Add motor soma to dingo configuration

site_ansto/instrument/dingo/config/motors/motor_configuration.tcl

@@ -16,6 +16,12 @@ if {$sim_mode == "true"} {
   #MakeAsyncQueue mc3 DMC2280 [dict get $::MOTOR_HOSTPORT MC3 HOST] [dict get $::MOTOR_HOSTPORT MC3 PORT]
 }
 
+set sample_stage_rotate "normal_sample_stage"
+if { [ info exists ::config_dict ] } {
+  if { [ dict exists $::config_dict sample_stage implementation ] } {
+    set sample_stage_rotate [ dict get $::config_dict sample_stage implementation ]
+  }
+}
 
 # Dummy translation motor, useful for testing scans
 set dummy_Home    0
@@ -135,41 +141,43 @@ sy softlowerlim -50
 sy softupperlim 230
 sy home 0
 
-# mc1: Sample rotation axis
+if {[string equal -nocase ${sample_stage_rotate} "normal_sample_stage"]} {
-# Gearbox 100:1, screw pitch 356:1
+  # mc1: Sample rotation axis
-# Encoder 2P17
+  # Gearbox 100:1, screw pitch 356:1
-#set stth_Home  821487
+  # Encoder 2P17
-set stth_Home  0
+  #set stth_Home  821487
-#set stthStepRate [expr -$motorrate*100.0]
+  set stth_Home  0
-set stthStepRate -2478000
+  #set stthStepRate [expr -$motorrate*100.0]
-Motor stth $motor_driver_type [params \
+  set stthStepRate -2478000
-  asyncqueue mc1\
+  Motor stth $motor_driver_type [params \
-  host mc1-dingo\
+    asyncqueue mc1\
-  port pmc1-dingo\
+    host mc1-dingo\
-  axis D\
+    port pmc1-dingo\
-  units degree\
+    axis D\
-  hardlowerlim -722\
+    units degree\
-  hardupperlim 722\
+    hardlowerlim -722\
-  maxSpeed 0.12\
+    hardupperlim 722\
-  maxAccel 1\
+    maxSpeed 2.0\
-  maxDecel 1\
+    maxAccel 1\
-  stepsPerX $stthStepRate\
+    maxDecel 1\
-  absEnc 1\
+    stepsPerX $stthStepRate\
-  absEncHome $stth_Home\
+    absEnc 1\
-  nopowersave 1\
+    absEncHome $stth_Home\
-  cntsPerX 93206.75556 ]
+    nopowersave 1\
-stth speed 0.1
+    cntsPerX 93206.75556 ]
-stth accel 0.1
+  stth speed 0.5
-stth decel 0.1
+  stth accel 0.1
-stth part sample
+  stth decel 0.1
-stth long_name stth 
+  stth part sample
-stth softlowerlim 0.01
+  stth long_name stth
-stth softupperlim 359.99
+  stth softlowerlim 0.01
-stth home 0
+  stth softupperlim 359.99
-#stth bias_bits 25
+  stth home 0
-#stth bias_bias -33432264
+  #stth bias_bits 25
-stth rotary_bits 25
+  #stth bias_bias -33432264
-stth creep_offset 0.05
+  stth rotary_bits 25
+  stth creep_offset 0.05
+}
 
 # mc1: detection Z-stage Translation
 # Gearbox 5:1, Gear ratio 16:1, pitch 4mm
@@ -199,40 +207,81 @@ dz softlowerlim 0
 dz softupperlim 170
 dz home 0
 
-# mc1:H Sample rotation axis
+if {[string equal -nocase ${sample_stage_rotate} "soma"]} {
-# Resolver 2,048 counts per degree
+  # mc1:H Sample rotation axis
-# Motor 12,500 steps per degree
+  # Resolver 2,048 counts per degree
-# Positive steps are CCW viewed from above
+  # Motor 12,500 steps per degree
-set soma_Home  9867748
+  # Positive steps are CCW viewed from above
-#set somaStepRate [expr -$motorrate*100.0]
+  set soma_Home  9867748
-set somaStepRate 12500
+  #set somaStepRate [expr -$motorrate*100.0]
-Motor soma $motor_driver_type [params \
+  set somaStepRate 12500
-  asyncqueue mc1\
+  Motor soma $motor_driver_type [params \
-  host mc1-dingo\
+    asyncqueue mc1\
-  port pmc1-dingo\
+    host mc1-dingo\
-  axis H\
+    port pmc1-dingo\
-  units degree\
+    axis H\
-  hardlowerlim -722\
+    units degree\
-  hardupperlim 722\
+    hardlowerlim -722\
-  maxSpeed 12\
+    hardupperlim 722\
-  maxAccel 1\
+    maxSpeed 12\
-  maxDecel 1\
+    maxAccel 1\
-  stepsPerX $somaStepRate\
+    maxDecel 1\
-  absEnc 1\
+    stepsPerX $somaStepRate\
-  absEncHome $soma_Home\
+    absEnc 1\
-  nopowersave 1\
+    absEncHome $soma_Home\
-  cntsPerX 2048 ]
+    nopowersave 1\
-soma speed 0.1
+    cntsPerX 2048 ]
-soma accel 0.1
+  soma speed 0.1
-soma decel 0.1
+  soma accel 0.1
-soma part sample
+  soma decel 0.1
-soma long_name soma
+  soma part sample
-soma softlowerlim -1
+  soma long_name soma
-soma softupperlim 361
+  soma softlowerlim -1
-soma home 0
+  soma softupperlim 361
-#soma bias_bits 25
+  soma home 0
-#soma rotary_bits 25
+  #soma bias_bits 25
-soma creep_offset 0.05
+  #soma rotary_bits 25
+  soma creep_offset 0.05
+}
+
+if {[string equal -nocase ${sample_stage_rotate} "somb"]} {
+  # mc1:D,H Sample rotation axis
+  # Resolver 4,096 counts per degree
+  # Motor 10*25,000 steps per degree
+  # Positive steps are CCW viewed from above
+  set somb_Home [expr 2**23]
+  #set sombStepRate [expr -$motorrate*100.0]
+  set sombStepRate [expr 10 * 25000]
+  Motor somb $motor_driver_type [params \
+    asyncqueue mc1\
+    host mc1-dingo\
+    port pmc1-dingo\
+    axis D\
+    encoderaxis H\
+    units degree\
+    hardlowerlim -722\
+    hardupperlim 722\
+    maxSpeed 0.4\
+    maxAccel 1\
+    maxDecel 1\
+    stepsPerX $sombStepRate\
+    absEnc 1\
+    absEncHome $somb_Home\
+    nopowersave 1\
+    cntsPerX 4096 ]
+  somb speed 0.1
+  somb accel 0.1
+  somb decel 0.1
+  somb part sample
+  somb long_name somb
+  somb softlowerlim -1
+  somb softupperlim 361
+  somb home 0
+  somb bias_bits 24
+  somb bias_bias [expr 2**23]
+  #somb rotary_bits 25
+  somb creep_offset 0.05
+}
 
 
 ############################
@@ -243,7 +292,7 @@ soma creep_offset 0.05
 #
 
 # mc2: Camera translation axis along beam
-# Gearbox ?, Gear ratio ?, 
+# Gearbox ?, Gear ratio ?,
 set dy_Home     8847069
 set dyStepRate  [expr 25000.0/2.0]
 Motor dy $motor_driver_type [params \

site_ansto/instrument/dingo/util/sics_config.ini

@@ -0,0 +1,251 @@
+[CF5]
+cascade = T1:CF5_ls340,sample_stage:normal_sample_stage
+enabled = False
+[Default]
+cascade = sample_stage:normal_sample_stage
+enabled = True
+[Function_Generator]
+datype = V
+enabled = False
+id = 1
+implementation = none
+name = pulser
+optype = function_generator
+[I1]
+datype = I
+enabled = False
+id = 1
+implementation = none
+name = curr1
+optype = multimeter
+[I2]
+datype = I
+enabled = False
+id = 2
+implementation = none
+name = curr2
+optype = multimeter
+[T1]
+datype = T
+enabled = False
+id = 1
+implementation = none
+name = tc1
+optype = temperature
+[T2]
+datype = T
+enabled = False
+id = 2
+implementation = none
+name = tc2
+optype = temperature
+[T3]
+datype = T
+enabled = False
+id = 3
+implementation = none
+name = tc3
+optype = temperature
+[T4]
+datype = T
+enabled = False
+id = 4
+implementation = none
+name = tc4
+optype = temperature
+[V1]
+datype = V
+enabled = False
+id = 1
+implementation = none
+name = volts1
+optype = multimeter
+[V2]
+datype = V
+enabled = False
+id = 2
+implementation = none
+name = volts2
+optype = multimeter
+[sample_stage]
+enabled = Always
+implementation = somb
+name = sample_stage
+optype = motion_axis
+[CF5_ls340]
+asyncqueue = sct
+desc = "Lakeshore 340 temperature controller"
+driver = "ls340"
+imptype = temperature
+ip = 10.157.205.34
+port = 4001
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[agilent_33220A]
+asyncqueue = sct
+desc = "Function Generator"
+driver = agilent_33220A
+imptype = function_generator
+ip = 10.157.205.16
+port = 5025
+
+[ls336_01]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 10.157.205.28
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_02]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 10.157.205.29
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_04]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 10.157.205.30
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_05]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 137.157.201.21
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_06]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 137.157.201.21
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_11]
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 10.157.205.27
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_12]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 10.157.205.31
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls340_01]
+asyncqueue = sct
+desc = "Lakeshore 340 temperature controller"
+driver = "ls340"
+imptype = temperature
+ip = 137.157.201.86
+port = 4001
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls340_02]
+asyncqueue = sct
+desc = "Lakeshore 340 temperature controller"
+driver = "ls340"
+imptype = temperature
+ip = 137.157.201.86
+port = 4002
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls340_11]
+desc = "Lakeshore 340 temperature controller"
+driver = "ls340"
+imptype = temperature
+ip = 137.157.201.86
+port = 4001
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[mercury_scpi_01]
+desc = "Oxford Mercury temperature controller with three temperature loops."
+driver = "mercury_base"
+imptype = temperature
+ip = 10.157.205.5
+permlink = LT
+port = 7020
+terminator = \r\n
+tol = 1.0
+valve_tol = 2
+
+[mercury_scpi_02]
+desc = "Oxford Mercury temperature controller with four temperature loops and needle valve control"
+driver = "mercury_scpi"
+imptype = temperature
+ip = 10.157.205.47
+permlink = LT
+port = 7020
+terminator = \r\n
+tol = 1.0
+valve_tol = 2
+
+[normal_sample_stage]
+desc = "This is the default sample stage configuration"
+imptype = motion_axis
+
+[protek_01]
+asyncqueue = sct
+desc = "Protek Multimeter"
+driver = "protekmm"
+imptype = multimeter
+ip = 10.157.205.36
+port = 4001
+
+[protek_02]
+asyncqueue = sct
+desc = "Protek Multimeter"
+driver = "protekmm"
+imptype = multimeter
+ip = 10.157.205.37
+port = 4001
+
+[soma]
+desc = "This is alternative Sample Omega A"
+imptype = motion_axis
+
+[somb]
+desc = "This is alternative Sample Omega B"
+imptype = motion_axis
+