Pull back changes from Dingo

2014-07-09 15:01:21 +10:00
parent cc5400c595
commit f6dfc76ada
7 changed files with 373 additions and 141 deletions
--- a/site_ansto/instrument/dingo/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/dingo/config/motors/motor_configuration.tcl
@@ -13,7 +13,7 @@ if {$sim_mode == "true"} {
  set motor_driver_type DMC2280
  MakeAsyncQueue mc1 DMC2280 [dict get $::MOTOR_HOSTPORT MC1 HOST] [dict get $::MOTOR_HOSTPORT MC1 PORT]
  MakeAsyncQueue mc2 DMC2280 [dict get $::MOTOR_HOSTPORT MC2 HOST] [dict get $::MOTOR_HOSTPORT MC2 PORT]
-  MakeAsyncQueue mc3 DMC2280 [dict get $::MOTOR_HOSTPORT MC3 HOST] [dict get $::MOTOR_HOSTPORT MC3 PORT]
+  #MakeAsyncQueue mc3 DMC2280 [dict get $::MOTOR_HOSTPORT MC3 HOST] [dict get $::MOTOR_HOSTPORT MC3 PORT]
 }


@@ -50,51 +50,58 @@ dummy_motor home 0
 # All motors are at 25000steps/turn if no other specify
 set motorrate 25000.0

-# mc1: Sample rotation axis
-# Gearbox 100:1, Gear ratio 356:1
-set stth_Home  0
-set stthStepRate [expr $motorrate*100.0*356.0/360.0]
-Motor stth $motor_driver_type [params \
+
+# mc1: Sample Z-translation sample stage
+# Gearbox 20:1, pitch ?
+set sz_Home 10993707
+set szStepRate  [expr 4.8 * 25000]
+Motor sz $motor_driver_type [params \
  asyncqueue mc1\
  host mc1-dingo\
  port pmc1-dingo\
  axis A\
-  units degree\
-  hardlowerlim 0\
-  hardupperlim 360\
-  maxSpeed [expr 400000.0/300000.0]\
-  maxAccel [expr 150000.0/300000.0]\
-  maxDecel [expr 150000.0/300000.0]\
-  stepsPerX $stthStepRate\
+  units mm\
+  hardlowerlim -400\
+  hardupperlim 0\
+  maxSpeed 0.333333\
+  maxAccel 0.333333\
+  maxDecel 0.333333\
+  stepsPerX $szStepRate\
  absEnc 1\
-  absEncHome $stth_Home\
-  cntsPerX 4096]
-stth part sample
-stth long_name stth
-stth softlowerlim 0
-stth softupperlim 360
-stth home 0
+  absEncHome $sz_Home\
+  cntsPerX [expr 4.8 * 4096] ]
+sz speed 0.1
+sz accel 0.1
+sz decel 0.1
+sz part sample
+sz long_name sz
+sz softlowerlim -399
+sz softupperlim -70
+sz home 0


 # mc1: Sample X-translation sample stage
 # Gearbox 20:1, pitch 5mm
-set sx_Home     0
-set sxStepRate  [expr $motorrate*20.0/5.0]
+set sx_Home     8580919
+#set sxStepRate  [expr -$motorrate*20.0/4.0]
+set sxStepRate -100000
+#absEnc 1
 Motor sx $motor_driver_type [params \
  asyncqueue mc1\
  host mc1-dingo\
  port pmc1-dingo\
  axis B\
  units mm\
-  hardlowerlim 0\
+  hardlowerlim -300\
  hardupperlim 500\
-  maxSpeed [expr 400000.0/300000.0]\
-  maxAccel [expr 150000.0/300000.0]\
-  maxDecel [expr 150000.0/300000.0]\
+  maxSpeed 1.2\
+  maxAccel 1\
+  maxDecel 1\
  stepsPerX $sxStepRate\
-  absEnc 1\
  absEncHome $sx_Home\
-  cntsPerX 4096]
+  absEnc 1\
+  cntsPerX [expr 4096.0 / 5.0] ]
+sx speed 0.3
 sx part sample
 sx long_name sx
 sx softlowerlim -250
@@ -103,78 +110,93 @@ sx home 0

 # mc1: Sample Y-translation sample stage
 # Gearbox 20:1, pitch 5mm
-set sy_Home     0
-set syStepRate  [expr $motorrate*20.0/5.0]
+set sy_Home     8437458.000000
+#set syStepRate  [expr -$motorrate*20.0/4.0]
+set syStepRate  -100000
 Motor sy $motor_driver_type [params \
  asyncqueue mc1\
  host mc1-dingo\
  port pmc1-dingo\
  axis C\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 500\
-  maxSpeed [expr 400000.0/300000.0]\
-  maxAccel [expr 150000.0/300000.0]\
-  maxDecel [expr 150000.0/300000.0]\
+  hardlowerlim -70\
+  hardupperlim 300\
+  maxSpeed 1.2\
+  maxAccel 1\
+  maxDecel 1\
  stepsPerX $syStepRate\
  absEnc 1\
  absEncHome $sy_Home\
-  cntsPerX 4096]
+  cntsPerX [expr 4096.0 / 5.0] ]
+sy speed 0.5
 sy part sample
 sy long_name sy
-sy softlowerlim -250
-sy softupperlim 250
+sy softlowerlim -50
+sy softupperlim 230
 sy home 0

-# mc1: Sample Z-translation sample stage
-# Gearbox 20:1, pitch ?
-set sz_Home     0
-set szStepRate  ?
-Motor sz $motor_driver_type [params \
+# mc1: Sample rotation axis
+# Gearbox 100:1, screw pitch 356:1
+# Encoder 2P17
+#set stth_Home  821487
+set stth_Home  0
+#set stthStepRate [expr -$motorrate*100.0]
+set stthStepRate -2478000
+Motor stth $motor_driver_type [params \
  asyncqueue mc1\
  host mc1-dingo\
  port pmc1-dingo\
  axis D\
-  units mm\
-  hardlowerlim 0\
-  hardupperlim 500\
-  maxSpeed [expr 400000.0/300000.0]\
-  maxAccel [expr 150000.0/300000.0]\
-  maxDecel [expr 150000.0/300000.0]\
-  stepsPerX $szStepRate\
+  units degree\
+  hardlowerlim 0.01\
+  hardupperlim 359.99\
+  maxSpeed 0.12\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX $stthStepRate\
  absEnc 1\
-  absEncHome $sz_Home\
-  cntsPerX 4096]
-sz part sample
-sz long_name sz
-sz softlowerlim -250
-sz softupperlim 250
-sz home 0
+  absEncHome $stth_Home\
+  nopowersave 1\
+  cntsPerX 93206.75556 ]
+stth speed 0.1
+stth accel 0.1
+stth decel 0.1
+stth part sample
+stth long_name stth 
+stth softlowerlim 0.01
+stth softupperlim 359.99
+stth home 0
+stth bias_bits 25
+stth bias_bias -33432264
+stth creep_offset 0.05

-# mc1: End station Z-translation
+# mc1: detection Z-stage Translation
 # Gearbox 5:1, Gear ratio 16:1, pitch 4mm
-set dz_Home     0
+#set dz_Home     5041621
+set dz_Home     7617195
 set dzStepRate  [expr $motorrate*5.0*16.0/4.0]
+# hardupperlim 8394505, hardlowerlim 5041249
 Motor dz $motor_driver_type [params \
  asyncqueue mc1\
  host mc1-dingo\
  port pmc1-dingo\
  axis G\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 500\
-  maxSpeed [expr 400000.0/300000.0]\
-  maxAccel [expr 150000.0/300000.0]\
-  maxDecel [expr 150000.0/300000.0]\
+  hardlowerlim -0.02\
+  hardupperlim 204.6\
+  maxSpeed 0.3\
+  maxAccel 0.2\
+  maxDecel 0.2\
  stepsPerX $dzStepRate\
  absEnc 1\
  absEncHome $dz_Home\
-  cntsPerX 4096]
+  cntsPerX [expr -4 * 4096] ]
+dz speed 0.1
 dz part sample
 dz long_name dz
-dz softlowerlim -125
-dz softupperlim 125
-sz home 0
+dz softlowerlim 0
+dz softupperlim 170
+dz home 0


 ############################
@@ -185,28 +207,29 @@ sz home 0
 #

 # mc2: Camera translation axis along beam
-# Gearbox ?, Gear ratio ?,
-set dy_Home     0
-set dyStepRate  ?
+# Gearbox ?, Gear ratio ?, 
+set dy_Home     8847069
+set dyStepRate  [expr 25000.0/2.0]
 Motor dy $motor_driver_type [params \
  asyncqueue mc2\
  host mc2-dingo\
  port pmc2-dingo\
  axis A\
  units mm\
-  hardlowerlim 0\
-  hardupperlim 500\
-  maxSpeed [expr 400000.0/300000.0]\
-  maxAccel [expr 150000.0/300000.0]\
-  maxDecel [expr 150000.0/300000.0]\
+  hardlowerlim -5\
+  hardupperlim 296\
+  maxSpeed 2\
+  maxAccel 1\
+  maxDecel 1\
  stepsPerX $dyStepRate\
  absEnc 1\
  absEncHome $dy_Home\
-  cntsPerX 4096]
+  cntsPerX [expr -4096/2] ]
+dy speed 1
 dy part instrument
 dy long_name dy
-dy softlowerlim 0
-dy softupperlim 20
+dy softlowerlim -4.5
+dy softupperlim 295
 dy home 0

 ############################
@@ -218,27 +241,27 @@ dy home 0

 # mc3: Selector Wheel Rotation Axis (attenuator)
 # Gearbox 50:1, Gear ratio 119:14
-set at_Home      0
-set atStepRate   [expr $motorrate*50.0*119.0/14.0/360.0]
-Motor at $motor_driver_type [params \
-  asyncqueue mc3\
-  host mc3-dingo\
-  port pmc3-dingo\
-  axis A\
-  units degree\
-  hardlowerlim 0\
-  hardupperlim 500\
-  maxSpeed [expr 400000.0/300000.0]\
-  maxAccel [expr 150000.0/300000.0]\
-  maxDecel [expr 150000.0/300000.0]\
-  stepsPerX $atStepRate\
-  absEnc 1\
-  absEncHome $at_Home\
-  cntsPerX 4096]
-at part sample
-at long_name at
-at softlowerlim 0
-at softupperlim 20
+#set at_Home      0
+#set atStepRate   [expr $motorrate*50.0*119.0/14.0/360.0]
+#Motor at $motor_driver_type [params \
+#  asyncqueue mc3\
+#  host mc3-dingo\
+#  port pmc3-dingo\
+#  axis A\
+#  units degree\
+#  hardlowerlim 0\
+#  hardupperlim 500\
+#  maxSpeed [expr 400000.0/300000.0]\
+#  maxAccel [expr 150000.0/300000.0]\
+#  maxDecel [expr 150000.0/300000.0]\
+#  stepsPerX $atStepRate\
+#  absEnc 1\
+#  absEncHome $at_Home\
+#  cntsPerX 4096]
+#at part sample
+#at long_name at
+#at softlowerlim 0
+#at softupperlim 20

 proc motor_set_sobj_attributes {} {
 }