From d274698ff4aa174c584c483b26049394fbeec6a1 Mon Sep 17 00:00:00 2001 From: Ferdi Franceschini Date: Wed, 1 Dec 2010 10:29:42 +1100 Subject: [PATCH] echidna_configuration.tcl Load sct_lakeshore 340 and 336 configurations. Load new robot pick and place configuration hmm_configuration.tcl Override proc CAT_TABLE to add offset and magnification configuration. motor_configuration.tcl Modularised for tilt and euler configurations. Added euler_configuration.tcl and put tilt stage configuration in tilt_configuration.tcl r3030 | ffr | 2010-12-01 10:29:42 +1100 (Wed, 01 Dec 2010) | 10 lines --- .../instrument/hrpd/config/INSTCFCOMMON.TXT | 5 +- .../hrpd/config/hmm/hmm_configuration.tcl | 19 ++- .../config/motors/euler_configuration.tcl | 74 ++++++++++++ .../config/motors/motor_configuration.tcl | 114 +----------------- .../hrpd/config/motors/tilt_configuration.tcl | 84 +++++++++++++ .../instrument/hrpd/echidna_configuration.tcl | 36 ++---- 6 files changed, 193 insertions(+), 139 deletions(-) create mode 100644 site_ansto/instrument/hrpd/config/motors/euler_configuration.tcl create mode 100644 site_ansto/instrument/hrpd/config/motors/tilt_configuration.tcl diff --git a/site_ansto/instrument/hrpd/config/INSTCFCOMMON.TXT b/site_ansto/instrument/hrpd/config/INSTCFCOMMON.TXT index b0058962..5dae9123 100644 --- a/site_ansto/instrument/hrpd/config/INSTCFCOMMON.TXT +++ b/site_ansto/instrument/hrpd/config/INSTCFCOMMON.TXT @@ -2,8 +2,8 @@ config/source/source_common.tcl config/anticollider/anticollider_common.tcl config/plc/plc_common_1.tcl config/counter/counter_common_1.tcl -config/environment/temperature/lakeshore340_common.tcl -config/environment/temperature/sct_lakeshore_3xx.tcl +config/environment/temperature/sct_lakeshore_340.tcl +config/environment/temperature/sct_lakeshore_336.tcl config/environment/temperature/west400.tcl config/hipadaba/hipadaba_configuration_common.tcl config/hipadaba/common_instrument_dictionary.tcl @@ -12,6 +12,7 @@ config/hmm/hmm_configuration_common_1.tcl config/hmm/hmm_object.tcl config/hmm/hmm_cylindrical_detector_configuration.tcl config/hmm/anstohm_linked.xml +config/robots/sct_pickandplace.tcl config/scan/scan_common_1.hdd config/scan/scan_common_1.tcl config/nexus/nxscripts_common_1.tcl diff --git a/site_ansto/instrument/hrpd/config/hmm/hmm_configuration.tcl b/site_ansto/instrument/hrpd/config/hmm/hmm_configuration.tcl index 74f42b5e..fa930303 100644 --- a/site_ansto/instrument/hrpd/config/hmm/hmm_configuration.tcl +++ b/site_ansto/instrument/hrpd/config/hmm/hmm_configuration.tcl @@ -28,6 +28,21 @@ proc ::histogram_memory::init_SAT_TABLE {} { } } +proc CAT_TABLE {args} { +return { + + + + + + + + + + + +} +} proc ::histogram_memory::init_CAT_TABLE {} { CAT_TABLE -set MESYTEC_MPSD8_CHANNEL_GAINS { 1.00 1.00 1.00 1.00 1.00 1.00 1.00 1.00 @@ -142,7 +157,7 @@ proc ::histogram_memory::isc_initialize {} { hmm configure $INST_NXC 64 } BAT_TABLE -init - CAT_TABLE -init +# CAT_TABLE -init SAT_TABLE -init OAT_TABLE -init FAT_TABLE -init @@ -162,7 +177,7 @@ proc ::histogram_memory::isc_initialize {} { # hmm configure FAT_SIMULATED_EVENT_X1 $xbbmax ::histogram_memory::init_OAT_TABLE ::histogram_memory::init_SAT_TABLE - ::histogram_memory::init_CAT_TABLE +# ::histogram_memory::init_CAT_TABLE ::histogram_memory::upload_config Filler_defaults set ::histogram_memory::histmem_axes(HOR) /instrument/detector/x_pixel_angular_offset diff --git a/site_ansto/instrument/hrpd/config/motors/euler_configuration.tcl b/site_ansto/instrument/hrpd/config/motors/euler_configuration.tcl new file mode 100644 index 00000000..ff2010ce --- /dev/null +++ b/site_ansto/instrument/hrpd/config/motors/euler_configuration.tcl @@ -0,0 +1,74 @@ +# This must be loaded by motor_configuration.tcl + +set ephi_Home 6647698 +set echi_Home 8919294 +set eom_Home 23165482 + +# Sample Tilt 1, euler omega stage +Motor eom $motor_driver_type [params \ + asyncqueue mc2\ + axis A\ + units degrees\ + hardlowerlim -45\ + hardupperlim 80\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000\ + absEnc 1\ + absEncHome $eom_Home\ + cntsPerX -8192] +setHomeandRange -motor eom -home 0 -lowrange 35 -uprange 80 +eom speed 1 +eom movecount $move_count +eom precision 0.01 +eom part sample +eom long_name euler_omega + +# Sample Tilt 2, euler chi stage +Motor echi $motor_driver_type [params \ + asyncqueue mc2\ + axis B\ + units degrees\ + hardlowerlim -32\ + hardupperlim 97\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX -25000\ + absEnc 1\ + absEncHome $echi_Home\ + cntsPerX 8192] +setHomeandRange -motor echi -home 0 -lowrange 10 -uprange 95 +echi softlowerlim -10 +echi softupperlim 90 +echi home 0 +echi speed 1 +echi movecount $move_count +echi precision 0.01 +echi part sample +echi long_name euler_chi + +# Sample Trans 1, upper, y +Motor ephi $motor_driver_type [params \ + asyncqueue mc2\ + axis C\ + units degrees\ + hardlowerlim -185\ + hardupperlim 185\ + maxSpeed 5\ + maxAccel 5\ + maxDecel 1\ + stepsPerX -12500\ + absEnc 1\ + absEncHome $ephi_Home\ + cntsPerX -4096] +setHomeandRange -motor ephi -home 0 -lowrange 180 -uprange 180 +ephi softlowerlim -180 +ephi softupperlim 180 +ephi home 0 +ephi speed 1 +ephi movecount $move_count +ephi precision 0.01 +ephi part sample +ephi long_name euler_phi diff --git a/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl b/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl index b31a763d..e5d864b1 100644 --- a/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl +++ b/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl @@ -107,6 +107,8 @@ set slit2HGroup second/horizontal # hnotify messages to a reasonable level set move_count 10 +fileeval $cfPath(motors)/tilt_configuration.tcl +#fileeval $cfPath(motors)/euler_configuration.tcl ############################ # Motor Controller 1 # Motor Controller 1 @@ -354,90 +356,6 @@ scr long_name secondary_collimator_rotation # Motor Controller 2 ############################ -# Sample Tilt 1, upper, phi -Motor sphi $motor_driver_type [params \ - asyncqueue mc2\ - axis A\ - units degrees\ - hardlowerlim -16\ - hardupperlim 16\ - maxSpeed 2\ - maxAccel 1\ - maxDecel 1\ - stepsPerX -25000\ - absEnc 1\ - absEncHome $sphi_Home\ - cntsPerX -8192] -setHomeandRange -motor sphi -home 0 -lowrange 16 -uprange 16 -sphi speed 1 -sphi movecount $move_count -sphi precision 0.01 -sphi part sample -sphi long_name phi - -# Sample Tilt 2, lower, chi -Motor schi $motor_driver_type [params \ - asyncqueue mc2\ - axis B\ - units degrees\ - hardlowerlim 74\ - hardupperlim 106\ - maxSpeed 2\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome $schi_Home\ - cntsPerX 8192] -setHomeandRange -motor schi -home 90 -lowrange 16 -uprange 16 -schi speed 1 -schi movecount $move_count -schi precision 0.01 -schi part sample -schi long_name chi - -# Sample Trans 1, upper, y -Motor sy $motor_driver_type [params \ - asyncqueue mc2\ - axis C\ - units mm\ - hardlowerlim -20\ - hardupperlim 20\ - maxSpeed 2\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome $sy_Home\ - cntsPerX 8192] -setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20 -sy speed 1 -sy movecount $move_count -sy precision 0.01 -sy part sample -sy long_name translate_y - -# Sample Trans2, lower, x -Motor sx $motor_driver_type [params \ - asyncqueue mc2\ - axis D\ - units mm\ - hardlowerlim -20\ - hardupperlim 20\ - maxSpeed 2\ - maxAccel 1\ - maxDecel 1\ - stepsPerX -25000\ - absEnc 1\ - absEncHome $sx_Home\ - cntsPerX -8192] -setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20 -sx speed 1 -sx movecount $move_count -sx precision 0.01 -sx part sample -sx long_name translate_x - # Sample Omega, rotate Motor som $motor_driver_type [params \ asyncqueue mc2\ @@ -606,34 +524,6 @@ ss1d long_name first_bottom ############################ # -# Little is known about the Eulerian Cradle -## Eulerian-phi -#Motor ephi $motor_driver_type [params \ -# asyncqueue mc4\ -# axis A\ -# units degrees\ -# maxSpeed xxxx\ -# maxAccel xxxx\ -# maxDecel xxxx\ -# stepsPerX xxxx\ -# absEnc 1\ -# absEncHome $ephi_Home\ -# cntsPerX xxxx] -#setHomeandRange -motor ephi -home 0 -lowrange 180 -uprange 180 - -#Motor echi $motor_driver_type [params \ -# asyncqueue mc4\ -# axis B\ -# units degrees\ -# maxSpeed xxxx\ -# maxAccel xxxx\ -# maxDecel xxxx\ -# stepsPerX xxxx\ -# absEnc 1\ -# absEncHome $echi_Home\ -# cntsPerX xxxx] -#setHomeandRange -motor echi -home 0 -lowrange 180 -uprange 180 - # Slit 2, right Motor ss2r $motor_driver_type [params \ asyncqueue mc4\ diff --git a/site_ansto/instrument/hrpd/config/motors/tilt_configuration.tcl b/site_ansto/instrument/hrpd/config/motors/tilt_configuration.tcl new file mode 100644 index 00000000..d7206f3b --- /dev/null +++ b/site_ansto/instrument/hrpd/config/motors/tilt_configuration.tcl @@ -0,0 +1,84 @@ +# Sample Tilt 1, upper, phi +Motor sphi $motor_driver_type [params \ + asyncqueue mc2\ + axis A\ + units degrees\ + hardlowerlim -16\ + hardupperlim 16\ + maxSpeed 2\ + maxAccel 1\ + maxDecel 1\ + stepsPerX -25000\ + absEnc 1\ + absEncHome $sphi_Home\ + cntsPerX -8192] +setHomeandRange -motor sphi -home 0 -lowrange 16 -uprange 16 +sphi speed 1 +sphi movecount $move_count +sphi precision 0.01 +sphi part sample +sphi long_name phi + +# Sample Tilt 2, lower, chi +Motor schi $motor_driver_type [params \ + asyncqueue mc2\ + axis B\ + units degrees\ + hardlowerlim 74\ + hardupperlim 106\ + maxSpeed 2\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000\ + absEnc 1\ + absEncHome $schi_Home\ + cntsPerX 8192] +setHomeandRange -motor schi -home 90 -lowrange 16 -uprange 16 +schi speed 1 +schi movecount $move_count +schi precision 0.01 +schi part sample +schi long_name chi + +# Sample Trans 1, upper, y +Motor sy $motor_driver_type [params \ + asyncqueue mc2\ + axis C\ + units mm\ + hardlowerlim -20\ + hardupperlim 20\ + maxSpeed 2\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000\ + absEnc 1\ + absEncHome $sy_Home\ + cntsPerX 8192] +setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20 +sy speed 1 +sy movecount $move_count +sy precision 0.01 +sy part sample +sy long_name translate_y + +# Sample Trans2, lower, x +Motor sx $motor_driver_type [params \ + asyncqueue mc2\ + axis D\ + units mm\ + hardlowerlim -20\ + hardupperlim 20\ + maxSpeed 2\ + maxAccel 1\ + maxDecel 1\ + stepsPerX -25000\ + absEnc 1\ + absEncHome $sx_Home\ + cntsPerX -8192] +setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20 +sx speed 1 +sx movecount $move_count +sx precision 0.01 +sx part sample +sx long_name translate_x + diff --git a/site_ansto/instrument/hrpd/echidna_configuration.tcl b/site_ansto/instrument/hrpd/echidna_configuration.tcl index a1119de7..039fa5ea 100644 --- a/site_ansto/instrument/hrpd/echidna_configuration.tcl +++ b/site_ansto/instrument/hrpd/echidna_configuration.tcl @@ -25,40 +25,30 @@ fileeval $cfPath(motors)/positmotor_configuration.tcl fileeval $cfPath(plc)/plc.tcl fileeval $cfPath(counter)/counter.tcl #TODO Provide method for choosing environment controller -fileeval $cfPath(environment)/temperature/lakeshore340.tcl -fileeval $cfPath(environment)/temperature/sct_lakeshore_3xx.tcl +fileeval $cfPath(environment)/temperature/sct_lakeshore_336.tcl +fileeval $cfPath(environment)/temperature/sct_lakeshore_340.tcl fileeval $cfPath(environment)/temperature/west400.tcl fileeval $cfPath(hmm)/hmm_configuration.tcl fileeval $cfPath(nexus)/nxscripts.tcl fileeval $cfPath(scan)/scan.tcl fileeval $cfPath(commands)/commands.tcl fileeval $cfPath(anticollider)/anticollider.tcl -fileeval $cfPath(environment)/robby_configuration.tcl +#fileeval $cfPath(environment)/robby_configuration.tcl +fileeval $cfPath(robots)/sct_pickandplace.tcl source gumxml.tcl -# ::environment::temperature::add_ls340 tc1 137.157.201.86 1 -# ::environment::temperature::add_ls340 tc2 137.157.201.86 2 -## -# New lakeshore driver. BETA status. Data saving not tested -#add_ls340t tc1 ca5-[instname] 4001 -#add_ls340t tc2 ca5-[instname] 4002 - -# New Lakeshore series driver for models 340 and 336 -# driverName shortName IP-address portOnMoxa temperatureTolerance1 Tolerance2 LakeshoreModel -# ffr 2009-11-11: NOTE I've added a line terminator argument to the ls3xx setup. -# You need to set the line termintator to either "\r\n" for CRLF or "\r" for CR -# axm 2010-02-10: NOTE the ls3xx driver versions 2010-01-25 and newer expect 2 tolerance values, -# one for each control loop. -# name IP-address port term tol1 tol2 LakeshoreModel -# add_ls3xx tc1 137.157.201.23 7777 "\r\n" 2.0 10.0 336 - -###add_ls3xx tc1 137.157.201.23 7777 "\r\n" 5.0 336 -#add_ls3xx tc1 ca5-[instname] 4001 "\r\n" 0.5 340 -#add_ls3xx tc2 ca5-[instname] 4001 "\r" 0.5 340 +########################################################## +# Current driver for Lakeshore temperature controllers # +########################################################## +# driverName shortName IP-address port LineTerminator Tolerance1 Tolerance2 optional_Verbose +#add_sct_ls336 tc1 137.157.201.23 7777 "\r\n" 5.0 5.0 +#add_sct_ls340 tc2 ca5-[instname] 4001 "\r" 0.5 1.0 #::environment::temperature::add_west400 137.157.201.14 -###::robot::add_robby +#::robot::add_robby +add_robot robby 137.157.201.26 6000 +#add_robot rosie 137.157.201.26 6000 server_init ########################################### # WARNING: Do not add any code below server_init, if you do SICS may fail to initialise properly.