93 lines
1.9 KiB
Tcl
93 lines
1.9 KiB
Tcl
# This must be loaded by motor_configuration.tcl
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#
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# Home value for Eulerian cradle
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#
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#
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# this is the Big Huber Eulerian C shaped cradle EC2
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#
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set eom_Home 23165406
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set ephi_Home 6489396
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set echi_Home 24224404
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set eom_stepsPerX [expr -25000.0]
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set eom_cntsPerX [expr 8192.0]
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set ephi_stepsPerX [expr 25000.0/2.0]
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set ephi_cntsPerX [expr 8192.0/2.0]
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set echi_stepsPerX [expr -25000.0/1.0]
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set echi_cntsPerX [expr 8192.0/1.0]
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Motor eom $motor_driver_type [params \
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asyncqueue mc4\
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axis F\
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units degrees\
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hardlowerlim -3600\
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hardupperlim 3600\
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maxSpeed 3\
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maxAccel 5\
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maxDecel 5\
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stepsPerX [expr -25000.0*(360.0/360.0)]\
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absEnc 1\
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absEncHome 20060684\
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cntsPerX [expr -8192.0*(360.0/360.0)]]
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setHomeandRange -motor som -home 0 -lowrange 178 -uprange 178
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eom Backlash_offset -0.5
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eom speed 2
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eom accel 0.1
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eom decel 0.1
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eom precision 0.01
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eom part sample
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eom long_name eom
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# Sample Tilt 2, euler chi stage -> EC1
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Motor echi $motor_driver_type [params \
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asyncqueue mc2\
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axis G\
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units degrees\
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hardlowerlim -390\
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hardupperlim 390\
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maxSpeed 10\
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maxAccel 3\
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maxDecel 3\
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stepsPerX $echi_stepsPerX\
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absEnc 1\
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absEncHome $echi_Home\
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cntsPerX $echi_cntsPerX ]
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setHomeandRange -motor echi -home 0 -lowrange -390 -uprange 390
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echi softlowerlim -10
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echi softupperlim 90
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echi home 0
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echi speed 3
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echi movecount $move_count
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echi precision 0.01
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echi part sample
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echi long_name echi
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# Sample Tilt 2, euler phi stage -> EC2
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Motor ephi $motor_driver_type [params \
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asyncqueue mc4\
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axis G\
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units degrees\
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hardlowerlim -400\
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hardupperlim 400\
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maxSpeed 10\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $ephi_stepsPerX\
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absEnc 1\
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absEncHome $ephi_Home\
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cntsPerX $ephi_cntsPerX]
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setHomeandRange -motor ephi -home 0 -lowrange 400 -uprange 400
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ephi softlowerlim -400
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ephi softupperlim 400
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ephi home 182.5
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ephi speed 3
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ephi movecount $move_count
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ephi precision 0.01
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ephi part sample
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ephi long_name ephi
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