From d1aea5ae489b5a88878286ec4da57ab358eeb990 Mon Sep 17 00:00:00 2001 From: Jing Chen Date: Thu, 12 May 2011 13:52:54 +1000 Subject: [PATCH] update accelation values r3131 | jgn | 2011-05-12 13:52:54 +1000 (Thu, 12 May 2011) | 1 line --- .../tas/config/motors/motor_configuration.tcl | 310 +++++++++--------- 1 file changed, 153 insertions(+), 157 deletions(-) diff --git a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl index b8d4fd8b..8659c72f 100644 --- a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl +++ b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl @@ -37,11 +37,7 @@ if {$sim_mode == "true"} { } #Measured absolute encoder reading at home position -set samchi_Home 7808328 -set samphi_Home 7675008 set samx_Home 7420441 -set samy_Home 7101486 -set samz_Home 9944901 set samthet_Home 23004075 set det_Home 7055209 set detoff_Home 6857213 @@ -109,18 +105,18 @@ Motor mtilt $motor_driver_type [params \ units degrees\ hardlowerlim -5\ hardupperlim 5\ - maxSpeed 5000\ - maxAccel 2048\ - maxDecel 2048\ - stepsPerX 4096\ + maxSpeed 50000\ + maxAccel 25000\ + maxDecel 25000\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samchi_Home\ - cntsPerX 4096] + absEncHome 80235\ + cntsPerX 8192] mtilt part crystal mtilt long_name mtilt mtilt softlowerlim -5 mtilt softupperlim 5 -mtilt home 0 +mtilt home 0.143 #} set atest mtilt @@ -131,21 +127,21 @@ Motor mtrans $motor_driver_type [params \ host mc1-taipan\ port pmc1-taipan\ axis B\ - units degrees\ + units mm\ hardlowerlim -10\ hardupperlim 195\ - maxSpeed 20000\ - maxAccel 2048\ - maxDecel 2048\ - stepsPerX 4096\ + maxSpeed 50000\ + maxAccel 25000\ + maxDecel 25000\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samphi_Home\ - cntsPerX 4096] + absEncHome 743791\ + cntsPerX 8192] mtrans part crystal mtrans long_name mtrans mtrans softlowerlim -10 mtrans softupperlim 195 -mtrans home 0 +mtrans home 66.993 # mc1: Fight Tube Rotate Motor m2 $motor_driver_type [params \ @@ -156,18 +152,18 @@ Motor m2 $motor_driver_type [params \ units degrees\ hardlowerlim -32.5\ hardupperlim 53\ - maxSpeed 75000\ - maxAccel 25000\ - maxDecel 25000\ - stepsPerX 8192\ + maxSpeed 50000\ + maxAccel 5000\ + maxDecel 5000\ + stepsPerX 12500\ absEnc 1\ - absEncHome $samx_Home\ + absEncHome 183787\ cntsPerX 4096] m2 part sample m2 long_name m2 m2 softlowerlim -32.5 m2 softupperlim 53 -m2 home 0 +m2 home 69.42475 # mc1: Detector Rotate Motor a2 $motor_driver_type [params \ @@ -179,17 +175,17 @@ Motor a2 $motor_driver_type [params \ hardlowerlim -55\ hardupperlim 55\ maxSpeed 100000\ - maxAccel 32768\ - maxDecel 32768\ - stepsPerX 8192\ + maxAccel 25000\ + maxDecel 25000\ + stepsPerX 12500\ absEnc 1\ - absEncHome $samy_Home\ + absEncHome 16093721\ cntsPerX 4096] a2 part detector a2 long_name a2 a2 softlowerlim -55 a2 softupperlim 55 -a2 home 0 +a2 home 20.0421 ############################ @@ -208,13 +204,13 @@ Motor sgu $motor_driver_type [params \ units degrees\ hardlowerlim -18\ hardupperlim 19\ - maxSpeed 12500\ - maxAccel 32768\ - maxDecel 32768\ - stepsPerX 8192\ + maxSpeed 50000\ + maxAccel 25000\ + maxDecel 25000\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samz_Home\ - cntsPerX 4096] + absEncHome 7745445\ + cntsPerX 8192] sgu part sample sgu long_name sgu sgu softlowerlim -18 @@ -230,13 +226,13 @@ Motor sgl $motor_driver_type [params \ units degrees\ hardlowerlim -18\ hardupperlim 18\ - maxSpeed 25000\ + maxSpeed 50000\ maxAccel 25000\ maxDecel 25000\ - stepsPerX 8192\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 7499341\ + cntsPerX 8192] sgl part sample sgl long_name sgl sgl softlowerlim -18 @@ -252,18 +248,18 @@ Motor stu $motor_driver_type [params \ units degrees\ hardlowerlim -15\ hardupperlim 15\ - maxSpeed 30000\ - maxAccel 32768\ - maxDecel 32768\ - stepsPerX 8192\ + maxSpeed 50000\ + maxAccel 25000\ + maxDecel 25000\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 7392945\ + cntsPerX 8192] stu part sample stu long_name stu stu softlowerlim -15 stu softupperlim 15 -stu home 0 +stu home -0.001 # mc2: Sample Lower Tanslation Motor stl $motor_driver_type [params \ @@ -274,18 +270,18 @@ Motor stl $motor_driver_type [params \ units degrees\ hardlowerlim -15\ hardupperlim 15\ - maxSpeed 30000\ - maxAccel 32768\ - maxDecel 32768\ - stepsPerX 8192\ + maxSpeed 50000\ + maxAccel 25000\ + maxDecel 25000\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 7582758\ + cntsPerX 8192] stl part sample stl long_name stl stl softlowerlim -15 stl softupperlim 15 -stl home 0 +stl home -0.002 # mc2: Sample Rotate Motor s1 $motor_driver_type [params \ @@ -296,18 +292,18 @@ Motor s1 $motor_driver_type [params \ units degrees\ hardlowerlim -185\ hardupperlim 124\ - maxSpeed 25000\ + maxSpeed 50000\ maxAccel 25000\ maxDecel 25000\ - stepsPerX 8192\ + stepsPerX 12500\ absEnc 1\ - absEncHome $samthet_Home\ + absEncHome 10138002\ cntsPerX 4096] s1 part sample s1 long_name s1 s1 softlowerlim -185 s1 softupperlim 124 -s1 home 0 +s1 home -100.0051 # mc2: Analyser Detector Rotate -- Sample Scattering Angle Motor s2 $motor_driver_type [params \ @@ -321,15 +317,15 @@ Motor s2 $motor_driver_type [params \ maxSpeed 100000\ maxAccel 25000\ maxDecel 25000\ - stepsPerX 8192\ + stepsPerX 12500\ absEnc 1\ - absEncHome $samthet_Home\ + absEncHome 17827565\ cntsPerX 4096] s2 part crystal s2 long_name s2 s2 softlowerlim -128 s2 softupperlim 3 -s2 home 0 +s2 home -50.0026 # mc2: Analyser Horizontal Focus Motor ahfocus $motor_driver_type [params \ @@ -340,18 +336,18 @@ Motor ahfocus $motor_driver_type [params \ units degrees\ hardlowerlim -360\ hardupperlim 360\ - maxSpeed 2000\ - maxAccel 1000\ - maxDecel 1000\ - stepsPerX 8192\ + maxSpeed 25000\ + maxAccel 12500\ + maxDecel 12500\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 8361542\ + cntsPerX 8192] ahfocus part crystal ahfocus long_name ahfocus ahfocus softlowerlim -360 ahfocus softupperlim 360 -ahfocus home 0 +ahfocus home 58.887 # mc2: Analyser Vertical Focus Motor avfocus $motor_driver_type [params \ @@ -362,13 +358,13 @@ Motor avfocus $motor_driver_type [params \ units degrees\ hardlowerlim -200\ hardupperlim 0\ - maxSpeed 30000\ - maxAccel 60000\ - maxDecel 60000\ - stepsPerX 8192\ + maxSpeed 25000\ + maxAccel 12500\ + maxDecel 12500\ + stepsPerX 25000\ absEnc 1\ absEncHome $samthet_Home\ - cntsPerX 4096] + cntsPerX 8192] avfocus part crystal avfocus long_name avfocus avfocus softlowerlim -200 @@ -384,18 +380,18 @@ Motor mvfocus $motor_driver_type [params \ units degrees\ hardlowerlim 0\ hardupperlim 240\ - maxSpeed 25000\ - maxAccel 8192\ - maxDecel 4096\ - stepsPerX 4096\ + maxSpeed 12500\ + maxAccel 6000\ + maxDecel 6000\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 542614\ + cntsPerX 8192] mvfocus part crystal mvfocus long_name mvfocus mvfocus softlowerlim 0 mvfocus softupperlim 240 -mvfocus home 0 +mvfocus home 113.994 # mc3: Monochromator Horizontal Focus Motor mhfocus $motor_driver_type [params \ @@ -406,18 +402,18 @@ Motor mhfocus $motor_driver_type [params \ units degrees\ hardlowerlim -180\ hardupperlim 275\ - maxSpeed 25000\ - maxAccel 8192\ - maxDecel 4096\ - stepsPerX 4096\ + maxSpeed 12500\ + maxAccel 6000\ + maxDecel 6000\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 5860595\ + cntsPerX 8192] mhfocus part crystal mhfocus long_name mhfocus mhfocus softlowerlim 0 mhfocus softupperlim 240 -mhfocus home 0 +mhfocus home -29.970 # mc3: Monochromator Rotate Motor m1 $motor_driver_type [params \ @@ -428,18 +424,18 @@ Motor m1 $motor_driver_type [params \ units degrees\ hardlowerlim 5\ hardupperlim 40\ - maxSpeed 75000\ + maxSpeed 100000\ maxAccel 25000\ maxDecel 25000\ - stepsPerX 4096\ + stepsPerX 12500\ absEnc 1\ - absEncHome $samthet_Home\ + absEncHome 16293938\ cntsPerX 4096] m1 part crystal m1 long_name m1 m1 softlowerlim 5 m1 softupperlim 40 -m1 home 0 +m1 home 34.76255 # mc4: Analyzer Tilt 1 -- Two-theta Angle Motor atilt $motor_driver_type [params \ @@ -450,18 +446,18 @@ Motor atilt $motor_driver_type [params \ units degrees\ hardlowerlim -5\ hardupperlim 5\ - maxSpeed 100000\ - maxAccel 32768\ - maxDecel 32768\ - stepsPerX 8192\ + maxSpeed 50000\ + maxAccel 25000\ + maxDecel 25000\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 7909774\ + cntsPerX 8192] atilt part crystal atilt long_name atilt atilt softlowerlim -5 atilt softupperlim 5 -atilt home 0 +atilt home -0.004 # mc4: Analyzer Translate Motor atrans $motor_driver_type [params \ @@ -469,21 +465,21 @@ Motor atrans $motor_driver_type [params \ host mc4-taipan\ port pmc4-taipan\ axis C\ - units degrees\ + units mm\ hardlowerlim -1\ hardupperlim 22\ - maxSpeed 100000\ - maxAccel 32768\ - maxDecel 32768\ - stepsPerX 8192\ + maxSpeed 50000\ + maxAccel 25000\ + maxDecel 25000\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 23726439\ + cntsPerX 8192] atrans part crystal atrans long_name atrans atrans softlowerlim -1 atrans softupperlim 22 -atrans home 0 +atrans home 0.00023 # mc4: Analyzer Rotate Motor a1 $motor_driver_type [params \ @@ -495,17 +491,17 @@ Motor a1 $motor_driver_type [params \ hardlowerlim -5.1\ hardupperlim 30\ maxSpeed 50000\ - maxAccel 32768\ - maxDecel 32768\ - stepsPerX 8192\ + maxAccel 25000\ + maxDecel 25000\ + stepsPerX 12500\ absEnc 1\ - absEncHome $samthet_Home\ + absEncHome 24771579\ cntsPerX 4096] a1 part crystal a1 long_name a1 a1 softlowerlim -5.1 a1 softupperlim 30 -a1 home 0 +a1 home 10.0204 # mc4: Virtural Source Left Translation Motor VS_left $motor_driver_type [params \ @@ -519,15 +515,15 @@ Motor VS_left $motor_driver_type [params \ maxSpeed 12500\ maxAccel 25000\ maxDecel 25000\ - stepsPerX 8192\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 14574349\ + cntsPerX 8192] VS_left part slits VS_left long_name VS_left VS_left softlowerlim 2 VS_left softupperlim 35 -VS_left home 0 +VS_left home 25.0019 # mc4: Virtural Source Right Translation Motor VS_right $motor_driver_type [params \ @@ -541,15 +537,15 @@ Motor VS_right $motor_driver_type [params \ maxSpeed 12500\ maxAccel 25000\ maxDecel 25000\ - stepsPerX 8192\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 16251954\ + cntsPerX 8192] VS_right part slits VS_right long_name VS_right VS_right softlowerlim -35 VS_right softupperlim -2 -VS_right home 0 +VS_right home -24.9790 # mc4: Filter Rotate Motor mfilter $motor_driver_type [params \ @@ -560,10 +556,10 @@ Motor mfilter $motor_driver_type [params \ units degrees\ hardlowerlim 0\ hardupperlim 360\ - maxSpeed 30000\ - maxAccel 60000\ - maxDecel 60000\ - stepsPerX 8192\ + maxSpeed 50000\ + maxAccel 25000\ + maxDecel 25000\ + stepsPerX 12500\ absEnc 1\ absEncHome $samthet_Home\ cntsPerX 4096] @@ -585,10 +581,10 @@ Motor collimator $motor_driver_type [params \ maxSpeed 12500\ maxAccel 25000\ maxDecel 25000\ - stepsPerX 4096\ + stepsPerX 25000\ absEnc 1\ absEncHome $samthet_Home\ - cntsPerX 4096] + cntsPerX 8192] collimator part collimator collimator long_name collimator collimator softlowerlim -112 @@ -607,15 +603,15 @@ Motor ps_right $motor_driver_type [params \ maxSpeed 30000\ maxAccel 60000\ maxDecel 60000\ - stepsPerX 4096\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 0\ + cntsPerX 8192] ps_right part slits ps_right long_name ps_right ps_right softlowerlim -27 ps_right softupperlim -2 -ps_right home 0 +ps_right home -8.0000 # mc6: Pre-sample left aperture -- Slit s1 left Blade Motor ps_left $motor_driver_type [params \ @@ -629,15 +625,15 @@ Motor ps_left $motor_driver_type [params \ maxSpeed 30000\ maxAccel 60000\ maxDecel 60000\ - stepsPerX 4096\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 0\ + cntsPerX 8192] ps_left part slits ps_left long_name ps_left ps_left softlowerlim -27 ps_left softupperlim -2 -ps_left home 0 +ps_left home -7.99998 # mc6: Pre-sample top aperture -- Slit s1 top Blade Motor ps_top $motor_driver_type [params \ @@ -651,15 +647,15 @@ Motor ps_top $motor_driver_type [params \ maxSpeed 30000\ maxAccel 60000\ maxDecel 60000\ - stepsPerX 4096\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 0\ + cntsPerX 8192] ps_top part slits ps_top long_name ps_top ps_top softlowerlim -200 ps_top softupperlim -2 -ps_top home 0 +ps_top home -40.0000 # mc6: Pre-sample bottom aperture -- Slit s1 bottom Blade Motor ps_bottom $motor_driver_type [params \ @@ -673,15 +669,15 @@ Motor ps_bottom $motor_driver_type [params \ maxSpeed 30000\ maxAccel 60000\ maxDecel 60000\ - stepsPerX 4096\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 0\ + cntsPerX 8192] ps_bottom part slits ps_bottom long_name ps_bottom ps_bottom softlowerlim -200 ps_bottom softupperlim -2 -ps_bottom home 0 +ps_bottom home -40.0000 # mc6: Pre-sample right aperture -- Slit s2 right Blade Motor pa_right $motor_driver_type [params \ @@ -695,15 +691,15 @@ Motor pa_right $motor_driver_type [params \ maxSpeed 30000\ maxAccel 60000\ maxDecel 60000\ - stepsPerX 4096\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 0\ + cntsPerX 8192] pa_right part slits pa_right long_name pa_right pa_right softlowerlim -26 pa_right softupperlim 2 -pa_right home 0 +pa_right home -7.0000 # mc6: Pre-sample left aperture -- Slit s2 left Blade Motor pa_left $motor_driver_type [params \ @@ -717,15 +713,15 @@ Motor pa_left $motor_driver_type [params \ maxSpeed 30000\ maxAccel 60000\ maxDecel 60000\ - stepsPerX 4096\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 0\ + cntsPerX 8192] pa_left part slits pa_left long_name pa_left pa_left softlowerlim -26 pa_left softupperlim 2 -pa_left home 0 +pa_left home -7.0000 # mc6: Pre-sample top aperture -- Slit s2 top Blade Motor pa_top $motor_driver_type [params \ @@ -739,15 +735,15 @@ Motor pa_top $motor_driver_type [params \ maxSpeed 30000\ maxAccel 60000\ maxDecel 60000\ - stepsPerX 4096\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 0\ + cntsPerX 8192] pa_left part slits pa_left long_name pa_top pa_left softlowerlim -200 pa_left softupperlim 0 -pa_left home 0 +pa_left home -35.0000 # mc6: Pre-sample bottom aperture -- Slit s2 bottom Blade Motor pa_bottom $motor_driver_type [params \ @@ -761,15 +757,15 @@ Motor pa_bottom $motor_driver_type [params \ maxSpeed 30000\ maxAccel 60000\ maxDecel 60000\ - stepsPerX 4096\ + stepsPerX 25000\ absEnc 1\ - absEncHome $samthet_Home\ - cntsPerX 4096] + absEncHome 0\ + cntsPerX 8192] pa_bottom part slits pa_bottom long_name pa_bottom pa_bottom softlowerlim -200 pa_bottom softupperlim 0 -pa_bottom home 0 +pa_bottom home -35.0000 proc motor_set_sobj_attributes {} { }