From f7cce8d15a9d5ab0d06818ba0abbd410ee043e19 Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Tue, 2 Oct 2007 11:31:00 +1000
Subject: [PATCH] Commissioning changes

r2168 | dcl | 2007-10-02 11:31:00 +1000 (Tue, 02 Oct 2007) | 2 lines
---
 .../config/motors/motor_configuration.tcl     | 154 ++++++++----------
 1 file changed, 70 insertions(+), 84 deletions(-)

diff --git a/site_ansto/instrument/sans/config/motors/motor_configuration.tcl b/site_ansto/instrument/sans/config/motors/motor_configuration.tcl
index 5a921753..676a5cd4 100644
--- a/site_ansto/instrument/sans/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/sans/config/motors/motor_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.6 $
-# $Date: 2007-09-25 23:33:29 $
+# $Revision: 1.7 $
+# $Date: 2007-10-02 01:31:00 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -36,11 +36,11 @@ if {$sim_mode == "true"} {
 set samchi_Home 7808328
 set samphi_Home 7675008
 set samx_Home 7414223
-set samy_Home 7548389
-set samz_Home 9945599
+set samy_Home 7101486
+set samz_Home 9944901
 set samthet_Home 22997883
-set det_Home 7194691
-set detoff_Home 7396273
+set det_Home 7047593
+set detoff_Home 7227034
 
 set pent_Home 8123563
 #set srce_Home 7868762
@@ -162,11 +162,11 @@ set coll_StepsPerX [expr -25000.0/6.0]
 set coll_CntsPerX [expr 8192.0/6.0]
 
 #Measured or computed step rate for samz (Sample Raise)
-#set samzStepRate -116500
-set samzStepRate -125000
+# Motor:25000/turn, gear:1/25, screw:5mm/turn
+set samzStepRate [expr -((25000.0*25.0)/5.0)/2.0]
 #set samzCountRate [expr -(8192.0/5.0/0.932)]
 # 8192 count encoder, 5mm/Turn screw, 14:15 gearing?
-set samzCountRate [expr -(8192.0/5.0/(14.0/15.0))]
+set samzCountRate [expr -((8192.0/5.0)/(14.0/15.0))/2.0]
 
 # set movecount high to reduce the frequency of
 # hnotify messages to a reasonable level
@@ -231,8 +231,8 @@ Motor samx $motor_driver_type [params \
   port pmc1-quokka\
   axis C\
   units mm\
-  hardlowerlim 0\
-  hardupperlim 1000\
+  hardlowerlim -500\
+  hardupperlim 500\
   maxSpeed 1\
   maxAccel 5\
   maxDecel 5\
@@ -242,8 +242,8 @@ Motor samx $motor_driver_type [params \
   cntsPerX [expr 8192.0/5.0]]
 samx part sample
 samx long_name sample_x
-samx softlowerlim 0
-samx softupperlim 1000
+samx softlowerlim -500
+samx softupperlim 500
 samx home 0
 
 # Sample translation along beam [0,1000] mm
@@ -312,10 +312,15 @@ samthet softlowerlim 0
 samthet softupperlim 180
 samthet home 0
 
-set det_StepsPerX [expr 25000.0*70.0*3.1415926*120.0]
-set det_StepsPerX [expr 25000.0/5.385]
-set det_CntsPerX [expr 8192.0/3.1415926/120.0]]
-set det_CntsPerX [expr 21.6898]
+# Motor feeds 70:1 gearbox to 120mm diameter drive wheel ~= 377mm circumference
+#set det_StepsPerX [expr 25000.0*70.0*3.1415926*120.0]
+#set det_StepsPerX [expr 25000.0/5.385]
+set det_StepsPerX [expr (25000.0*70.0)/377.0]
+
+# Absolute encoder is on the drive wheel
+#set det_CntsPerX [expr 8192.0/3.1415926/120.0]]
+#set det_CntsPerX [expr 21.6898]
+set det_CntsPerX [expr 8192.0/377.0]
 
 # Detector translation along beam [0,20000] mm
 Motor det $motor_driver_type [params \
@@ -324,10 +329,10 @@ Motor det $motor_driver_type [params \
   port pmc1-quokka\
   axis G\
   units mm\
-  hardlowerlim -20000\
+  hardlowerlim -10\
   hardupperlim 20000\
-  maxSpeed 10\
-  maxAccel 1\
+  maxSpeed 40\
+  maxAccel 5\
   maxDecel 10\
   stepsPerX $det_StepsPerX\
   absEnc 1\
@@ -335,9 +340,10 @@ Motor det $motor_driver_type [params \
   cntsPerX $det_CntsPerX]
 det part detector
 det long_name detector_y
-det softlowerlim -20000
-det softupperlim 20000
+det softlowerlim 0
+det softupperlim 19000
 det home 0
+det speed 20
 
 # Detector translation across beam [-50,450] mm
 Motor detoff $motor_driver_type [params \
@@ -385,12 +391,10 @@ Motor c1 $motor_driver_type [params \
   absEnc 1\
   absEncHome $c1_Home\
   cntsPerX $coll_CntsPerX\
-  posit_count 5]
-c1 posit_1 [expr $c1_Guide + (10 * $coll_CntsPerX)]
-c1 posit_2 [expr $c1_Guide]
-c1 posit_3 [expr $c1_Empty]
-c1 posit_4 [expr $c1_Polarizer]
-c1 posit_5 [expr $c1_Polarizer - (10 * $coll_CntsPerX)]
+  posit_count 3]
+c1 posit_1 [expr $c1_Guide]
+c1 posit_2 [expr $c1_Empty]
+c1 posit_3 [expr $c1_Polarizer]
 c1 part collimator
 c1 long_name c1
 setHomeandRange -motor c1 -home 0 -lowrange 95 -uprange 95
@@ -413,12 +417,10 @@ Motor c2 $motor_driver_type [params \
   absEnc 1\
   absEncHome $c2_Home\
   cntsPerX $coll_CntsPerX\
-  posit_count 5]
-c2 posit_1 [expr $c2_Guide + (10 * $coll_CntsPerX)]
-c2 posit_2 [expr $c2_Guide]
-c2 posit_3 [expr $c2_Empty]
-c2 posit_4 [expr $c2_Polarizer]
-c2 posit_5 [expr $c2_Polarizer - (10 * $coll_CntsPerX)]
+  posit_count 3]
+c2 posit_1 [expr $c2_Guide]
+c2 posit_2 [expr $c2_Empty]
+c2 posit_3 [expr $c2_Polarizer]
 c2 part collimator
 c2 long_name c2
 setHomeandRange -motor c2 -home 0 -lowrange 95 -uprange 95
@@ -441,12 +443,10 @@ Motor c3 $motor_driver_type [params \
   absEnc 1\
   absEncHome $c3_Home\
   cntsPerX $coll_CntsPerX\
-  posit_count 5]
-c3 posit_1 [expr $c3_Home + (150 * $coll_CntsPerX)]
-c3 posit_2 [expr $c3_Empty]
-c3 posit_3 [expr $c3_Guide]
-c3 posit_4 [expr $c3_Aperture]
-c3 posit_5 [expr $c3_Home - (150 * $coll_CntsPerX)]
+  posit_count 3]
+c3 posit_1 [expr $c3_Empty]
+c3 posit_2 [expr $c3_Guide]
+c3 posit_3 [expr $c3_Aperture]
 c3 part collimator
 c3 long_name c3
 setHomeandRange -motor c3 -home 0 -lowrange 190 -uprange 190
@@ -469,12 +469,10 @@ Motor c4 $motor_driver_type [params \
   absEnc 1\
   absEncHome $c4_Home\
   cntsPerX $coll_CntsPerX\
-  posit_count 5]
-c4 posit_1 [expr $c4_Home + (150 * $coll_CntsPerX)]
-c4 posit_2 [expr $c4_Empty]
-c4 posit_3 [expr $c4_Guide]
-c4 posit_4 [expr $c4_Aperture]
-c4 posit_5 [expr $c4_Home - (150 * $coll_CntsPerX)]
+  posit_count 3]
+c4 posit_1 [expr $c4_Empty]
+c4 posit_2 [expr $c4_Guide]
+c4 posit_3 [expr $c4_Aperture]
 c4 part collimator
 c4 long_name c4
 setHomeandRange -motor c4 -home 0 -lowrange 190 -uprange 190
@@ -497,12 +495,10 @@ Motor c5 $motor_driver_type [params \
   absEnc 1\
   absEncHome $c5_Home\
   cntsPerX $coll_CntsPerX\
-  posit_count 5]
-c5 posit_1 [expr $c5_Home + (150 * $coll_CntsPerX)]
-c5 posit_2 [expr $c5_Empty]
-c5 posit_3 [expr $c5_Guide]
-c5 posit_4 [expr $c5_Aperture]
-c5 posit_5 [expr $c5_Home - (150 * $coll_CntsPerX)]
+  posit_count 3]
+c5 posit_1 [expr $c5_Empty]
+c5 posit_2 [expr $c5_Guide]
+c5 posit_3 [expr $c5_Aperture]
 c5 part collimator
 c5 long_name c5
 setHomeandRange -motor c5 -home 0 -lowrange 190 -uprange 190
@@ -525,12 +521,10 @@ Motor c6 $motor_driver_type [params \
   absEnc 1\
   absEncHome $c6_Home\
   cntsPerX $coll_CntsPerX\
-  posit_count 5]
-c6 posit_1 [expr $c6_Home + (150 * $coll_CntsPerX)]
-c6 posit_2 [expr $c6_Empty]
-c6 posit_3 [expr $c6_Guide]
-c6 posit_4 [expr $c6_Aperture]
-c6 posit_5 [expr $c6_Home - (150 * $coll_CntsPerX)]
+  posit_count 3]
+c6 posit_1 [expr $c6_Empty]
+c6 posit_2 [expr $c6_Guide]
+c6 posit_3 [expr $c6_Aperture]
 c6 part collimator
 c6 long_name c6
 setHomeandRange -motor c6 -home 0 -lowrange 190 -uprange 190
@@ -553,12 +547,10 @@ Motor c7 $motor_driver_type [params \
   absEnc 1\
   absEncHome $c7_Home\
   cntsPerX $coll_CntsPerX\
-  posit_count 5]
-c7 posit_1 [expr $c7_Home + (150 * $coll_CntsPerX)]
-c7 posit_2 [expr $c7_Empty]
-c7 posit_3 [expr $c7_Guide]
-c7 posit_4 [expr $c7_Aperture]
-c7 posit_5 [expr $c7_Home - (150 * $coll_CntsPerX)]
+  posit_count 3]
+c7 posit_1 [expr $c7_Empty]
+c7 posit_2 [expr $c7_Guide]
+c7 posit_3 [expr $c7_Aperture]
 c7 part collimator
 c7 long_name c7
 setHomeandRange -motor c7 -home 0 -lowrange 190 -uprange 190
@@ -581,12 +573,10 @@ Motor c8 $motor_driver_type [params \
   absEnc 1\
   absEncHome $c8_Home\
   cntsPerX $coll_CntsPerX\
-  posit_count 5]
-c8 posit_1 [expr $c8_Home + (150 * $coll_CntsPerX)]
-c8 posit_2 [expr $c8_Empty]
-c8 posit_3 [expr $c8_Guide]
-c8 posit_4 [expr $c8_Aperture]
-c8 posit_5 [expr $c8_Home - (150 * $coll_CntsPerX)]
+  posit_count 3]
+c8 posit_1 [expr $c8_Empty]
+c8 posit_2 [expr $c8_Guide]
+c8 posit_3 [expr $c8_Aperture]
 c8 part collimator
 c8 long_name c8
 setHomeandRange -motor c8 -home 0 -lowrange 190 -uprange 190
@@ -616,12 +606,10 @@ Motor c9 $motor_driver_type [params \
   absEnc 1\
   absEncHome $c9_Home\
   cntsPerX $coll_CntsPerX\
-  posit_count 5]
-c9 posit_1 [expr $c9_Home + (150 * $coll_CntsPerX)]
-c9 posit_2 [expr $c9_Empty]
-c9 posit_3 [expr $c9_Guide]
-c9 posit_4 [expr $c9_Aperture]
-c9 posit_5 [expr $c9_Home - (150 * $coll_CntsPerX)]
+  posit_count 3]
+c9 posit_1 [expr $c9_Empty]
+c9 posit_2 [expr $c9_Guide]
+c9 posit_3 [expr $c9_Aperture]
 c9 part collimator
 c9 long_name c9
 setHomeandRange -motor c9 -home 0 -lowrange 190 -uprange 190
@@ -644,14 +632,12 @@ Motor c10 $motor_driver_type [params \
   absEnc 1\
   absEncHome $c10_Home\
   cntsPerX $coll_CntsPerX\
-  posit_count 7]
-c10 posit_1 [expr $c10_Empty + 81920 + (10 * $coll_CntsPerX)]
-c10 posit_2 [expr $c10_Empty + 81920]
-c10 posit_3 [expr $c10_Empty]
-c10 posit_4 [expr $c10_Guide]
-c10 posit_5 [expr $c10_Aperture]
-c10 posit_6 [expr $c10_Aperture - 81920]
-c10 posit_7 [expr $c10_Aperture - 81920 - (10 * $coll_CntsPerX)]
+  posit_count 5]
+c10 posit_1 [expr $c10_Empty + 81920]
+c10 posit_2 [expr $c10_Empty]
+c10 posit_3 [expr $c10_Guide]
+c10 posit_4 [expr $c10_Aperture]
+c10 posit_5 [expr $c10_Aperture - 81920]
 c10 part collimator
 c10 long_name c10
 setHomeandRange -motor c10 -home 0 -lowrange 190 -uprange 190