collimator
 c3 long_name c3
-setHomeandRange -motor c3 -home 0 -lowrange 0 -uprange 5
-c3 speed 1
+setHomeandRange -motor c3 -home 0 -lowrange 190 -uprange 190
+c3 speed 6
+c3 creep_offset 1

 # Collimation motor 4
 Motor c4 $motor_driver_type [params \
@@ -341,19 +460,26 @@ Motor c4 $motor_driver_type [params \
  port pmc2-quokka\
  axis D\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 5\
-  maxSpeed 1\
+  hardlowerlim -190\
+  hardupperlim 190\
+  maxSpeed 6\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX $coll_StepsPerX\
  absEnc 1\
  absEncHome $c4_Home\
-  cntsPerX -8192]
+  cntsPerX $coll_CntsPerX\
+  posit_count 5]
+c4 posit_1 [expr $c4_Home + (150 * $coll_CntsPerX)]
+c4 posit_2 [expr $c4_Empty]
+c4 posit_3 [expr $c4_Guide]
+c4 posit_4 [expr $c4_Aperture]
+c4 posit_5 [expr $c4_Home - (150 * $coll_CntsPerX)]
 c4 part collimator
 c4 long_name c4
-setHomeandRange -motor c4 -home 0 -lowrange 0 -uprange 5
-c4 speed 1
+setHomeandRange -motor c4 -home 0 -lowrange 190 -uprange 190
+c4 speed 6
+c4 creep_offset 1

 # Collimation motor 5
 Motor c5 $motor_driver_type [params \
@@ -362,19 +488,26 @@ Motor c5 $motor_driver_type [params \
  port pmc2-quokka\
  axis E\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 5\
-  maxSpeed 1\
+  hardlowerlim -190\
+  hardupperlim 190\
+  maxSpeed 6\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX $coll_StepsPerX\
  absEnc 1\
  absEncHome $c5_Home\
-  cntsPerX -8192]
+  cntsPerX $coll_CntsPerX\
+  posit_count 5]
+c5 posit_1 [expr $c5_Home + (150 * $coll_CntsPerX)]
+c5 posit_2 [expr $c5_Empty]
+c5 posit_3 [expr $c5_Guide]
+c5 posit_4 [expr $c5_Aperture]
+c5 posit_5 [expr $c5_Home - (150 * $coll_CntsPerX)]
 c5 part collimator
 c5 long_name c5
-setHomeandRange -motor c5 -home 0 -lowrange 0 -uprange 5
-c5 speed 1
+setHomeandRange -motor c5 -home 0 -lowrange 190 -uprange 190
+c5 speed 6
+c5 creep_offset 1

 # Collimation motor 6
 Motor c6 $motor_driver_type [params \
@@ -383,19 +516,26 @@ Motor c6 $motor_driver_type [params \
  port pmc2-quokka\
  axis F\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 5\
-  maxSpeed 1\
+  hardlowerlim -190\
+  hardupperlim 190\
+  maxSpeed 6\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX $coll_StepsPerX\
  absEnc 1\
  absEncHome $c6_Home\
-  cntsPerX -8192]
+  cntsPerX $coll_CntsPerX\
+  posit_count 5]
+c6 posit_1 [expr $c6_Home + (150 * $coll_CntsPerX)]
+c6 posit_2 [expr $c6_Empty]
+c6 posit_3 [expr $c6_Guide]
+c6 posit_4 [expr $c6_Aperture]
+c6 posit_5 [expr $c6_Home - (150 * $coll_CntsPerX)]
 c6 part collimator
 c6 long_name c6
-setHomeandRange -motor c6 -home 0 -lowrange 0 -uprange 5
-c6 speed 1
+setHomeandRange -motor c6 -home 0 -lowrange 190 -uprange 190
+c6 speed 6
+c6 creep_offset 1

 # Collimation motor 7
 Motor c7 $motor_driver_type [params \
@@ -404,19 +544,26 @@ Motor c7 $motor_driver_type [params \
  port pmc2-quokka\
  axis G\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 5\
-  maxSpeed 1\
+  hardlowerlim -190\
+  hardupperlim 190\
+  maxSpeed 6\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX $coll_StepsPerX\
  absEnc 1\
  absEncHome $c7_Home\
-  cntsPerX -8192]
+  cntsPerX $coll_CntsPerX\
+  posit_count 5]
+c7 posit_1 [expr $c7_Home + (150 * $coll_CntsPerX)]
+c7 posit_2 [expr $c7_Empty]
+c7 posit_3 [expr $c7_Guide]
+c7 posit_4 [expr $c7_Aperture]
+c7 posit_5 [expr $c7_Home - (150 * $coll_CntsPerX)]
 c7 part collimator
 c7 long_name c7
-setHomeandRange -motor c7 -home 0 -lowrange 0 -uprange 5
-c7 speed 1
+setHomeandRange -motor c7 -home 0 -lowrange 190 -uprange 190
+c7 speed 6
+c7 creep_offset 1

 # Collimation motor 8
 Motor c8 $motor_driver_type [params \
@@ -425,19 +572,26 @@ Motor c8 $motor_driver_type [params \
  port pmc2-quokka\
  axis H\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 5\
-  maxSpeed 1\
+  hardlowerlim -190\
+  hardupperlim 190\
+  maxSpeed 6\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX $coll_StepsPerX\
  absEnc 1\
  absEncHome $c8_Home\
-  cntsPerX -8192]
+  cntsPerX $coll_CntsPerX\
+  posit_count 5]
+c8 posit_1 [expr $c8_Home + (150 * $coll_CntsPerX)]
+c8 posit_2 [expr $c8_Empty]
+c8 posit_3 [expr $c8_Guide]
+c8 posit_4 [expr $c8_Aperture]
+c8 posit_5 [expr $c8_Home - (150 * $coll_CntsPerX)]
 c8 part collimator
 c8 long_name c8
-setHomeandRange -motor c8 -home 0 -lowrange 0 -uprange 5
-c8 speed 1
+setHomeandRange -motor c8 -home 0 -lowrange 190 -uprange 190
+c8 speed 6
+c8 creep_offset 1

 ############################
 # Motor Controller 3
@@ -453,19 +607,26 @@ Motor c9 $motor_driver_type [params \
  port pmc3-quokka\
  axis A\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 5\
-  maxSpeed 1\
+  hardlowerlim -190\
+  hardupperlim 190\
+  maxSpeed 6\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX $coll_StepsPerX\
  absEnc 1\
  absEncHome $c9_Home\
-  cntsPerX -8192]
+  cntsPerX $coll_CntsPerX\
+  posit_count 5]
+c9 posit_1 [expr $c9_Home + (150 * $coll_CntsPerX)]
+c9 posit_2 [expr $c9_Empty]
+c9 posit_3 [expr $c9_Guide]
+c9 posit_4 [expr $c9_Aperture]
+c9 posit_5 [expr $c9_Home - (150 * $coll_CntsPerX)]
 c9 part collimator
 c9 long_name c9
-setHomeandRange -motor c9 -home 0 -lowrange 0 -uprange 5
-c9 speed 1
+setHomeandRange -motor c9 -home 0 -lowrange 190 -uprange 190
+c9 speed 6
+c9 creep_offset 1

 # Collimation motor 10
 Motor c10 $motor_driver_type [params \
@@ -474,19 +635,28 @@ Motor c10 $motor_driver_type [params \
  port pmc3-quokka\
  axis B\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 5\
-  maxSpeed 1\
+  hardlowerlim -190\
+  hardupperlim 190\
+  maxSpeed 6\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX $coll_StepsPerX\
  absEnc 1\
  absEncHome $c10_Home\
-  cntsPerX -8192]
+  cntsPerX $coll_CntsPerX\
+  posit_count 7]
+c10 posit_1 [expr $c10_Empty + 81920 + (10 * $coll_CntsPerX)]
+c10 posit_2 [expr $c10_Empty + 81920]
+c10 posit_3 [expr $c10_Empty]
+c10 posit_4 [expr $c10_Guide]
+c10 posit_5 [expr $c10_Aperture]
+c10 posit_6 [expr $c10_Aperture - 81920]
+c10 posit_7 [expr $c10_Aperture - 81920 - (10 * $coll_CntsPerX)]
 c10 part collimator
 c10 long_name c10
-setHomeandRange -motor c10 -home 0 -lowrange 0 -uprange 5
-c10 speed 1
+setHomeandRange -motor c10 -home 0 -lowrange 190 -uprange 190
+c10 speed 6
+c10 creep_offset 1

 # Pentaprism
 Motor pent $motor_driver_type [params \
@@ -495,18 +665,18 @@ Motor pent $motor_driver_type [params \
  port pmc3-quokka\
  axis C\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 5\
+  hardlowerlim -30\
+  hardupperlim 300\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX [expr 25000.0/3.0]\
  absEnc 1\
  absEncHome $pent_Home\
-  cntsPerX -8192]
+  cntsPerX [expr -8192.0/3.0]]
 pent part collimator
 pent long_name pent
-setHomeandRange -motor pent -home 0 -lowrange 0 -uprange 5
+setHomeandRange -motor pent -home 0 -lowrange 30 -uprange 300
 pent speed 1

 # Rotary source aperture
@@ -515,20 +685,33 @@ Motor srce $motor_driver_type [params \
  host mc3-quokka\
  port pmc3-quokka\
  axis D\
-  units mm\
-  hardlowerlim 0\
-  hardupperlim 5\
+  units degrees\
+  hardlowerlim -10\
+  hardupperlim 340\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX [expr 25000.0/6.0]\
  absEnc 1\
  absEncHome $srce_Home\
-  cntsPerX -8192]
+  cntsPerX [expr -8192.0/6.0]\
+  posit_count 12]
 srce part collimator
 srce long_name srce
-setHomeandRange -motor srce -home 0 -lowrange 0 -uprange 5
+setHomeandRange -motor srce -home 0 -lowrange 10 -uprange 340
 srce speed 1
+srce posit_1 $srce_Home
+srce posit_2 [expr $srce_Home - (1 * 5 * 8192)]
+srce posit_3 [expr $srce_Home - (2 * 5 * 8192)]
+srce posit_4 [expr $srce_Home - (3 * 5 * 8192)]
+srce posit_5 [expr $srce_Home - (4 * 5 * 8192)]
+srce posit_6 [expr $srce_Home - (5 * 5 * 8192)]
+srce posit_7 [expr $srce_Home - (6 * 5 * 8192)]
+srce posit_8 [expr $srce_Home - (7 * 5 * 8192)]
+srce posit_9 [expr $srce_Home - (8 * 5 * 8192)]
+srce posit_10 [expr $srce_Home - (9 * 5 * 8192)]
+srce posit_11 [expr $srce_Home - (10 * 5 * 8192)]
+srce posit_12 [expr $srce_Home - (11 * 5 * 8192)]

 # Sample aperture x
 Motor apx $motor_driver_type [params \
@@ -577,7 +760,7 @@ Motor att $motor_driver_type [params \
  asyncqueue mc3\
  host mc3-quokka\
  port pmc3-quokka\
-  axis H\
+  axis G\
  units mm\
  hardlowerlim 0\
  hardupperlim 5\
@@ -769,3 +952,57 @@ pol home 0
 proc motor_set_sobj_attributes {} {
 }
 # END MOTOR CONFIGURATION
+
+proc set_virtual_1 { phys1 posit } {
+  set units [expr [SplitReply [$phys1 posit2unit $posit]]]
+  return "$phys1=$units"
+}
+
+proc set_virtual_2 { phys1 phys2 posit } {
+  set unit1 [expr [SplitReply [$phys1 posit2unit $posit]]]
+  set unit2 [expr [SplitReply [$phys2 posit2unit $posit]]]
+  return "$phys1=$unit1,$phys2=$unit2"
+}
+
+proc get_virtual_1 { phys1 } {
+  set p1 [expr [SplitReply [$phys1 posit]]]
+  return $p1
+}
+
+proc get_virtual_2 { phys1 phys2 } {
+  set p1 [expr [SplitReply [$phys1 posit]]]
+  set p2 [expr [SplitReply [$phys2 posit]]]
+  return [expr ($p1 + $p2) / 2.0]
+}
+publish set_virtual_1 user
+publish set_virtual_2 user
+publish get_virtual_1 user
+publish get_virtual_2 user
+
+proc make_coll_motor_1 { vm1 pm1 } {
+  eval "proc get_$vm1 {} { get_virtual_1 $pm1 }"
+  set v {$var}
+  eval "proc set_$vm1 {var} { set_virtual_1 $pm1 $v }"
+  MakeConfigurableMotor $vm1
+  $vm1 readscript get_$vm1
+  $vm1 drivescript set_$vm1
+}
+
+proc make_coll_motor_2 { vm1 pm1 pm2 } {
+  eval "proc get_$vm1 {} { get_virtual_2 $pm1 $pm2 }"
+  set v {$var}
+  eval "proc set_$vm1 {var} { set_virtual_2 $pm1 $pm2 $v }"
+  MakeConfigurableMotor $vm1
+  $vm1 readscript get_$vm1
+  $vm1 drivescript set_$vm1
+}
+
+make_coll_motor_2 vc01 c1 c2
+make_coll_motor_1 vc02 c3
+make_coll_motor_1 vc03 c4
+make_coll_motor_1 vc04 c5
+make_coll_motor_1 vc05 c6
+make_coll_motor_1 vc06 c7
+make_coll_motor_1 vc07 c8
+make_coll_motor_1 vc08 c9
+make_coll_motor_1 vc09 c10