From 4f92b60077fb54ebdb0379b3ba65d250396df7ad Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Thu, 31 Jan 2008 10:32:41 +1100
Subject: [PATCH] Incremental commissioning and calibration

r2302 | dcl | 2008-01-31 10:32:41 +1100 (Thu, 31 Jan 2008) | 2 lines
---
 .../rsd/config/motors/motor_configuration.tcl | 43 +++++++++++++------
 1 file changed, 30 insertions(+), 13 deletions(-)

diff --git a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
index e194bbd7..12c23d56 100644
--- a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.19 $
-# $Date: 2008-01-15 01:36:08 $
+# $Revision: 1.20 $
+# $Date: 2008-01-30 23:32:41 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -42,16 +42,23 @@ set mom_Home 28473827
 set mtth_Home 11701800
 #set sz_home 2147458067
 set sz_home 2147457556
-#set sx_Home 8405693
-#set sx_Home 8414653
+#
+# set sx_Home 8405693
+# set sx_Home 8414653
 # set value from 8376253 to 8385562 after cor 5.12.07
-set sx_Home 8385562
+# set value from 8385562 to 8350648
+#set sx_Home 8350648
+#
+set sx_Home 9065892
+
 #set sy_Home 7230717
 # set value from 7223739 to 7224686 after cor 5.12.07
 #set sy_Home 7223739
-set sy_Home 7224686
+#set sy_Home 7224686
+set sy_Home 18597074
+
 set som_Home 23164850
-set stth_Home 7500000
+set stth_Home 28686300
 set mf1_Home 7500000
 
 #set psho_home 542093
@@ -274,7 +281,8 @@ sz long_name vertical_translation
 # to 4.995608 (v13 23.11.2007)
 # to 4.997291 (v14 05.12.2007) after realignement of x and y table
 # to 4.99841687 (oki 06.12.2007) after bearing adjustment on x table
-set sx_pitch 4.99841687
+# to 5.0 09.01.2008
+set sx_pitch 5.0
 Motor sx $motor_driver_type [params \
   asyncqueue mc2\
   axis C\
@@ -305,7 +313,16 @@ sx creep_offset 0.5
 # to 4.9976934 (oki 19.11.2007)
 # to 4.9996395 after x and y table alignement (ok, 10.12.2007)
 # to 4.9996810 after x and y table alignement (ok, 10.12.2007)
-set sy_pitch 4.9996810
+# to 5.000187 after bearing repositioning
+# to 4.999444939 after improved statistics
+# to 4.99930 after some headscratching
+# to 4.999610818
+# best accuracies so far with 4.999444939  
+# set pitch to 4.9995324 (...24 added by ok for no good reason :-)
+#
+# change hw limits temporarily from -250...250 to -215...285, 4.1.2007
+#
+set sy_pitch 4.9995324
 Motor sy $motor_driver_type [params \
   asyncqueue mc2\
   axis D\
@@ -335,15 +352,15 @@ Motor som $motor_driver_type [params \
   asyncqueue mc2\
   axis E\
   units degrees\
-  hardlowerlim -200\
-  hardupperlim 200\
+  hardlowerlim -275\
+  hardupperlim 95\
   maxSpeed 2\
   maxAccel 5\
   maxDecel 5\
-  stepsPerX [expr 25000.0*(380.0/360.0)]\
+  stepsPerX [expr 25000.0*(383.0/360.0)]\
   absEnc 1\
   absEncHome $som_Home\
-  cntsPerX [expr 8192.0*(380.0/360.0)]]
+  cntsPerX [expr -8192.0*(383.0/360.0)]]
 setHomeandRange -motor som -home 0 -lowrange 180 -uprange 180
 som speed 1
 som accel 0.1