From 3f75de6357378f66dc6f1bf415fd9e16adfd79d2 Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Wed, 15 May 2013 20:40:41 +1000
Subject: [PATCH] Added Dan's changes to motor acceleration.  Axes now drive
 more smoothly. Also set creep control on focussing motors.  This has improved
 precision of the monochromator focussing from 0.5 to 0.1 degrees.

---
 .../tas/config/motors/motor_configuration.tcl | 40 +++++++++++--------
 1 file changed, 24 insertions(+), 16 deletions(-)

diff --git a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
index e93801f5..a18b38cc 100644
--- a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
@@ -203,9 +203,9 @@ Motor m2 $motor_driver_type [params \
   precision 0.02088\
   hardlowerlim 17\
   hardupperlim 80\
-  maxSpeed 1\
-  maxAccel 0.1\
-  maxDecel 0.1\
+  maxSpeed 0.414\
+  maxAccel 0.04\
+  maxDecel 0.04\
   stepsPerX $m2_stepsPerX\
   absEnc 1\
   absEncHome 2773144\
@@ -220,6 +220,9 @@ m2 motOffDelay 0
 m2 backlash_offset 0.1
 m2 creep_offset 0.1
 m2 creep_precision 0.02088
+m2 speed 0.4
+m2 accel 0.04
+m2 decel 0.04
 
 # mc1: Detector Rotate
 Motor a2 $motor_driver_type [params \
@@ -247,6 +250,9 @@ a2 motOffDelay 0
 a2 backlash_offset -0.5
 a2 creep_offset 0.1
 a2 creep_precision 0.01
+a2 speed 0.8
+a2 accel 0.2
+a2 decel 0.2
 
 
 ############################
@@ -355,8 +361,8 @@ Motor s1 $motor_driver_type [params \
   port pmc2-taipan\
   axis E\
   units degrees\
-  hardlowerlim -100\
-  hardupperlim 110\
+  hardlowerlim -194\
+  hardupperlim 134\
   maxSpeed 4\
   maxAccel 2\
   maxDecel 2\
@@ -367,7 +373,7 @@ Motor s1 $motor_driver_type [params \
 s1 part sample
 s1 long_name s1
 s1 softlowerlim -170
-s1 softupperlim 90
+s1 softupperlim 120
 s1 home 35.997
 s1 backlash_offset -0.2
 
@@ -382,9 +388,9 @@ Motor s2 $motor_driver_type [params \
   precision 0.01\
   hardlowerlim -128\
   hardupperlim 30\
-  maxSpeed 1.5\
-  maxAccel 0.5\
-  maxDecel 0.5\
+  maxSpeed 0.8\
+  maxAccel 0.2\
+  maxDecel 0.2\
   stepsPerX 125000\
   absEnc 1\
   absEncHome 20305788\
@@ -402,9 +408,9 @@ s2 backlash_offset 0.5
 s2 blockage_thresh 1
 s2 creep_offset 0.015
 s2 creep_precision 0.01
-s2 speed 1.07
-s2 accel 0.5
-s2 decel 0.5
+s2 speed 0.8
+s2 accel 0.2
+s2 decel 0.2
 
 # mc2: Analyser Horizontal Focus
 Motor ahfocus $motor_driver_type [params \
@@ -413,7 +419,7 @@ Motor ahfocus $motor_driver_type [params \
   port pmc2-taipan\
   axis G\
   units degrees\
-  precision 0.25\
+  precision 0.5\
   hardlowerlim 0\
   hardupperlim 300\
   maxSpeed 10\
@@ -430,16 +436,16 @@ ahfocus softupperlim 300
 ahfocus home 0
 ahfocus Blockage_Thresh 2
 ahfocus Blockage_Check_Interval 2
+ahfocus creep_offset 0.2
 
 # mc2: Analyser Vertical Focus
-# Jing: not fixed so far
 Motor avfocus $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-taipan\
   port pmc2-taipan\
   axis H\
   units degrees\
-  precision 0.25\
+  precision 0.5\
   hardlowerlim 0\
   hardupperlim 300\
   maxSpeed 10\
@@ -456,6 +462,7 @@ avfocus softupperlim 300
 avfocus home 0
 avfocus Blockage_Thresh 2
 avfocus Blockage_Check_Interval 2
+avfocus creep_offset 0.2
 
 # mc3: Monochromator Vertical Focus
 Motor mvfocus $motor_driver_type [params \
@@ -483,7 +490,7 @@ mvfocus softupperlim 300
 mvfocus home 0.0
 mvfocus Blockage_Thresh 2
 mvfocus Blockage_Check_Interval 2
-
+mvfocus creep_offset 0.2
 # mc3: Monochromator Horizontal Focus
 Motor mhfocus $motor_driver_type [params \
   asyncqueue mc3\
@@ -510,6 +517,7 @@ mhfocus softupperlim 235
 mhfocus home 0
 mhfocus Blockage_Thresh 2
 mhfocus Blockage_Check_Interval 2
+mhfocus creep_offset 0.2
 
 # mc3: Monochromator Rotate
 Motor m1 $motor_driver_type [params \