Manual copied from ANSTO branch and committed to RELEASE-3_0 branch.
This directory was accidentally omitted from the merge-release branch during the PSI code merge.
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Nick Hauser
319
site_ansto/manual/dbSICSch9_motor_configuration.xml
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319
site_ansto/manual/dbSICSch9_motor_configuration.xml
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<?xml version="1.0" encoding="UTF-8"?>
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<?oxygen RNGSchema="http://www.oasis-open.org/docbook/xml/5.0/rng/docbook.rng" type="xml"?>
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<chapter xmlns="http://docbook.org/ns/docbook" xmlns:xlink="http://www.w3.org/1999/xlink"
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version="5.0">
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<info><title>Motor Configuration</title><author>
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<personname>Ferdi Franceschini</personname>
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</author>
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<date>2007-02-12 14:24</date>
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</info>
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<sect1>
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<title>Configuration example</title>
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<para>Motors are configured by following this pattern</para>
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<itemizedlist>
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<listitem>
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<para>Setup the host and port of the controller</para>
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</listitem>
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<listitem>
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<para>Make the motor queue</para>
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</listitem>
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<listitem>
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<para>Set the home value for the absolute encoder</para>
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</listitem>
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<listitem>
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<para>Set the motor configuration parameters</para>
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</listitem>
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</itemizedlist>
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<example>
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<title>Motor configuration example</title>
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<para>from
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<computeroutput>ics1-echidna.nbi.ansto.gov.au:/usr/local/sics/server/config/motors/motor_configuration.tcl</computeroutput></para>
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<programlisting># Setup addresses of Galil DMC2280 controllers.
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set dmc2280_controller1(host) mc1-$animal
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set dmc2280_controller1(port) pmc1-$animal
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...
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MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) \
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$dmc2280_controller1(port)
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...
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#Measured absolute encoder reading at home position
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set mphi_Home 7781389
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...
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# Monochromator phi, Tilt 1, upper
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Motor mphi $motor_driver_type [params \
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asyncqueue mc1\
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absEnc 1\
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absEncHome $mphi_Home\
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axis A\
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cntsPerX -8192\
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hardlowerlim -2\
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hardupperlim 2\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -25000\
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units degrees]
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setHomeandRange -motor mphi -home 0 -lowrange 2 -uprange 2
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mphi speed 1
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mphi movecount $move_count
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mphi precision 0.05
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mphi part crystal
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mphi long_name phi
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</programlisting>
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</example>
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</sect1>
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<sect1>
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<title>Configuration checklist</title>
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<para>Always use a positive number for the motor steps conversion multiplier.If the encoder
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counts decrease when the motor steps increase then the encoder counts conversion
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multiplier must be negative.</para>
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<sect2>
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<title>For each axis with an absolute encoder</title>
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<orderedlist spacing="compact">
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<listitem>
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<para>How many motor steps are there per degree or mm?</para>
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</listitem>
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<listitem>
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<para>How many encoder counts are there per degree or mm?</para>
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</listitem>
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<listitem>
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<para>Move the motor a positive number of steps.If the encoder counts has
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increased then set the <emphasis role="b">stepsPerX</emphasis> positive
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otherwise negative.</para>
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</listitem>
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<listitem>
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<para>If encoder counts decrease when motor steps increase then set the sign of
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<emphasis role="b">cntsPerX</emphasis> to the opposite sign of <emphasis
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role="b">stepsPerX</emphasis>, otherwise the sign should be the
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same.</para>
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</listitem>
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<listitem>
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<para>What is the encoder reading at the home position?</para>
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</listitem>
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</orderedlist>
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</sect2>
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<sect2>
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<title>For each axis without an absolute encoder</title>
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<orderedlist spacing="compact">
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<listitem>
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<para>How many motor steps are there per degree or mm?</para>
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</listitem>
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<listitem>
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<para>Move the motor a positive number of steps.If the axis moved in the
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positive direction according to the coordinate conventions then set the
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<emphasis role="b">stepsPerX</emphasis> positive otherwise
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negative.</para>
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</listitem>
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<listitem>
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<para>Set axis home position.<orderedlist spacing="compact">
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<listitem>
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<para>Make sure the axis HOME routine has been run. The axis should
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be at the lower limit and the motor defined position should be
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zero, ie TDx returns zero.</para>
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</listitem>
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<listitem>
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<para>Drive the axis to the home position and set <emphasis role="b"
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>motorHome</emphasis> to TDx</para>
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</listitem>
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</orderedlist></para>
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</listitem>
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</orderedlist>
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</sect2>
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<sect2>
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<title>For all axes</title>
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<orderedlist spacing="compact">
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<listitem>
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<para>Check that maxSpeed, maxAccel, and maxDecel are sane. NOTE: The initial
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speed, accel and decel will be set to the maximum values.</para>
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</listitem>
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<listitem>
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<para>If an axis should not be powered down after each move then set
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noPowerSave=1.</para>
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</listitem>
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</orderedlist>
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</sect2>
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<sect2>
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<title>Slits</title>
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<para>The zero position for the slits is defined when the slits are closed but not
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overlapping. Since the slit motors don't have absolute encoders we need to define a
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zero reference for counting motor steps, we will call this reference the motorHome.
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The motorHome is set when the slits are fully open, there is a home subroutine
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(called #HOME) on the DMC2280 controller which can be called to set this position
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for you.</para>
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<para>The homing code on the controller fully opens the slits and then sets the position
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as zero.</para>
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<orderedlist spacing="compact">
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<listitem>
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<para>Run #HOME command on controller, ie XQ #HOME,1Useu</para>
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</listitem>
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<listitem>
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<para>Check that the command has completed with MG _XQ1, a value of -1 means the
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command has finished otherwise it displays the current line number.</para>
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</listitem>
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<listitem>
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<para>After the #HOME command has completed check that the defined motor
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positions has been set to zero by executing TDEFGH</para>
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</listitem>
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<listitem>
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<para>run gap to zero, set lowerlims to -ve val if there is a gap, then run gap
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to -ve witdh.</para>
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</listitem>
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<listitem>
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<para>Read position for each slit and set it as the "motorHome" parameter in the
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sics configuration file.</para>
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</listitem>
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</orderedlist>
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</sect2>
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<sect2>
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<title>Testing</title>
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<orderedlist spacing="compact">
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<listitem>
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<para>Check communications to all four controllers.</para>
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</listitem>
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<listitem>
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<para>Try to run motor past limits.Does SICS reject the command?</para>
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</listitem>
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<listitem>
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<para>Run motors to limits.Does it move in the right direction?Does it stop
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where expected?</para>
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</listitem>
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<listitem>
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<para>Run motor to home position.Does it stop where expected?</para>
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</listitem>
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<listitem>
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<para>Set limits</para>
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</listitem>
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<listitem>
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<para>Set home</para>
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</listitem>
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<listitem>
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<para>Set softzero</para>
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</listitem>
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<listitem>
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<para>Set sign (direction of motion)</para>
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</listitem>
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<listitem>
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<para>Set speed</para>
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</listitem>
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<listitem>
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<para>Set acceleration</para>
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</listitem>
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<listitem>
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<para>Set deceleration</para>
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</listitem>
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</orderedlist>
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</sect2>
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</sect1>
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<sect1>
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<title>Configuration reference</title>
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<variablelist>
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<varlistentry>
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<term><command>absEnc </command><replaceable>integer</replaceable>
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</term>
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<listitem>
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<para>Set to 1 if the axis has an absolute encoder</para>
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</listitem>
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</varlistentry>
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<varlistentry>
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<term><command>absEncHome </command><replaceable>integer</replaceable>
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</term>
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<listitem>
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<para>The calibrated "home" position in encoder counts</para>
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<para>Required if <command>absEnc</command> = 1</para>
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</listitem>
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</varlistentry>
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<varlistentry>
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<term><command>axis </command><replaceable>val</replaceable></term>
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<listitem>
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<para>The DMC2280 motor controller can control up to eight axes</para>
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<para>Allowed <replaceable>val</replaceable> one of: </para>
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<para><option>A B C D E F G H</option></para>
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</listitem>
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</varlistentry>
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<varlistentry>
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<term><command>cntsPerX </command><replaceable>integer</replaceable>
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</term>
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<listitem>
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<para>Number of absolute encoder counts per <command>unit</command> of movement
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along/about the axis of motion</para>
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</listitem>
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</varlistentry>
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<varlistentry>
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<term><command>hardlowerlim </command><replaceable>integer</replaceable></term>
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<listitem>
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<para>Hardware lower limit for motor</para>
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</listitem>
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</varlistentry>
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<varlistentry>
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<term><command>hardupperlim </command><replaceable>integer</replaceable></term>
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<listitem>
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<para>Hardware upper limit for motor</para>
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</listitem>
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</varlistentry>
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<varlistentry>
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<term><command>maxAccel </command><replaceable>val</replaceable></term>
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<listitem>
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<para>Maximum allowed acceleration in <command>units</command> per
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second<superscript>2</superscript></para>
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</listitem>
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</varlistentry>
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<varlistentry>
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<term><command>maxDecel </command><replaceable>val</replaceable></term>
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<listitem>
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<para>Maximum allowed deceleration in <command>units</command> per
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second<superscript>2</superscript></para>
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</listitem>
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</varlistentry>
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<varlistentry>
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<term><command>maxSpeed </command><replaceable>val</replaceable></term>
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<listitem>
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<para>Speed in <command>units</command> per second</para>
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</listitem>
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</varlistentry>
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<varlistentry>
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<term><command>motorHome </command><replaceable>integer</replaceable>
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</term>
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<listitem>
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<para>The calibrated "home" position in motor steps. You only need to set this
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if the axis does not have an absolute encoder</para>
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</listitem>
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</varlistentry>
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<varlistentry>
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<term><command>motOffDelay </command><replaceable>integer</replaceable></term>
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<listitem>
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<para>Number of msec to wait before switching off a motor after a move</para>
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<para>Default = <option>0</option></para>
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</listitem>
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</varlistentry>
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<varlistentry>
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<term><command>noPowerSave</command>
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<replaceable>val</replaceable>
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</term>
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<listitem>
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<para>By default a motor will switch off after a move. If you set this to 1 the
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motor will stay on.</para>
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<para>Allowed <replaceable>val</replaceable> one of: </para>
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<para><option>0</option> (default)</para>
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<para><option>1</option></para>
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</listitem>
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</varlistentry>
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<varlistentry>
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<term><command>stepsPerX </command><replaceable>val</replaceable></term>
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<listitem>
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<para>Number of motor steps per <command>unit</command> of movement along/about
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the axis of motion</para>
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</listitem>
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</varlistentry>
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<varlistentry>
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<term><command>units </command><replaceable>val</replaceable></term>
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<listitem>
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<para>The units of motion for the axis, eg <option>degrees</option> for phi or
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two-theta, <option>mm</option> for translation</para>
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<para>Allowed <replaceable>val</replaceable> one of: </para>
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<para><option>degrees </option></para>
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<para><option>mm</option></para>
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</listitem>
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</varlistentry>
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</variablelist>
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</sect1>
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</chapter>
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