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

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
+