Get resolver changes for monochromator motors.

r3073 | ffr | 2011-02-25 19:25:31 +1100 (Fri, 25 Feb 2011) | 1 line

site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl

@@ -30,16 +30,16 @@ if {$sim_mode == "true"} {
 
 #Measured absolute encoder reading at home position
 #set mphi_Home 11839906
-set mphi_Home 7800343
+set mphi_Home 8390194
-set mchi_Home 8255816
+set mchi_Home 8392327
-set my_Home 7781389
+set my_Home  8389613
 #set mx_Home 7580366
-set mx_Home 6654296
+set mx_Home 8392083
 #set mom_Home 13442930
-set mom_Home 13447313
+set mom_Home 8391734
 set mtth_Home 11534660
 set pcx_Home 8345600
-set pcr_Home 5440000
+set pcr_Home 25129948
 #set scr_Home 31734679
 set scr_Home 31742770
 set sphi_Home 7924507
@@ -151,8 +151,11 @@ Motor mphi $motor_driver_type [params \
   stepsPerX -25000\
   absEnc 1\
   absEncHome $mphi_Home\
-  cntsPerX -8192]
+  cntsPerX -4096]
-setHomeandRange -motor mphi -home 0 -lowrange 2 -uprange 2
+#setHomeandRange -motor mphi -home 0 -lowrange 2 -uprange 2
+mphi home -1.199
+mphi softlowerlim -2
+mphi softupperlim 2
 mphi speed 1
 mphi movecount $move_count
 mphi precision 0.05
@@ -172,7 +175,8 @@ Motor mchi $motor_driver_type [params \
   stepsPerX 25000\
   absEnc 1\
   absEncHome $mchi_Home\
-  cntsPerX 8192]
+  cntsPerX 4096]
+mchi home -0.2546
 mchi softlowerlim -2 
 mchi softupperlim 2
 mchi speed 1
@@ -194,8 +198,11 @@ Motor my $motor_driver_type [params \
   stepsPerX 25000\
   absEnc 1\
   absEncHome $my_Home\
-  cntsPerX 8192]
+  cntsPerX 4096]
-setHomeandRange -motor my -home 0 -lowrange 19 -uprange 19
+#setHomeandRange -motor my -home 0 -lowrange 19 -uprange 19
+my home -0.0038
+my softlowerlim -19
+my softupperlim 19
 my speed 1
 my movecount $move_count
 my precision 0.01
@@ -215,8 +222,11 @@ Motor mx $motor_driver_type [params \
   stepsPerX -25000\
   absEnc 1\
   absEncHome $mx_Home\
-  cntsPerX -8192]
+  cntsPerX -4096]
-setHomeandRange -motor mx -home 0 -lowrange 15 -uprange 15
+#setHomeandRange -motor mx -home 0 -lowrange 15 -uprange 15
+mx home -0.1855
+mx softlowerlim -15
+mx softupperlim 15
 mx speed 1
 mx movecount $move_count
 mx precision 0.01
@@ -236,8 +246,11 @@ Motor mom $motor_driver_type [params \
   stepsPerX -12500\
   absEnc 1\
   absEncHome $mom_Home\
-  cntsPerX -4096]
+  cntsPerX -2048]
-setHomeandRange -motor mom -home 0 -lowrange 1 -uprange 140
+#setHomeandRange -motor mom -home 0 -lowrange 1 -uprange 140
+mom home 69.483
+mom softlowerlim 43
+mom softupperlim 140
 mom speed 1
 mom movecount $move_count
 mom precision 0.01
@@ -313,8 +326,8 @@ Motor pcr $motor_driver_type [params \
   asyncqueue mc1\
   axis H\
   units degrees\
-  hardlowerlim -10\
+  hardlowerlim 170\
-  hardupperlim 190\
+  hardupperlim 360\
   maxSpeed 1.0\
   maxAccel 0.1\
   maxDecel 0.1\
@@ -322,7 +335,7 @@ Motor pcr $motor_driver_type [params \
   absEnc 1\
   absEncHome $pcr_Home\
   cntsPerX [expr (8192*100)/360]]
-setHomeandRange -motor pcr -home 0 -lowrange 5 -uprange 185
+setHomeandRange -motor pcr -home 180 -lowrange 5 -uprange 185
 pcr speed 0.1
 pcr movecount $move_count
 pcr precision 0.01
@@ -431,9 +444,13 @@ Motor mf1 $motor_driver_type [params \
   maxDecel 1\
   stepsPerX 20000\
   absEnc 1\
-  absEncHome 1311\
+  absEncHome 8390112\
-  cntsPerX 15593]
+  cntsPerX 3898]
-setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 1
+# cnstPerX is about 95% of 4096 to avoid driving a full revolution on the cam
+#setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 1
+mf1 home 0.289
+mf1 softlowerlim 0.0
+mf1 softupperlim 1
 mf1 speed 0.1
 mf1 movecount $move_count
 mf1 precision 0.01