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
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
2e658ff4a9
commit
d274698ff4
@@ -2,8 +2,8 @@ config/source/source_common.tcl
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config/anticollider/anticollider_common.tcl
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config/plc/plc_common_1.tcl
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config/counter/counter_common_1.tcl
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config/environment/temperature/lakeshore340_common.tcl
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config/environment/temperature/sct_lakeshore_3xx.tcl
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config/environment/temperature/sct_lakeshore_340.tcl
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config/environment/temperature/sct_lakeshore_336.tcl
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config/environment/temperature/west400.tcl
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config/hipadaba/hipadaba_configuration_common.tcl
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config/hipadaba/common_instrument_dictionary.tcl
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@@ -12,6 +12,7 @@ config/hmm/hmm_configuration_common_1.tcl
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config/hmm/hmm_object.tcl
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config/hmm/hmm_cylindrical_detector_configuration.tcl
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config/hmm/anstohm_linked.xml
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config/robots/sct_pickandplace.tcl
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config/scan/scan_common_1.hdd
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config/scan/scan_common_1.tcl
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config/nexus/nxscripts_common_1.tcl
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@@ -28,6 +28,21 @@ proc ::histogram_memory::init_SAT_TABLE {} {
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}
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}
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proc CAT_TABLE {args} {
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return {
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<CAT>
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<WIX APPLY="ENABLE" MIN_RAW="0" MAX_RAW="127" TABLE_SIZE="128">
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<link_numeric_file filename="../../echidna_wix.dat" default_filename="../HMconfig/Default/echidna_wix.dat" />
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</WIX>
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<OFFSET_Y_PER_X APPLY="ENABLE" MIN_RAW="0" MAX_RAW="127" TABLE_SIZE="128" BASE_VAL="0">
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<link_numeric_file filename="../../echidna_offset_y_per_x.dat" default_filename="../HMconfig/Default/echidna_offset_y_per_x.dat" />
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</OFFSET_Y_PER_X>
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<MAGNIFY APPLY="ENABLE" MIN_RAW="0" MAX_RAW="127" TABLE_SIZE="128" DIRECTION="X" MAX_IN="479" MAX_OUT="479" RANGE="UNSIGNED">
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<link_numeric_file filename="../../echidna_magnify.dat" default_filename="../HMconfig/Default/echidna_magnify.dat" />
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</MAGNIFY>
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</CAT>
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}
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}
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proc ::histogram_memory::init_CAT_TABLE {} {
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CAT_TABLE -set MESYTEC_MPSD8_CHANNEL_GAINS {
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1.00 1.00 1.00 1.00 1.00 1.00 1.00 1.00
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@@ -142,7 +157,7 @@ proc ::histogram_memory::isc_initialize {} {
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hmm configure $INST_NXC 64
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}
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BAT_TABLE -init
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CAT_TABLE -init
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# CAT_TABLE -init
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SAT_TABLE -init
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OAT_TABLE -init
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FAT_TABLE -init
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@@ -162,7 +177,7 @@ proc ::histogram_memory::isc_initialize {} {
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# hmm configure FAT_SIMULATED_EVENT_X1 $xbbmax
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::histogram_memory::init_OAT_TABLE
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::histogram_memory::init_SAT_TABLE
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::histogram_memory::init_CAT_TABLE
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# ::histogram_memory::init_CAT_TABLE
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::histogram_memory::upload_config Filler_defaults
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set ::histogram_memory::histmem_axes(HOR) /instrument/detector/x_pixel_angular_offset
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@@ -0,0 +1,74 @@
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# This must be loaded by motor_configuration.tcl
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set ephi_Home 6647698
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set echi_Home 8919294
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set eom_Home 23165482
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# Sample Tilt 1, euler omega stage
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Motor eom $motor_driver_type [params \
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asyncqueue mc2\
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axis A\
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units degrees\
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hardlowerlim -45\
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hardupperlim 80\
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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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absEnc 1\
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absEncHome $eom_Home\
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cntsPerX -8192]
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setHomeandRange -motor eom -home 0 -lowrange 35 -uprange 80
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eom speed 1
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eom movecount $move_count
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eom precision 0.01
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eom part sample
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eom long_name euler_omega
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# Sample Tilt 2, euler chi stage
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Motor echi $motor_driver_type [params \
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asyncqueue mc2\
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axis B\
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units degrees\
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hardlowerlim -32\
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hardupperlim 97\
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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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absEnc 1\
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absEncHome $echi_Home\
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cntsPerX 8192]
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setHomeandRange -motor echi -home 0 -lowrange 10 -uprange 95
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echi softlowerlim -10
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echi softupperlim 90
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echi home 0
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echi speed 1
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echi movecount $move_count
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echi precision 0.01
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echi part sample
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echi long_name euler_chi
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# Sample Trans 1, upper, y
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Motor ephi $motor_driver_type [params \
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asyncqueue mc2\
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axis C\
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units degrees\
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hardlowerlim -185\
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hardupperlim 185\
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maxSpeed 5\
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maxAccel 5\
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maxDecel 1\
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stepsPerX -12500\
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absEnc 1\
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absEncHome $ephi_Home\
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cntsPerX -4096]
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setHomeandRange -motor ephi -home 0 -lowrange 180 -uprange 180
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ephi softlowerlim -180
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ephi softupperlim 180
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ephi home 0
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ephi speed 1
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ephi movecount $move_count
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ephi precision 0.01
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ephi part sample
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ephi long_name euler_phi
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@@ -107,6 +107,8 @@ set slit2HGroup second/horizontal
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# hnotify messages to a reasonable level
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set move_count 10
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fileeval $cfPath(motors)/tilt_configuration.tcl
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#fileeval $cfPath(motors)/euler_configuration.tcl
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############################
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# Motor Controller 1
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# Motor Controller 1
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@@ -354,90 +356,6 @@ scr long_name secondary_collimator_rotation
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# Motor Controller 2
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############################
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# Sample Tilt 1, upper, phi
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Motor sphi $motor_driver_type [params \
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asyncqueue mc2\
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axis A\
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units degrees\
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hardlowerlim -16\
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hardupperlim 16\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -25000\
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absEnc 1\
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absEncHome $sphi_Home\
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cntsPerX -8192]
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setHomeandRange -motor sphi -home 0 -lowrange 16 -uprange 16
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sphi speed 1
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sphi movecount $move_count
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sphi precision 0.01
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sphi part sample
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sphi long_name phi
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# Sample Tilt 2, lower, chi
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Motor schi $motor_driver_type [params \
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asyncqueue mc2\
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axis B\
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units degrees\
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hardlowerlim 74\
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hardupperlim 106\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome $schi_Home\
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cntsPerX 8192]
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setHomeandRange -motor schi -home 90 -lowrange 16 -uprange 16
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schi speed 1
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schi movecount $move_count
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schi precision 0.01
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schi part sample
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schi long_name chi
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# Sample Trans 1, upper, y
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Motor sy $motor_driver_type [params \
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asyncqueue mc2\
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axis C\
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units mm\
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hardlowerlim -20\
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hardupperlim 20\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome $sy_Home\
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cntsPerX 8192]
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setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
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sy speed 1
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sy movecount $move_count
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sy precision 0.01
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sy part sample
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sy long_name translate_y
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# Sample Trans2, lower, x
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Motor sx $motor_driver_type [params \
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asyncqueue mc2\
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axis D\
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units mm\
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hardlowerlim -20\
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hardupperlim 20\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -25000\
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absEnc 1\
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absEncHome $sx_Home\
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cntsPerX -8192]
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setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
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sx speed 1
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sx movecount $move_count
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sx precision 0.01
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sx part sample
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sx long_name translate_x
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# Sample Omega, rotate
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Motor som $motor_driver_type [params \
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asyncqueue mc2\
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@@ -606,34 +524,6 @@ ss1d long_name first_bottom
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############################
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#
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# Little is known about the Eulerian Cradle
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## Eulerian-phi
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#Motor ephi $motor_driver_type [params \
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# asyncqueue mc4\
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# axis A\
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# units degrees\
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# maxSpeed xxxx\
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# maxAccel xxxx\
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# maxDecel xxxx\
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# stepsPerX xxxx\
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# absEnc 1\
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# absEncHome $ephi_Home\
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# cntsPerX xxxx]
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#setHomeandRange -motor ephi -home 0 -lowrange 180 -uprange 180
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#Motor echi $motor_driver_type [params \
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# asyncqueue mc4\
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# axis B\
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# units degrees\
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# maxSpeed xxxx\
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# maxAccel xxxx\
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# maxDecel xxxx\
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# stepsPerX xxxx\
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# absEnc 1\
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# absEncHome $echi_Home\
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# cntsPerX xxxx]
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#setHomeandRange -motor echi -home 0 -lowrange 180 -uprange 180
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# Slit 2, right
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Motor ss2r $motor_driver_type [params \
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asyncqueue mc4\
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@@ -0,0 +1,84 @@
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# Sample Tilt 1, upper, phi
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Motor sphi $motor_driver_type [params \
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asyncqueue mc2\
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axis A\
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units degrees\
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hardlowerlim -16\
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hardupperlim 16\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -25000\
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absEnc 1\
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absEncHome $sphi_Home\
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cntsPerX -8192]
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setHomeandRange -motor sphi -home 0 -lowrange 16 -uprange 16
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sphi speed 1
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sphi movecount $move_count
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sphi precision 0.01
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sphi part sample
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sphi long_name phi
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# Sample Tilt 2, lower, chi
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Motor schi $motor_driver_type [params \
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asyncqueue mc2\
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axis B\
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units degrees\
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hardlowerlim 74\
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hardupperlim 106\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome $schi_Home\
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cntsPerX 8192]
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setHomeandRange -motor schi -home 90 -lowrange 16 -uprange 16
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schi speed 1
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schi movecount $move_count
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schi precision 0.01
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schi part sample
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schi long_name chi
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# Sample Trans 1, upper, y
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Motor sy $motor_driver_type [params \
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asyncqueue mc2\
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axis C\
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units mm\
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hardlowerlim -20\
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hardupperlim 20\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome $sy_Home\
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cntsPerX 8192]
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setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
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sy speed 1
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sy movecount $move_count
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sy precision 0.01
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sy part sample
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sy long_name translate_y
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# Sample Trans2, lower, x
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Motor sx $motor_driver_type [params \
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asyncqueue mc2\
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axis D\
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units mm\
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hardlowerlim -20\
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hardupperlim 20\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -25000\
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absEnc 1\
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absEncHome $sx_Home\
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cntsPerX -8192]
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setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
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sx speed 1
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sx movecount $move_count
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sx precision 0.01
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sx part sample
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sx long_name translate_x
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@@ -25,40 +25,30 @@ fileeval $cfPath(motors)/positmotor_configuration.tcl
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fileeval $cfPath(plc)/plc.tcl
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fileeval $cfPath(counter)/counter.tcl
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#TODO Provide method for choosing environment controller
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fileeval $cfPath(environment)/temperature/lakeshore340.tcl
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fileeval $cfPath(environment)/temperature/sct_lakeshore_3xx.tcl
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fileeval $cfPath(environment)/temperature/sct_lakeshore_336.tcl
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fileeval $cfPath(environment)/temperature/sct_lakeshore_340.tcl
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fileeval $cfPath(environment)/temperature/west400.tcl
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fileeval $cfPath(hmm)/hmm_configuration.tcl
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fileeval $cfPath(nexus)/nxscripts.tcl
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fileeval $cfPath(scan)/scan.tcl
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fileeval $cfPath(commands)/commands.tcl
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fileeval $cfPath(anticollider)/anticollider.tcl
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fileeval $cfPath(environment)/robby_configuration.tcl
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#fileeval $cfPath(environment)/robby_configuration.tcl
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fileeval $cfPath(robots)/sct_pickandplace.tcl
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source gumxml.tcl
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# ::environment::temperature::add_ls340 tc1 137.157.201.86 1
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# ::environment::temperature::add_ls340 tc2 137.157.201.86 2
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##
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# New lakeshore driver. BETA status. Data saving not tested
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#add_ls340t tc1 ca5-[instname] 4001
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#add_ls340t tc2 ca5-[instname] 4002
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# New Lakeshore series driver for models 340 and 336
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# driverName shortName IP-address portOnMoxa temperatureTolerance1 Tolerance2 LakeshoreModel
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# ffr 2009-11-11: NOTE I've added a line terminator argument to the ls3xx setup.
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# You need to set the line termintator to either "\r\n" for CRLF or "\r" for CR
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# axm 2010-02-10: NOTE the ls3xx driver versions 2010-01-25 and newer expect 2 tolerance values,
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# one for each control loop.
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# name IP-address port term tol1 tol2 LakeshoreModel
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# add_ls3xx tc1 137.157.201.23 7777 "\r\n" 2.0 10.0 336
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###add_ls3xx tc1 137.157.201.23 7777 "\r\n" 5.0 336
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#add_ls3xx tc1 ca5-[instname] 4001 "\r\n" 0.5 340
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#add_ls3xx tc2 ca5-[instname] 4001 "\r" 0.5 340
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##########################################################
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# Current driver for Lakeshore temperature controllers #
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##########################################################
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# driverName shortName IP-address port LineTerminator Tolerance1 Tolerance2 optional_Verbose
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#add_sct_ls336 tc1 137.157.201.23 7777 "\r\n" 5.0 5.0
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#add_sct_ls340 tc2 ca5-[instname] 4001 "\r" 0.5 1.0
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#::environment::temperature::add_west400 137.157.201.14
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###::robot::add_robby
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#::robot::add_robby
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add_robot robby 137.157.201.26 6000
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#add_robot rosie 137.157.201.26 6000
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server_init
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###########################################
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# WARNING: Do not add any code below server_init, if you do SICS may fail to initialise properly.
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Block a user