699 lines
17 KiB
Tcl
699 lines
17 KiB
Tcl
# $Revision: 1.12 $
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# $Date: 2007-01-18 03:15:58 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: dcl $
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# START MOTOR CONFIGURATION
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set animal echidna
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# Setup addresses of Galil DMC2280 controllers.
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set dmc2280_controller1(host) mc1-$animal
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set dmc2280_controller1(port) pmc1-$animal
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set dmc2280_controller2(host) mc2-$animal
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set dmc2280_controller2(port) pmc2-$animal
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set dmc2280_controller3(host) mc3-$animal
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set dmc2280_controller3(port) pmc3-$animal
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set dmc2280_controller4(host) mc4-$animal
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set dmc2280_controller4(port) pmc4-$animal
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#Measured absolute encoder reading at home position
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set mphi_Home 7415177
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set mchi_Home 7818798
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set my_Home 7779997
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set mx_Home 7580365
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set mom_Home 13442932
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set mtth_Home 11477617
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set pcx_Home 8345644
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set pcr_Home 6197934
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set sphi_Home 7924507
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set schi_Home 7542917
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set sy_Home 7626584
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set sx_Home 24029910
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set som_Home 24984596
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set stth_Home 14530407
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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 54.0
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set ss1v_Gap 207.5
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set ss2h_Gap 52.0
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set ss2v_Gap 203.4
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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 25
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set vertSlitUpRange 100
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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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# Run slit homing routines on controllers 3 and 4
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#if [catch {dmc_connect dmc2280_controller3} ] {
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# dmc_sendCmd dmc2280_controller3 "XQ#HOME,1"
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# dmc_close dmc2280_controller3
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#}
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#if [catch {dmc_connect dmc2280_controller4} ] {
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# dmc_sendCmd dmc2280_controller4 "XQ#HOME,1"
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# dmc_close dmc2280_controller4
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#}
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############################
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# Motor Controller 1
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# Motor Controller 1
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# Motor Controller 1
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############################
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#:TP at HOME
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#
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# Monochromator phi, Tilt 1, upper
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Motor mphi DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis A\
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units degrees\
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maxSpeed 1\
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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 $mphi_Home\
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cntsPerX -8192]
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setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
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mphi speed 1
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mphi precision 0.01
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# Monochromator chi, Tilt 2, lower
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Motor mchi DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis B\
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units degrees\
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maxSpeed 1\
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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 $mchi_Home\
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cntsPerX 8192]
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setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
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mchi speed 1
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mchi precision 0.01
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# Monochromator Trans 1, upper
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Motor my DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(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 25000\
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absEnc 1\
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absEncHome $my_Home\
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cntsPerX 8192]
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setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
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my speed 1
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my precision 0.01
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# Monochromator Trans 2, lower
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Motor mx DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(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 -25000\
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absEnc 1\
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absEncHome $mx_Home\
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cntsPerX -8192]
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setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
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mx speed 1
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mx precision 0.01
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# Monochromator omega, rotate
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Motor mom DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis E\
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units degrees\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -12500\
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absEnc 1\
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absEncHome $mom_Home\
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cntsPerX -4096]
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setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
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mom speed 1
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mom precision 0.01
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# Monochromator two-theta, flight-tube rotate
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Motor mtth 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 degrees\
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maxSpeed 0.2\
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maxAccel 0.2\
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maxDecel 0.2\
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stepsPerX [expr 25000*18]\
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absEnc 1\
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absEncHome $mtth_Home\
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cntsPerX -93207]
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mtth hardlowerlim 90
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mtth hardupperlim 137
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mtth softlowerlim 90
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mtth softupperlim 137
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mtth home 90
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mtth speed 0.2
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mtth accel 0.01
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mtth decel 0.01
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mtth precision 0.02
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mtth maxretry 10
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mtth failafter 10
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# Primary Collimator Translation X
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Motor pcx 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 10\
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maxAccel 1\
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maxDecel 1\
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stepsPerX [expr -25000/6]\
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absEnc 1\
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absEncHome $pcx_Home\
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cntsPerX [expr 8192/6]]
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setHomeandRange -motor pcx -home 0 -lowrange 0 -uprange 140
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pcx speed 1
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pcx precision 0.01
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# Primary Collimator Rotation
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Motor pcr DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis H\
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units degrees\
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maxSpeed 0.1\
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maxAccel 0.1\
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maxDecel 0.1\
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stepsPerX [expr -25000/(360/100)]\
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absEnc 1\
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absEncHome $pcr_Home\
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cntsPerX [expr 8192/(360/100)]]
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setHomeandRange -motor pcr -home 0 -lowrange 10 -uprange 10
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pcr speed 0.1
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pcr precision 0.01
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############################
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# Motor Controller 2
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# Motor Controller 2
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# Motor Controller 2
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############################
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# Sample Tilt 1, upper, phi
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Motor sphi 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 degrees\
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maxSpeed 1\
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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 20 -uprange 20
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sphi speed 1
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sphi precision 0.01
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# Sample Tilt 2, lower, chi
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Motor schi 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 degrees\
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maxSpeed 1\
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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 20 -uprange 20
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schi speed 1
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schi precision 0.01
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# Sample Trans 1, upper, y
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Motor sy 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 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 precision 0.01
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# Sample Trans2, lower, x
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Motor sx 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 -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 precision 0.01
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# Sample Omega, rotate
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Motor som 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 degrees\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 12500\
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absEnc 1\
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absEncHome $som_Home\
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cntsPerX 4096]
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setHomeandRange -motor som -home 0 -lowrange 142 -uprange 218
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som speed 1
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som precision 0.01
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# Sample two-theta, detector rotate
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Motor stth DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis F\
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units degrees\
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maxSpeed 0.5\
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maxAccel 0.1\
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maxDecel 0.1\
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stepsPerX 125000\
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absEnc 1\
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absEncHome $stth_Home\
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cntsPerX -93207]
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stth hardlowerlim -79
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stth hardupperlim 77
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stth softlowerlim -77
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stth softupperlim 74
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stth home 0
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stth speed 0.5
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stth precision 0.01
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############################
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# Motor Controller 3
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# Motor Controller 3
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# Motor Controller 3
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############################
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#
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# Monochromator Focusing (Ge)
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#Motor mf1 DMC2280 [params \
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# host $dmc2280_controller3(host)\
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# port $dmc2280_controller3(port)\
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# axis A\
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# units degrees\
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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 $mf1_Home\
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# cntsPerX xxxx]
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#setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
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#mf1 speed 1
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#mf1 precision 0.01
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# Slit 1, right
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Motor ss1r DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis E\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1r_Home]
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setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
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# Slit 1, left
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Motor ss1l DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis F\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$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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# Slit 1, up
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Motor ss1u DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis G\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1u_Home]
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setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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# Slit 1, down
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Motor ss1d DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis H\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1d_Home]
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setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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############################
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# Motor Controller 4
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# Motor Controller 4
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# Motor Controller 4
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############################
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#
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# Little is known about the Eulerian Cradle
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## Eulerian-phi
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#Motor ephi DMC2280 [params \
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# host $dmc2280_controller4(host)\
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# port $dmc2280_controller4(port)\
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# axis A\
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# units degrees\
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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 $ephi_Home\
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# cntsPerX xxxx]
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#setHomeandRange -motor ephi -home 0 -lowrange 180 -uprange 180
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#Motor echi DMC2280 [params \
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# host $dmc2280_controller4(host)\
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# port $dmc2280_controller4(port)\
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# axis B\
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# units degrees\
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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 $echi_Home\
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# cntsPerX xxxx]
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#setHomeandRange -motor echi -home 0 -lowrange 180 -uprange 180
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# Slit 2, right
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Motor ss2r DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis E\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$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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# Slit 2, left
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Motor ss2l DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis F\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$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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# Slit 2, up
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Motor ss2u DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis G\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$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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# Slit 2, down
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Motor ss2d DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis H\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$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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proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
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proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
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publish mthSet user
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publish mthGet user
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MakeConfigurableMotor mth
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mth readscript mthGet
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mth drivescript mthSet
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proc sthGet {} { return [expr [SplitReply [stth]]/2.0]}
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proc sthSet {val} { return "stth=[SplitReply [stth]]"}
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publish sthGet user
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publish sthSet user
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MakeConfigurableMotor sth
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sth readscript sthGet
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sth drivescript sthSet
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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]
|
|
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 ]
|
|
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
|
|
|
|
# END MOTOR CONFIGURATION
|