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
@@ -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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