From 405981c815f917dffd692911ba5dd407b6e91afe Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Thu, 22 Feb 2007 16:36:25 +1100
Subject: [PATCH] Tighten up MOM and MTTH, add new airpads code

r1542 | dcl | 2007-02-22 16:36:25 +1100 (Thu, 22 Feb 2007) | 2 lines
---
 .../config/motors/motor_configuration.tcl     | 28 +++++++++++--------
 1 file changed, 16 insertions(+), 12 deletions(-)

diff --git a/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl b/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
index 3db026cc..cfec8a3f 100644
--- a/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
@@ -1,7 +1,7 @@
-# $Revision: 1.1 $
-# $Date: 2007-02-19 21:03:21 $
+# $Revision: 1.2 $
+# $Date: 2007-02-22 05:36:25 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: ffr $
+# Last revision by: $Author: dcl $
 
 # START MOTOR CONFIGURATION
 
@@ -26,7 +26,7 @@ set mphi_Home 7613516
 set mchi_Home 7503905
 set my_Home 6767221
 set mx_Home 7464891
-set mom_Home 8901369
+set mom_Home 9274794
 set mtth_Home 19927837
 # 7938155, 7585392, 7556982, 7563854, 17214054, 22369621, 22369621, 22369621
 # 7937974, 7585956, 7557524, 7557304, 16992893,  1497938,  7788744, 22369621
@@ -167,8 +167,8 @@ Motor mom DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis E\
   units degrees\
-  hardlowerlim -180\
-  hardupperlim 180\
+  hardlowerlim -5\
+  hardupperlim 95\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -176,7 +176,7 @@ Motor mom DMC2280 [params \
   absEnc 1\
   absEncHome $mom_Home\
   cntsPerX -4096]
-setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
+setHomeandRange -motor mom -home 0 -lowrange 5 -uprange 95
 mom speed 1
 mom precision 0.01
 
@@ -191,10 +191,12 @@ Motor mtth DMC2280 [params \
   maxSpeed 0.2\
   maxAccel 0.2\
   maxDecel 0.2\
-  stepsPerX [expr 25000*18]\
+  stepsPerX [expr 25000*10]\
+  airpads 1\
+  settle 10\
+  motoffdelay 5000\
   absEnc 1\
   absEncHome $mtth_Home\
-  motoffdelay 5000\
   cntsPerX -93207]
 mtth softlowerlim 45
 mtth softupperlim 100
@@ -202,9 +204,11 @@ mtth home 90
 mtth speed 0.2
 mtth accel 0.01
 mtth decel 0.01
-mtth precision 0.02
-mtth maxretry 10
-mtth failafter 10
+mtth precision 0.01
+mtth maxretry 20
+mtth failafter 100
+mtth movecount 100
+mtth blockage_check_interval 5
 
 ############################
 # Motor Controller 2