# $Revision: 1.4 $
# $Date: 2006-12-12 22:30:13 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: dcl $

# START MOTOR CONFIGURATION

# Setup addresses of Galil DMC2280 controllers.
set dmc2280_controller1(host) mc1-kowari
set dmc2280_controller1(port) pmc1-kowari

set dmc2280_controller2(host) mc2-kowari
set dmc2280_controller2(port) pmc2-kowari

set dmc2280_controller3(host) mc3-kowari
set dmc2280_controller3(port) pmc3-kowari

set dmc2280_controller4(host) mc4-kowari
set dmc2280_controller4(port) pmc4-kowari

# Run slit homing routines on controllers 3 and 4
#if [catch {dmc_connect dmc2280_controller3} ] {
#  dmc_sendCmd dmc2280_controller3 "XQ#HOME,1"
#  dmc_close dmc2280_controller3
#}
#if [catch {dmc_connect dmc2280_controller4} ] {
#  dmc_sendCmd dmc2280_controller4 "XQ#HOME,1"
#  dmc_close dmc2280_controller4
#}

############################
# Motor Controller 1
# Motor Controller 1
# Motor Controller 1
############################
#:TP at HOME
#

# Monochromator phi, Tilt 1, upper
Motor mphi DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis A\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -25000\
  absEnc 1\
  absEncHome 7414753\
  cntsPerX -8192]
setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
mphi speed 1
mphi precision 0.01

# Monochromator chi, Tilt 2, lower
Motor mchi DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis B\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absEnc 1\
  absEncHome 7818915\
  cntsPerX 8192]
setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
mchi speed 1
mchi precision 0.01

# Monochromator Trans 1, upper
Motor my DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis C\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absEnc 1\
  absEncHome 7781680\
  cntsPerX 8192]
setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
my speed 1
my precision 0.01

# Monochromator Trans 2, lower
Motor mx DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis D\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -25000\
  absEnc 1\
  absEncHome 7562793\
  cntsPerX -8192]
setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
mx speed 1
mx precision 0.01

# Monochromator omega, rotate
Motor mom DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis E\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -12500\
  absEnc 1\
  absEncHome 17694127\
  cntsPerX -4096]
setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
mom speed 1
mom precision 0.01

# Monochromator two-theta, flight-tube rotate
Motor mtth DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis F\
  units degrees\
  maxSpeed 0.5\
  maxAccel 0.2\
  maxDecel 0.2\
  stepsPerX 25000\
  absEnc 1\
  absEncHome 10299428\
  cntsPerX 93207]
setHomeandRange -motor mtth -home 120 -lowrange 35 -uprange 35
mtth speed 0.5
mtth accel 0.01
mtth decel 0.01
mtth precision 0.02

############################
# Motor Controller 2
# Motor Controller 2
# Motor Controller 2
############################
#:TP at HOME
#

# Sample Trans, vertical, first stage
Motor sz1 DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
  axis A\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000]
setHomeandRange -motor sz1 -home 0 -lowrange 0 -uprange 350
sz1 speed 1
sz1 precision 0.01

# Sample Trans, vertical, second stage
Motor sz2 DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
  axis B\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000]
setHomeandRange -motor sz2 -home 0 -lowrange 0 -uprange 350
sz2 speed 1
sz2 precision 0.01

# Sample Trans 1, upper, y
Motor sy DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
  axis C\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 5000\
  absEnc 1\
  absEncHome 7626584\
  cntsPerX 1638.4]
setHomeandRange -motor sy -home 0 -lowrange 250 -uprange 250 
sy speed 1
sy precision 0.01

# Sample Trans2, lower, x
Motor sx DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
  axis D\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 5000\
  absEnc 1\
  absEncHome 24029910\
  cntsPerX 1638.4]
setHomeandRange -motor sx -home 0 -lowrange 250 -uprange 250 
sx speed 1
sx precision 0.01

# Sample Omega, rotate
Motor som DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
  axis E\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 12500\
  absEnc 1\
  absEncHome 24984596\
  cntsPerX 4096]
setHomeandRange -motor som -home 0 -lowrange 100 -uprange 100
som speed 1
som precision 0.01

# Sample two-theta, detector rotate
Motor stth DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
  axis F\
  units degrees\
  maxSpeed 0.5\
  maxAccel 0.2\
  maxDecel 0.2\
  stepsPerX 125000\
  absEnc 1\
  absEncHome 14530407\
  cntsPerX -93207]
setHomeandRange -motor stth -home 0 -lowrange 100 -uprange 100
stth speed 0.5
stth precision 0.01

############################
# Motor Controller 3
# Motor Controller 3
# Motor Controller 3
############################
#

# Monochromator Focusing (HOPG)
Motor mf1 DMC2280 [params \
  host $dmc2280_controller3(host)\
  port $dmc2280_controller3(port)\
  axis A\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000]
setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
mf1 speed 1
mf1 precision 0.01

# Monochromator Focusing (Ge)
Motor mf2 DMC2280 [params \
  host $dmc2280_controller3(host)\
  port $dmc2280_controller3(port)\
  axis B\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000]
setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 360
mf2 speed 1
mf2 precision 0.01

## Eulerian-chi
#Motor echi DMC2280 [params \
#	host $dmc2280_controller3(host)\
#	port $dmc2280_controller3(port)\
#	axis G\
#        units degrees\
#        maxSpeed 1\
#        maxAccel 1\
#        maxDecel 1\
#        stepsPerX 25000]
#setHomeandRange -motor echi -home 0 -lowrange 0 -uprange 360
#echi speed 1
#echi precision 0.01

## Eulerian-phi
#Motor ephi DMC2280 [params \
#	host $dmc2280_controller3(host)\
#	port $dmc2280_controller3(port)\
#	axis H\
#        units degrees\
#        maxSpeed 1\
#        maxAccel 1\
#        maxDecel 1\
#	stepsPerX 25000]
#setHomeandRange -motor ephi -home 0 -lowrange 0 -uprange 360
#ephi speed 1
#ephi precision 0.01

############################
# Motor Controller 4
# Motor Controller 4
# Motor Controller 4
############################
#

# Primary Slit, horizontal offset, 0-30mm
Motor psho DMC2280 [params \
  host $dmc2280_controller4(host)\
  port $dmc2280_controller4(port)\
  axis A\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -20125\
  motorHome 542093]
setHomeandRange -motor psho  -home 0 -lowrange 0 -uprange 30 

# Primary Slit, position 0-150mm
Motor psp DMC2280 [params \
  host $dmc2280_controller4(host)\
  port $dmc2280_controller4(port)\
  axis B\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -20125\
  motorHome 2040518]
setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150

# Primary Slit, width, 0-30mm
Motor psw DMC2280 [params \
  host $dmc2280_controller4(host)\
  port $dmc2280_controller4(port)\
  axis C\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -20125\
  motorHome 2040518]
setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30 

## Primary Slit, height, 0-30mm
#Motor psh DMC2280 [params \
#	host $dmc2280_controller4(host)\
#	port $dmc2280_controller4(port)\
#        axis D\
#        units mm\
#        maxSpeed 1\
#        maxAccel 1\
#        maxDecel 1\
#	stepsPerX -20125\
#        motorHome 542093]
#setHomeandRange -motor psh  -home 0 -lowrange 0 -uprange 30 

#--------------------------------------------------------

# Secondary Slit, horizontal offset
Motor ssho DMC2280 [params \
  host $dmc2280_controller4(host)\
  port $dmc2280_controller4(port)\
  axis E\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -20125\
  motorHome 500000]
setHomeandRange -motor ssho  -home 0 -lowrange 0 -uprange 30 

# Secondary Slit, position
Motor ssp DMC2280 [params \
  host $dmc2280_controller4(host)\
  port $dmc2280_controller4(port)\
  axis F\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -20125\
  motorHome 2043085]
setHomeandRange -motor ssp  -home 0 -lowrange 0 -uprange 150

# Secondary Slit, width
Motor ssw DMC2280 [params \
  host $dmc2280_controller4(host)\
  port $dmc2280_controller4(port)\
  axis G\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -20125\
  motorHome 2043085]
setHomeandRange -motor ssw  -home 0 -lowrange 0 -uprange 30

## Secondary Slit, height
#Motor ssh DMC2280 [params \
#  host $dmc2280_controller4(host)\
#  port $dmc2280_controller4(port)\
#  axis H\
#  units mm\
#  maxSpeed 1\
#  maxAccel 1\
#  maxDecel 1\
#  stepsPerX -20125\
#  motorHome 500000]
#setHomeandRange -motor ssh  -home 0 -lowrange 0 -uprange 30 

#--------------------------------------------------------

proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
publish mthSet user
publish mthGet user
MakeConfigurableMotor mth
mth readscript mthGet
mth drivescript mthSet

proc sthGet {} { return [expr [SplitReply [stth]]/2.0]}
proc sthSet {val} { return "stth=[SplitReply [stth]]"}
publish sthGet user
publish sthSet user
MakeConfigurableMotor sth
sth readscript sthGet
sth drivescript sthSet

#--------------------------------------------------------

# END MOTOR CONFIGURATION