Set home for sx, sy, som, ephi, echi

Set motOffDelay for mtth Enable sz and disable debug Incorporated config parameter changes for sz,sy,som, stth, psho, psp, psw, ssho, ssp, ssw Incorporated eulerian config: TODO Use a flag to select the eulerian config. r2707 | ffr | 2008-09-25 09:42:08 +1000 (Thu, 25 Sep 2008) | 6 lines
2008-09-25 09:42:08 +10:00
parent c30ce9c5a0
commit e1978867e9
1 changed files with 128 additions and 24 deletions
--- a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
@@ -35,8 +35,11 @@ if {$sim_mode == "true"} {
 #  7830128, 7493025, 7431942, 7891548, 28473828, 11307802, 0, 0
 set mphi_Home 7830128
 set mchi_Home 7493025
+#
 set mx_Home 7431942
 set my_Home 7891548
+#
+#
 set mom_Home 28473827
 #set mtth_Home 11706130
 set mtth_Home 11701800
@@ -53,7 +56,7 @@ set sz_home 2147457295
 #
 #set sx_Home 9065892
 #set sx_Home 9067806
-set sx_Home 9072935
+set sx_Home 9077566

 #set sy_Home 7230717
 # set value from 7223739 to 7224686 after cor 5.12.07
@@ -61,12 +64,18 @@ set sx_Home 9072935
 #set sy_Home 7224686
 #set sy_Home 18597074
 #set sy_Home 18782188
-set sy_Home 18771918
+set sy_Home 18773863
+
+#set som_Home 23164850
+set som_Home 25063452

-set som_Home 23164850
 #set stth_Home 28686300
 #set stth_Home 29446192
 set stth_Home 29438973
+set stth_pitch 0.99946
+#
+# error on stth_pitch 1*10^-4
+#

 #set psho_home 542093
 set psho_home 7576691
@@ -94,6 +103,15 @@ set ssw_home 8215625

 set move_count 10

+
+#
+# Home value for Eulerian cradle
+#
+#
+set ephi_Home 6647676
+set echi_Home 8919319
+
+
 ############################
 # Motor Controller 1
 # Motor Controller 1
@@ -227,6 +245,7 @@ Motor mtth $motor_driver_type [params \
  cntsPerX [expr (1<<25)/360.0]]
 mtth softlowerlim 40
 mtth softupperlim 121
+mtth motOffDelay 20000
 mtth home 90
 mtth speed 0.2
 mtth movecount $move_count
@@ -249,7 +268,7 @@ mtth long_name takeoff_angle
 #:TP at HOME
 #

-if {0} {
+if {1} {
 # Sample Trans, vertical, first stage
 Motor sz $motor_driver_type [params \
  asyncqueue mc2\
@@ -257,20 +276,23 @@ Motor sz $motor_driver_type [params \
  units mm\
  hardlowerlim 0\
  hardupperlim 750\
-  maxSpeed 1\
+  maxSpeed 2\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX [expr -25000.0*(24.0/25.0)*50/11.0/2.0]\
+  stepsPerX [expr -25000.0*(24.0/25.0)*50/10.840/1.0]\
  absenc 1\
  absenchome $sz_home\
-  cntsPerX -[expr (1<<15)/260.09]]
+  cntsPerX -[expr (1<<15)/260.165]]
 setHomeandRange -motor sz -home 0 -lowrange 0 -uprange 350
-sz speed 1
-sz precision 0.01
+sz speed 2
 sz part sample
 sz backlash_offset -1
 sz blockage_ratio 5
-sz precision 0.025
+#sz Creep_Offset 0.1
+#sz precision 0.025
+sz Precision 0.1
+sz Creep_Offset 1
+sz Creep_Precision 0.01
 sz long_name translate_z

 # Sample Trans, vertical, second stage
@@ -383,8 +405,8 @@ Motor sy $motor_driver_type [params \
  cntsPerX [expr -8192.0/$sy_pitch]]
 setHomeandRange -motor sy -home 0 -lowrange 250 -uprange 250 
 sy speed 5
-sx accel 1.0
-sx decel 1.0
+sy accel 1.0
+sy decel 1.0
 sy movecount $move_count
 sy precision 0.01
 sy part sample
@@ -397,8 +419,8 @@ Motor som $motor_driver_type [params \
  asyncqueue mc2\
  axis E\
  units degrees\
-  hardlowerlim -275\
-  hardupperlim 95\
+  hardlowerlim -180\
+  hardupperlim 180\
  maxSpeed 2\
  maxAccel 5\
  maxDecel 5\
@@ -407,6 +429,7 @@ Motor som $motor_driver_type [params \
  absEncHome $som_Home\
  cntsPerX [expr -8192.0*(383.0/360.0)]]
 setHomeandRange -motor som -home 0 -lowrange 180 -uprange 180
+som backlash_offset 0.5
 som speed 1
 som accel 0.1
 som decel 0.1
@@ -419,19 +442,20 @@ Motor stth $motor_driver_type [params \
  asyncqueue mc2\
  axis F\
  units degrees\
-  hardlowerlim 0\
-  hardupperlim 120\
+  hardlowerlim 40\
+  hardupperlim 119.6\
  maxSpeed 0.5\
  maxAccel 0.1\
  maxDecel 0.1\
-  stepsPerX 25000\
+  stepsPerX [expr 25000.0/$stth_pitch]\
  absEnc 1\
  absEncHome $stth_Home\
-  cntsPerX -8192]
+  cntsPerX [expr -8192.0/$stth_pitch]]
 stth softlowerlim 0
 stth softupperlim 120
 stth home 0
 stth speed 0.5
+stth motOffDelay 15000
 stth movecount $move_count
 stth precision 0.01
 stth part sample
@@ -534,13 +558,14 @@ Motor psho $motor_driver_type [params \
  units mm\
  hardlowerlim 0\
  hardupperlim 30\
-  maxSpeed 1\
+  maxSpeed 4\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -25000\
  absenc 1\
  absenchome $psho_home\
  cntsPerX 8192]
+psho speed 4  
 psho Backlash_offset -0.3
 psho part slits.primary
 psho long_name horizontal_offset
@@ -553,13 +578,14 @@ Motor psp $motor_driver_type [params \
  units mm\
  hardlowerlim 0\
  hardupperlim 150\
-  maxSpeed 1\
+  maxSpeed 4\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absenc 1\
  absenchome $psp_home\
  cntsPerX -8192]
+psp speed 4  
 psp Backlash_offset -0.3
 psp part slits.primary
 psp long_name position
@@ -572,13 +598,14 @@ Motor psw $motor_driver_type [params \
  units mm\
  hardlowerlim 0\
  hardupperlim 30\
-  maxSpeed 1\
+  maxSpeed 4\
  maxAccel 1\
  maxDecel 1\
  stepsPerX +25000\
  absenc 1\
  absenchome $psw_home\
  cntsPerX -8192]
+psw speed 4  
 psw Backlash_offset 0.3  
 psw part slits.primary
 psw long_name width
@@ -586,6 +613,80 @@ setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30

 #--------------------------------------------------------

+
+
+
+# Sample Tilt 1, euler omega stage
+#Motor eom $motor_driver_type [params \
+#  asyncqueue mc2\
+#  axis A\
+#  units degrees\
+#  hardlowerlim -35\
+#  hardupperlim 55\
+#  maxSpeed 1\
+#  maxAccel 1\
+#  maxDecel 1\
+#  stepsPerX 25000\
+#  absEnc 1\
+#  absEncHome $eom_Home\
+#  cntsPerX -8192]
+#setHomeandRange -motor eom -home 0 -lowrange 35 -uprange 55
+#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 mc4\
+#  axis D\
+#  units degrees\
+#  hardlowerlim -10\
+#  hardupperlim 95\
+#  maxSpeed 3\
+#  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 3
+#echi movecount $move_count
+#echi precision 0.01
+#echi part sample
+#echi long_name euler_chi
+
+# Sample Tilt 2, euler phi stage
+#Motor ephi $motor_driver_type [params \
+#  asyncqueue mc4\
+#  axis E\
+#  units degrees\
+#  hardlowerlim -400\
+#  hardupperlim 400\
+#  maxSpeed 3\
+#  maxAccel 1\
+#  maxDecel 1\
+#  stepsPerX [expr -25000.0/2.0]\
+#  absEnc 1\
+#  absEncHome $ephi_Home\
+#  cntsPerX [expr -8192.0/2.0]]
+#setHomeandRange -motor ephi -home 0 -lowrange 400 -uprange 400
+#ephi softlowerlim -400
+#ephi softupperlim 400
+#ephi home 0
+#ehpi speed 3
+#ephi movecount $move_count
+#ephi precision 0.01
+#ephi part sample
+#ephi long_name euler_phi
+
+
+
 # Secondary Slit, horizontal offset
 Motor ssho $motor_driver_type [params \
  asyncqueue mc4\
@@ -593,13 +694,14 @@ Motor ssho $motor_driver_type [params \
  units mm\
  hardlowerlim 0\
  hardupperlim 38.5\
-  maxSpeed 1\
+  maxSpeed 4\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -25000\
  absenc 1\
  absenchome $ssho_home\
  cntsPerX 8192]
+ssho speed 4  
 ssho Backlash_offset -0.3  
 ssho part slits.secondary
 ssho long_name horizontal_offset
@@ -612,13 +714,14 @@ Motor ssp $motor_driver_type [params \
  units mm\
  hardlowerlim 0\
  hardupperlim 150\
-  maxSpeed 1\
+  maxSpeed 4\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absenc 1\
  absenchome $ssp_home\
  cntsPerX -8192]
+ssp speed 4  
 ssp Backlash_offset -0.3  
 ssp part slits.secondary
 ssp long_name position
@@ -631,13 +734,14 @@ Motor ssw $motor_driver_type [params \
  units mm\
  hardlowerlim 0\
  hardupperlim 30\
-  maxSpeed 1\
+  maxSpeed 4\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absenc 1\
  absenchome $ssw_home\
  cntsPerX -8192]
+ssw speed 4  
 ssw Backlash_offset 0.3  
 ssw part slits.secondary
 ssw long_name width