From 4514dc01db2ceea46886da7508fac26462718b56 Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Thu, 18 Jan 2007 14:18:01 +1100
Subject: [PATCH] Further refinement of slit configurations

r1408 | dcl | 2007-01-18 14:18:01 +1100 (Thu, 18 Jan 2007) | 2 lines
---
 .../instrument/hipd/motor_configuration.tcl   | 139 +++++++++++-------
 .../instrument/hrpd/motor_configuration.tcl   | 129 ++++++++++------
 .../instrument/qld/motor_configuration.tcl    |  56 ++++---
 3 files changed, 191 insertions(+), 133 deletions(-)

diff --git a/site_ansto/instrument/hipd/motor_configuration.tcl b/site_ansto/instrument/hipd/motor_configuration.tcl
index 9c1bb468..aa843ef1 100644
--- a/site_ansto/instrument/hipd/motor_configuration.tcl
+++ b/site_ansto/instrument/hipd/motor_configuration.tcl
@@ -1,22 +1,64 @@
-# $Revision: 1.4 $
-# $Date: 2006-12-12 21:03:10 $
+# $Revision: 1.5 $
+# $Date: 2007-01-18 03:16:56 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
 # START MOTOR CONFIGURATION
 
+set animal wombat
 # Setup addresses of Galil DMC2280 controllers.
-set dmc2280_controller1(host) mc1-wombat
-set dmc2280_controller1(port) pmc1-wombat
+set dmc2280_controller1(host) mc1-$animal
+set dmc2280_controller1(port) pmc1-$animal
 
-set dmc2280_controller2(host) mc2-wombat
-set dmc2280_controller2(port) pmc2-wombat
+set dmc2280_controller2(host) mc2-$animal
+set dmc2280_controller2(port) pmc2-$animal
 
-set dmc2280_controller3(host) mc3-wombat
-set dmc2280_controller3(port) pmc3-wombat
+set dmc2280_controller3(host) mc3-$animal
+set dmc2280_controller3(port) pmc3-$animal
 
-set dmc2280_controller4(host) mc4-wombat
-set dmc2280_controller4(port) pmc4-wombat
+set dmc2280_controller4(host) mc4-$animal
+set dmc2280_controller4(port) pmc4-$animal
+
+#Measured absolute encoder reading at home position
+set mphi_Home 7414753
+set mchi_Home 7818915
+set my_Home 7781680
+set mx_Home 7562793
+set mom_Home 17694127
+set mtth_Home 10299428
+set sphi_Home 7934290
+set schi_Home 7581355
+set sy_Home 7562793
+set sx_Home 7562793
+set som_Home 17694127
+set stth_Home 6559259
+
+#Measured or computed slit motor steps per millimetre
+# 125 steps * 161:1 gears = 20125
+set slitStepRate  20125
+
+#Measured slit gap, in units, after homing on limit switches
+set ss1h_Gap       52.5
+set ss1v_Gap      205.9
+set ss2h_Gap       51.3
+set ss2v_Gap      203.3
+
+set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
+set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
+set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
+set ss1d_Home [expr $ss1v_Gap/2*$slitStepRate]
+set ss2r_Home [expr $ss2h_Gap/2*$slitStepRate]
+set ss2l_Home [expr $ss2h_Gap/2*$slitStepRate]
+set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
+set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
+
+#Default upper and lower ranges for vertical slits
+set vertSlitLowRange 25
+set vertSlitUpRange 100
+
+#Default upper and lower ranges for horizontal slits
+set horSlitLowRange 25
+set horSlitUpRange 25
 
 # Run slit homing routines on controllers 3 and 4
 #if [catch {dmc_connect dmc2280_controller3} ] {
@@ -47,7 +89,7 @@ Motor mphi DMC2280 [params \
   maxDecel 1\
   stepsPerX -25000\
   absEnc 1\
-  absEncHome 7414753\
+  absEncHome $mphi_Home\
   cntsPerX -8192]
 setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
 mphi speed 1
@@ -64,7 +106,7 @@ Motor mchi DMC2280 [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7818915\
+  absEncHome $mchi_Home\
   cntsPerX 8192]
 setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
 mchi speed 1
@@ -81,7 +123,7 @@ Motor my DMC2280 [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7781680\
+  absEncHome $my_Home\
   cntsPerX 8192]
 setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
 my speed 1
@@ -98,7 +140,7 @@ Motor mx DMC2280 [params \
   maxDecel 1\
   stepsPerX -25000\
   absEnc 1\
-  absEncHome 7562793\
+  absEncHome $mx_Home\
   cntsPerX -8192]
 setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
 mx speed 1
@@ -115,7 +157,7 @@ Motor mom DMC2280 [params \
   maxDecel 1\
   stepsPerX -12500\
   absEnc 1\
-  absEncHome 17694127\
+  absEncHome $mom_Home\
   cntsPerX -4096]
 setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
 mom speed 1
@@ -127,19 +169,19 @@ Motor mtth DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis F\
   units degrees\
-  maxSpeed 0.5\
+  maxSpeed 0.2\
   maxAccel 0.2\
   maxDecel 0.2\
   stepsPerX [expr 25000*18]\
   absEnc 1\
-  absEncHome 10299428\
-  cntsPerX 93207]
-mtth hardlowerlim 86
-mtth hardupperlim 137
-mtth softlowerlim 86
-mtth softupperlim 137
+  absEncHome $mtth_Home\
+  cntsPerX -93207]
+mtth hardlowerlim 45
+mtth hardupperlim 100
+mtth softlowerlim 45
+mtth softupperlim 100
 mtth home 90
-mtth speed 0.5
+mtth speed 0.2
 mtth accel 0.01
 mtth decel 0.01
 mtth precision 0.02
@@ -151,8 +193,6 @@ mtth failafter 10
 # Motor Controller 2
 # Motor Controller 2
 ############################
-#:TP at HOME
-#
 
 # Sample Tilt 1, upper, phi
 Motor sphi DMC2280 [params \
@@ -165,7 +205,7 @@ Motor sphi DMC2280 [params \
   maxDecel 1\
   stepsPerX -25000\
   absEnc 1\
-  absEncHome 7934290\
+  absEncHome $sphi_Home\
   cntsPerX -8192]
 setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
 sphi speed 1
@@ -182,7 +222,7 @@ Motor schi DMC2280 [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7581355\
+  absEncHome $schi_Home\
   cntsPerX 8192]
 setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
 schi speed 1
@@ -199,7 +239,7 @@ Motor sy DMC2280 [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7562793\
+  absEncHome $sy_Home\
   cntsPerX 8192]
 setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
 sy speed 1
@@ -216,7 +256,7 @@ Motor sx DMC2280 [params \
   maxDecel 1\
   stepsPerX -25000\
   absEnc 1\
-  absEncHome 7562793\
+  absEncHome $sx_Home\
   cntsPerX -8192]
 setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
 sx speed 1
@@ -233,9 +273,9 @@ Motor som DMC2280 [params \
   maxDecel 1\
   stepsPerX 12500\
   absEnc 1\
-  absEncHome 17694127\
+  absEncHome $som_Home\
   cntsPerX 4096]
-setHomeandRange -motor som -home 0 -lowrange 180 -uprange 180
+setHomeandRange -motor som -home 0 -lowrange 90 -uprange 90
 som speed 1
 som precision 0.01
 
@@ -246,12 +286,12 @@ Motor stth DMC2280 [params \
   axis F\
   units degrees\
   maxSpeed 0.5\
-  maxAccel 0.2\
-  maxDecel 0.2\
+  maxAccel 0.1\
+  maxDecel 0.1\
   stepsPerX 125000\
   absEnc 1\
-  absEncHome 6559259\
-  cntsPerX 93207]
+  absEncHome $stth_Home\
+  cntsPerX -93207]
 stth hardlowerlim -60
 stth hardupperlim 60
 stth softlowerlim -60
@@ -260,17 +300,6 @@ stth home 0
 stth speed 0.5
 stth precision 0.01
 
-#Default upper and lower ranges for vertical slits
-set vertSlitLowRange 20
-set vertSlitUpRange 100
-
-#Default upper and lower ranges for horizontal slits
-set horSlitLowRange 15
-set horSlitUpRange 35
-
-#Measured or computed slit motor steps per millimetre
-set slitStepRate 20180
-
 ############################
 # Motor Controller 3
 # Motor Controller 3
@@ -289,7 +318,7 @@ set slitStepRate 20180
 #  maxDecel xxxx\
 #  stepsPerX xxxx\
 #  absEnc 1\
-#  absEncHome xxxx\
+#  absEncHome $mf1_Home\
 #  cntsPerX xxxx]
 #setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
 #mf1 speed 1
@@ -322,7 +351,7 @@ Motor ss1r DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 54.5/2*$slitStepRate]]
+  motorHome $ss1r_Home]
 setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
 # Slit 1, left
@@ -335,7 +364,7 @@ Motor ss1l DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 54.5/2*$slitStepRate]]
+  motorHome $ss1l_Home]
 setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
 # Slit 1, up
@@ -348,7 +377,7 @@ Motor ss1u DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 207.5/2*$slitStepRate]]
+  motorHome $ss1u_Home]
 setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 # Slit 1, down
@@ -361,7 +390,7 @@ Motor ss1d DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 207.5/2*$slitStepRate]]
+  motorHome $ss1d_Home]
 setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 ############################
@@ -381,7 +410,7 @@ Motor ss2r DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 52.25/2*$slitStepRate]]
+  motorHome $ss2r_Home]
 setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
 # Slit 2, left
@@ -394,7 +423,7 @@ Motor ss2l DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 52.25/2*$slitStepRate]]
+  motorHome $ss2l_Home]
 setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
 # Slit 2, up
@@ -407,7 +436,7 @@ Motor ss2u DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 204.1/2*$slitStepRate]]
+  motorHome $ss2u_Home]
 setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 # Slit 2, down
@@ -420,7 +449,7 @@ Motor ss2d DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 204.1/2*$slitStepRate]]
+  motorHome $ss2d_Home]
 setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
diff --git a/site_ansto/instrument/hrpd/motor_configuration.tcl b/site_ansto/instrument/hrpd/motor_configuration.tcl
index 4f732e83..ee1835b8 100644
--- a/site_ansto/instrument/hrpd/motor_configuration.tcl
+++ b/site_ansto/instrument/hrpd/motor_configuration.tcl
@@ -1,22 +1,66 @@
-# $Revision: 1.11 $
-# $Date: 2007-01-17 05:30:10 $
+# $Revision: 1.12 $
+# $Date: 2007-01-18 03:15:58 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: ffr $
+# Last revision by: $Author: dcl $
 
 # START MOTOR CONFIGURATION
 
+set animal echidna
 # Setup addresses of Galil DMC2280 controllers.
-set dmc2280_controller1(host) mc1-echidna
-set dmc2280_controller1(port) pmc1-echidna
+set dmc2280_controller1(host) mc1-$animal
+set dmc2280_controller1(port) pmc1-$animal
 
-set dmc2280_controller2(host) mc2-echidna
-set dmc2280_controller2(port) pmc2-echidna
+set dmc2280_controller2(host) mc2-$animal
+set dmc2280_controller2(port) pmc2-$animal
 
-set dmc2280_controller3(host) mc3-echidna
-set dmc2280_controller3(port) pmc3-echidna
+set dmc2280_controller3(host) mc3-$animal
+set dmc2280_controller3(port) pmc3-$animal
 
-set dmc2280_controller4(host) mc4-echidna
-set dmc2280_controller4(port) pmc4-echidna
+set dmc2280_controller4(host) mc4-$animal
+set dmc2280_controller4(port) pmc4-$animal
+
+#Measured absolute encoder reading at home position
+set mphi_Home 7415177
+set mchi_Home 7818798
+set my_Home 7779997
+set mx_Home 7580365
+set mom_Home 13442932
+set mtth_Home 11477617
+set pcx_Home 8345644
+set pcr_Home 6197934
+set sphi_Home 7924507
+set schi_Home 7542917
+set sy_Home 7626584
+set sx_Home 24029910
+set som_Home 24984596
+set stth_Home 14530407
+
+#Measured or computed slit motor steps per millimetre
+# 125 steps * 161:1 gears = 20125
+set slitStepRate  20125
+
+#Measured slit gap, in units, after homing on limit switches
+set ss1h_Gap       54.0
+set ss1v_Gap      207.5
+set ss2h_Gap       52.0
+set ss2v_Gap      203.4
+
+set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
+set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
+set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
+set ss1d_Home [expr $ss1v_Gap/2*$slitStepRate]
+set ss2r_Home [expr $ss2h_Gap/2*$slitStepRate]
+set ss2l_Home [expr $ss2h_Gap/2*$slitStepRate]
+set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
+set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
+
+#Default upper and lower ranges for vertical slits
+set vertSlitLowRange 25
+set vertSlitUpRange 100
+
+#Default upper and lower ranges for horizontal slits
+set horSlitLowRange 25
+set horSlitUpRange 25
 
 # Run slit homing routines on controllers 3 and 4
 #if [catch {dmc_connect dmc2280_controller3} ] {
@@ -47,7 +91,7 @@ Motor mphi DMC2280 [params \
   maxDecel 1\
   stepsPerX -25000\
   absEnc 1\
-  absEncHome 7415177\
+  absEncHome $mphi_Home\
   cntsPerX -8192]
 setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
 mphi speed 1
@@ -64,7 +108,7 @@ Motor mchi DMC2280 [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7818798\
+  absEncHome $mchi_Home\
   cntsPerX 8192]
 setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
 mchi speed 1
@@ -81,7 +125,7 @@ Motor my DMC2280 [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7779997\
+  absEncHome $my_Home\
   cntsPerX 8192]
 setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
 my speed 1
@@ -98,7 +142,7 @@ Motor mx DMC2280 [params \
   maxDecel 1\
   stepsPerX -25000\
   absEnc 1\
-  absEncHome 7580365\
+  absEncHome $mx_Home\
   cntsPerX -8192]
 setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
 mx speed 1
@@ -115,7 +159,7 @@ Motor mom DMC2280 [params \
   maxDecel 1\
   stepsPerX -12500\
   absEnc 1\
-  absEncHome 13442932\
+  absEncHome $mom_Home\
   cntsPerX -4096]
 setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
 mom speed 1
@@ -132,7 +176,7 @@ Motor mtth DMC2280 [params \
   maxDecel 0.2\
   stepsPerX [expr 25000*18]\
   absEnc 1\
-  absEncHome 11477617\
+  absEncHome $mtth_Home\
   cntsPerX -93207]
 mtth hardlowerlim 90
 mtth hardupperlim 137
@@ -157,7 +201,7 @@ Motor pcx DMC2280 [params \
   maxDecel 1\
   stepsPerX [expr -25000/6]\
   absEnc 1\
-  absEncHome 8345644\
+  absEncHome $pcx_Home\
   cntsPerX [expr 8192/6]]
 setHomeandRange -motor pcx -home 0 -lowrange 0 -uprange 140
 pcx speed 1
@@ -174,7 +218,7 @@ Motor pcr DMC2280 [params \
   maxDecel 0.1\
   stepsPerX [expr -25000/(360/100)]\
   absEnc 1\
-  absEncHome 6197934\
+  absEncHome $pcr_Home\
   cntsPerX [expr 8192/(360/100)]]
 setHomeandRange -motor pcr -home 0 -lowrange 10 -uprange 10
 pcr speed 0.1
@@ -185,8 +229,6 @@ pcr precision 0.01
 # Motor Controller 2
 # Motor Controller 2
 ############################
-#:TP at HOME
-# 7924507, 7542917, 7626584, 24029910, 24984596, 14530407, 22369621, 22369621
 
 # Sample Tilt 1, upper, phi
 Motor sphi DMC2280 [params \
@@ -199,7 +241,7 @@ Motor sphi DMC2280 [params \
   maxDecel 1\
   stepsPerX -25000\
   absEnc 1\
-  absEncHome 7924507\
+  absEncHome $sphi_Home\
   cntsPerX -8192]
 setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
 sphi speed 1
@@ -216,7 +258,7 @@ Motor schi DMC2280 [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7542917\
+  absEncHome $schi_Home\
   cntsPerX 8192]
 setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
 schi speed 1
@@ -233,7 +275,7 @@ Motor sy DMC2280 [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7626584\
+  absEncHome $sy_Home\
   cntsPerX 8192]
 setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
 sy speed 1
@@ -250,7 +292,7 @@ Motor sx DMC2280 [params \
   maxDecel 1\
   stepsPerX -25000\
   absEnc 1\
-  absEncHome 24029910\
+  absEncHome $sx_Home\
   cntsPerX -8192]
 setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
 sx speed 1
@@ -267,7 +309,7 @@ Motor som DMC2280 [params \
   maxDecel 1\
   stepsPerX 12500\
   absEnc 1\
-  absEncHome 24984596\
+  absEncHome $som_Home\
   cntsPerX 4096]
 setHomeandRange -motor som -home 0 -lowrange 142 -uprange 218
 som speed 1
@@ -284,7 +326,7 @@ Motor stth DMC2280 [params \
   maxDecel 0.1\
   stepsPerX 125000\
   absEnc 1\
-  absEncHome 14530407\
+  absEncHome $stth_Home\
   cntsPerX -93207]
 stth hardlowerlim -79
 stth hardupperlim 77
@@ -294,17 +336,6 @@ stth home 0
 stth speed 0.5
 stth precision 0.01
 
-#Default upper and lower ranges for vertical slits
-set vertSlitLowRange 20
-set vertSlitUpRange 100
-
-#Default upper and lower ranges for horizontal slits
-set horSlitLowRange 15
-set horSlitUpRange 35
-
-#Measured or computed slit motor steps per millimetre
-set slitStepRate 20180
-
 ############################
 # Motor Controller 3
 # Motor Controller 3
@@ -323,7 +354,7 @@ set slitStepRate 20180
 #  maxDecel xxxx\
 #  stepsPerX xxxx\
 #  absEnc 1\
-#  absEncHome xxxx\
+#  absEncHome $mf1_Home\
 #  cntsPerX xxxx]
 #setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
 #mf1 speed 1
@@ -339,7 +370,7 @@ Motor ss1r DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 54.5/2*$slitStepRate]]
+  motorHome $ss1r_Home]
 setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
 # Slit 1, left
@@ -352,7 +383,7 @@ Motor ss1l DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 54.5/2*$slitStepRate]]
+  motorHome $ss1l_Home]
 setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
 # Slit 1, up
@@ -365,7 +396,7 @@ Motor ss1u DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 207.5/2*$slitStepRate]]
+  motorHome $ss1u_Home]
 setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 # Slit 1, down
@@ -378,7 +409,7 @@ Motor ss1d DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 207.5/2*$slitStepRate]]
+  motorHome $ss1d_Home]
 setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 ############################
@@ -400,7 +431,7 @@ setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSl
 #  maxDecel xxxx\
 #  stepsPerX xxxx\
 #  absEnc 1\
-#  absEncHome xxxx\
+#  absEncHome $ephi_Home\
 #  cntsPerX xxxx]
 #setHomeandRange -motor ephi -home 0 -lowrange 180 -uprange 180
 
@@ -414,7 +445,7 @@ setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSl
 #  maxDecel xxxx\
 #  stepsPerX xxxx\
 #  absEnc 1\
-#  absEncHome xxxx\
+#  absEncHome $echi_Home\
 #  cntsPerX xxxx]
 #setHomeandRange -motor echi -home 0 -lowrange 180 -uprange 180
 
@@ -428,7 +459,7 @@ Motor ss2r DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 52.25/2*$slitStepRate]]
+  motorHome $ss2r_Home]
 setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
 # Slit 2, left
@@ -441,7 +472,7 @@ Motor ss2l DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 52.25/2*$slitStepRate]]
+  motorHome $ss2l_Home]
 setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
 # Slit 2, up
@@ -454,7 +485,7 @@ Motor ss2u DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 204.1/2*$slitStepRate]]
+  motorHome $ss2u_Home]
 setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 # Slit 2, down
@@ -467,7 +498,7 @@ Motor ss2d DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome [expr 204.1/2*$slitStepRate]]
+  motorHome $ss2d_Home]
 setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
diff --git a/site_ansto/instrument/qld/motor_configuration.tcl b/site_ansto/instrument/qld/motor_configuration.tcl
index d7ca6127..4b00048b 100644
--- a/site_ansto/instrument/qld/motor_configuration.tcl
+++ b/site_ansto/instrument/qld/motor_configuration.tcl
@@ -1,7 +1,9 @@
 set slit2active 0
+set animal koala
+
 # Setup addresses of Galil DMC2280 controllers.
-set dmc2280_controller2(host) mc2-koala
-set dmc2280_controller2(port) pmc2-koala
+set dmc2280_controller2(host) mc2-$animal
+set dmc2280_controller2(port) pmc2-$animal
 
 # Run slit homing routines
 #if [catch {dmc_connect dmc2280_controller2} ] {
@@ -19,29 +21,26 @@ set dmc2280_controller2(port) pmc2-koala
 #
 
 #Measured or computed slit motor steps per unit (mm)
-set slitStepRate 20180
+set slitStepRate 20125
 
 #Measured slit gap, in units, after homing on limit switches
-set s1vGap 128
-set s1hGap 53
-set s2vGap 205
-set s2hGap 51
+set ss1h_Gap 52.6
+set ss1v_Gap 128.6
+set ss2h_Gap 51
+set ss2v_Gap 205
 
-#Measured offset for centre opening in units, positive up
-set s1vOff 0
-
-set s1uHome [expr $s1vGap/2*$slitStepRate]
-set s1dHome [expr $s1vGap/2*$slitStepRate]
-set s1rHome [expr $s1hGap/2*$slitStepRate]
-set s1lHome [expr $s1hGap/2*$slitStepRate]
-set s2uHome [expr $s2vGap/2*$slitStepRate]
-set s2dHome [expr $s2vGap/2*$slitStepRate]
-set s2rHome [expr $s2hGap/2*$slitStepRate]
-set s2lHome [expr $s2hGap/2*$slitStepRate]
+set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
+set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
+set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
+set ss1d_Home [expr $ss1v_Gap/2*$slitStepRate]
+set ss2r_Home [expr $ss2h_Gap/2*$slitStepRate]
+set ss2l_Home [expr $ss2h_Gap/2*$slitStepRate]
+set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
+set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
 
 #Default upper and lower ranges for vertical slits
-set vertSlitLowRange 60
-set vertSlitUpRange 60
+set vertSlitLowRange 64
+set vertSlitUpRange 64
 
 #Default upper and lower ranges for horizontal slits
 set horSlitLowRange 25
@@ -56,7 +55,7 @@ Motor ss1r DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome $s1rHome]
+  motorHome $ss1r_Home]
 setHomeandRange -motor ss1r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
 
 Motor ss1l DMC2280 [params \
@@ -68,7 +67,7 @@ Motor ss1l DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome $s1lHome]
+  motorHome $ss1l_Home]
 setHomeandRange -motor ss1l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
 
 Motor ss1u DMC2280 [params \
@@ -80,7 +79,7 @@ Motor ss1u DMC2280 [params \
       maxAccel 1\
       maxDecel 1\
       stepsPerX -$slitStepRate\
-      motorHome $s1uHome]
+      motorHome $ss1u_Home]
 setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 Motor ss1d DMC2280 [params \
@@ -92,7 +91,7 @@ Motor ss1d DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome $s1dHome]
+  motorHome $ss1d_Home]
 setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
 
 if {$slit2active} {
@@ -105,7 +104,7 @@ Motor ss2r DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome $s2rHome]
+  motorHome $ss2r_Home]
 setHomeandRange -motor ss2r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
 
 Motor ss2l DMC2280 [params \
@@ -117,7 +116,7 @@ Motor ss2l DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome $s2lHome]
+  motorHome $ss2l_Home]
 setHomeandRange -motor ss2l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
 
 Motor ss2u DMC2280 [params \
@@ -129,7 +128,7 @@ Motor ss2u DMC2280 [params \
       maxAccel 1\
       maxDecel 1\
       stepsPerX -$slitStepRate\
-      motorHome $s2uHome]
+      motorHome $ss2u_Home]
 setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 Motor ss2d DMC2280 [params \
@@ -141,7 +140,7 @@ Motor ss2d DMC2280 [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome $s2dHome]
+  motorHome $ss2d_Home]
 setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
 }
 
@@ -325,4 +324,3 @@ ss2vo readscript ss2readvertoffset
 }
 # END MOTOR CONFIGURATION
 
-