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integrate Dingo Camera Server stuffs

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This commit is contained in:
Jing Chen
2013-05-22 10:48:44 +10:00
parent f4d9affe7d
commit 1b61b67a30
1 changed files with 141 additions and 594 deletions
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731
site_ansto/instrument/dingo/config/motors/motor_configuration.tcl
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@@ -17,78 +17,24 @@ set dmc2280_controller2(port) pmc2-$animal
set dmc2280_controller3(host) mc3-$animal
set dmc2280_controller3(port) pmc3-$animal
set dmc2280_controller4(host) mc4-$animal
set dmc2280_controller4(port) pmc4-$animal
#set dmc2280_controller4(host) mc4-$animal
#set dmc2280_controller4(port) pmc4-$animal
if {$sim_mode == "true"} {
set motor_driver_type asim
} else {
set motor_driver_type DMC2280
# MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
# MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port)
MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
# MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
# MakeAsyncQueue mc6 DMC2280 $dmc2280_controller6(host) $dmc2280_controller6(port)
}
#Measured absolute encoder reading at home position
set dummy_Home 0
set ftz_Home 0
set ptz_Home 0
set pom_Home 0
set stth_Home 0
set mtth_Home 0
set sv1_Home 0
set sh1_Home 0
set sv2_Home 0
set sh2_Home 0
set gom_Home 0
set scor_Home 0
# AND abs Encoder Reading with FFF to get the lowest 12 bits only
#set mra_Home 4286
set mra_Home 191
#set moma_Home 8386659
set moma_Home 2147
#set mrb_Home 294
set mrb_Home 294
#set momb_Home 8386694
set momb_Home 2182
#set mrc_Home 4558982
set mrc_Home 86
#set momc_Home 12499198
set momc_Home 2302
set mphi_Home 0
set mchi_Home 8383096
set mx_Home 8390604
set my_Home 8391084
set mom_Home 8389414
set rco_Home 0
set rcz_Home 0
set bsr_Home 0
set gv1_Home 0
set gv2_Home 0
# set movecount high to reduce the frequency of
# hnotify messages to a reasonable level
set move_count 100
############################
# Motor Controller 1
# Motor Controller 1
# Motor Controller 1
############################
#
# Dummy translation motor, useful for testing scans
#Motor dummy_motor asim [params \
set dummy_Home 0
Motor dummy_motor asim [params \
asyncqueue mc1\
host mc1-dingo\
port pmc1-dingo\
@@ -103,17 +49,53 @@ set move_count 100
absEnc 1\
absEncHome $dummy_Home\
cntsPerX [expr 8192.0/5.0]]
#dummy_motor part instrument
#dummy_motor long_name dummy_motor
#dummy_motor softlowerlim -500
#dummy_motor softupperlim 500
#dummy_motor home 0
dummy_motor part instrument
dummy_motor long_name dummy_motor
dummy_motor softlowerlim -500
dummy_motor softupperlim 500
dummy_motor home 0
# mc1: Polariser & Spin Flipper - Z translation slide
# Moto: 100:1 gear, 2mm pitch
set ptzStepRate [expr (300000.0/100.0)/2.0]
############################
# Motor Controller 1
# Motor Controller 1
# Motor Controller 1
############################
#
Motor ptz $motor_driver_type [params \
# All motors are at 25000steps/turn if no other specify
set motorrate 25000.0
# mc1: Sample rotation axis
# Gearbox 100:1, Gear ratio 356:1
set stth_Home 0
set stthStepRate [expr $motorrate*100.0*356.0/360.0]
Motor stth $motor_driver_type [params \
asyncqueue mc1\
host mc1-dingo\
port pmc1-dingo\
axis A\
units degree\
hardlowerlim 0\
hardupperlim 360\
maxSpeed [expr 400000.0/300000.0]\
maxAccel [expr 150000.0/300000.0]\
maxDecel [expr 150000.0/300000.0]\
stepsPerX $stthStepRate\
absEnc 1\
absEncHome $stth_Home\
cntsPerX 4096]
stth part sample
stth long_name stth
stth softlowerlim 0
stth softupperlim 360
stth home 0
# mc1: Sample X-translation sample stage
# Gearbox 20:1, pitch 5mm
set sx_Home 0
set sxStepRate [expr $motorrate*20.0/5.0]
Motor sx $motor_driver_type [params \
asyncqueue mc1\
host mc1-dingo\
port pmc1-dingo\
@@ -124,22 +106,21 @@ Motor ptz $motor_driver_type [params \
maxSpeed [expr 400000.0/300000.0]\
maxAccel [expr 150000.0/300000.0]\
maxDecel [expr 150000.0/300000.0]\
stepsPerX $ptzStepRate\
stepsPerX $sxStepRate\
absEnc 1\
absEncHome $ptz_Home\
absEncHome $sx_Home\
cntsPerX 4096]
ptz part crystal
ptz long_name ptz
ptz softlowerlim 0
ptz softupperlim 500
ptz home 0
sx part sample
sx long_name sx
sx softlowerlim -250
sx softupperlim 250
sx home 0
#if $use_tiltstage {
# mc1: Beryllium / Graphite filter shared - Z translation slide
# Moto: 100:1 gear, 2mm pitch
set ftzStepRate [expr (300000.0/100.0)/2.0]
Motor ftz $motor_driver_type [params \
# mc1: Sample Y-translation sample stage
# Gearbox 20:1, pitch 5mm
set sy_Home 0
set syStepRate [expr $motorrate*20.0/5.0]
Motor sy $motor_driver_type [params \
asyncqueue mc1\
host mc1-dingo\
port pmc1-dingo\
@@ -150,87 +131,65 @@ Motor ftz $motor_driver_type [params \
maxSpeed [expr 400000.0/300000.0]\
maxAccel [expr 150000.0/300000.0]\
maxDecel [expr 150000.0/300000.0]\
stepsPerX $ftzStepRate\
stepsPerX $syStepRate\
absEnc 1\
absEncHome $ftz_Home\
absEncHome $sy_Home\
cntsPerX 4096]
ftz part crystal
ftz long_name ftz
ftz softlowerlim 0
ftz softupperlim 500
ftz home 0
sy part sample
sy long_name sy
sy softlowerlim -250
sy softupperlim 250
sy home 0
# mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow)
set pomSetRate 25000
Motor pom $motor_driver_type [params \
# mc1: Sample Z-translation sample stage
# Gearbox 20:1, pitch ?
set sz_Home 0
set szStepRate ?
Motor sz $motor_driver_type [params \
asyncqueue mc1\
host mc1-dingo\
port pmc1-dingo\
axis E\
units degrees\
axis D\
units mm\
hardlowerlim 0\
hardupperlim 2\
maxSpeed [expr 250000.0/$pomSetRate]\
maxAccel [expr 25000.0/$pomSetRate]\
maxDecel [expr 25000.0/$pomSetRate]\
stepsPerX $pomSetRate\
hardupperlim 500\
maxSpeed [expr 400000.0/300000.0]\
maxAccel [expr 150000.0/300000.0]\
maxDecel [expr 150000.0/300000.0]\
stepsPerX $szStepRate\
absEnc 1\
absEncHome $pom_Home\
absEncHome $sz_Home\
cntsPerX 4096]
pom part crystal
pom long_name pom
pom softlowerlim 0
pom softupperlim 2
pom home 0
sz part sample
sz long_name sz
sz softlowerlim -250
sz softupperlim 250
sz home 0
# mc1: Sample/Detector Chamber Rotation (Detector)
set stthSetRate 25000
Motor stth $motor_driver_type [params \
asyncqueue mc1\
host mc1-dingo\
port pmc1-dingo\
axis F\
units degrees\
hardlowerlim -125\
hardupperlim 8\
maxSpeed [expr 150000.0/$stthSetRate]\
maxAccel [expr 5000.0/$stthSetRate]\
maxDecel [expr 5000.0/$stthSetRate]\
stepsPerX $stthSetRate\
absEnc 1\
absEncHome $stth_Home\
cntsPerX 4096]
stth part detector
stth long_name stth
stth softlowerlim -125
stth softupperlim 8
stth home 0
# mc1: Instrument Drive System (Main Drive)
set mtthSetRate 25000
Motor mtth $motor_driver_type [params \
# mc1: End station Z-translation
# Gearbox 5:1, Gear ratio 16:1, pitch 4mm
set dz_Home 0
set dzStepRate [expr $motorrate*5.0*16.0/4.0]
Motor dz $motor_driver_type [params \
asyncqueue mc1\
host mc1-dingo\
port pmc1-dingo\
axis G\
units mm\
hardlowerlim 40\
hardupperlim 140\
maxSpeed [expr 150000.0/$mtthSetRate]\
maxAccel [expr 25000.0/$mtthSetRate]\
maxDecel [expr 25000.0/$mtthSetRate]\
stepsPerX $mtthSetRate\
hardlowerlim 0\
hardupperlim 500\
maxSpeed [expr 400000.0/300000.0]\
maxAccel [expr 150000.0/300000.0]\
maxDecel [expr 150000.0/300000.0]\
stepsPerX $dzStepRate\
absEnc 1\
absEncHome $mtth_Home\
absEncHome $dz_Home\
cntsPerX 4096]
mtth part detector
mtth long_name mtth
mtth softlowerlim 40
mtth softupperlim 140
mtth home 0
dz part sample
dz long_name dz
dz softlowerlim -125
dz softupperlim 125
sz home 0
############################
@@ -240,149 +199,30 @@ mtth home 0
############################
#
# mc2: Slits Set AB1- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
set sv1SetRate 25000
Motor sv1 $motor_driver_type [params \
# mc2: Camera translation axis along beam
# Gearbox ?, Gear ratio ?,
set dy_Home 0
set dyStepRate ?
Motor dy $motor_driver_type [params \
asyncqueue mc2\
host mc2-dingo\
port pmc2-dingo\
axis A\
units mm\
hardlowerlim -2\
hardupperlim 60\
maxSpeed [expr 25000.0/$sv1SetRate]\
maxAccel [expr 25000.0/$sv1SetRate]\
maxDecel [expr 25000.0/$sv1SetRate]\
stepsPerX $sv1SetRate\
absEnc 1\
absEncHome $sv1_Home\
cntsPerX 4096]
sv1 part aperture
sv1 long_name sv1
sv1 softlowerlim -2
sv1 softupperlim 60
sv1 home 0
# mc2: Slits Set AB2- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
set sh1SetRate 25000
Motor sh1 $motor_driver_type [params \
asyncqueue mc2\
host mc2-dingo\
port pmc2-dingo\
axis B\
units mm\
hardlowerlim -2\
hardupperlim 50\
maxSpeed [expr 25000.0/$sh1SetRate]\
maxAccel [expr 25000.0/$sh1SetRate]\
maxDecel [expr 25000.0/$sh1SetRate]\
stepsPerX $sh1SetRate\
absEnc 1\
absEncHome $sh1_Home\
cntsPerX 4096]
sh1 part aperture
sh1 long_name sh1
sh1 softlowerlim -2
sh1 softupperlim 50
sh1 home 0
# mc2: Slits Set AF1- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
set sv2SetRate 25000
Motor sv2 $motor_driver_type [params \
asyncqueue mc2\
host mc2-dingo\
port pmc2-dingo\
axis C\
units mm\
hardlowerlim -2\
hardupperlim 40\
maxSpeed [expr 25000.0/$sv2SetRate]\
maxAccel [expr 25000.0/$sv2SetRate]\
maxDecel [expr 25000.0/$sv2SetRate]\
stepsPerX $sv2SetRate\
absEnc 1\
absEncHome $sv2_Home\
cntsPerX 4096]
sv2 part aperture
sv2 long_name sv2
sv2 softlowerlim -2
sv2 softupperlim 40
sv2 home 0
# mc2: Slits Set AF2- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
set sh2SetRate 25000
Motor sh2 $motor_driver_type [params \
asyncqueue mc2\
host mc2-dingo\
port pmc2-dingo\
axis D\
units mm\
hardlowerlim -2\
hardupperlim 30\
maxSpeed [expr 25000.0/$sh2SetRate]\
maxAccel [expr 25000.0/$sh2SetRate]\
maxDecel [expr 25000.0/$sh2SetRate]\
stepsPerX $sh2SetRate\
absEnc 1\
absEncHome $sh2_Home\
cntsPerX 4096]
sh2 part aperture
sh2 long_name sh2
sh2 softlowerlim -2
sh2 softupperlim 30
sh2 home 0
# mc2: Graphite filter rotation stage (post 1st slit and post 1st Fermi chopper)
set gomSetRate 25000
Motor gom $motor_driver_type [params \
asyncqueue mc2\
host mc2-dingo\
port pmc2-dingo\
axis E\
units degrees\
hardlowerlim 0\
hardupperlim 15\
maxSpeed [expr 50000.0/$gomSetRate]\
maxAccel [expr 25000.0/$gomSetRate]\
maxDecel [expr 25000.0/$gomSetRate]\
stepsPerX $gomSetRate\
hardupperlim 500\
maxSpeed [expr 400000.0/300000.0]\
maxAccel [expr 150000.0/300000.0]\
maxDecel [expr 150000.0/300000.0]\
stepsPerX $dyStepRate\
absEnc 1\
absEncHome $gom_Home\
absEncHome $dy_Home\
cntsPerX 4096]
gom part sample
gom long_name gom
gom softlowerlim 0
gom softupperlim 15
gom home 0
# mc2: Sample rotation correction - 10 deg rotation
set scorSetRate 25000
Motor scor $motor_driver_type [params \
asyncqueue mc2\
host mc2-dingo\
port pmc2-dingo\
axis F\
units degrees\
hardlowerlim 0\
hardupperlim 360\
maxSpeed [expr 50000.0/$scorSetRate]\
maxAccel [expr 25000.0/$scorSetRate]\
maxDecel [expr 25000.0/$scorSetRate]\
stepsPerX $scorSetRate\
absEnc 1\
absEncHome $scor_Home\
cntsPerX 4096]
scor part sample
scor long_name scor
scor softlowerlim 0
scor softupperlim 360
scor home 0
dy part instrument
dy long_name dy
dy softlowerlim 0
dy softupperlim 20
dy home 0
############################
# Motor Controller 3
@@ -391,325 +231,32 @@ scor home 0
############################
#
# ROTATION STAGES 120:1 PLUS GEARBOX 8:1
# ROTATION STAGE RESOLVER 360:55
# FOCUS STAGE GEARBOX 6:1
# FOCUS STAGE RESOLVER DIRECT 310 DEG, 3527 COUNTS USABLE RANGE
# Computes Monochromator step rates (steps per degree) of focusing and Rotation
# 1 unit here is 1 degree
set monoRotateStepsPerUnit [expr 25000.0*8.0*120.0/360.0]
# Encode reading at the roation, 1 unit here is 1 degree
set MonoRotateCntsPerUnit [expr 4096.0*360.0/55.0/360.0]
# Setup Focus range as min = 0 and max = 1, working range = 0 to 1 (310 degrees)
# or, 0 for full focus and 1 for non focus
# Focusing rate 25000 steps * 6:1 gears = 150000, 1 unit here is 310 degrees
set monoFocusStepsPerUnit [expr -25000.0*6.0*310.0/360.0]
# Encode reading at Focusing stage, 1 unit here is 310 degrees
set monoFocusCntsPerUnit [expr 4096.0*310.0/360.0]
# Max speed for Focusing , -- currently set as 0.083
# speed unit here is 310 degrees
set monoFocusSpeed 0.05
set monoFocusMaxSpeed 0.083
# Precision setting turn/move, or 310*turn/move (degrees)
set monoFocusprecision 0.001
# mc3: Monochromator Focusing 1 - Focus
Motor mra $motor_driver_type [params \
# mc3: Selector Wheel Rotation Axis (attenuator)
# Gearbox 50:1, Gear ratio 119:14
set at_Home 0
set atStepRate [expr $motorrate*50.0*119.0/14.0/360.0]
Motor at $motor_driver_type [params \
asyncqueue mc3\
host mc3-dingo\
port pmc3-dingo\
axis A\
units degrees\
hardlowerlim 0\
hardupperlim 1\
precision $monoFocusprecision\
maxSpeed $monoFocusMaxSpeed\
maxAccel [expr 25000.0/25000.0]\
maxDecel [expr 25000.0/25000.0]\
stepsPerX $monoFocusStepsPerUnit\
absEnc 1\
absEncHome $mra_Home\
bias_bits 12\
cntsPerX $monoFocusCntsPerUnit]
mra speed $monoFocusSpeed
mra accel $monoFocusSpeed
mra decel $monoFocusSpeed
mra part crystal
mra long_name mra
mra softlowerlim 0
mra softupperlim 1
mra home 0
# fix the motor
mra fixed -1
# mc3: Monochromator Focusing 1 - Rotation
Motor moma $motor_driver_type [params \
asyncqueue mc3\
host mc3-dingo\
port pmc3-dingo\
axis B\
units degrees\
hardlowerlim -72.003174\
hardupperlim -20.0379\
maxSpeed 0.5\
maxAccel 0.5\
maxDecel 0.5\
stepsPerX $monoRotateStepsPerUnit\
absEnc 1\
absEncHome $moma_Home\
bias_bits 12\
cntsPerX $MonoRotateCntsPerUnit]
moma part crystal
moma long_name moma
moma softlowerlim -70
moma softupperlim -20.537842
moma home -45
# mc3: Monochromator Focusing 2 - Focus
Motor mrb $motor_driver_type [params \
asyncqueue mc3\
host mc3-dingo\
port pmc3-dingo\
axis C\
units degrees\
hardlowerlim 0\
hardupperlim 1\
precision $monoFocusprecision\
maxSpeed $monoFocusMaxSpeed\
maxAccel [expr 25000.0/25000.0]\
maxDecel [expr 25000.0/25000.0]\
stepsPerX $monoFocusStepsPerUnit\
absEnc 1\
absEncHome $mrb_Home\
bias_bits 12\
cntsPerX $monoFocusCntsPerUnit]
mrb speed $monoFocusSpeed
mrb accel $monoFocusSpeed
mrb decel $monoFocusSpeed
mrb part crystal
mrb long_name mrb
mrb softlowerlim 0
mrb softupperlim 1
mrb home 0
# fix the motor
mrb fixed -1
# mc3: Monochromator Focusing 2 - Rotation
Motor momb $motor_driver_type [params \
asyncqueue mc3\
host mc3-dingo\
port pmc3-dingo\
axis D\
units degree\
hardlowerlim -72.003174\
hardupperlim -20.198975\
maxSpeed 0.5\
maxAccel 0.5\
maxDecel 0.5\
stepsPerX $monoRotateStepsPerUnit\
absEnc 1\
absEncHome $momb_Home\
bias_bits 12\
cntsPerX $MonoRotateCntsPerUnit]
momb part crystal
momb long_name momb
momb softlowerlim -70
momb softupperlim -20.698975
momb home -45
# mc3: Monochromator Focusing 3 - Focus
Motor mrc $motor_driver_type [params \
asyncqueue mc3\
host mc3-dingo\
port pmc3-dingo\
axis E\
units degrees\
hardlowerlim 0\
hardupperlim 1\
precision $monoFocusprecision\
maxSpeed $monoFocusMaxSpeed\
maxAccel [expr 25000.0/25000.0]\
maxDecel [expr 25000.0/25000.0]\
stepsPerX $monoFocusStepsPerUnit\
hardupperlim 500\
maxSpeed [expr 400000.0/300000.0]\
maxAccel [expr 150000.0/300000.0]\
maxDecel [expr 150000.0/300000.0]\
stepsPerX $atStepRate\
absEnc 1\
absEncHome $mrc_Home\
bias_bits 12\
cntsPerX $monoFocusCntsPerUnit]
mrc speed $monoFocusSpeed
mrc accel $monoFocusSpeed
mrc decel $monoFocusSpeed
mrc part crystal
mrc long_name mrc
mrc softlowerlim 0
mrc softupperlim 1
mrc home 0
# fix the motor
mrc fixed -1
# mc3: Monochromator Focusing 3 - Rotation
Motor momc $motor_driver_type [params \
asyncqueue mc3\
host mc3-dingo\
port pmc3-dingo\
axis F\
units degree\
hardlowerlim -72.003174\
hardupperlim -21.246338\
maxSpeed 0.5\
maxAccel 0.5\
maxDecel 0.5\
stepsPerX $monoRotateStepsPerUnit\
absEnc 1\
absEncHome $momc_Home\
bias_bits 12\
cntsPerX $MonoRotateCntsPerUnit]
momc part crystal
momc long_name momc
momc softlowerlim -70
momc softupperlim -21.746338
momc home -45
############################
# Motor Controller 4
# Motor Controller 4
# Motor Controller 4
############################
#
# mc4: Monochromator crystal stages tilt stage - G270
set mphiSetRate 25000
Motor mphi $motor_driver_type [params \
asyncqueue mc4\
host mc4-dingo\
port pmc4-dingo\
axis A\
units degrees\
hardlowerlim -5\
hardupperlim 5\
maxSpeed [expr 50000.0/25000.0]\
maxAccel [expr 12500.0/25000.0]\
maxDecel [expr 12500.0/25000.0]\
stepsPerX $mphiSetRate\
absEnc 1\
absEncHome $mphi_Home\
absEncHome $at_Home\
cntsPerX 4096]
mphi part crystal
mphi long_name mphi
mphi softlowerlim -5
mphi softupperlim 5
mphi home 0
# mc4: Monochromator crystal stages tilt stage - G350
set mchiSetRate 25000
Motor mchi $motor_driver_type [params \
asyncqueue mc4\
host mc4-dingo\
port pmc4-dingo\
axis B\
units degrees\
hardlowerlim -5\
hardupperlim 5\
maxSpeed [expr 50000.0/25000.0]\
maxAccel [expr 12500.0/25000.0]\
maxDecel [expr 12500.0/25000.0]\
stepsPerX $mchiSetRate\
absEnc 1\
absEncHome $mchi_Home\
cntsPerX 4096]
mchi part crystal
mchi long_name mchi
mchi softlowerlim -5
mchi softupperlim 5
mchi home 0
mchi speed 0.2
mchi accel 0.1
mchi decel 0.1
# mc4: Monochromator crystal stages Linear stage X - T250
set mxSetRate 25000
Motor mx $motor_driver_type [params \
asyncqueue mc4\
host mc4-dingo\
port pmc4-dingo\
axis C\
units mm\
hardlowerlim -20\
hardupperlim 20\
maxSpeed [expr 50000.0/25000.0]\
maxAccel [expr 12500.0/25000.0]\
maxDecel [expr 12500.0/25000.0]\
stepsPerX $mxSetRate\
absEnc 1\
absEncHome $mx_Home\
cntsPerX 4096]
mx part crystal
mx long_name mx
mx softlowerlim -20
mx softupperlim 20
mx home 0
mx speed 1.0
# mc4: Monochromator crystal stages Linear stage Y - T250
set mySetRate 25000
Motor my $motor_driver_type [params \
asyncqueue mc4\
host mc4-dingo\
port pmc4-dingo\
axis D\
units mm\
hardlowerlim -20\
hardupperlim 20\
maxSpeed [expr 50000.0/25000.0]\
maxAccel [expr 12500.0/25000.0]\
maxDecel [expr 12500.0/25000.0]\
stepsPerX $mySetRate\
absEnc 1\
absEncHome $my_Home\
cntsPerX 4096]
my part crystal
my long_name my
my softlowerlim -10
my softupperlim 10
my home 0
my speed 1.0
# mc4: Monochromator crystal stages Rotation stage - R275
set momSetRate 25000
Motor mom $motor_driver_type [params \
asyncqueue mc4\
host mc4-dingo\
port pmc4-dingo\
axis E\
units degrees\
hardlowerlim -15\
hardupperlim 15\
maxSpeed [expr 50000.0/25000.0]\
maxAccel [expr 12500.0/25000.0]\
maxDecel [expr 12500.0/25000.0]\
stepsPerX $momSetRate\
absEnc 1\
absEncHome $mom_Home\
cntsPerX 4096]
mom speed 0.5
mom part crystal
mom long_name mom
mom softlowerlim -15
mom softupperlim 15
mom home 0
at part sample
at long_name at
at softlowerlim 0
at softupperlim 20
proc motor_set_sobj_attributes {} {
}
# End of configuration file