rename motors in line with echidna and wombat. refinements while driving through SICS.
r1658 | dcl | 2007-03-16 08:57:31 +1100 (Fri, 16 Mar 2007) | 2 lines
This commit is contained in:
Douglas Clowes
@@ -1,5 +1,5 @@
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# $Revision: 1.9 $
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# $Date: 2007-03-14 03:06:18 $
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# $Revision: 1.10 $
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# $Date: 2007-03-15 21:57:31 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: dcl $
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@@ -21,19 +21,19 @@ set dmc2280_controller4(port) pmc4-$animal
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#Measured absolute encoder reading at home position
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set dsvt_home 8172500
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set bz_home 8142000
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set c1ht_home 8265000
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set m1ro_home 134658
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set bat_home 7500000
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set st3vt_home 8742250
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set st4vt_home 8806900
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set sath_home 7500000
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set saphi_home 7500000
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set sax_home 7500000
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set say_home 7500000
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set saz_home 8927484
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set deyht_home 7500000
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set dezht_home 7500000
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set sth_home 23511400
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set sphi_home 7548440
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set sx_home 8574000
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set sy_home 7500000
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set sz_home 8927484
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set dy_home 7500000
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set dz_home 7805000
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#Measured or computed slit motor steps per millimetre
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# 125 steps * 161:1 gears = 20125
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@@ -77,23 +77,23 @@ set move_count 100
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#
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# Beam Shade Vertical Translation (6mm/T double helix, 500mm)
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Motor dszvt DMC2280 [params \
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Motor bz DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis A\
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units mm\
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hardlowerlim 0\
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hardupperlim 275\
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maxSpeed 1\
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maxSpeed 5\
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maxAccel 1\
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maxDecel 1\
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stepsPerX [expr -25000/6]\
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absEnc 1\
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absEncHome $dsvt_home\
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absEncHome $bz_home\
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cntsPerX [expr -8192/6]]
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dszvt softlowerlim 0
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dszvt softupperlim 275
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dszvt home 0
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bz softlowerlim 0
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bz softupperlim 275
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bz home 0
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# Collimator Table Horizontal Translation, X
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Motor c1ht DMC2280 [params \
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@@ -102,16 +102,16 @@ Motor c1ht DMC2280 [params \
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axis B\
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units mm\
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hardlowerlim 0\
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hardupperlim 0\
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maxSpeed 1\
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hardupperlim 1065\
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maxSpeed 10\
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maxAccel 1\
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maxDecel 1\
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stepsPerX [expr 25000/5]\
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absEnc 1\
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absEncHome $c1ht_home\
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cntsPerX [expr 8192/5]
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cntsPerX [expr -8192/5]]
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c1ht softlowerlim 0
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c1ht softupperlim 0
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c1ht softupperlim 1065
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c1ht home 0
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# Collimator Tilt, Z axis, positive is down
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@@ -128,7 +128,7 @@ Motor m1ro DMC2280 [params \
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stepsPerX 275000\
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absEnc 1\
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absEncHome $m1ro_home\
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cntsPerX [expr 262144/360]]
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cntsPerX [expr -262144/360]]
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m1ro softlowerlim -3.5
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m1ro softupperlim 3.5
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m1ro home 0
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@@ -159,8 +159,8 @@ Motor st3vt DMC2280 [params \
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axis E\
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units mm\
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hardlowerlim 0\
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hardupperlim 251\
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maxSpeed 1\
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hardupperlim 253\
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maxSpeed 10\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 25000\
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@@ -168,7 +168,7 @@ Motor st3vt DMC2280 [params \
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absEncHome $st3vt_home\
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cntsPerX -8192]
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st3vt softlowerlim 0
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st3vt softupperlim 251
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st3vt softupperlim 253
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st3vt home 0
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# Slit 4 Tower Translation (1mm/T, +/- 100mm)
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@@ -178,8 +178,8 @@ Motor st4vt DMC2280 [params \
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axis F\
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units mm\
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hardlowerlim 0\
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hardupperlim 248\
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maxSpeed 1\
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hardupperlim 249\
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maxSpeed 10\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 25000\
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@@ -187,7 +187,7 @@ Motor st4vt DMC2280 [params \
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absEncHome $st4vt_home\
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cntsPerX -8192]
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st4vt softlowerlim 0
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st4vt softupperlim 248
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st4vt softupperlim 249
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st4vt home 0
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############################
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@@ -199,7 +199,7 @@ st4vt home 0
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#
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# Sample Tilt 1, upper (1 degree/turn)
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Motor sath DMC2280 [params \
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Motor sth DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis A\
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@@ -211,52 +211,52 @@ Motor sath DMC2280 [params \
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome $sath_home\
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absEncHome $sth_home\
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cntsPerX 8192]
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setHomeandRange -motor sath -home 0 -lowrange 15 -uprange 15
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sath speed 1
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sath precision 0.01
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setHomeandRange -motor sth -home 0 -lowrange 5 -uprange 5
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sth speed 1
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sth precision 0.01
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# Sample Tilt 2, lower (1 degree/turn)
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Motor saphi DMC2280 [params \
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Motor sphi DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis B\
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units degrees\
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hardlowerlim -15\
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hardupperlim 15\
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hardlowerlim 75\
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hardupperlim 105\
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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 $saphi_home\
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absEncHome $sphi_home\
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cntsPerX -8192]
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setHomeandRange -motor saphi -home 90 -lowrange 15 -uprange 15
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saphi speed 1
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saphi precision 0.01
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setHomeandRange -motor sphi -home 90 -lowrange 5 -uprange 5
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sphi speed 1
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sphi precision 0.01
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# Sample Translation, Linear X (5mm/T, 0-750mm)
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Motor sax DMC2280 [params \
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Motor sx DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis C\
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units mm\
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hardlowerlim 0\
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hardupperlim 750\
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maxSpeed 1\
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hardupperlim 734\
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maxSpeed 10\
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maxAccel 1\
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maxDecel 1\
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stepsPerX [expr 25000/5]\
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absEnc 1\
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absEncHome $sax_home\
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absEncHome $sx_home\
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cntsPerX [expr 8192/5]]
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sax softlowerlim 0
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sax softupperlim 750
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sax home 0
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sx softlowerlim 0
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sx softupperlim 730
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sx home 0
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# Sample Translation, Linear Y
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#Motor say DMC2280 [params \
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#Motor sy DMC2280 [params \
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# host $dmc2280_controller2(host)\
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# port $dmc2280_controller2(port)\
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# axis D\
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@@ -268,33 +268,34 @@ sax home 0
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# maxDecel 1\
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# stepsPerX 25000\
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# absEnc 1\
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# absEncHome $say_home\
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# absEncHome $sy_home\
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# cntsPerX 8192]
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#say softlowerlim -600
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#say softupperlim -300
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#say home -450
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#sy softlowerlim -600
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#sy softupperlim -300
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#sy home -450
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# Sample Translation, Linear Z (??/T, 300mm)
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Motor saz DMC2280 [params \
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Motor sz DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis E\
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units mm\
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hardlowerlim 0\
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hardupperlim 285\
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maxSpeed 1\
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hardupperlim 300.5\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX [expr -25000*5]\
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absEnc 1\
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absEncHome $saz_home\
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absEncHome $sz_home\
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cntsPerX [expr -8192/5]]
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saz softlowerlim 0
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saz softupperlim 285
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saz home 0
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sz softlowerlim 0
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sz softupperlim 300.5
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sz home 0
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sz speed 2
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# Detector Translation, Linear Y (Not Motorized)
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#Motor deyht DMC2280 [params \
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#Motor dy DMC2280 [params \
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# host $dmc2280_controller2(host)\
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# port $dmc2280_controller2(port)\
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# axis F\
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@@ -306,30 +307,30 @@ saz home 0
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# maxDecel 1\
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# stepsPerX 25000\
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# absEnc 1\
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# absEncHome $deyht_home\
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# absEncHome $dy_home\
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# cntsPerX 8192]
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#deyht softlowerlim -595
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#deyht softupperlim 800
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#deyht home 0
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#dy softlowerlim -595
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#dy softupperlim 800
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#dy home 0
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# Detector Translation, Linear Z (5mm/T gearing unknown)
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Motor dezvt DMC2280 [params \
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Motor dz DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis G\
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units mm\
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hardlowerlim 0\
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hardupperlim 1348\
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maxSpeed 1\
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hardupperlim 1351\
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maxSpeed 5\
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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 $dezht_home\
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absEncHome $dz_home\
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cntsPerX [expr -8192/5]]
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dezvt softlowerlim 0
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dezvt softupperlim 1348
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dezvt home 0
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dz softlowerlim 0
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dz softupperlim 1351
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dz home 0
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############################
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# Motor Controller 3
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@@ -338,27 +339,11 @@ dezvt home 0
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############################
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#
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# Slit 1, upper
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Motor ss1u DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis A\
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units mm\
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hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
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hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $slitStepRate]
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ss1u softlowerlim -25
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ss1u softupperlim 95
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ss1u home 0
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# Slit 1, lower
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Motor ss1d DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis B\
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axis A\
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units mm\
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hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
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hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
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@@ -370,27 +355,27 @@ ss1d softlowerlim -25
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ss1d softupperlim 95
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ss1d home 0
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# Slit 1, right
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Motor ss1r DMC2280 [params \
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# Slit 1, upper
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Motor ss1u DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis C\
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axis B\
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units mm\
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hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
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hardupperlim [expr $horSlitHome + $horSlitUpRange]\
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hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
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hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $slitStepRate]
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ss1r softlowerlim -25
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ss1r softupperlim 25
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ss1r home 0
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ss1u softlowerlim -25
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ss1u softupperlim 95
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ss1u home 0
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# Slit 1, left
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Motor ss1l DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis D\
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axis C\
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units mm\
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hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
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hardupperlim [expr $horSlitHome + $horSlitUpRange]\
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@@ -402,27 +387,27 @@ ss1l softlowerlim -25
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ss1l softupperlim 25
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ss1l home 0
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# Slit 2, upper
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Motor ss2u DMC2280 [params \
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# Slit 1, right
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Motor ss1r DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis E\
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axis D\
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units mm\
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hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
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hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
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hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
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hardupperlim [expr $horSlitHome + $horSlitUpRange]\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $slitStepRate]
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ss2u softlowerlim -25
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ss2u softupperlim 95
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ss2u home 0
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ss1r softlowerlim -25
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ss1r softupperlim 25
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ss1r home 0
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# Slit 2, lower
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Motor ss2d DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis F\
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axis E\
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units mm\
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hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
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hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
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@@ -434,27 +419,27 @@ ss2d softlowerlim -25
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ss2d softupperlim 95
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ss2d home 0
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# Slit 2, right
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Motor ss2r DMC2280 [params \
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# Slit 2, upper
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Motor ss2u DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis G\
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axis F\
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units mm\
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hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
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hardupperlim [expr $horSlitHome + $horSlitUpRange]\
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hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
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hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $slitStepRate]
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ss2r softlowerlim -25
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ss2r softupperlim 25
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ss2r home 0
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ss2u softlowerlim -25
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ss2u softupperlim 95
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ss2u home 0
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# Slit 2, left
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Motor ss2l DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis H\
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axis G\
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units mm\
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hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
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hardupperlim [expr $horSlitHome + $horSlitUpRange]\
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@@ -466,27 +451,27 @@ ss2l softlowerlim -25
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ss2l softupperlim 25
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ss2l home 0
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# Slit 3, upper
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Motor ss3u DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis A\
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# Slit 2, right
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Motor ss2r DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis H\
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units mm\
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hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
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hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
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hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
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hardupperlim [expr $horSlitHome + $horSlitUpRange]\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $slitStepRate]
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ss3u softlowerlim -25
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ss3u softupperlim 95
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ss3u home 0
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ss2r softlowerlim -25
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ss2r softupperlim 25
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ss2r home 0
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# Slit 3, lower
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Motor ss3d DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis B\
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axis A\
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units mm\
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hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
|
||||
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
|
||||
@@ -498,27 +483,27 @@ ss3d softlowerlim -25
|
||||
ss3d softupperlim 95
|
||||
ss3d home 0
|
||||
|
||||
# Slit 3, right
|
||||
Motor ss3r DMC2280 [params \
|
||||
# Slit 3, upper
|
||||
Motor ss3u DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis C\
|
||||
axis B\
|
||||
units mm\
|
||||
hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
|
||||
hardupperlim [expr $horSlitHome + $horSlitUpRange]\
|
||||
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
|
||||
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX $slitStepRate]
|
||||
ss3r softlowerlim -25
|
||||
ss3r softupperlim 25
|
||||
ss3r home 0
|
||||
ss3u softlowerlim -25
|
||||
ss3u softupperlim 95
|
||||
ss3u home 0
|
||||
|
||||
# Slit 3, Left
|
||||
Motor ss3l DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis D\
|
||||
axis C\
|
||||
units mm\
|
||||
hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
|
||||
hardupperlim [expr $horSlitHome + $horSlitUpRange]\
|
||||
@@ -530,27 +515,27 @@ ss3l softlowerlim -25
|
||||
ss3l softupperlim 25
|
||||
ss3l home 0
|
||||
|
||||
# Slit 4, upper
|
||||
Motor ss4u DMC2280 [params \
|
||||
# Slit 3, right
|
||||
Motor ss3r DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis E\
|
||||
axis D\
|
||||
units mm\
|
||||
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
|
||||
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
|
||||
hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
|
||||
hardupperlim [expr $horSlitHome + $horSlitUpRange]\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX $slitStepRate]
|
||||
ss4u softlowerlim -25
|
||||
ss4u softupperlim 95
|
||||
ss4u home 0
|
||||
ss3r softlowerlim -25
|
||||
ss3r softupperlim 25
|
||||
ss3r home 0
|
||||
|
||||
# Slit 4, lower
|
||||
Motor ss4d DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis F\
|
||||
axis E\
|
||||
units mm\
|
||||
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
|
||||
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
|
||||
@@ -562,8 +547,24 @@ ss4d softlowerlim -25
|
||||
ss4d softupperlim 95
|
||||
ss4d home 0
|
||||
|
||||
# Slit 4, right
|
||||
Motor ss4r DMC2280 [params \
|
||||
# Slit 4, upper
|
||||
Motor ss4u DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis F\
|
||||
units mm\
|
||||
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
|
||||
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX $slitStepRate]
|
||||
ss4u softlowerlim -25
|
||||
ss4u softupperlim 95
|
||||
ss4u home 0
|
||||
|
||||
# Slit 4, left
|
||||
Motor ss4l DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis G\
|
||||
@@ -574,12 +575,12 @@ Motor ss4r DMC2280 [params \
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX $slitStepRate]
|
||||
ss4r softlowerlim -25
|
||||
ss4r softupperlim 25
|
||||
ss4r home 0
|
||||
ss4l softlowerlim -25
|
||||
ss4l softupperlim 25
|
||||
ss4l home 0
|
||||
|
||||
# Slit 4, left
|
||||
Motor ss4l DMC2280 [params \
|
||||
# Slit 4, right
|
||||
Motor ss4r DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis H\
|
||||
@@ -590,9 +591,9 @@ Motor ss4l DMC2280 [params \
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX $slitStepRate]
|
||||
ss4l softlowerlim -25
|
||||
ss4l softupperlim 25
|
||||
ss4l home 0
|
||||
ss4r softlowerlim -25
|
||||
ss4r softupperlim 25
|
||||
ss4r home 0
|
||||
|
||||
## Polarization Analyzer Vertical Translation, Z
|
||||
#Motor anzvt DMC2280 [params \
|
||||
|
||||
Reference in New Issue
Block a user