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Calibration with theodolite (sy, sx my, mx)

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r1409 | dcl | 2007-01-30 07:57:24 +1100 (Tue, 30 Jan 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-01-30 07:57:24 +11:00
parent 4514dc01db
commit f4c1160862
1 changed files with 51 additions and 24 deletions
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75
site_ansto/instrument/hipd/motor_configuration.tcl
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@@ -1,5 +1,5 @@
# $Revision: 1.5 $
# $Date: 2007-01-18 03:16:56 $
# $Revision: 1.6 $
# $Date: 2007-01-29 20:57:24 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: dcl $
@@ -20,18 +20,23 @@ set dmc2280_controller4(host) mc4-$animal
set dmc2280_controller4(port) pmc4-$animal
#Measured absolute encoder reading at home position
set mphi_Home 7414753
set mchi_Home 7818915
set my_Home 7781680
set mx_Home 7562793
set mom_Home 17694127
set mtth_Home 10299428
set sphi_Home 7934290
set schi_Home 7581355
set sy_Home 7562793
set sx_Home 7562793
set som_Home 17694127
set stth_Home 6559259
# 7613185, 7504518, 6770094, 7463036, 8901369, 19927837, 22369621, 22369621
# 7613516, 7503905, 6767221, 7464891
set mphi_Home 7613516
set mchi_Home 7503905
set my_Home 6767221
set mx_Home 7464891
set mom_Home 8901369
set mtth_Home 19927837
# 7938155, 7585392, 7556982, 7563854, 17214054, 22369621, 22369621, 22369621
# 7937974, 7585956, 7557524, 7557304, 16992893, 1497938, 7788744, 22369621
set sphi_Home 7937974
set schi_Home 7585956
set sy_Home 7557524
set sx_Home 7557304
set som_Home 17214054
set stth_Home 8488515
set oct_Home 7788750
#Measured or computed slit motor steps per millimetre
# 125 steps * 161:1 gears = 20125
@@ -41,7 +46,7 @@ set slitStepRate 20125
set ss1h_Gap 52.5
set ss1v_Gap 205.9
set ss2h_Gap 51.3
set ss2v_Gap 203.3
set ss2v_Gap 203.8
set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
@@ -91,7 +96,7 @@ Motor mphi DMC2280 [params \
absEnc 1\
absEncHome $mphi_Home\
cntsPerX -8192]
setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
setHomeandRange -motor mphi -home 0 -lowrange 5 -uprange 5
mphi speed 1
mphi precision 0.01
@@ -108,7 +113,7 @@ Motor mchi DMC2280 [params \
absEnc 1\
absEncHome $mchi_Home\
cntsPerX 8192]
setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
setHomeandRange -motor mchi -home 90 -lowrange 5 -uprange 5
mchi speed 1
mchi precision 0.01
@@ -125,7 +130,7 @@ Motor my DMC2280 [params \
absEnc 1\
absEncHome $my_Home\
cntsPerX 8192]
setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
setHomeandRange -motor my -home 0 -lowrange 10 -uprange 10
my speed 1
my precision 0.01
@@ -142,7 +147,7 @@ Motor mx DMC2280 [params \
absEnc 1\
absEncHome $mx_Home\
cntsPerX -8192]
setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
setHomeandRange -motor mx -home 0 -lowrange 10 -uprange 10
mx speed 1
mx precision 0.01
@@ -175,6 +180,7 @@ Motor mtth DMC2280 [params \
stepsPerX [expr 25000*18]\
absEnc 1\
absEncHome $mtth_Home\
motoffdelay 5000\
cntsPerX -93207]
mtth hardlowerlim 45
mtth hardupperlim 100
@@ -207,7 +213,7 @@ Motor sphi DMC2280 [params \
absEnc 1\
absEncHome $sphi_Home\
cntsPerX -8192]
setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
setHomeandRange -motor sphi -home 0 -lowrange 15 -uprange 15
sphi speed 1
sphi precision 0.01
@@ -224,7 +230,7 @@ Motor schi DMC2280 [params \
absEnc 1\
absEncHome $schi_Home\
cntsPerX 8192]
setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
setHomeandRange -motor schi -home 90 -lowrange 15 -uprange 15
schi speed 1
schi precision 0.01
@@ -275,7 +281,7 @@ Motor som DMC2280 [params \
absEnc 1\
absEncHome $som_Home\
cntsPerX 4096]
setHomeandRange -motor som -home 0 -lowrange 90 -uprange 90
setHomeandRange -motor som -home 0 -lowrange 54 -uprange 120
som speed 1
som precision 0.01
@@ -293,13 +299,34 @@ Motor stth DMC2280 [params \
absEncHome $stth_Home\
cntsPerX -93207]
stth hardlowerlim -60
stth hardupperlim 60
stth hardupperlim 84
stth softlowerlim -60
stth softupperlim 60
stth softupperlim 80
stth home 0
stth speed 0.5
stth precision 0.01
# Oscillating Collimator Translation
Motor oct DMC2280 [params \
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
axis G\
units degrees\
maxSpeed 0.5\
maxAccel 0.1\
maxDecel 0.1\
stepsPerX 56762\
absEnc 1\
absEncHome $oct_Home\
cntsPerX -465]
oct hardlowerlim -2
oct hardupperlim 2
oct softlowerlim -2
oct softupperlim 2
oct home 0
oct speed 0.5
oct precision 0.01
############################
# Motor Controller 3
# Motor Controller 3