327 lines
9.5 KiB
Tcl
327 lines
9.5 KiB
Tcl
set slit2active 0
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set animal koala
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# Setup addresses of Galil DMC2280 controllers.
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set dmc2280_controller2(host) mc2-$animal
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set dmc2280_controller2(port) pmc2-$animal
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# Run slit homing routines
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#if [catch {dmc_connect dmc2280_controller2} ] {
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# dmc_sendCmd dmc2280_controller2 "XQ#HOME,1"
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# dmc_close dmc2280_controller2
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#}
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#if [catch {dmc_connect dmc2280_controller2} ] {
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# dmc_sendCmd dmc2280_controller2 "XQ#HOME,1"
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# dmc_close dmc2280_controller2
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#}
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#
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#TD at upper switches
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# 1048508, 1062259, 2651595, 2644121, 1017903, 1041617, 2715943, 2683888
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#
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#Measured or computed slit motor steps per unit (mm)
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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
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set ss2v_Gap 205
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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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Motor ss1r DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis A\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1r_Home]
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setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
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Motor ss1l DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis B\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1l_Home]
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setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
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Motor ss1u DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis C\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1u_Home]
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setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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Motor ss1d DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis D\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1d_Home]
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setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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if {$slit2active} {
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Motor ss2r DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis E\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss2r_Home]
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setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
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Motor ss2l DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis B\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss2l_Home]
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setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
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Motor ss2u DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis G\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss2u_Home]
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setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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Motor ss2d DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis H\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss2d_Home]
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setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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}
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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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# END MOTOR CONFIGURATION
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