From 5386c36209408508188c3b24ad4f7e731d42694e Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Wed, 11 Jan 2012 11:13:48 +1100
Subject: [PATCH] Set crystal speeds and accelerations to more conservative
 values.

r3338 | ffr | 2012-01-11 11:13:48 +1100 (Wed, 11 Jan 2012) | 2 lines
---
 .../config/motors/motor_configuration.tcl     | 31 ++++++++++++-------
 1 file changed, 19 insertions(+), 12 deletions(-)

diff --git a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
index 010d2c0e..f2e36e43 100644
--- a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
@@ -436,7 +436,6 @@ Motor mra $motor_driver_type [params \
   units degrees\
   hardlowerlim 0\
   hardupperlim 1\
-  speed     $monoFocusSpeed\
   precision $monoFocusprecision\
   maxSpeed $monoFocusMaxSpeed\
   maxAccel [expr 25000.0/25000.0]\
@@ -446,6 +445,9 @@ Motor mra $motor_driver_type [params \
   absEncHome $mra_Home\
   bias_bits 12\
   cntsPerX $monoFocusCntsPerUnit]
+mra speed $monoFocusSpeed
+mra accel $monoFocusSpeed
+mra decel $monoFocusSpeed
 mra part crystal 
 mra long_name mra
 mra softlowerlim 0
@@ -463,9 +465,9 @@ Motor moma $motor_driver_type [params \
   units degrees\
   hardlowerlim -72.003174\
   hardupperlim -20.0379\
-  maxSpeed [expr 12500.0/25000.0]\
-  maxAccel [expr 50000.0/25000.0]\
-  maxDecel [expr 50000.0/25000.0]\
+  maxSpeed 0.5\
+  maxAccel 0.5\
+  maxDecel 0.5\
   stepsPerX $monoRotateStepsPerUnit\
   absEnc 1\
   absEncHome $moma_Home\
@@ -487,7 +489,6 @@ Motor mrb $motor_driver_type [params \
   hardlowerlim 0\
   hardupperlim 1\
   precision $monoFocusprecision\
-  speed    $monoFocusSpeed\
   maxSpeed $monoFocusMaxSpeed\
   maxAccel [expr 25000.0/25000.0]\
   maxDecel [expr 25000.0/25000.0]\
@@ -496,6 +497,9 @@ Motor mrb $motor_driver_type [params \
   absEncHome $mrb_Home\
   bias_bits 12\
   cntsPerX $monoFocusCntsPerUnit]
+mrb speed $monoFocusSpeed
+mrb accel $monoFocusSpeed
+mrb decel $monoFocusSpeed
 mrb part crystal
 mrb long_name mrb
 mrb softlowerlim 0
@@ -513,9 +517,9 @@ Motor momb $motor_driver_type [params \
   units degree\
   hardlowerlim -72.003174\
   hardupperlim -20.198975\
-  maxSpeed [expr 12500.0/25000.0]\
-  maxAccel [expr 50000.0/25000.0]\
-  maxDecel [expr 50000.0/25000.0]\
+  maxSpeed 0.5\
+  maxAccel 0.5\
+  maxDecel 0.5\
   stepsPerX $monoRotateStepsPerUnit\
   absEnc 1\
   absEncHome $momb_Home\
@@ -537,7 +541,6 @@ Motor mrc $motor_driver_type [params \
   hardlowerlim 0\
   hardupperlim 1\
   precision $monoFocusprecision\
-  speed    $monoFocusSpeed\
   maxSpeed $monoFocusMaxSpeed\
   maxAccel [expr 25000.0/25000.0]\
   maxDecel [expr 25000.0/25000.0]\
@@ -546,6 +549,9 @@ Motor mrc $motor_driver_type [params \
   absEncHome $mrc_Home\
   bias_bits 12\
   cntsPerX $monoFocusCntsPerUnit]
+mrc speed $monoFocusSpeed
+mrc accel $monoFocusSpeed
+mrc decel $monoFocusSpeed
 mrc part crystal
 mrc long_name mrc
 mrc softlowerlim 0
@@ -563,9 +569,9 @@ Motor momc $motor_driver_type [params \
   units degree\
   hardlowerlim -72.003174\
   hardupperlim -21.246338\
-  maxSpeed [expr 12500.0/25000.0]\
-  maxAccel [expr 50000.0/25000.0]\
-  maxDecel [expr 50000.0/25000.0]\
+  maxSpeed 0.5\
+  maxAccel 0.5\
+  maxDecel 0.5\
   stepsPerX $monoRotateStepsPerUnit\
   absEnc 1\
   absEncHome $momc_Home\
@@ -704,6 +710,7 @@ Motor mom $motor_driver_type [params \
   absEnc 1\
   absEncHome $mom_Home\
   cntsPerX 4096]
+mom speed 0.5
 mom part crystal
 mom long_name mom
 mom softlowerlim -15