d274698ff4
Load sct_lakeshore 340 and 336 configurations. Load new robot pick and place configuration hmm_configuration.tcl Override proc CAT_TABLE to add offset and magnification configuration. motor_configuration.tcl Modularised for tilt and euler configurations. Added euler_configuration.tcl and put tilt stage configuration in tilt_configuration.tcl r3030 | ffr | 2010-12-01 10:29:42 +1100 (Wed, 01 Dec 2010) | 10 lines
85 lines
1.6 KiB
Tcl
85 lines
1.6 KiB
Tcl
# Sample Tilt 1, upper, phi
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Motor sphi $motor_driver_type [params \
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asyncqueue mc2\
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axis A\
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units degrees\
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hardlowerlim -16\
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hardupperlim 16\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -25000\
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absEnc 1\
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absEncHome $sphi_Home\
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cntsPerX -8192]
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setHomeandRange -motor sphi -home 0 -lowrange 16 -uprange 16
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sphi speed 1
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sphi movecount $move_count
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sphi precision 0.01
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sphi part sample
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sphi long_name phi
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# Sample Tilt 2, lower, chi
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Motor schi $motor_driver_type [params \
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asyncqueue mc2\
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axis B\
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units degrees\
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hardlowerlim 74\
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hardupperlim 106\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome $schi_Home\
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cntsPerX 8192]
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setHomeandRange -motor schi -home 90 -lowrange 16 -uprange 16
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schi speed 1
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schi movecount $move_count
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schi precision 0.01
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schi part sample
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schi long_name chi
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# Sample Trans 1, upper, y
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Motor sy $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 -20\
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hardupperlim 20\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome $sy_Home\
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cntsPerX 8192]
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setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
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sy speed 1
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sy movecount $move_count
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sy precision 0.01
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sy part sample
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sy long_name translate_y
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# Sample Trans2, lower, x
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Motor sx $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 -20\
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hardupperlim 20\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -25000\
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absEnc 1\
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absEncHome $sx_Home\
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cntsPerX -8192]
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setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
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sx speed 1
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sx movecount $move_count
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sx precision 0.01
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sx part sample
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sx long_name translate_x
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