D-line
Notes: Compumotor drive
Compumotor drives were implemented on D-line first on the new optical
table supporting the detectors. The old optical table for the incident
flightpath was retrofitted with compumotor drives. The existing 16
channels of motion control for hutch
instrumentation as well as 16 channels for cave optics were recently
also converted to the Compumotor / Gecko Microstepping Drive system.
Installation notes
- the ethernet address of the compumotor drive needs to be
hard-coded into LINUX
- the Compumotor-based D-line motion control system is on the
private CHESS ethernet
- the main switch is located in the driver rack in D cave
- spec
version 5.06.03-2 is needed to support the socket-based Compumotor drive
- spec
motor config:
Motor and
Counter Device Configuration (Not
CAMAC)
MOTORS
DEVICE ADDR <>MODE
NUM
<>TYPE
YES /dev/ttyS0
<> 9600
32 IMS MDrive 17/23/34 (Party Line)
YES
gslit
4
Macro Motors
YES
hslit
4
Macro Motors
YES
scanner
2
Macro Motors
YES
<.84.182.226
8
Compumotor 6K (Socket)
NO
NO
NO
Number:
<>Controller
46: CM6K 47: CM6K
48: CM6K 49: CM6K
E500
Unit/[Module/]Channel
0/6
0/4
0/3 0/5
Name
xu
yu
zu xd
Mnemonic
xu
yu
zu xd
<>Spectrometer
common
common
common common
Steps per
degree/mm
2520
2520
-7874 2520
Sign of user
*
dial
1
1
1 1
Backlash
[steps]
250
250
-800 250
Steady-state
rate
[Hz]
1000
1000
2000 1000
Base rate
[Hz]
100
100
100 100
Acceleration
time [msec]
200
200
200 200
Motor
accumulator
0
5040
-15748
0
Restrictions
<>
NONE
NONE
NONE NONE
Dial =
accumulator / steps
High
limit
15.0000
15.0000
28.3742 15.3710
Current
0.0000
2.0000
2.0000 0.0000
Low
limit
-15.0000 -15.0000
-11.6258 -20.0000
User = sign *
dial + offset
Offset
0.0000
0.0000
0.0000 0.0000
`High'
limit
15.0000
15.0000
28.3743 15.3710
Current
0.0000
2.0000
2.0000 0.0000
`Low'
limit
-15.0000 -15.0000
-11.6257 -20.0000
Number of
motors (geo/all) 45 /
96 Type ? and H for help, ^C to quit
Number:
<>Controller
50: CM6K 51: CM6K
52: E500 53: E500
Unit/[Module/]Channel
0/2
0/1
2/0 2/1
Name
zdr
zdf
monu mond
Mnemonic
zdr
zdf
monu mond
<>Spectrometer
common
common
common common
Steps per
degree/mm
-7874
-7874
-4000 4000
Sign of user
*
dial
1
1
1 1
Backlash
[steps]
-800
-800
-100 100
Steady-state
rate
[Hz]
2000
2000
500 500
Base rate
[Hz]
100
100
50 50
Acceleration
time [msec]
200
200
100 100
Motor
accumulator
0
0
606 -1333
Restrictions
<>
NONE
NONE
NONE NONE
Dial =
accumulator / steps
High
limit
18.6446
18.6446
3.6865 3.6915
Current
0.0000
0.0000
-0.1515 -0.3332
Low
limit
-22.3550 -22.3550
-3.3135 -3.3085
User = sign *
dial + offset
Offset
0.0000
0.0000
1.4671 1.6481
`High'
limit
18.6447
18.6447
5.1537 5.3398
Current
0.0000
0.0000
1.3157 1.3150
`Low'
limit
-22.3551 -22.3551
-1.8462 -1.6603
Number of
motors (geo/all) 45 /
96 Type ? and H for help, ^C to quit
- the remaining two channels will be used for ccdx and ccdz for the
new translation stage
- in case the installation was successful, the following line
should be displayed at spec
start-up
Using
Compumotor (unit 0) 92-016740-01-6.4.2 6K on "128.84.182.226".