First attempt at kowari config.
r992 | ffr | 2006-05-10 14:38:00 +1000 (Wed, 10 May 2006) | 2 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
f3c56a1dab
commit
f6896faaad
487
site_ansto/instrument/rsd/rsd_configuration.tcl
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487
site_ansto/instrument/rsd/rsd_configuration.tcl
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@@ -0,0 +1,487 @@
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# $Revision: 1.1 $
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# $Date: 2006-05-10 04:38:00 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: ffr $
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#START SERVER CONFIGURATION SECTION
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installprotocolhandler
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# Use this to create an array of named parameters to inilise motors.
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proc params {args} {
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upvar 1 "" x;
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if [info exists x] {unset x}
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eval "array set x [list $args]"
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}
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ServerOption statusfile /home/sics/SICS/log/status.tcl
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ServerOption RedirectFile /home/sics/SICS/log/stdout
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ServerOption LogFileBaseName /home/sics/SICS/log/serverlog
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ServerOption LogFileDir /home/sics/SICS/log
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ServerOption QuieckPort 60004
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ServerOption ServerPort 60003
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ServerOption InterruptPort 60002
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ServerOption TelWord sicslogin
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ServerOption TelnetPort 60001
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ServerOption ReadUserPasswdTimeout 600000
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ServerOption AcceptTimeOut 10
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ServerOption ReadTimeOut 10
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SicsUser manager ansto 1
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SicsUser user sydney 2
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SicsUser spy 007 3
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MakeDataNumber SicsDataNumber /home/sics/SICS/data/DataNumber
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VarMake SicsDataPath Text Internal
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SicsDataPath /home/sics/SICS/data/
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SicsDataPath lock
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VarMake SicsDataPrefix Text Internal
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SicsDataPrefix smp
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SicsDataPrefix lock
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VarMake SicsDataPostFix Text Internal
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SicsDataPostFix .hdf
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SicsDataPostFix lock
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VarMake Title Text User
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VarMake Sample Text User
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VarMake User Text User
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VarMake starttime Text User
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VarMake currentfile Text User
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VarMake batchroot Text User
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VarMake Instrument Text Internal
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Instrument RSD
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Instrument lock
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MakeDrive
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#END SERVER CONFIGURATION SECTION
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########################################
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# INSTRUMENT SPECIFIC CONFIGURATION
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# Setup addresses of Galil DMC2280 controllers.
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set dmc2280_controller1(host) 137.157.201.66
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set dmc2280_controller1(port) 1034
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set dmc2280_controller2(host) 137.157.201.67 1034
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set dmc2280_controller2(port) 1034
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set dmc2280_controller3(host) 137.157.201.67
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set dmc2280_controller3(port) 1035
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set dmc2280_controller4(host) 137.157.201.68
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set dmc2280_controller4(port) 1034
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Motor mth DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis X?\
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stepsPerX XXX\
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absEnc 1\
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absEncHome YYY\
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cntsPerX ZZZ]
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mth hardlowerlim -180
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mth hardupperlim 180
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mth softlowerlim -180
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mth softupperlim 180
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mth home 0
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Motor mom DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis X?\
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stepsPerX XXX\
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absEnc 1\
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absEncHome YYY\
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cntsPerX ZZZ]
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mom hardlowerlim -180
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mom hardupperlim 180
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mom softlowerlim -180
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mom softupperlim 180
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mom home 0
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Motor mtth DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis X?\
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stepsPerX XXX\
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absEnc 1\
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absEncHome YYY\
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cntsPerX ZZZ]
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mtth hardlowerlim 40
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mtth hardupperlim 120
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mtth softlowerlim 40
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mtth softupperlim 120
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mtth home 80
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Motor mchi DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis X?\
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stepsPerX XXX\
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absEnc 1\
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absEncHome YYY\
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cntsPerX ZZZ]
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mchi hardlowerlim 70
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mchi hardupperlim 110
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mchi softlowerlim 70
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mchi softupperlim 110
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mchi home 90
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Motor mphi DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis X?\
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stepsPerX XXX\
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absEnc 1\
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absEncHome YYY\
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cntsPerX ZZZ]
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mphi hardlowerlim -20
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mphi hardupperlim 20
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mphi softlowerlim -20
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mphi softupperlim 20
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mphi home 0
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Motor mx DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis X?\
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stepsPerX XXX\
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absEnc 1\
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absEncHome YYY\
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cntsPerX ZZZ]
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mx hardlowerlim xxxx
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mx hardupperlim xxxx
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mx softlowerlim xxxx
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mx softupperlim xxxx
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mx home 0
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Motor my DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis X?\
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stepsPerX XXX\
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absEnc 1\
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absEncHome YYY\
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cntsPerX ZZZ]
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my hardlowerlim xxxx
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my hardupperlim xxxx
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my softlowerlim xxxx
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my softupperlim xxxx
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my home 0
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Motor mrh DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis X?\
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stepsPerX XXX\
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absEnc 1\
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absEncHome YYY\
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cntsPerX ZZZ]
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mrh hardlowerlim HLL
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mrh hardupperlim HUL
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mrh softlowerlim SLL
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mrh softupperlim SUL
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mrh home 0
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Motor mrv DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis X?\
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stepsPerX XXX\
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absEnc 1\
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absEncHome YYY\
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cntsPerX ZZZ]
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mrv hardlowerlim HLL
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mrv hardupperlim HUL
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mrv softlowerlim SLL
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mrv softupperlim SUL
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mrv home 0
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Motor som DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units degrees\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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som hardlowerlim 0
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som hardupperlim 360
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som softlowerlim 0
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som softupperlim 360
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som home 0
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Motor stth DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units degrees\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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motorHome xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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stth hardlowerlim 75
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stth hardupperlim 105
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stth softlowerlim 75
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stth softupperlim 105
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stth home 160
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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 xxxx\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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sx hardlowerlim -250
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sx hardupperlim 250
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sx softlowerlim -250
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sx softupperlim 250
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sx home 0
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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 xxxx\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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sy hardlowerlim -250
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sy hardupperlim 250
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sy softlowerlim -250
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sy softupperlim 250
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sy home 0
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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 xxxx\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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sz hardlowerlim 0
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sz hardupperlim 650
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sz softlowerlim 0
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sz softupperlim 650
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sz home 0
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Motor psu DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis xxxx\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX xxxx\
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motorHome xxxx]
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psu hardlowerlim 0
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psu hardupperlim 50
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psu softlowerlim 0
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psu softupperlim 50
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psu home 0
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Motor psd DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis xxxx\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX xxxx\
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motorHome xxxx]
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psd hardlowerlim 0
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psd hardupperlim 50
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psd softlowerlim 0
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psd softupperlim 50
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psd home 0
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Motor psl DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis xxxx\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX xxxx\
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motorHome xxxx]
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psl hardlowerlim 0
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psl hardupperlim 50
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psl softlowerlim 0
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psl softupperlim 50
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psl home 0
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Motor psr DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis xxxx\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX xxxx\
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motorHome xxxx]
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psr hardlowerlim 0
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psr hardupperlim 50
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psr softlowerlim 0
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psr softupperlim 50
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psr home 0
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Motor ssu DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis xxxx\
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stepsPerX xxxx\
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motorHome xxxx]
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ssu hardlowerlim 0
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ssu hardupperlim 50
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ssu softlowerlim 0
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ssu softupperlim 50
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ssu home 0
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Motor ssd DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis xxxx\
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stepsPerX xxxx\
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motorHome xxxx]
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ssd hardlowerlim 0
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ssd hardupperlim 50
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ssd softlowerlim 0
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ssd softupperlim 50
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ssd home 0
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Motor ssl DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis xxxx\
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stepsPerX xxxx\
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motorHome xxxx]
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ssl hardlowerlim 0
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ssl hardupperlim 50
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ssl softlowerlim 0
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ssl softupperlim 50
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ssl home 0
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Motor ssr DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis xxxx\
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stepsPerX xxxx\
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motorHome xxxx]
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ssr hardlowerlim 0
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ssr hardupperlim 50
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ssr softlowerlim 0
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ssr softupperlim 50
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ssr home 0
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proc SplitReply { text } {
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set l [split $text =]
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return [lindex $l 1]
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}
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# virtual motor ss1(h)orizontal (width)
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#--------------------------------------------------------
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proc widthscript {val} {
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set currentWidth [expr [SplitReply [psr]] + [SplitReply [psl]]]
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set diff [expr $val - $currentWidth]
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set newD1R [expr [SplitReply [psr]] + $diff/2]
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set newD1L [expr [SplitReply [psl]] + $diff/2]
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return "psr=$newD1R,psl=$newD1L"
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}
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publish widthscript user
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#-------------------------------------------------------
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proc readwidth {} {
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return [expr [SplitReply [psr]] + [SplitReply [psl]]]
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}
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publish readwidth user
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MakeConfigurableMotor psw
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psw drivescript widthscript
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psw readscript readwidth
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# virtual motor ss1(h)orizontal (offset)
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#--------------------------------------------------------
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proc horoffsetscript {val} {
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set SR [SplitReply [psr]]
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set SL [SplitReply [psl]]
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set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
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set diff [expr $val - $currentOffset]
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set newD1R [expr $SR + $diff]
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set newD1L [expr $SL - $diff]
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return "psr=$newD1R,psl=$newD1L"
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}
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publish horoffsetscript user
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#-------------------------------------------------------
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proc readhoroffset {} {
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set SR [SplitReply [psr]]
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return [ expr $SR - ($SR + [SplitReply [psl]])/2.0 ]
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}
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publish readhoroffset user
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#-------------------------------------------------------
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MakeConfigurableMotor psho
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psho drivescript horoffsetscript
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psho readscript readhoroffset
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# virtual motor ss1v(ertical), height
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#-----------------------------------------------------
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proc heightscript {val} {
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set currentWidth [expr [SplitReply [psu]] + [SplitReply [psd]]]
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set diff [expr $val - $currentWidth]
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set newD1B [expr [SplitReply [psd]] + $diff/2]
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set newD1T [expr [SplitReply [psu]] + $diff/2]
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return "psd=$newD1B,psu=$newD1T"
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}
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publish heightscript user
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#-------------------------------------------------------
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proc readheight {} {
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return [expr [SplitReply [psu]] + [SplitReply [psd]]]
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}
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publish readheight user
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#---------------------------------------------------------
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MakeConfigurableMotor ss1vg
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ss1vg drivescript heightscript
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ss1vg readscript readheight
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# virtual motor ss1(v)ertical (offset)
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#--------------------------------------------------------
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proc vertoffsetscript {val} {
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set SU [SplitReply [psu]]
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set SD [SplitReply [psd]]
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set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
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set diff [expr $val - $currentOffset]
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set newD1U [expr $SU + $diff]
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set newD1D [expr $SD - $diff]
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return "psu=$newD1U,psd=$newD1D"
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}
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publish vertoffsetscript user
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#-------------------------------------------------------
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proc readvertoffset {} {
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set SU [SplitReply [psu]]
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return [ expr $SU - ($SU + [SplitReply [psd]])/2.0 ]
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}
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publish readvertoffset user
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#-------------------------------------------------------
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MakeConfigurableMotor ss1vo
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ss1vo drivescript vertoffsetscript
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ss1vo readscript readvertoffset
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Reference in New Issue
Block a user