From 42166b51acfab56f7e401a3233298041b0048fc9 Mon Sep 17 00:00:00 2001
From: Jing Chen <jgn@ansto.gov.au>
Date: Thu, 1 Dec 2011 09:48:35 +1100
Subject: [PATCH] init setup pelican config r3298 | jgn | 2011-12-01 09:48:35
 +1100 (Thu, 01 Dec 2011) | 1 line

---
 .../config/motors/motor_configuration.tcl     | 31 ++++++++++++++-----
 1 file changed, 23 insertions(+), 8 deletions(-)

diff --git a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
index 775c7595..a7932cf0 100644
--- a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
@@ -35,12 +35,19 @@ if {$sim_mode == "true"} {
 
 
 # Computed Monochromator step rates (steps per degree) of focusing and Rotation
-# Rotate rate  25000 steps * 8:1 gears = 200000
+
+# Rotate rate -- 8:1 gear on motor and 120:1 gear on rotation stage \
+# 25000 steps * 8:1 gear * 120:1 gear = 200000
 set monoRotateStepRate 200000
+
+# Rotation stage rate 25000 steps * 120:1 gears = 3000000 
+set monoRotationStateStepRate 3000000
+
+# Encode reading at the roation 4096 * 360:55 backlash gear = 26810.1818
+set MonoRotateEncoderCountRate 26810.1818
+
 # Focusing rate 25000 steps * 6:1 gears = 150000
 set monoFocusStepRate  150000   
-# Rotation stage raTE 25000 steps * 120:1 gears = 3000000 
-set monoRotationStateStepRate 3000000
 
 #Measured absolute encoder reading at home position
 set dummy_Home    0
@@ -392,6 +399,8 @@ mra long_name mra
 mra softlowerlim 0
 mra softupperlim 5
 mra home 0
+# fix the motor
+mra fixed 1
 
 # mc3: Monochromator Focusing 1 - Rotation
 Motor moma $motor_driver_type [params \
@@ -408,7 +417,7 @@ Motor moma $motor_driver_type [params \
   stepsPerX $monoRotateStepRate\
   absEnc 1\
   absEncHome $moma_Home\
-  cntsPerX 4096]
+  cntsPerX $MonoRotateEncoderCountRate]
 moma part crystal
 moma long_name moma
 moma softlowerlim 0
@@ -436,6 +445,8 @@ mrb long_name mrb
 mrb softlowerlim 0
 mrb softupperlim 5
 mrb home 0
+# fix the motor
+mrb fixed 1
 
 # mc3: Monochromator Focusing 2 - Rotation
 Motor momb $motor_driver_type [params \
@@ -452,7 +463,7 @@ Motor momb $motor_driver_type [params \
   stepsPerX $monoRotateStepRate\
   absEnc 1\
   absEncHome $momb_Home\
-  cntsPerX 4096]
+  cntsPerX $MonoRotateEncoderCountRate]
 momb part crystal
 momb long_name momb
 momb softlowerlim 0
@@ -480,6 +491,8 @@ mrc long_name mrc
 mrc softlowerlim 0
 mrc softupperlim 5
 mrc home 0
+# fix the motor
+mrc fixed 1
 
 # mc3: Monochromator Focusing 3 - Rotation
 Motor momc $motor_driver_type [params \
@@ -496,7 +509,7 @@ Motor momc $motor_driver_type [params \
   stepsPerX $monoRotateStepRate\
   absEnc 1\
   absEncHome $momc_Home\
-  cntsPerX 4096]
+  cntsPerX $MonoRotateEncoderCountRate]
 momc part crystal
 momc long_name momc
 momc softlowerlim 0
@@ -716,7 +729,8 @@ gv1 long_name gv1
 gv1 softlowerlim 0
 gv1 softupperlim 180
 gv1 home 0
-gv1 fixed -1
+# fix the motor
+gv1 fixed 1
 
 # mc5: Isolation Vaue -- Axis 2,  currently this Axis is set to read ONLY to read the encoder
 Motor gv2 $motor_driver_type [params \
@@ -739,7 +753,8 @@ gv2 long_name gv2
 gv2 softlowerlim 0
 gv2 softupperlim 180
 gv2 home 0
-gv2 fixed -1
+# fix the motor
+gv2 fixed 1
 
 proc motor_set_sobj_attributes {} {
 }