Generated new motor configuration after updating the Bilby_motion_control_commissioning_checklist.xls

The update includes corrections for samz and sapmot and configures the beam position as the origin
for the slit motors.
The left and down slit motors "sign" parameter has been changed so all slits drive away from the beam.

site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv

@@ -552,23 +552,25 @@ samy_part,sample
 samy_rev_enc_lim,82584
 samy_steps_per_x,40000
 samy_units,mm
+samz_absenchome,533127890
 samz_axis,B
 samz_axis_number,34
-samz_cnts_per_x,434.599097936269
+samz_cnts_per_x,-434.599097936269
 samz_description,SAMPLE Z
 samz_dflt_accel_steps,150000
 samz_dflt_decel_steps,150000
 samz_dflt_speed_steps,200000
-samz_fwd_enc_lim,538234
+samz_fwd_enc_lim,533292924
+samz_home,379.97
 samz_maxaccel,1.25
 samz_maxdecel,1.25
 samz_maxspeed,1.25
 samz_mc,mc5
 samz_part,sample
-samz_rev_enc_lim,755970
+samz_rev_enc_lim,533075289
-samz_steps_per_x,200000
+samz_steps_per_x,-200000
 samz_units,mm
-sapmot_absenchome,1864051
+sapmot_absenchome,1849191
 sapmot_axis,F
 sapmot_axis_number,38
 sapmot_cnts_per_x,4096
@@ -604,6 +606,7 @@ som_part,sample
 som_rev_enc_lim,33308987
 som_steps_per_x,-38888.8888888889
 som_units,degrees
+ss1d_absenchome,32398070
 ss1d_axis,D
 ss1d_axis_number,20
 ss1d_cnts_per_x,-16384
@@ -612,6 +615,7 @@ ss1d_dflt_accel_steps,25000
 ss1d_dflt_decel_steps,25000
 ss1d_dflt_speed_steps,25000
 ss1d_fwd_enc_lim,31525131
+ss1d_home,0
 ss1d_maxaccel,1
 ss1d_maxdecel,1
 ss1d_maxspeed,1
@@ -620,6 +624,7 @@ ss1d_part,collimator
 ss1d_rev_enc_lim,33398312
 ss1d_steps_per_x,50000
 ss1d_units,mm
+ss1l_absenchome,32051676
 ss1l_axis,A
 ss1l_axis_number,17
 ss1l_cnts_per_x,16384
@@ -628,6 +633,7 @@ ss1l_dflt_accel_steps,25000
 ss1l_dflt_decel_steps,25000
 ss1l_dflt_speed_steps,25000
 ss1l_fwd_enc_lim,31524107
+ss1l_home,0
 ss1l_maxaccel,1
 ss1l_maxdecel,1
 ss1l_maxspeed,1
@@ -636,6 +642,7 @@ ss1l_part,collimator
 ss1l_rev_enc_lim,32637740
 ss1l_steps_per_x,-50000
 ss1l_units,mm
+ss1r_absenchome,32806371
 ss1r_axis,C
 ss1r_axis_number,19
 ss1r_cnts_per_x,16384
@@ -644,6 +651,7 @@ ss1r_dflt_accel_steps,25000
 ss1r_dflt_decel_steps,25000
 ss1r_dflt_speed_steps,25000
 ss1r_fwd_enc_lim,32248545
+ss1r_home,0
 ss1r_maxaccel,1
 ss1r_maxdecel,1
 ss1r_maxspeed,1
@@ -652,6 +660,7 @@ ss1r_part,collimator
 ss1r_rev_enc_lim,33421848
 ss1r_steps_per_x,-50000
 ss1r_units,mm
+ss1u_absenchome,32327340
 ss1u_axis,B
 ss1u_axis_number,18
 ss1u_cnts_per_x,-16384
@@ -660,6 +669,7 @@ ss1u_dflt_accel_steps,25000
 ss1u_dflt_decel_steps,25000
 ss1u_dflt_speed_steps,25000
 ss1u_fwd_enc_lim,31434607
+ss1u_home,0
 ss1u_maxaccel,1
 ss1u_maxdecel,1
 ss1u_maxspeed,1

site_ansto/instrument/bilby/config/motors/motor_configuration.tcl

@@ -48,9 +48,14 @@ for {set n 1} {$n <= 8} {incr n} {
 make_coll_motor_1 att_pos att_pos att count
 sicslist setatt att_pos klass instrument
 
+# Configure left and down slit motors to drive away from the beam.
+ss1l sign -1
+ss1d sign -1
 # make gap/offset motors for the slits
-make_gap_motors ss1hg gap ss1ho offset ss1r ss1l mm first/horizontal
+# ffr  2015-02-17 Changed ss1 config. The +ve  dirn is away from the beam for
-make_gap_motors ss1vg gap ss1vo offset ss1u ss1d mm first/vertical
+# all slits now.
+#make_gap_motors ss1hg gap ss1ho offset ss1r ss1l mm first/horizontal
+#make_gap_motors ss1vg gap ss1vo offset ss1u ss1d mm first/vertical
 
 # Sample aperture positions
 # D40 is at 0mm and D2.5 is at 306mm

site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv

@@ -179,50 +179,40 @@ samy_decel,1.2500
 samy_fwd_lim,2242.2289
 samy_rev_lim,741.0778
 samy_speed,3.7500
-samz_absenchome,755970.0000
 samz_accel,0.7500
 samz_decel,0.7500
-samz_fwd_lim,-501.0043
+samz_fwd_lim,501.0034
-samz_home,0.0000
+samz_rev_lim,0.2315
-samz_rev_lim,0.0000
 samz_speed,1.0000
 sapmot_accel,4.0000
 sapmot_decel,4.0000
-sapmot_fwd_lim,319.0015
+sapmot_fwd_lim,322.6294
-sapmot_rev_lim,-79.8955
+sapmot_rev_lim,-76.2676
 sapmot_speed,8.0000
 som_accel,1.2857
 som_decel,1.2857
 som_fwd_lim,340.6038
 som_rev_lim,-2.0039
 som_speed,3.8571
-ss1d_absenchome,33398312.0000
 ss1d_accel,0.5000
 ss1d_decel,0.5000
-ss1d_fwd_lim,114.3299
+ss1d_fwd_lim,53.2800
-ss1d_home,0.0000
+ss1d_rev_lim,-61.0499
-ss1d_rev_lim,0.0000
 ss1d_speed,0.5000
-ss1l_absenchome,31524107.0000
 ss1l_accel,0.5000
 ss1l_decel,0.5000
-ss1l_fwd_lim,67.9708
+ss1l_fwd_lim,35.7705
-ss1l_home,0.0000
+ss1l_rev_lim,-32.2003
-ss1l_rev_lim,0.0000
 ss1l_speed,0.5000
-ss1r_absenchome,32248545.0000
 ss1r_accel,0.5000
 ss1r_decel,0.5000
-ss1r_fwd_lim,71.6127
+ss1r_fwd_lim,37.5657
-ss1r_home,0.0000
+ss1r_rev_lim,-34.0470
-ss1r_rev_lim,0.0000
 ss1r_speed,0.5000
-ss1u_absenchome,33297987.0000
 ss1u_accel,0.5000
 ss1u_decel,0.5000
-ss1u_fwd_lim,113.7317
+ss1u_fwd_lim,54.4881
-ss1u_home,0.0000
+ss1u_rev_lim,-59.2436
-ss1u_rev_lim,0.0000
 ss1u_speed,0.5000
 vs_absenchome,3789130.0000
 vs_accel,0.4000