New aperture encoders and beamstops 4 and 5 added to Bilby.

2014-06-16 11:37:58 +10:00
parent f9a8b2b005
commit e817fc9ed7
3 changed files with 188 additions and 90 deletions
--- a/site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv
+++ b/site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv
@ -5,18 +5,18 @@ ap1_description,Aperture Selector (Collimator SEG 1 Start)
 ap1_dflt_accel_steps,50000
 ap1_dflt_decel_steps,50000
 ap1_dflt_speed_steps,50000
-ap1_fwd_enc_lim,112188
+ap1_fwd_enc_lim,1332159
 ap1_maxaccel,2.8125
 ap1_maxdecel,2.8125
 ap1_maxspeed,2.8125
 ap1_mc,mc1
 ap1_part,collimator
-ap1_pos1,86208
-ap1_pos2,91680
-ap1_pos3,97116
-ap1_pos4,102604
-ap1_pos5,110608
-ap1_rev_enc_lim,73952
+ap1_pos1,1306055
+ap1_pos2,1311527
+ap1_pos3,1316963
+ap1_pos4,1322451
+ap1_pos5,1330455
+ap1_rev_enc_lim,1293799
 ap1_steps_per_x,35555.5555555556
 ap1_units,degrees
 ap2_axis,B
@ -26,18 +26,18 @@ ap2_description,Aperture Selector (COLLIMATION SEG 2)
 ap2_dflt_accel_steps,50000
 ap2_dflt_decel_steps,50000
 ap2_dflt_speed_steps,50000
-ap2_fwd_enc_lim,95461
+ap2_fwd_enc_lim,1250996
 ap2_maxaccel,2.8125
 ap2_maxdecel,2.8125
 ap2_maxspeed,2.8125
 ap2_mc,mc1
 ap2_part,collimator
-ap2_pos1,69193
-ap2_pos2,74677
-ap2_pos3,80149
-ap2_pos4,85637
-ap2_pos5,93637
-ap2_rev_enc_lim,54293
+ap2_pos1,1226559
+ap2_pos2,1232043
+ap2_pos3,1237515
+ap2_pos4,1243003
+ap2_pos5,1251003
+ap2_rev_enc_lim,1211659
 ap2_steps_per_x,35555.5555555556
 ap2_units,degrees
 ap3_axis,C
@ -47,18 +47,18 @@ ap3_description,Aperture Selector (COLLIMATION SEG 3)
 ap3_dflt_accel_steps,50000
 ap3_dflt_decel_steps,50000
 ap3_dflt_speed_steps,50000
-ap3_fwd_enc_lim,51616
+ap3_fwd_enc_lim,513056
 ap3_maxaccel,2.8125
 ap3_maxdecel,2.8125
 ap3_maxspeed,2.8125
 ap3_mc,mc1
 ap3_part,collimator
-ap3_pos1,25168
-ap3_pos2,30656
-ap3_pos3,36080
-ap3_pos4,41532
-ap3_pos5,49584
-ap3_rev_enc_lim,13644
+ap3_pos1,487344
+ap3_pos2,492832
+ap3_pos3,498256
+ap3_pos4,503708
+ap3_pos5,511760
+ap3_rev_enc_lim,475820
 ap3_steps_per_x,35555.5555555556
 ap3_units,degrees
 ap4_axis,D
@ -68,18 +68,18 @@ ap4_description,Aperture Selector (COLLIMATION SEG 4)
 ap4_dflt_accel_steps,50000
 ap4_dflt_decel_steps,50000
 ap4_dflt_speed_steps,50000
-ap4_fwd_enc_lim,45234
+ap4_fwd_enc_lim,482644
 ap4_maxaccel,2.8125
 ap4_maxdecel,2.8125
 ap4_maxspeed,2.8125
 ap4_mc,mc1
 ap4_part,collimator
-ap4_pos1,19118
-ap4_pos2,24578
-ap4_pos3,30038
-ap4_pos4,35490
-ap4_pos5,43506
-ap4_rev_enc_lim,5666
+ap4_pos1,456803
+ap4_pos2,462263
+ap4_pos3,467723
+ap4_pos4,473175
+ap4_pos5,481191
+ap4_rev_enc_lim,443351
 ap4_steps_per_x,35555.5555555556
 ap4_units,degrees
 ap5_axis,E
@ -89,18 +89,18 @@ ap5_description,Aperture Selector (COLLIMATION SEG 5)
 ap5_dflt_accel_steps,50000
 ap5_dflt_decel_steps,50000
 ap5_dflt_speed_steps,50000
-ap5_fwd_enc_lim,110696
+ap5_fwd_enc_lim,572880
 ap5_maxaccel,2.8125
 ap5_maxdecel,2.8125
 ap5_maxspeed,2.8125
 ap5_mc,mc1
 ap5_part,collimator
-ap5_pos1,85076
-ap5_pos2,90552
-ap5_pos3,96008
-ap5_pos4,101476
-ap5_pos5,109480
-ap5_rev_enc_lim,72824
+ap5_pos1,547985
+ap5_pos2,553461
+ap5_pos3,558917
+ap5_pos4,564385
+ap5_pos5,572389
+ap5_rev_enc_lim,535733
 ap5_steps_per_x,35555.5555555556
 ap5_units,degrees
 ap6_axis,F
@ -110,18 +110,18 @@ ap6_description,Aperture Selector (COLLIMATION SEG 6)
 ap6_dflt_accel_steps,50000
 ap6_dflt_decel_steps,50000
 ap6_dflt_speed_steps,50000
-ap6_fwd_enc_lim,112435
+ap6_fwd_enc_lim,1140639
 ap6_maxaccel,2.8125
 ap6_maxdecel,2.8125
 ap6_maxspeed,2.8125
 ap6_mc,mc1
 ap6_part,collimator
-ap6_pos1,86097
-ap6_pos2,91587
-ap6_pos3,97011
-ap6_pos4,102419
-ap6_pos5,110499
-ap6_rev_enc_lim,72115
+ap6_pos1,1115037
+ap6_pos2,1120527
+ap6_pos3,1125951
+ap6_pos4,1131359
+ap6_pos5,1139439
+ap6_rev_enc_lim,1101055
 ap6_steps_per_x,35555.5555555556
 ap6_units,degrees
 ap7_axis,G
@ -131,18 +131,18 @@ ap7_description,Aperture Selector (COLLIMATION SEG 7)
 ap7_dflt_accel_steps,50000
 ap7_dflt_decel_steps,50000
 ap7_dflt_speed_steps,50000
-ap7_fwd_enc_lim,112391
+ap7_fwd_enc_lim,1197104
 ap7_maxaccel,2.8125
 ap7_maxdecel,2.8125
 ap7_maxspeed,2.8125
 ap7_mc,mc1
 ap7_part,collimator
-ap7_pos1,85929
-ap7_pos2,91399
-ap7_pos3,96871
-ap7_pos4,102343
-ap7_pos5,110371
-ap7_rev_enc_lim,74299
+ap7_pos1,1171318
+ap7_pos2,1176788
+ap7_pos3,1182260
+ap7_pos4,1187732
+ap7_pos5,1195760
+ap7_rev_enc_lim,1159688
 ap7_steps_per_x,35555.5555555556
 ap7_units,degrees
 ap8_axis,H
@ -152,18 +152,18 @@ ap8_description,Aperture Selector (Collimator SEG 8 End)
 ap8_dflt_accel_steps,50000
 ap8_dflt_decel_steps,50000
 ap8_dflt_speed_steps,50000
-ap8_fwd_enc_lim,47639
+ap8_fwd_enc_lim,1154048
 ap8_maxaccel,2.8125
 ap8_maxdecel,2.8125
 ap8_maxspeed,2.8125
 ap8_mc,mc1
 ap8_part,collimator
-ap8_pos1,21657
-ap8_pos2,27115
-ap8_pos3,32629
-ap8_pos4,38027
-ap8_pos5,46069
-ap8_rev_enc_lim,6791
+ap8_pos1,1128702
+ap8_pos2,1134160
+ap8_pos3,1139674
+ap8_pos4,1145072
+ap8_pos5,1153114
+ap8_rev_enc_lim,1113836
 ap8_steps_per_x,35555.5555555556
 ap8_units,degrees
 att_axis,A
@ -187,22 +187,60 @@ att_pos5,33045750
 att_rev_enc_lim,33021197
 att_steps_per_x,-4166.66666666667
 att_units,mm
+bs3_absenchome,655023
 bs3_axis,C
 bs3_axis_number,43
-bs3_cnts_per_x,728.177777777778
+bs3_cnts_per_x,3640.88888888889
 bs3_description,beam stop 3
-bs3_dflt_accel_steps,12500
-bs3_dflt_decel_steps,12500
-bs3_dflt_speed_steps,12500
-bs3_fwd_enc_lim,300855
-bs3_maxaccel,5.625
-bs3_maxdecel,5.625
-bs3_maxspeed,5.625
+bs3_dflt_accel_steps,25000
+bs3_dflt_decel_steps,25000
+bs3_dflt_speed_steps,50000
+bs3_fwd_enc_lim,410774
+bs3_home,0
+bs3_maxaccel,4.5
+bs3_maxdecel,4.5
+bs3_maxspeed,4.5
 bs3_mc,mc6
 bs3_part,detector
-bs3_rev_enc_lim,351548
-bs3_steps_per_x,2222.22222222222
-bs3_units,mm
+bs3_rev_enc_lim,664081
+bs3_steps_per_x,11111.1111111111
+bs3_units,degrees
+bs4_absenchome,612184
+bs4_axis,D
+bs4_axis_number,44
+bs4_cnts_per_x,3640.88888888889
+bs4_description,beam stop 4
+bs4_dflt_accel_steps,25000
+bs4_dflt_decel_steps,25000
+bs4_dflt_speed_steps,50000
+bs4_fwd_enc_lim,369591
+bs4_home,0
+bs4_maxaccel,4.5
+bs4_maxdecel,4.5
+bs4_maxspeed,4.5
+bs4_mc,mc6
+bs4_part,detector
+bs4_rev_enc_lim,620333
+bs4_steps_per_x,11111.1111111111
+bs4_units,degrees
+bs5_absenchome,1366111
+bs5_axis,E
+bs5_axis_number,45
+bs5_cnts_per_x,3640.88888888889
+bs5_description,beam stop 5
+bs5_dflt_accel_steps,25000
+bs5_dflt_decel_steps,25000
+bs5_dflt_speed_steps,50000
+bs5_fwd_enc_lim,1131558
+bs5_home,0
+bs5_maxaccel,4.5
+bs5_maxdecel,4.5
+bs5_maxspeed,4.5
+bs5_mc,mc6
+bs5_part,detector
+bs5_rev_enc_lim,1377876
+bs5_steps_per_x,11111.1111111111
+bs5_units,degrees
 carriage_minsep,3014
 curtaind_absenchome,15660695
 curtaind_axis,F
--- a/site_ansto/instrument/bilby/config/motors/generated_motor_configuration.tcl
+++ b/site_ansto/instrument/bilby/config/motors/generated_motor_configuration.tcl
@ -349,6 +349,58 @@ bs3 speed $bs3_speed
 bs3 accel $bs3_accel
 bs3 decel $bs3_decel

+# bs4 configuration
+# beam stop 4
+# Axis number 44
+Motor bs4 $motor_driver_type [params\
+  asyncqueue mc6\
+  axis D\
+  units $bs4_units\
+  hardlowerlim $bs4_rev_lim\
+  hardupperlim $bs4_fwd_lim\
+  maxSpeed $bs4_maxspeed\
+  maxAccel $bs4_maxaccel\
+  maxDecel $bs4_maxdecel\
+  stepsPerX $bs4_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $bs4_absenchome\
+  cntsPerX $bs4_cnts_per_x]
+bs4 softlowerlim $bs4_rev_lim
+bs4 softupperlim $bs4_fwd_lim
+bs4 home $bs4_home
+bs4 part $bs4_part
+bs4 long_name bs4
+bs4 speed $bs4_speed
+bs4 accel $bs4_accel
+bs4 decel $bs4_decel
+
+# bs5 configuration
+# beam stop 5
+# Axis number 45
+Motor bs5 $motor_driver_type [params\
+  asyncqueue mc6\
+  axis E\
+  units $bs5_units\
+  hardlowerlim $bs5_rev_lim\
+  hardupperlim $bs5_fwd_lim\
+  maxSpeed $bs5_maxspeed\
+  maxAccel $bs5_maxaccel\
+  maxDecel $bs5_maxdecel\
+  stepsPerX $bs5_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $bs5_absenchome\
+  cntsPerX $bs5_cnts_per_x]
+bs5 softlowerlim $bs5_rev_lim
+bs5 softupperlim $bs5_fwd_lim
+bs5 home $bs5_home
+bs5 part $bs5_part
+bs5 long_name bs5
+bs5 speed $bs5_speed
+bs5 accel $bs5_accel
+bs5 decel $bs5_decel
+
 # curtaind configuration
 # CURTAIN DETECTOR BOTTOM TRANSLATION
 # Axis number 62
--- a/site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv
+++ b/site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv
@ -1,56 +1,56 @@
-ap1_absenchome,73952.0000
+ap1_absenchome,1293799.0000
 ap1_accel,1.4062
 ap1_decel,1.4062
-ap1_fwd_lim,105.0183
+ap1_fwd_lim,105.3589
 ap1_home,0.0000
 ap1_rev_lim,0.0000
 ap1_speed,1.4062
-ap2_absenchome,54293.0000
+ap2_absenchome,1211659.0000
 ap2_accel,1.4062
 ap2_decel,1.4062
-ap2_fwd_lim,113.0713
+ap2_fwd_lim,108.0423
 ap2_home,0.0000
 ap2_rev_lim,0.0000
 ap2_speed,1.4062
-ap3_absenchome,13644.0000
+ap3_absenchome,475820.0000
 ap3_accel,1.4062
 ap3_decel,1.4062
-ap3_fwd_lim,104.2932
+ap3_fwd_lim,102.2717
 ap3_home,0.0000
 ap3_rev_lim,0.0000
 ap3_speed,1.4062
-ap4_absenchome,5666.0000
+ap4_absenchome,443351.0000
 ap4_accel,1.4062
 ap4_decel,1.4062
-ap4_fwd_lim,108.6768
+ap4_fwd_lim,107.9214
 ap4_home,0.0000
 ap4_rev_lim,0.0000
 ap4_speed,1.4062
-ap5_absenchome,72824.0000
+ap5_absenchome,535733.0000
 ap5_accel,1.4062
 ap5_decel,1.4062
-ap5_fwd_lim,104.0186
+ap5_fwd_lim,102.0273
 ap5_home,0.0000
 ap5_rev_lim,0.0000
 ap5_speed,1.4062
-ap6_absenchome,72115.0000
+ap6_absenchome,1101055.0000
 ap6_accel,1.4062
 ap6_decel,1.4062
-ap6_fwd_lim,110.7422
+ap6_fwd_lim,108.7207
 ap6_home,0.0000
 ap6_rev_lim,0.0000
 ap6_speed,1.4062
-ap7_absenchome,74299.0000
+ap7_absenchome,1159688.0000
 ap7_accel,1.4062
 ap7_decel,1.4062
-ap7_fwd_lim,104.6228
+ap7_fwd_lim,102.7661
 ap7_home,0.0000
 ap7_rev_lim,0.0000
 ap7_speed,1.4062
-ap8_absenchome,6791.0000
+ap8_absenchome,1113836.0000
 ap8_accel,1.4062
 ap8_decel,1.4062
-ap8_fwd_lim,112.1924
+ap8_fwd_lim,110.4456
 ap8_home,0.0000
 ap8_rev_lim,0.0000
 ap8_speed,1.4062
@ -61,13 +61,21 @@ att_fwd_lim,273.7734
 att_home,0.0000
 att_rev_lim,0.0000
 att_speed,3.6000
-bs3_absenchome,351548.0000
-bs3_accel,5.6250
-bs3_decel,5.6250
-bs3_fwd_lim,-69.6162
-bs3_home,0.0000
-bs3_rev_lim,0.0000
-bs3_speed,5.6250
+bs3_accel,2.2500
+bs3_decel,2.2500
+bs3_fwd_lim,-67.0850
+bs3_rev_lim,2.4879
+bs3_speed,4.5000
+bs4_accel,2.2500
+bs4_decel,2.2500
+bs4_fwd_lim,-66.6302
+bs4_rev_lim,2.2382
+bs4_speed,4.5000
+bs5_accel,2.2500
+bs5_decel,2.2500
+bs5_fwd_lim,-64.4219
+bs5_rev_lim,3.2314
+bs5_speed,4.5000
 curtaind_accel,0.2500
 curtaind_decel,0.2500
 curtaind_fwd_lim,396.5238