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Set crystal speeds and accelerations to more conservative values.

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r3338 | ffr | 2012-01-11 11:13:48 +1100 (Wed, 11 Jan 2012) | 2 lines
This commit is contained in:
Ferdi Franceschini
2012-01-11 11:13:48 +11:00
committed by Douglas Clowes
parent aa860a120b
commit 5386c36209
1 changed files with 19 additions and 12 deletions
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31
site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
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@@ -436,7 +436,6 @@ Motor mra $motor_driver_type [params \
units degrees\ units degrees\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim 1\ hardupperlim 1\
speed $monoFocusSpeed\
precision $monoFocusprecision\ precision $monoFocusprecision\
maxSpeed $monoFocusMaxSpeed\ maxSpeed $monoFocusMaxSpeed\
maxAccel [expr 25000.0/25000.0]\ maxAccel [expr 25000.0/25000.0]\
@@ -446,6 +445,9 @@ Motor mra $motor_driver_type [params \
absEncHome $mra_Home\ absEncHome $mra_Home\
bias_bits 12\ bias_bits 12\
cntsPerX $monoFocusCntsPerUnit] cntsPerX $monoFocusCntsPerUnit]
mra speed $monoFocusSpeed
mra accel $monoFocusSpeed
mra decel $monoFocusSpeed
mra part crystal mra part crystal
mra long_name mra mra long_name mra
mra softlowerlim 0 mra softlowerlim 0
@@ -463,9 +465,9 @@ Motor moma $motor_driver_type [params \
units degrees\ units degrees\
hardlowerlim -72.003174\ hardlowerlim -72.003174\
hardupperlim -20.0379\ hardupperlim -20.0379\
maxSpeed [expr 12500.0/25000.0]\ maxSpeed 0.5\
maxAccel [expr 50000.0/25000.0]\ maxAccel 0.5\
maxDecel [expr 50000.0/25000.0]\ maxDecel 0.5\
stepsPerX $monoRotateStepsPerUnit\ stepsPerX $monoRotateStepsPerUnit\
absEnc 1\ absEnc 1\
absEncHome $moma_Home\ absEncHome $moma_Home\
@@ -487,7 +489,6 @@ Motor mrb $motor_driver_type [params \
hardlowerlim 0\ hardlowerlim 0\
hardupperlim 1\ hardupperlim 1\
precision $monoFocusprecision\ precision $monoFocusprecision\
speed $monoFocusSpeed\
maxSpeed $monoFocusMaxSpeed\ maxSpeed $monoFocusMaxSpeed\
maxAccel [expr 25000.0/25000.0]\ maxAccel [expr 25000.0/25000.0]\
maxDecel [expr 25000.0/25000.0]\ maxDecel [expr 25000.0/25000.0]\
@@ -496,6 +497,9 @@ Motor mrb $motor_driver_type [params \
absEncHome $mrb_Home\ absEncHome $mrb_Home\
bias_bits 12\ bias_bits 12\
cntsPerX $monoFocusCntsPerUnit] cntsPerX $monoFocusCntsPerUnit]
mrb speed $monoFocusSpeed
mrb accel $monoFocusSpeed
mrb decel $monoFocusSpeed
mrb part crystal mrb part crystal
mrb long_name mrb mrb long_name mrb
mrb softlowerlim 0 mrb softlowerlim 0
@@ -513,9 +517,9 @@ Motor momb $motor_driver_type [params \
units degree\ units degree\
hardlowerlim -72.003174\ hardlowerlim -72.003174\
hardupperlim -20.198975\ hardupperlim -20.198975\
maxSpeed [expr 12500.0/25000.0]\ maxSpeed 0.5\
maxAccel [expr 50000.0/25000.0]\ maxAccel 0.5\
maxDecel [expr 50000.0/25000.0]\ maxDecel 0.5\
stepsPerX $monoRotateStepsPerUnit\ stepsPerX $monoRotateStepsPerUnit\
absEnc 1\ absEnc 1\
absEncHome $momb_Home\ absEncHome $momb_Home\
@@ -537,7 +541,6 @@ Motor mrc $motor_driver_type [params \
hardlowerlim 0\ hardlowerlim 0\
hardupperlim 1\ hardupperlim 1\
precision $monoFocusprecision\ precision $monoFocusprecision\
speed $monoFocusSpeed\
maxSpeed $monoFocusMaxSpeed\ maxSpeed $monoFocusMaxSpeed\
maxAccel [expr 25000.0/25000.0]\ maxAccel [expr 25000.0/25000.0]\
maxDecel [expr 25000.0/25000.0]\ maxDecel [expr 25000.0/25000.0]\
@@ -546,6 +549,9 @@ Motor mrc $motor_driver_type [params \
absEncHome $mrc_Home\ absEncHome $mrc_Home\
bias_bits 12\ bias_bits 12\
cntsPerX $monoFocusCntsPerUnit] cntsPerX $monoFocusCntsPerUnit]
mrc speed $monoFocusSpeed
mrc accel $monoFocusSpeed
mrc decel $monoFocusSpeed
mrc part crystal mrc part crystal
mrc long_name mrc mrc long_name mrc
mrc softlowerlim 0 mrc softlowerlim 0
@@ -563,9 +569,9 @@ Motor momc $motor_driver_type [params \
units degree\ units degree\
hardlowerlim -72.003174\ hardlowerlim -72.003174\
hardupperlim -21.246338\ hardupperlim -21.246338\
maxSpeed [expr 12500.0/25000.0]\ maxSpeed 0.5\
maxAccel [expr 50000.0/25000.0]\ maxAccel 0.5\
maxDecel [expr 50000.0/25000.0]\ maxDecel 0.5\
stepsPerX $monoRotateStepsPerUnit\ stepsPerX $monoRotateStepsPerUnit\
absEnc 1\ absEnc 1\
absEncHome $momc_Home\ absEncHome $momc_Home\
@@ -704,6 +710,7 @@ Motor mom $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $mom_Home\ absEncHome $mom_Home\
cntsPerX 4096] cntsPerX 4096]
mom speed 0.5
mom part crystal mom part crystal
mom long_name mom mom long_name mom
mom softlowerlim -15 mom softlowerlim -15