From 4562daf398dbf60db26b731b117a8b088ddf96e3 Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Mon, 14 Apr 2008 13:51:07 +1000
Subject: [PATCH] Implement changes made on instrument during commissioning

r2451 | dcl | 2008-04-14 13:51:07 +1000 (Mon, 14 Apr 2008) | 2 lines
---
 .../config/motors/motor_configuration.tcl     | 49 ++++++++++++++-----
 1 file changed, 37 insertions(+), 12 deletions(-)

diff --git a/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl b/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
index 7f06b7c7..fd0be209 100644
--- a/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.20 $
-# $Date: 2007-10-29 02:59:58 $
+# $Revision: 1.21 $
+# $Date: 2008-04-14 03:51:07 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -45,7 +45,8 @@ set schi_Home 7542917
 set sy_Home 7626584
 set sx_Home 24029910
 set som_Home 24984596
-set stth_Home 21996287
+set stth_Home 7083120
+#set stth_Home 21996287
 
 #Measured or computed slit motor steps per millimetre
 # 125 steps * 161:1 gears = 20125
@@ -223,7 +224,7 @@ Motor mtth $motor_driver_type [params \
   axis F\
   units degrees\
   hardlowerlim 87\
-  hardupperlim 140.5\
+  hardupperlim 140.2\
   maxSpeed 0.2\
   maxAccel 0.2\
   maxDecel 0.2\
@@ -235,7 +236,7 @@ Motor mtth $motor_driver_type [params \
   absEncHome $mtth_Home\
   cntsPerX -93207]
 mtth softlowerlim 87
-mtth softupperlim 140.5
+mtth softupperlim 140.2
 mtth home 90
 mtth speed 0.2
 mtth movecount $move_count
@@ -244,7 +245,19 @@ mtth decel 0.01
 mtth precision 0.02
 mtth maxretry 10
 mtth failafter 10
-mtth blockage_check_interval 5
+
+mtth blockage_check_interval .2
+mtth blockage_thresh .1
+mtth accel 0.01
+mtth decel 0.01
+mtth motOffDelay 1
+mtth Settle 1000
+mtth blockage_ratio 5
+mtth backlash_offset -1
+mtth creep_offset 90
+mtth creep_precision 0.02
+#mtth debug 1
+
 mtth part crystal
 mtth long_name takeoff_angle
 
@@ -406,8 +419,8 @@ Motor stth $motor_driver_type [params \
   asyncqueue mc2\
   axis F\
   units degrees\
-  hardlowerlim 0\
-  hardupperlim 167\
+  hardlowerlim -156.75\
+  hardupperlim 7.25\
   maxSpeed 0.5\
   maxAccel 0.1\
   maxDecel 0.1\
@@ -415,13 +428,25 @@ Motor stth $motor_driver_type [params \
   absEnc 1\
   absEncHome $stth_Home\
   cntsPerX -93207]
-stth softlowerlim 3
-stth softupperlim 167
+stth softlowerlim -156.75 
+stth softupperlim 7.25
 stth home 0
 stth speed 0.5
 stth movecount $move_count
-stth precision 0.01
-stth blockage_check_interval 2
+stth precision 0.002
+
+stth blockage_check_interval .1
+stth blockage_thresh .1
+stth accel 0.01
+stth decel 0.01
+stth motOffDelay 1
+stth Settle 1000
+stth blockage_ratio 1.5
+stth backlash_offset -0.1
+stth creep_offset 0.1
+stth creep_precision 0.00002
+stth debug 1
+
 stth part sample
 stth long_name azimuthal_angle