427 lines
12 KiB
Tcl
427 lines
12 KiB
Tcl
set slit2active 1
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# START MOTOR CONFIGURATION
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set animal koala
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#set sim_mode [SplitReply [motor_simulation]]
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set sim_mode false
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# Setup addresses of Galil DMC2280 controllers.
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set dmc2280_controller2(host) mc2-$animal
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set dmc2280_controller2(port) 1044
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if {$sim_mode == "true"} {
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set motor_driver_type asim
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} else {
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set motor_driver_type DMC2280
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MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
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}
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#Measured or computed slit motor steps per millimetre
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# 125 steps * 161:1 gears = 20125
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set slitStepRate 20125
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#Measured slit gap, in units, after homing on limit switches
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set ss1h_Gap 52.6
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set ss1v_Gap 128.6
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set ss2h_Gap 51.0
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set ss2v_Gap 205.0
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set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
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set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
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set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
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set ss1d_Home [expr $ss1v_Gap/2*$slitStepRate]
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set ss2r_Home [expr $ss2h_Gap/2*$slitStepRate]
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set ss2l_Home [expr $ss2h_Gap/2*$slitStepRate]
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set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
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set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
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#Default upper and lower ranges for vertical slits
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set vertSlitLowRange 64
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set vertSlitUpRange 64
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#Default upper and lower ranges for horizontal slits
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set horSlitLowRange 25
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set horSlitUpRange 25
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#Default upper and lower ranges for vertical slits
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set vSlitHome 0
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set vSlitLoRange 20
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set vSlitHiRange 100
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#Default upper and lower ranges for horizontal slits
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set hSlitHome 0
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set hSlitLoRange 15
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set hSlitHiRange 35
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#calculate individual slit motor low ranges
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set ss1r_LoRange [expr $hSlitHome - $hSlitLoRange]
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set ss1l_LoRange [expr $hSlitHome - $hSlitHiRange]
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set ss1u_LoRange [expr $vSlitHome - $vSlitLoRange]
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set ss1d_LoRange [expr $vSlitHome - $vSlitHiRange]
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set ss2r_LoRange [expr $hSlitHome - $hSlitLoRange]
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set ss2l_LoRange [expr $hSlitHome - $hSlitHiRange]
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set ss2u_LoRange [expr $vSlitHome - $vSlitLoRange]
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set ss2d_LoRange [expr $vSlitHome - $vSlitHiRange]
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#calculate individual slit motor high ranges
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set ss1r_HiRange [expr $hSlitHome + $hSlitHiRange]
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set ss1l_HiRange [expr $hSlitHome + $hSlitLoRange]
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set ss1u_HiRange [expr $vSlitHome + $vSlitHiRange]
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set ss1d_HiRange [expr $vSlitHome + $vSlitLoRange]
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set ss2r_HiRange [expr $hSlitHome + $hSlitHiRange]
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set ss2l_HiRange [expr $hSlitHome + $hSlitLoRange]
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set ss2u_HiRange [expr $vSlitHome + $vSlitHiRange]
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set ss2d_HiRange [expr $vSlitHome + $vSlitLoRange]
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set slit1VGroup first/vertical
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set slit1HGroup first/horizontal
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set slit2VGroup second/vertical
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set slit2HGroup second/horizontal
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# set movecount high to reduce the frequency of
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# hnotify messages to a reasonable level
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set move_count 10
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# Slit 1, right
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Motor ss1r $motor_driver_type [params \
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asyncqueue mc2\
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axis A\
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units mm\
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hardlowerlim $ss1r_LoRange\
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hardupperlim $ss1r_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1r_Home]
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ss1r softlowerlim $ss1r_LoRange
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ss1r softupperlim $ss1r_HiRange
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ss1r home 0
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ss1r movecount $move_count
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ss1r part aperture.first
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ss1r long_name right
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Motor ss1l $motor_driver_type [params \
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asyncqueue mc2\
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axis B\
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units mm\
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hardlowerlim $ss1l_LoRange\
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hardupperlim $ss1l_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $slitStepRate\
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motorHome $ss1l_Home]
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ss1l softlowerlim $ss1l_LoRange
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ss1l softupperlim $ss1l_HiRange
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ss1l home 0
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ss1l movecount $move_count
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ss1l part aperture.first
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ss1l long_name left
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Motor ss1u $motor_driver_type [params \
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asyncqueue mc2\
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axis C\
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units mm\
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hardlowerlim $ss1u_LoRange\
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hardupperlim $ss1u_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1u_Home]
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ss1u softlowerlim $ss1u_LoRange
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ss1u softupperlim $ss1u_HiRange
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ss1u home 0
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ss1u movecount $move_count
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ss1u part aperture.first
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ss1u long_name top
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Motor ss1d $motor_driver_type [params \
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asyncqueue mc2\
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axis D\
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units mm\
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hardlowerlim $ss1d_LoRange\
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hardupperlim $ss1d_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $slitStepRate\
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motorHome $ss1d_Home]
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ss1d softlowerlim $ss1d_LoRange
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ss1d softupperlim $ss1d_HiRange
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ss1d home 0
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ss1d movecount $move_count
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ss1d part aperture.first
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ss1d long_name bottom
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if {$slit2active} {
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# Slit 2, right
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Motor ss2r $motor_driver_type [params \
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asyncqueue mc2\
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axis E\
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units mm\
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hardlowerlim $ss2r_LoRange\
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hardupperlim $ss2r_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss2r_Home]
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ss2r softlowerlim $ss2r_LoRange
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ss2r softupperlim $ss2r_HiRange
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ss2r home 0
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ss2r movecount $move_count
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ss2r part aperture.second
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ss2r long_name right
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Motor ss2l $motor_driver_type [params \
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asyncqueue mc2\
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axis F\
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units mm\
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hardlowerlim $ss2l_LoRange\
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hardupperlim $ss2l_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $slitStepRate\
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motorHome $ss2l_Home]
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ss2l softlowerlim $ss2l_LoRange
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ss2l softupperlim $ss2l_HiRange
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ss2l home 0
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ss2l movecount $move_count
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ss2l part aperture.second
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ss2l long_name left
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# Slit 2, up
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Motor ss2u $motor_driver_type [params \
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asyncqueue mc2\
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axis G\
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units mm\
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hardlowerlim $ss2u_LoRange\
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hardupperlim $ss2u_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss2u_Home]
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ss2u softlowerlim $ss2u_LoRange
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ss2u softupperlim $ss2u_HiRange
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ss2u home 0
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ss2u movecount $move_count
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ss2u part aperture.second
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ss2u long_name top
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Motor ss2d $motor_driver_type [params \
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asyncqueue mc2\
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axis H\
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units mm\
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hardlowerlim $ss2d_LoRange\
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hardupperlim $ss2d_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $slitStepRate\
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motorHome $ss2d_Home]
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ss2d softlowerlim $ss2d_LoRange
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ss2d softupperlim $ss2d_HiRange
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ss2d home 0
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ss2d movecount $move_count
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ss2d part aperture.second
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ss2d long_name bottom
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}
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make_gap_motors ss1vg gap ss1vo offset ss1u ss1d mm $slit1VGroup
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make_gap_motors ss1hg gap ss1ho offset ss1r ss1l mm $slit1HGroup
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if {$slit2active} {
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make_gap_motors ss2vg gap ss2vo offset ss2u ss2d mm $slit2VGroup
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make_gap_motors ss2hg gap ss2ho offset ss2r ss2l mm $slit2HGroup
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}
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if {0} {
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#--------------------------------------------------------
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proc ss1widthscript {val} {
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set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
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set diff [expr $val - $currentWidth]
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set newD1R [expr [SplitReply [ss1r]] + $diff/2]
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set newD1L [expr [SplitReply [ss1l]] + $diff/2]
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return "ss1r=$newD1R,ss1l=$newD1L"
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}
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publish ss1widthscript user
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#-------------------------------------------------------
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proc ss1readwidth {} {
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return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
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}
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publish ss1readwidth user
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MakeConfigurableMotor ss1hg
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ss1hg drivescript ss1widthscript
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ss1hg readscript ss1readwidth
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#--------------------------------------------------------
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proc ss1horoffsetscript {val} {
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set SR [SplitReply [ss1r]]
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set SL [SplitReply [ss1l]]
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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 - $diff]
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return "ss1r=$newD1R,ss1l=$newD1L"
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}
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publish ss1horoffsetscript user
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#-------------------------------------------------------
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proc ss1readhoroffset {} {
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set SR [SplitReply [ss1r]]
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return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
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}
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publish ss1readhoroffset user
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#-------------------------------------------------------
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MakeConfigurableMotor ss1ho
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ss1ho drivescript ss1horoffsetscript
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ss1ho readscript ss1readhoroffset
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#-----------------------------------------------------
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proc ss1heightscript {val} {
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set currentWidth [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
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set diff [expr $val - $currentWidth]
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set newD1B [expr [SplitReply [ss1d]] + $diff/2]
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set newD1T [expr [SplitReply [ss1u]] + $diff/2]
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return "ss1d=$newD1B,ss1u=$newD1T"
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}
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publish ss1heightscript user
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#-------------------------------------------------------
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proc ss1readheight {} {
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return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
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}
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publish ss1readheight user
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#---------------------------------------------------------
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MakeConfigurableMotor ss1vg
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ss1vg drivescript ss1heightscript
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ss1vg readscript ss1readheight
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#--------------------------------------------------------
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proc ss1vertoffsetscript {val} {
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set SU [SplitReply [ss1u]]
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set SD [SplitReply [ss1d]]
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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 - $diff]
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return "ss1u=$newD1U,ss1d=$newD1D"
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}
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publish ss1vertoffsetscript user
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#-------------------------------------------------------
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proc ss1readvertoffset {} {
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set SU [SplitReply [ss1u]]
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return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
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}
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publish ss1readvertoffset user
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#-------------------------------------------------------
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MakeConfigurableMotor ss1vo
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ss1vo drivescript ss1vertoffsetscript
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ss1vo readscript ss1readvertoffset
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###############################################
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if {$slit2active} {
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#--------------------------------------------------------
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proc ss2widthscript {val} {
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set currentWidth [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
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set diff [expr $val - $currentWidth]
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set newD1R [expr [SplitReply [ss2r]] + $diff/2]
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set newD1L [expr [SplitReply [ss2l]] + $diff/2]
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return "ss2r=$newD1R,ss2l=$newD1L"
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}
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publish ss2widthscript user
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#-------------------------------------------------------
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proc ss2readwidth {} {
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return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
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}
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publish ss2readwidth user
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MakeConfigurableMotor ss2hg
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ss2hg drivescript ss2widthscript
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ss2hg readscript ss2readwidth
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#--------------------------------------------------------
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proc ss2horoffsetscript {val} {
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set SR [SplitReply [ss2r]]
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set SL [SplitReply [ss2l]]
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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 - $diff]
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return "ss2r=$newD1R,ss2l=$newD1L"
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}
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publish ss2horoffsetscript user
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#-------------------------------------------------------
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proc ss2readhoroffset {} {
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set SR [SplitReply [ss2r]]
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return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
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}
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publish ss2readhoroffset user
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#-------------------------------------------------------
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MakeConfigurableMotor ss2ho
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ss2ho drivescript ss2horoffsetscript
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ss2ho readscript ss2readhoroffset
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#-----------------------------------------------------
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proc ss2heightscript {val} {
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set currentWidth [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
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set diff [expr $val - $currentWidth]
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set newD1B [expr [SplitReply [ss2d]] + $diff/2]
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set newD1T [expr [SplitReply [ss2u]] + $diff/2]
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return "ss2d=$newD1B,ss2u=$newD1T"
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}
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publish ss2heightscript user
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#-------------------------------------------------------
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proc ss2readheight {} {
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return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
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}
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publish ss2readheight user
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#---------------------------------------------------------
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MakeConfigurableMotor ss2vg
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ss2vg drivescript ss2heightscript
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ss2vg readscript ss2readheight
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#--------------------------------------------------------
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proc ss2vertoffsetscript {val} {
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set SU [SplitReply [ss2u]]
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set SD [SplitReply [ss2d]]
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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 - $diff]
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return "ss2u=$newD1U,ss2d=$newD1D"
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}
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publish ss2vertoffsetscript user
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#-------------------------------------------------------
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proc ss2readvertoffset {} {
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set SU [SplitReply [ss2u]]
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return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
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}
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publish ss2readvertoffset user
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#-------------------------------------------------------
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MakeConfigurableMotor ss2vo
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ss2vo drivescript ss2vertoffsetscript
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ss2vo readscript ss2readvertoffset
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}
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###############################################
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}
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# END MOTOR CONFIGURATION
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