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| NTAB3.MAC | ||||||
| [ source code | installed at | configured at ] | ||||||
| See other macros in category: All | ||||||
Description:
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Documentation:
A table with three legs in triangle. One in the front and two in the back is a common positioning element in ESRF beamlines. This macros implement tilts and height for this kind of table as pseudomotors. This macros can use different geometries. More than one table can be defined in this way in the same spec application. For geometry 0 (standard): Xtilt is the angle defined by the two back legs. Fixed a middle point B between the two back legs. The height in the middle point between B and the front leg gives the value for the motor height. The motor Ytilt is defined as the angle existing between B and front leg. Two parameters must be input to the system: the distance between the two back legs and the distance between B and the front leg. In this geometry distances are given in mm. Angles in mrad. For geometry 1 (side front leg): The front leg is on the same side and aligned with the first motor. The fixed point is in the middle of the mirror. For positive x tilt is motor 1 higher up then motor 2. For positive y tilt is the front motor higher up then the two back motors. For geometry 2 (ID22 mirror): Xtilt is the angle defined by the two back legs, but only leg2 moves when a xtilt is requested. Ytilt and Height are defined in the line defined by leg1 and front. For the two movements leg2 follows leg1. For geometry 3 (ID21 mirror): Xtilt is the angle defined by the two back legs. Fixed a middle point B between the two back legs. The value of this point gives the value for the motor Height. The motor Ytilt is defined as the angle existing between B and front leg. Two parameters must be input to the system: the distance between the two back legs and the distance between B and the front leg. In this geometry distances are given in mm. Angles in mrad. For geometry 4 (ID20): For geometry 5 (ID29 mirror): Xtilt is the angle defined by the two back legs. B is the middle distance point between the two back legs. C is at fixed distance between B and the front leg, used to calculate the height. The Ytilt is defined as the angle between B and the front leg. Three parameters needed: the distance between the two back legs, between B and the front leg and between C and the front leg (all given in mm). Calculated angles in mrad. For geometry 6 (ID30): For geometry 7 (????????): For geometry 8 (ID21 KB): l1 and l2 are the 2 back leg. lf is the front leg the angle between (l1-l2) and (l1-lf) is orthogonal B is the mildle of (l1-l2). C is the middle of (l1-lf). YTilt rotation axis pass by B and is parallel to (l1-lf) XTilt rotation axis paas by C and is parallel to (l1-l2) Height is defined by the intersection of the 2 rotation axis All motors must be defined in config. EXAMPLE DEPENDENCIES To use the table with its pseudomotors the following must be done | ||||||
Macros:
Usage: tab3setup Setup one table in the system tab3unsetup Usage: tab3unsetup (table-mnemonic) Delete definitions for one table tab3show Usage: tab3show Shows a list with the actual configuration in this system tab3on Usage: tab3on table-number Sets on the track between table and logical motors tab3off Usage: tab3off table-number Sets off the track between table and logical motors | ||||||
| Internal Macros: | ||||||
Usage: tab3_trmset === Use only in geometry 7 === Read translation motor to determine which geometry to use Use parameter \"a\" to set a flag tab3_bl1get Usage: tab3_bl1get Read position from controller for bl1. tab3_bl2get Usage: tab3_bl2get Read position from controller for bl2. tab3_froget Usage: tab3_froget Read position from controller for fro. tab3_xtiget Usage: tab3_xtiget Calculates xti from tab1, tab2, tabf tab3_ytiget Usage: tab3_ytiget Calculates yti from tab1, tab2, tabf tab3_hgtget Usage: tab3_hgtget Calculates hgt from tab1, tab2, tabf tab3_bl1move Usage: tab3_bl1move Moves tab1 when xti, yti or hgt change tab3_bl2move Usage: tab3_bl2move Moves tab2 when xti, yti or hgt change tab3_fromove Usage: tab3_fromove Moves tabf when xti, yti or hgt change tab3_xtimove Usage: tab3_xtimove tab3_ytimove Usage: tab3_ytimove tab3_hgtmove Usage: tab3_hgtmove tab3_tf Usage: tab3_tf (calcidx , tbl1, tbl2, front, xti, yti, z, mode , d1, d2,d3) calcidx gives the index of the value to be calculated. Indexes are starting from 0 (tbl1) and go to 5 (z). The 3 leg motors and the 3 pseudo motors are all the time given. Depending on calcidx only 3 of them are used in the calculation. The mode allows for different geometries. d1 and d2 are the distances between the legs. d3 is the distance between the front leg and the center of the rotation. _tab3on Usage: _tab3on(t3_tabmne) _tab3off Usage: _tab3off(t3_tabmne) | ||||||
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