1195 lines
24 KiB
Tcl
1195 lines
24 KiB
Tcl
# $Revision: 1.1 $
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# $Date: 2006-11-07 02:06:13 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: ffr $
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#START SERVER CONFIGURATION SECTION
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set sicsroot /usr/local/sics
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source dmc2280_util.tcl
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source server_config.tcl
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#END SERVER CONFIGURATION SECTION
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########################################
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# INSTRUMENT SPECIFIC CONFIGURATION
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VarMake Instrument Text Internal
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Instrument Platypus
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Instrument lock
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# Chopper NCS013 communications
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set chopper_controller(host) 137.157.202.130
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set chopper_controller(port) 10000
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set chopper_controller(user) NCS
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set chopper_controller(password) NCS013
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# Setup addresses of Galil DMC2280 controllers.
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set dmc2280_controller1(host) 137.157.202.131
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set dmc2280_controller1(port) 1034
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set dmc2280_controller2(host) 137.157.202.132
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set dmc2280_controller2(port) 1034
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set dmc2280_controller3(host) 137.157.202.133
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set dmc2280_controller3(port) 1034
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set dmc2280_controller4(host) 137.157.202.134
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set dmc2280_controller4(port) 1034
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# CHOPPER
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MakeChopper chopperController tcpdocho [params \
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host $chopper_controller(host) \
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port $chopper_controller(port) \
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nchopper 4 \
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timeout 30 \
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user $chopper_controller(user) \
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password $chopper_controller(password) \
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]
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# MOTORS
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Motor s1up DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s1up hardlowerlim -15
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s1up hardupperlim 15
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s1up softlowerlim -15
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s1up softupperlim 15
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s1up home 0
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Motor s1lo DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s1lo hardlowerlim -15
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s1lo hardupperlim 15
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s1lo softlowerlim -15
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s1lo softupperlim 15
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s1lo home 0
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Motor s1ri DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s1ri hardlowerlim -13
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s1ri hardupperlim 27
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s1ri softlowerlim -13
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s1ri softupperlim 27
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s1ri home 0
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Motor s1le DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s1le hardlowerlim -27
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s1le hardupperlim 13
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s1le softlowerlim -27
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s1le softupperlim 13
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s1le home 0
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Motor s1ho DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s1ho hardlowerlim -13
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s1ho hardupperlim 13
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s1ho softlowerlim -13
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s1ho softupperlim 13
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s1ho home 0
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Motor s1vo DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s1vo hardlowerlim -13
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s1vo hardupperlim 13
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s1vo softlowerlim -13
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s1vo softupperlim 13
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s1vo home 0
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Motor s2up DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s2up hardlowerlim -15
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s2up hardupperlim 15
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s2up softlowerlim -15
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s2up softupperlim 15
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s2up home 0
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Motor s2lo DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s2lo hardlowerlim -15
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s2lo hardupperlim 15
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s2lo softlowerlim -15
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s2lo softupperlim 15
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s2lo home 0
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Motor s2ri DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis F\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx]
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s2ri hardlowerlim -13
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s2ri hardupperlim 27
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s2ri softlowerlim -13
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s2ri softupperlim 27
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s2ri home 0
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Motor s2le DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis G\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx]
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s2le hardlowerlim -27
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s2le hardupperlim 13
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s2le softlowerlim -27
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s2le softupperlim 13
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s2le home 0
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Motor s2ho DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s2ho hardlowerlim -13
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s2ho hardupperlim 13
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s2ho softlowerlim -13
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s2ho softupperlim 13
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s2ho home 0
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Motor s2vo DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s2vo hardlowerlim -15
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s2vo hardupperlim 15
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s2vo softlowerlim -15
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s2vo softupperlim 15
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s2vo home 0
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Motor st3vt DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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st3vt hardlowerlim -179
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st3vt hardupperlim 21
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st3vt softlowerlim -179
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st3vt softupperlim 21
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st3vt home 0
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Motor s3up DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s3up hardlowerlim -15
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s3up hardupperlim 15
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s3up softlowerlim -15
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s3up softupperlim 15
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s3up home 0
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Motor s3lo DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s3lo hardlowerlim -15
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s3lo hardupperlim 15
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s3lo softlowerlim -15
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s3lo softupperlim 15
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s3lo home 0
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Motor s3ri DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s3ri hardlowerlim -13
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s3ri hardupperlim 27
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s3ri softlowerlim -13
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s3ri softupperlim 27
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s3ri home 0
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Motor s3le DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s3le hardlowerlim -27
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s3le hardupperlim 13
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s3le softlowerlim -27
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s3le softupperlim 13
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s3le home 0
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Motor s3ho DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s3ho hardlowerlim -13
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s3ho hardupperlim 13
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s3ho softlowerlim -13
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s3ho softupperlim 13
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s3ho home 0
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Motor DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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hardlowerlim 15
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hardupperlim 15
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softlowerlim 15
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softupperlim 15
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home 0
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Motor st4vt DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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st4vt hardlowerlim -179
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st4vt hardupperlim 21
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st4vt softlowerlim -179
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st4vt softupperlim 21
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st4vt home 0
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Motor s4up DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s4up hardlowerlim -15
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s4up hardupperlim 15
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s4up softlowerlim -15
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s4up softupperlim 15
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s4up home 0
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Motor s4lo DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s4lo hardlowerlim -15
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s4lo hardupperlim 15
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s4lo softlowerlim -15
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s4lo softupperlim 15
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s4lo home 0
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Motor s4ri DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s4ri hardlowerlim -13
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s4ri hardupperlim 27
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s4ri softlowerlim -13
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s4ri softupperlim 27
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s4ri home 0
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Motor s4le DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s4le hardlowerlim -27
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s4le hardupperlim 13
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s4le softlowerlim -27
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s4le softupperlim 13
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s4le home 0
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Motor s4ho DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s4ho hardlowerlim -13
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s4ho hardupperlim 13
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s4ho softlowerlim -13
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s4ho softupperlim 13
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s4ho home 0
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Motor s4vo DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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s4vo hardlowerlim -15
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s4vo hardupperlim 15
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s4vo softlowerlim -15
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s4vo softupperlim 15
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s4vo home 0
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Motor c1ht DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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c1ht hardlowerlim xxxx
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c1ht hardupperlim xxxx
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c1ht softlowerlim xxxx
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c1ht softupperlim xxxx
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c1ht home 0
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Motor m1ro DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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m1ro hardlowerlim -5
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m1ro hardupperlim 5
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m1ro softlowerlim -5
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m1ro softupperlim 5
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m1ro home 0
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Motor mot DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units mm\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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mot hardlowerlim xxxx
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mot hardupperlim xxxx
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mot softlowerlim xxxx
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mot softupperlim xxxx
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mot home 0
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|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
Motor mot DMC2280 [params \
|
|
host $dmc2280_controller2(host)\
|
|
port $dmc2280_controller2(port)\
|
|
axis xxxx\
|
|
units mm\
|
|
maxSpeed xxxx\
|
|
maxAccel xxxx\
|
|
maxDecel xxxx\
|
|
stepsPerX xxxx\
|
|
absEnc 1\
|
|
absEncHome xxxx\
|
|
cntsPerX xxxx]
|
|
mot hardlowerlim xxxx
|
|
mot hardupperlim xxxx
|
|
mot softlowerlim xxxx
|
|
mot softupperlim xxxx
|
|
mot home 0
|
|
|
|
proc SplitReply { text } {
|
|
set l [split $text =]
|
|
return [lindex $l 1]
|
|
}
|
|
|
|
#--------------------------------------------------------
|
|
proc ss1widthscript {val} {
|
|
set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
|
|
set diff [expr $val - $currentWidth]
|
|
set newD1R [expr [SplitReply [ss1r]] + $diff/2]
|
|
set newD1L [expr [SplitReply [ss1l]] + $diff/2]
|
|
return "ss1r=$newD1R,ss1l=$newD1L"
|
|
}
|
|
publish ss1widthscript user
|
|
|
|
#-------------------------------------------------------
|
|
proc ss1readwidth {} {
|
|
return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
|
|
}
|
|
publish ss1readwidth user
|
|
MakeConfigurableMotor ss1hg
|
|
ss1hg drivescript ss1widthscript
|
|
ss1hg readscript ss1readwidth
|
|
|
|
#--------------------------------------------------------
|
|
proc ss1horoffsetscript {val} {
|
|
set SR [SplitReply [ss1r]]
|
|
set SL [SplitReply [ss1l]]
|
|
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
|
|
set diff [expr $val - $currentOffset]
|
|
set newD1R [expr $SR + $diff]
|
|
set newD1L [expr $SL - $diff]
|
|
return "ss1r=$newD1R,ss1l=$newD1L"
|
|
}
|
|
publish ss1horoffsetscript user
|
|
|
|
#-------------------------------------------------------
|
|
proc ss1readhoroffset {} {
|
|
set SR [SplitReply [ss1r]]
|
|
return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
|
|
}
|
|
publish ss1readhoroffset user
|
|
|
|
#-------------------------------------------------------
|
|
MakeConfigurableMotor ss1ho
|
|
ss1ho drivescript ss1horoffsetscript
|
|
ss1ho readscript ss1readhoroffset
|
|
|
|
#-----------------------------------------------------
|
|
proc ss1heightscript {val} {
|
|
set currentWidth [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
|
|
set diff [expr $val - $currentWidth]
|
|
set newD1B [expr [SplitReply [ss1d]] + $diff/2]
|
|
set newD1T [expr [SplitReply [ss1u]] + $diff/2]
|
|
return "ss1d=$newD1B,ss1u=$newD1T"
|
|
}
|
|
publish ss1heightscript user
|
|
|
|
#-------------------------------------------------------
|
|
proc ss1readheight {} {
|
|
return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
|
|
}
|
|
publish ss1readheight user
|
|
|
|
#---------------------------------------------------------
|
|
MakeConfigurableMotor ss1vg
|
|
ss1vg drivescript ss1heightscript
|
|
ss1vg readscript ss1readheight
|
|
|
|
#--------------------------------------------------------
|
|
proc ss1vertoffsetscript {val} {
|
|
set SU [SplitReply [ss1u]]
|
|
set SD [SplitReply [ss1d]]
|
|
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
|
|
set diff [expr $val - $currentOffset]
|
|
set newD1U [expr $SU + $diff]
|
|
set newD1D [expr $SD - $diff]
|
|
return "ss1u=$newD1U,ss1d=$newD1D"
|
|
}
|
|
publish ss1vertoffsetscript user
|
|
|
|
#-------------------------------------------------------
|
|
proc ss1readvertoffset {} {
|
|
set SU [SplitReply [ss1u]]
|
|
return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
|
|
}
|
|
publish ss1readvertoffset user
|
|
|
|
#-------------------------------------------------------
|
|
MakeConfigurableMotor ss1vo
|
|
ss1vo drivescript ss1vertoffsetscript
|
|
ss1vo readscript ss1readvertoffset
|
|
###############################################
|
|
|
|
#--------------------------------------------------------
|
|
proc ss2widthscript {val} {
|
|
set currentWidth [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
|
|
set diff [expr $val - $currentWidth]
|
|
set newD1R [expr [SplitReply [ss2r]] + $diff/2]
|
|
set newD1L [expr [SplitReply [ss2l]] + $diff/2]
|
|
return "ss2r=$newD1R,ss2l=$newD1L"
|
|
}
|
|
publish ss2widthscript user
|
|
|
|
#-------------------------------------------------------
|
|
proc ss2readwidth {} {
|
|
return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
|
|
}
|
|
publish ss2readwidth user
|
|
MakeConfigurableMotor ss2hg
|
|
ss2hg drivescript ss2widthscript
|
|
ss2hg readscript ss2readwidth
|
|
|
|
#--------------------------------------------------------
|
|
proc ss2horoffsetscript {val} {
|
|
set SR [SplitReply [ss2r]]
|
|
set SL [SplitReply [ss2l]]
|
|
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
|
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set diff [expr $val - $currentOffset]
|
|
set newD1R [expr $SR + $diff]
|
|
set newD1L [expr $SL - $diff]
|
|
return "ss2r=$newD1R,ss2l=$newD1L"
|
|
}
|
|
publish ss2horoffsetscript user
|
|
|
|
#-------------------------------------------------------
|
|
proc ss2readhoroffset {} {
|
|
set SR [SplitReply [ss2r]]
|
|
return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
|
|
}
|
|
publish ss2readhoroffset user
|
|
|
|
#-------------------------------------------------------
|
|
MakeConfigurableMotor ss2ho
|
|
ss2ho drivescript ss2horoffsetscript
|
|
ss2ho readscript ss2readhoroffset
|
|
|
|
#-----------------------------------------------------
|
|
proc ss2heightscript {val} {
|
|
set currentWidth [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
|
|
set diff [expr $val - $currentWidth]
|
|
set newD1B [expr [SplitReply [ss2d]] + $diff/2]
|
|
set newD1T [expr [SplitReply [ss2u]] + $diff/2]
|
|
return "ss2d=$newD1B,ss2u=$newD1T"
|
|
}
|
|
publish ss2heightscript user
|
|
|
|
#-------------------------------------------------------
|
|
proc ss2readheight {} {
|
|
return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
|
|
}
|
|
publish ss2readheight user
|
|
|
|
#---------------------------------------------------------
|
|
MakeConfigurableMotor ss2vg
|
|
ss2vg drivescript ss2heightscript
|
|
ss2vg readscript ss2readheight
|
|
|
|
#--------------------------------------------------------
|
|
proc ss2vertoffsetscript {val} {
|
|
set SU [SplitReply [ss2u]]
|
|
set SD [SplitReply [ss2d]]
|
|
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
|
|
set diff [expr $val - $currentOffset]
|
|
set newD1U [expr $SU + $diff]
|
|
set newD1D [expr $SD - $diff]
|
|
return "ss2u=$newD1U,ss2d=$newD1D"
|
|
}
|
|
publish ss2vertoffsetscript user
|
|
|
|
#-------------------------------------------------------
|
|
proc ss2readvertoffset {} {
|
|
set SU [SplitReply [ss2u]]
|
|
return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
|
|
}
|
|
publish ss2readvertoffset user
|
|
|
|
#-------------------------------------------------------
|
|
MakeConfigurableMotor ss2vo
|
|
ss2vo drivescript ss2vertoffsetscript
|
|
ss2vo readscript ss2readvertoffset
|