Updated motor configuration from Bilby_motion_control_SICS.xls, 10-06-2014T16:45

2014-06-10 19:26:58 +10:00
parent 1baf4faa90
commit 70e9ce99e4
3 changed files with 143 additions and 136 deletions
--- a/site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv
+++ b/site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv
@ -1,11 +1,6 @@
-ap1_100X40,110608
-ap1_40X40,102604
 ap1_axis,A
 ap1_axis_number,1
 ap1_cnts_per_x,364.088888888889
-ap1_D10,86208
-ap1_D20,91680
-ap1_D40,97116
 ap1_description,Aperture Selector (Collimator SEG 1 Start) 
 ap1_dflt_accel_steps,50000
 ap1_dflt_decel_steps,50000
@ -16,17 +11,17 @@ ap1_maxdecel,2.8125
 ap1_maxspeed,2.8125
 ap1_mc,mc1
 ap1_part,collimator
+ap1_pos1,86208
+ap1_pos2,91680
+ap1_pos3,97116
+ap1_pos4,102604
+ap1_pos5,110608
 ap1_rev_enc_lim,73952
 ap1_steps_per_x,35555.5555555556
 ap1_units,degrees
-ap2_100X40,93637
-ap2_40X40,85637
 ap2_axis,B
 ap2_axis_number,2
 ap2_cnts_per_x,364.088888888889
-ap2_D10,69193
-ap2_D20,74677
-ap2_D40,80149
 ap2_description,Aperture Selector (COLLIMATION SEG 2)
 ap2_dflt_accel_steps,50000
 ap2_dflt_decel_steps,50000
@ -37,17 +32,17 @@ ap2_maxdecel,2.8125
 ap2_maxspeed,2.8125
 ap2_mc,mc1
 ap2_part,collimator
+ap2_pos1,69193
+ap2_pos2,74677
+ap2_pos3,80149
+ap2_pos4,85637
+ap2_pos5,93637
 ap2_rev_enc_lim,54293
 ap2_steps_per_x,35555.5555555556
 ap2_units,degrees
-ap3_100X40,49584
-ap3_40X40,41532
 ap3_axis,C
 ap3_axis_number,3
 ap3_cnts_per_x,364.088888888889
-ap3_D10,25168
-ap3_D20,30656
-ap3_D40,36080
 ap3_description,Aperture Selector (COLLIMATION SEG 3)
 ap3_dflt_accel_steps,50000
 ap3_dflt_decel_steps,50000
@ -58,17 +53,17 @@ ap3_maxdecel,2.8125
 ap3_maxspeed,2.8125
 ap3_mc,mc1
 ap3_part,collimator
+ap3_pos1,25168
+ap3_pos2,30656
+ap3_pos3,36080
+ap3_pos4,41532
+ap3_pos5,49584
 ap3_rev_enc_lim,13644
 ap3_steps_per_x,35555.5555555556
 ap3_units,degrees
-ap4_100X40,43506
-ap4_40X40,35490
 ap4_axis,D
 ap4_axis_number,4
 ap4_cnts_per_x,364.088888888889
-ap4_D10,19118
-ap4_D20,24578
-ap4_D40,30038
 ap4_description,Aperture Selector (COLLIMATION SEG 4)
 ap4_dflt_accel_steps,50000
 ap4_dflt_decel_steps,50000
@ -79,17 +74,17 @@ ap4_maxdecel,2.8125
 ap4_maxspeed,2.8125
 ap4_mc,mc1
 ap4_part,collimator
+ap4_pos1,19118
+ap4_pos2,24578
+ap4_pos3,30038
+ap4_pos4,35490
+ap4_pos5,43506
 ap4_rev_enc_lim,5666
 ap4_steps_per_x,35555.5555555556
 ap4_units,degrees
-ap5_100X40,109480
-ap5_40X40,101476
 ap5_axis,E
 ap5_axis_number,5
 ap5_cnts_per_x,364.088888888889
-ap5_D10,85076
-ap5_D20,90552
-ap5_D40,96008
 ap5_description,Aperture Selector (COLLIMATION SEG 5)
 ap5_dflt_accel_steps,50000
 ap5_dflt_decel_steps,50000
@ -100,17 +95,17 @@ ap5_maxdecel,2.8125
 ap5_maxspeed,2.8125
 ap5_mc,mc1
 ap5_part,collimator
+ap5_pos1,85076
+ap5_pos2,90552
+ap5_pos3,96008
+ap5_pos4,101476
+ap5_pos5,109480
 ap5_rev_enc_lim,72824
 ap5_steps_per_x,35555.5555555556
 ap5_units,degrees
-ap6_100X40,110499
-ap6_40X40,102419
 ap6_axis,F
 ap6_axis_number,6
 ap6_cnts_per_x,364.088888888889
-ap6_D10,86097
-ap6_D20,91587
-ap6_D40,97011
 ap6_description,Aperture Selector (COLLIMATION SEG 6)
 ap6_dflt_accel_steps,50000
 ap6_dflt_decel_steps,50000
@ -121,17 +116,17 @@ ap6_maxdecel,2.8125
 ap6_maxspeed,2.8125
 ap6_mc,mc1
 ap6_part,collimator
+ap6_pos1,86097
+ap6_pos2,91587
+ap6_pos3,97011
+ap6_pos4,102419
+ap6_pos5,110499
 ap6_rev_enc_lim,72115
 ap6_steps_per_x,35555.5555555556
 ap6_units,degrees
-ap7_100X40,110371
-ap7_40X40,102343
 ap7_axis,G
 ap7_axis_number,7
 ap7_cnts_per_x,364.088888888889
-ap7_D10,85929
-ap7_D20,91399
-ap7_D40,96871
 ap7_description,Aperture Selector (COLLIMATION SEG 7)
 ap7_dflt_accel_steps,50000
 ap7_dflt_decel_steps,50000
@ -142,17 +137,17 @@ ap7_maxdecel,2.8125
 ap7_maxspeed,2.8125
 ap7_mc,mc1
 ap7_part,collimator
+ap7_pos1,85929
+ap7_pos2,91399
+ap7_pos3,96871
+ap7_pos4,102343
+ap7_pos5,110371
 ap7_rev_enc_lim,74299
 ap7_steps_per_x,35555.5555555556
 ap7_units,degrees
-ap8_100X40,46069
-ap8_40X40,38027
 ap8_axis,H
 ap8_axis_number,8
 ap8_cnts_per_x,364.088888888889
-ap8_D10,21657
-ap8_D20,27115
-ap8_D40,32629
 ap8_description,Aperture Selector (Collimator SEG 8 End)
 ap8_dflt_accel_steps,50000
 ap8_dflt_decel_steps,50000
@ -163,6 +158,11 @@ ap8_maxdecel,2.8125
 ap8_maxspeed,2.8125
 ap8_mc,mc1
 ap8_part,collimator
+ap8_pos1,21657
+ap8_pos2,27115
+ap8_pos3,32629
+ap8_pos4,38027
+ap8_pos5,46069
 ap8_rev_enc_lim,6791
 ap8_steps_per_x,35555.5555555556
 ap8_units,degrees
@ -203,6 +203,7 @@ bs3_part,detector
 bs3_rev_enc_lim,351548
 bs3_steps_per_x,2222.22222222222
 bs3_units,mm
+carriage_minsep,2975
 curtaind_absenchome,15660695
 curtaind_axis,F
 curtaind_axis_number,62
@ -221,22 +222,24 @@ curtaind_part,detector
 curtaind_rev_enc_lim,4159255
 curtaind_steps_per_x,100000
 curtaind_units,mm
+curtaind_yoffset,997.9
 curtaindet_absenchome,9554728
 curtaindet_axis,B
 curtaindet_axis_number,58
-curtaindet_cnts_per_x,-524.288
+curtaindet_cnts_per_x,-521.518917523523
 curtaindet_description,CURTAIN DETECTOR CARRIAGE Y TRANS
 curtaindet_dflt_accel_steps,10000
 curtaindet_dflt_decel_steps,10000
 curtaindet_dflt_speed_steps,150000
 curtaindet_fwd_enc_lim,13683594
 curtaindet_home,8528.7
-curtaindet_maxaccel,25
-curtaindet_maxdecel,25
-curtaindet_maxspeed,25
+curtaindet_maxaccel,38.6657557364898
+curtaindet_maxdecel,38.6657557364898
+curtaindet_maxspeed,38.6657557364898
 curtaindet_mc,mc8
 curtaindet_part,detector
-curtaindet_steps_per_x,-3900
+curtaindet_rev_enc_lim,5958431.48151552
+curtaindet_steps_per_x,-3879.40173786495
 curtaindet_units,mm
 curtainl_absenchome,17511203
 curtainl_axis,C
@ -256,6 +259,7 @@ curtainl_part,detector
 curtainl_rev_enc_lim,5769621
 curtainl_steps_per_x,100000
 curtainl_units,mm
+curtainl_yoffset,0
 curtainr_absenchome,16154534
 curtainr_axis,D
 curtainr_axis_number,60
@ -274,6 +278,7 @@ curtainr_part,detector
 curtainr_rev_enc_lim,4371043
 curtainr_steps_per_x,100000
 curtainr_units,mm
+curtainr_yoffset,-2.44000000000051
 curtainu_absenchome,33536351
 curtainu_axis,E
 curtainu_axis_number,61
@ -292,17 +297,18 @@ curtainu_part,detector
 curtainu_rev_enc_lim,21804679
 curtainu_steps_per_x,100000
 curtainu_units,mm
+curtainu_yoffset,1001.7
 cutoff_axis,B
 cutoff_axis_number,26
 cutoff_cnts_per_x,-12288
 cutoff_description,SDH Box
 cutoff_dflt_accel_steps,15000
-cutoff_dflt_decel_steps,15000
+cutoff_dflt_decel_steps,50000
 cutoff_dflt_speed_steps,50000
 cutoff_fwd_enc_lim,1189505
-cutoff_maxaccel,2
-cutoff_maxdecel,2
-cutoff_maxspeed,1.33
+cutoff_maxaccel,1.33333333333333
+cutoff_maxdecel,1.33333333333333
+cutoff_maxspeed,1.33333333333333
 cutoff_mc,mc4
 cutoff_part,instrument
 cutoff_pos1,1535698
@ -318,6 +324,7 @@ det_description,CURTAIN DETECTOR CARRIAGE Y TRANS
 det_dflt_accel_steps,10000
 det_dflt_decel_steps,10000
 det_dflt_speed_steps,150000
+det_fwd_enc_lim,9404909.51848448
 det_home,18400.4
 det_maxaccel,38.6657557364898
 det_maxdecel,38.6657557364898
@ -334,14 +341,14 @@ pc1_description,Collimator Trans (Col SEG 1) VH
 pc1_dflt_accel_steps,50000
 pc1_dflt_decel_steps,50000
 pc1_dflt_speed_steps,100000
-pc1_empty,541261
 pc1_fwd_enc_lim,557470
-pc1_guide,262369
 pc1_maxaccel,0.833333333333333
 pc1_maxdecel,0.833333333333333
 pc1_maxspeed,0.833333333333333
 pc1_mc,mc2
 pc1_part,collimator
+pc1_pos1,262369
+pc1_pos2,541261
 pc1_rev_enc_lim,3902
 pc1_steps_per_x,150000
 pc1_units,mm
@ -352,14 +359,14 @@ pc2_description,Collimator Trans (Col SEG 2) VH
 pc2_dflt_accel_steps,50000
 pc2_dflt_decel_steps,50000
 pc2_dflt_speed_steps,100000
-pc2_empty,546816
 pc2_fwd_enc_lim,564598
-pc2_guide,273591
 pc2_maxaccel,0.833333333333333
 pc2_maxdecel,0.833333333333333
 pc2_maxspeed,0.833333333333333
 pc2_mc,mc2
 pc2_part,collimator
+pc2_pos1,273591
+pc2_pos2,546816
 pc2_rev_enc_lim,9598
 pc2_steps_per_x,150000
 pc2_units,mm
@ -370,14 +377,14 @@ pc3_description,Collimator Trans (Col SEG 3) VH
 pc3_dflt_accel_steps,50000
 pc3_dflt_decel_steps,50000
 pc3_dflt_speed_steps,100000
-pc3_empty,558462
 pc3_fwd_enc_lim,578556
-pc3_guide,287471
 pc3_maxaccel,0.833333333333333
 pc3_maxdecel,0.833333333333333
 pc3_maxspeed,0.833333333333333
 pc3_mc,mc2
 pc3_part,collimator
+pc3_pos1,287471
+pc3_pos2,558462
 pc3_rev_enc_lim,29466
 pc3_steps_per_x,150000
 pc3_units,mm
@ -388,14 +395,14 @@ pc4_description,Collimator Trans (Col SEG 4) VH
 pc4_dflt_accel_steps,50000
 pc4_dflt_decel_steps,50000
 pc4_dflt_speed_steps,100000
-pc4_empty,1062105
 pc4_fwd_enc_lim,1116447
-pc4_guide,539261
 pc4_maxaccel,0.833333333333333
 pc4_maxdecel,0.833333333333333
 pc4_maxspeed,0.833333333333333
 pc4_mc,mc2
 pc4_part,collimator
+pc4_pos1,539261
+pc4_pos2,1062105
 pc4_rev_enc_lim,12861
 pc4_steps_per_x,150000
 pc4_units,mm
@ -406,14 +413,14 @@ pc5_description,Collimator Trans (Col SEG 5) VH
 pc5_dflt_accel_steps,50000
 pc5_dflt_decel_steps,50000
 pc5_dflt_speed_steps,100000
-pc5_empty,904072
 pc5_fwd_enc_lim,928235
-pc5_guide,644380
 pc5_maxaccel,0.833333333333333
 pc5_maxdecel,0.833333333333333
 pc5_maxspeed,0.833333333333333
 pc5_mc,mc2
 pc5_part,collimator
+pc5_pos1,644380
+pc5_pos2,904072
 pc5_rev_enc_lim,377801
 pc5_steps_per_x,150000
 pc5_units,mm
@ -424,14 +431,14 @@ pc6_description,Collimator Trans (Col SEG 6) VH
 pc6_dflt_accel_steps,50000
 pc6_dflt_decel_steps,50000
 pc6_dflt_speed_steps,100000
-pc6_empty,721132
 pc6_fwd_enc_lim,747130
-pc6_guide,457285
 pc6_maxaccel,0.833333333333333
 pc6_maxdecel,0.833333333333333
 pc6_maxspeed,0.833333333333333
 pc6_mc,mc2
 pc6_part,collimator
+pc6_pos1,457285
+pc6_pos2,721132
 pc6_rev_enc_lim,191508
 pc6_steps_per_x,150000
 pc6_units,mm
@ -442,14 +449,14 @@ pc7_description,Collimator Trans (Col SEG 7) VH
 pc7_dflt_accel_steps,50000
 pc7_dflt_decel_steps,50000
 pc7_dflt_speed_steps,100000
-pc7_empty,555984
 pc7_fwd_enc_lim,577633
-pc7_guide,288216
 pc7_maxaccel,0.833333333333333
 pc7_maxdecel,0.833333333333333
 pc7_maxspeed,0.833333333333333
 pc7_mc,mc2
 pc7_part,collimator
+pc7_pos1,288216
+pc7_pos2,555984
 pc7_rev_enc_lim,24810
 pc7_steps_per_x,150000
 pc7_units,mm
@ -460,17 +467,18 @@ pc8_description,Collimator Trans (Col SEG 8) VH
 pc8_dflt_accel_steps,50000
 pc8_dflt_decel_steps,50000
 pc8_dflt_speed_steps,100000
-pc8_empty,538544
 pc8_fwd_enc_lim,561091
-pc8_guide,273474
 pc8_maxaccel,0.833333333333333
 pc8_maxdecel,0.833333333333333
 pc8_maxspeed,0.833333333333333
 pc8_mc,mc2
 pc8_part,collimator
+pc8_pos1,273474
+pc8_pos2,538544
 pc8_rev_enc_lim,12893
 pc8_steps_per_x,150000
 pc8_units,mm
+samx_absenchome,439335
 samx_axis,D
 samx_axis_number,36
 samx_cnts_per_x,819.2
@ -479,6 +487,7 @@ samx_dflt_accel_steps,50000
 samx_dflt_decel_steps,50000
 samx_dflt_speed_steps,150000
 samx_fwd_enc_lim,871514
+samx_home,-16.96
 samx_maxaccel,3.75
 samx_maxdecel,3.75
 samx_maxspeed,3.75
@ -487,7 +496,7 @@ samx_part,sample
 samx_rev_enc_lim,41841
 samx_steps_per_x,40000
 samx_units,mm
-samy_absenchome,82584
+samy_absenchome,82594
 samy_axis,E
 samy_axis_number,37
 samy_cnts_per_x,819.2
--- a/site_ansto/instrument/bilby/config/motors/generated_motor_configuration.tcl
+++ b/site_ansto/instrument/bilby/config/motors/generated_motor_configuration.tcl
@ -58,11 +58,11 @@ Motor ap1 $motor_driver_type [params\
  maxDecel $ap1_maxdecel\
  stepsPerX $ap1_steps_per_x\
  posit_count 5\
-  posit_1 $ap1_D10\
-  posit_2 $ap1_D20\
-  posit_3 $ap1_D40\
-  posit_4 $ap1_40X40\
-  posit_5 $ap1_100X40\
+  posit_1 $ap1_pos1\
+  posit_2 $ap1_pos2\
+  posit_3 $ap1_pos3\
+  posit_4 $ap1_pos4\
+  posit_5 $ap1_pos5\
  absEnc 1\
  absEncHome $ap1_absenchome\
  cntsPerX $ap1_cnts_per_x]
@ -89,11 +89,11 @@ Motor ap2 $motor_driver_type [params\
  maxDecel $ap2_maxdecel\
  stepsPerX $ap2_steps_per_x\
  posit_count 5\
-  posit_1 $ap2_D10\
-  posit_2 $ap2_D20\
-  posit_3 $ap2_D40\
-  posit_4 $ap2_40X40\
-  posit_5 $ap2_100X40\
+  posit_1 $ap2_pos1\
+  posit_2 $ap2_pos2\
+  posit_3 $ap2_pos3\
+  posit_4 $ap2_pos4\
+  posit_5 $ap2_pos5\
  absEnc 1\
  absEncHome $ap2_absenchome\
  cntsPerX $ap2_cnts_per_x]
@ -120,11 +120,11 @@ Motor ap3 $motor_driver_type [params\
  maxDecel $ap3_maxdecel\
  stepsPerX $ap3_steps_per_x\
  posit_count 5\
-  posit_1 $ap3_D10\
-  posit_2 $ap3_D20\
-  posit_3 $ap3_D40\
-  posit_4 $ap3_40X40\
-  posit_5 $ap3_100X40\
+  posit_1 $ap3_pos1\
+  posit_2 $ap3_pos2\
+  posit_3 $ap3_pos3\
+  posit_4 $ap3_pos4\
+  posit_5 $ap3_pos5\
  absEnc 1\
  absEncHome $ap3_absenchome\
  cntsPerX $ap3_cnts_per_x]
@ -151,11 +151,11 @@ Motor ap4 $motor_driver_type [params\
  maxDecel $ap4_maxdecel\
  stepsPerX $ap4_steps_per_x\
  posit_count 5\
-  posit_1 $ap4_D10\
-  posit_2 $ap4_D20\
-  posit_3 $ap4_D40\
-  posit_4 $ap4_40X40\
-  posit_5 $ap4_100X40\
+  posit_1 $ap4_pos1\
+  posit_2 $ap4_pos2\
+  posit_3 $ap4_pos3\
+  posit_4 $ap4_pos4\
+  posit_5 $ap4_pos5\
  absEnc 1\
  absEncHome $ap4_absenchome\
  cntsPerX $ap4_cnts_per_x]
@ -182,11 +182,11 @@ Motor ap5 $motor_driver_type [params\
  maxDecel $ap5_maxdecel\
  stepsPerX $ap5_steps_per_x\
  posit_count 5\
-  posit_1 $ap5_D10\
-  posit_2 $ap5_D20\
-  posit_3 $ap5_D40\
-  posit_4 $ap5_40X40\
-  posit_5 $ap5_100X40\
+  posit_1 $ap5_pos1\
+  posit_2 $ap5_pos2\
+  posit_3 $ap5_pos3\
+  posit_4 $ap5_pos4\
+  posit_5 $ap5_pos5\
  absEnc 1\
  absEncHome $ap5_absenchome\
  cntsPerX $ap5_cnts_per_x]
@ -213,11 +213,11 @@ Motor ap6 $motor_driver_type [params\
  maxDecel $ap6_maxdecel\
  stepsPerX $ap6_steps_per_x\
  posit_count 5\
-  posit_1 $ap6_D10\
-  posit_2 $ap6_D20\
-  posit_3 $ap6_D40\
-  posit_4 $ap6_40X40\
-  posit_5 $ap6_100X40\
+  posit_1 $ap6_pos1\
+  posit_2 $ap6_pos2\
+  posit_3 $ap6_pos3\
+  posit_4 $ap6_pos4\
+  posit_5 $ap6_pos5\
  absEnc 1\
  absEncHome $ap6_absenchome\
  cntsPerX $ap6_cnts_per_x]
@ -244,11 +244,11 @@ Motor ap7 $motor_driver_type [params\
  maxDecel $ap7_maxdecel\
  stepsPerX $ap7_steps_per_x\
  posit_count 5\
-  posit_1 $ap7_D10\
-  posit_2 $ap7_D20\
-  posit_3 $ap7_D40\
-  posit_4 $ap7_40X40\
-  posit_5 $ap7_100X40\
+  posit_1 $ap7_pos1\
+  posit_2 $ap7_pos2\
+  posit_3 $ap7_pos3\
+  posit_4 $ap7_pos4\
+  posit_5 $ap7_pos5\
  absEnc 1\
  absEncHome $ap7_absenchome\
  cntsPerX $ap7_cnts_per_x]
@ -275,11 +275,11 @@ Motor ap8 $motor_driver_type [params\
  maxDecel $ap8_maxdecel\
  stepsPerX $ap8_steps_per_x\
  posit_count 5\
-  posit_1 $ap8_D10\
-  posit_2 $ap8_D20\
-  posit_3 $ap8_D40\
-  posit_4 $ap8_40X40\
-  posit_5 $ap8_100X40\
+  posit_1 $ap8_pos1\
+  posit_2 $ap8_pos2\
+  posit_3 $ap8_pos3\
+  posit_4 $ap8_pos4\
+  posit_5 $ap8_pos5\
  absEnc 1\
  absEncHome $ap8_absenchome\
  cntsPerX $ap8_cnts_per_x]
@ -547,8 +547,8 @@ Motor pc1 $motor_driver_type [params\
  maxDecel $pc1_maxdecel\
  stepsPerX $pc1_steps_per_x\
  posit_count 2\
-  posit_1 $pc1_guide\
-  posit_2 $pc1_empty\
+  posit_1 $pc1_pos1\
+  posit_2 $pc1_pos2\
  absEnc 1\
  absEncHome $pc1_absenchome\
  cntsPerX $pc1_cnts_per_x]
@ -575,8 +575,8 @@ Motor pc2 $motor_driver_type [params\
  maxDecel $pc2_maxdecel\
  stepsPerX $pc2_steps_per_x\
  posit_count 2\
-  posit_1 $pc2_guide\
-  posit_2 $pc2_empty\
+  posit_1 $pc2_pos1\
+  posit_2 $pc2_pos2\
  absEnc 1\
  absEncHome $pc2_absenchome\
  cntsPerX $pc2_cnts_per_x]
@ -603,8 +603,8 @@ Motor pc3 $motor_driver_type [params\
  maxDecel $pc3_maxdecel\
  stepsPerX $pc3_steps_per_x\
  posit_count 2\
-  posit_1 $pc3_guide\
-  posit_2 $pc3_empty\
+  posit_1 $pc3_pos1\
+  posit_2 $pc3_pos2\
  absEnc 1\
  absEncHome $pc3_absenchome\
  cntsPerX $pc3_cnts_per_x]
@ -631,8 +631,8 @@ Motor pc4 $motor_driver_type [params\
  maxDecel $pc4_maxdecel\
  stepsPerX $pc4_steps_per_x\
  posit_count 2\
-  posit_1 $pc4_guide\
-  posit_2 $pc4_empty\
+  posit_1 $pc4_pos1\
+  posit_2 $pc4_pos2\
  absEnc 1\
  absEncHome $pc4_absenchome\
  cntsPerX $pc4_cnts_per_x]
@ -659,8 +659,8 @@ Motor pc5 $motor_driver_type [params\
  maxDecel $pc5_maxdecel\
  stepsPerX $pc5_steps_per_x\
  posit_count 2\
-  posit_1 $pc5_guide\
-  posit_2 $pc5_empty\
+  posit_1 $pc5_pos1\
+  posit_2 $pc5_pos2\
  absEnc 1\
  absEncHome $pc5_absenchome\
  cntsPerX $pc5_cnts_per_x]
@ -687,8 +687,8 @@ Motor pc6 $motor_driver_type [params\
  maxDecel $pc6_maxdecel\
  stepsPerX $pc6_steps_per_x\
  posit_count 2\
-  posit_1 $pc6_guide\
-  posit_2 $pc6_empty\
+  posit_1 $pc6_pos1\
+  posit_2 $pc6_pos2\
  absEnc 1\
  absEncHome $pc6_absenchome\
  cntsPerX $pc6_cnts_per_x]
@ -715,8 +715,8 @@ Motor pc7 $motor_driver_type [params\
  maxDecel $pc7_maxdecel\
  stepsPerX $pc7_steps_per_x\
  posit_count 2\
-  posit_1 $pc7_guide\
-  posit_2 $pc7_empty\
+  posit_1 $pc7_pos1\
+  posit_2 $pc7_pos2\
  absEnc 1\
  absEncHome $pc7_absenchome\
  cntsPerX $pc7_cnts_per_x]
@ -743,8 +743,8 @@ Motor pc8 $motor_driver_type [params\
  maxDecel $pc8_maxdecel\
  stepsPerX $pc8_steps_per_x\
  posit_count 2\
-  posit_1 $pc8_guide\
-  posit_2 $pc8_empty\
+  posit_1 $pc8_pos1\
+  posit_2 $pc8_pos2\
  absEnc 1\
  absEncHome $pc8_absenchome\
  cntsPerX $pc8_cnts_per_x]
--- a/site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv
+++ b/site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv
@ -73,11 +73,11 @@ curtaind_decel,0.2500
 curtaind_fwd_lim,396.5238
 curtaind_rev_lim,46.8039
 curtaind_speed,1.5000
-curtaindet_accel,2.5641
-curtaindet_decel,2.5641
-curtaindet_fwd_lim,16403.8869
-curtaindet_rev_lim,1500.0000
-curtaindet_speed,38.4615
+curtaindet_accel,2.5777
+curtaindet_decel,2.5777
+curtaindet_fwd_lim,15424.5122
+curtaindet_rev_lim,611.6986
+curtaindet_speed,38.6658
 curtainl_accel,0.2500
 curtainl_decel,0.2500
 curtainl_fwd_lim,380.2398
@ -95,15 +95,15 @@ curtainu_rev_lim,36.6778
 curtainu_speed,1.5000
 cutoff_absenchome,4166803.0000
 cutoff_accel,0.4000
-cutoff_decel,0.4000
+cutoff_decel,1.3333
 cutoff_fwd_lim,242.2931
 cutoff_home,0.0000
 cutoff_rev_lim,0.0000
 cutoff_speed,1.3333
 det_accel,2.5777
 det_decel,2.5777
-det_fwd_lim,19000.0000
-det_rev_lim,18401.2878
+det_fwd_lim,18399.5122
+det_rev_lim,3586.6986
 det_speed,38.6658
 pc1_absenchome,3902.0000
 pc1_accel,0.3333
@ -161,17 +161,15 @@ pc8_fwd_lim,267.6748
 pc8_home,0.0000
 pc8_rev_lim,0.0000
 pc8_speed,0.6667
-samx_absenchome,41841.0000
 samx_accel,1.2500
 samx_decel,1.2500
-samx_fwd_lim,1012.7844
-samx_home,0.0000
-samx_rev_lim,0.0000
+samx_fwd_lim,510.6023
+samx_rev_lim,-502.1822
 samx_speed,3.7500
 samy_accel,1.2500
 samy_decel,1.2500
-samy_fwd_lim,2242.2411
-samy_rev_lim,741.0900
+samy_fwd_lim,2242.2289
+samy_rev_lim,741.0778
 samy_speed,3.7500
 samz_absenchome,755970.0000
 samz_accel,0.7500