change according to the latest Galil code
r3326 | jgn | 2012-01-04 11:53:07 +1100 (Wed, 04 Jan 2012) | 1 line
This commit is contained in:
Jing Chen
committed by
Douglas Clowes
Douglas Clowes
parent
1fb0967ecc
commit
71d6ea99fd
@@ -22,6 +22,9 @@ set dmc2280_controller4(port) pmc4-$animal
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set dmc2280_controller5(host) mc5-$animal
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set dmc2280_controller5(port) pmc5-$animal
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set dmc2280_controller5(host) mc6-$animal
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set dmc2280_controller5(port) pmc6-$animal
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if {$sim_mode == "true"} {
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set motor_driver_type asim
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} else {
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@@ -30,25 +33,10 @@ if {$sim_mode == "true"} {
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MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
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MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port)
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MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
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MakeAsyncQueue mc5 DMC2280 $dmc2280_controller5(host) $dmc2280_controller5(port)
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MakeAsyncQueue mc6 DMC2280 $dmc2280_controller6(host) $dmc2280_controller6(port)
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}
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# Computed Monochromator step rates (steps per degree) of focusing and Rotation
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# Rotate rate -- 8:1 gear on motor and 120:1 gear on rotation stage \
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# 25000 steps * 8:1 gear * 120:1 gear = 200000
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set monoRotateStepRate 200000
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# Rotation stage rate 25000 steps * 120:1 gears = 3000000
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set monoRotationStateStepRate 3000000
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# Encode reading at the roation 4096 * 360:55 backlash gear = 26810.1818
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set MonoRotateEncoderCountRate 26810.1818
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# Focusing rate 25000 steps * 6:1 gears = 150000
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set monoFocusStepRate 150000
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#Measured absolute encoder reading at home position
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set dummy_Home 0
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@@ -119,8 +107,36 @@ dummy_motor softlowerlim -500
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dummy_motor softupperlim 500
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dummy_motor home 0
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# mc1: Polariser & Spin Flipper - Z translation slide
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# Moto: 100:1 gear, 2mm pitch
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set ptzStepRate [expr (300000.0/100.0)/2.0]
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Motor ptz $motor_driver_type [params \
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asyncqueue mc1\
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host mc1-pelican\
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port pmc1-pelican\
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axis B\
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units mm\
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hardlowerlim 0\
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hardupperlim 500\
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maxSpeed [expr 400000.0/300000.0]\
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maxAccel [expr 150000.0/300000.0]\
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maxDecel [expr 150000.0/300000.0]\
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stepsPerX $ptzStepRate\
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absEnc 1\
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absEncHome $ptz_Home\
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cntsPerX 4096]
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ptz part crystal
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ptz long_name ptz
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ptz softlowerlim 0
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ptz softupperlim 500
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ptz home 0
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#if $use_tiltstage {
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# mc1: Beryllium / Graphite filter shared - Z translation slide
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# Moto: 100:1 gear, 2mm pitch
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set ftzStepRate [expr (300000.0/100.0)/2.0]
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Motor ftz $motor_driver_type [params \
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asyncqueue mc1\
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host mc1-pelican\
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@@ -129,10 +145,10 @@ Motor ftz $motor_driver_type [params \
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units mm\
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hardlowerlim 0\
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hardupperlim 500\
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maxSpeed 5000\
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maxAccel 2048\
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maxDecel 2048\
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stepsPerX 4096\
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maxSpeed [expr 400000.0/300000.0]\
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maxAccel [expr 150000.0/300000.0]\
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maxDecel [expr 150000.0/300000.0]\
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stepsPerX $ftzStepRate\
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absEnc 1\
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absEncHome $ftz_Home\
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cntsPerX 4096]
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@@ -143,29 +159,9 @@ ftz softupperlim 500
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ftz home 0
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#}
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# mc1: Polariser & Spin Flipper - Z translation slide
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Motor ptz $motor_driver_type [params \
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asyncqueue mc1\
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host mc1-pelican\
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port pmc1-pelican\
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axis D\
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units mm\
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hardlowerlim 0\
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hardupperlim 500\
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maxSpeed 20000\
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maxAccel 2048\
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maxDecel 2048\
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stepsPerX 4096\
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absEnc 1\
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absEncHome $ptz_Home\
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cntsPerX 4096]
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ptz part crystal
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ptz long_name ptz
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ptz softlowerlim 0
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ptz softupperlim 500
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ptz home 0
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# mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow)
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set pomSetRate 25000
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Motor pom $motor_driver_type [params \
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asyncqueue mc1\
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host mc1-pelican\
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@@ -174,10 +170,10 @@ Motor pom $motor_driver_type [params \
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units degrees\
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hardlowerlim 0\
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hardupperlim 2\
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maxSpeed 75000\
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maxAccel 25000\
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maxDecel 25000\
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stepsPerX 8192\
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maxSpeed [expr 250000.0/$pomSetRate]\
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maxAccel [expr 25000.0/$pomSetRate]\
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maxDecel [expr 25000.0/$pomSetRate]\
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stepsPerX $pomSetRate\
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absEnc 1\
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absEncHome $pom_Home\
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cntsPerX 4096]
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@@ -188,6 +184,8 @@ pom softupperlim 2
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pom home 0
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# mc1: Sample/Detector Chamber Rotation (Detector)
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set stthSetRate 25000
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Motor stth $motor_driver_type [params \
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asyncqueue mc1\
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host mc1-pelican\
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@@ -196,10 +194,10 @@ Motor stth $motor_driver_type [params \
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units degrees\
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hardlowerlim -125\
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hardupperlim 8\
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maxSpeed 75000\
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maxAccel 25000\
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maxDecel 25000\
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stepsPerX 8192\
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maxSpeed [expr 150000.0/$stthSetRate]\
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maxAccel [expr 5000.0/$stthSetRate]\
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maxDecel [expr 5000.0/$stthSetRate]\
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stepsPerX $stthSetRate\
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absEnc 1\
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absEncHome $stth_Home\
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cntsPerX 4096]
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@@ -210,6 +208,8 @@ stth softupperlim 8
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stth home 0
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# mc1: Instrument Drive System (Main Drive)
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set mtthSetRate 25000
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Motor mtth $motor_driver_type [params \
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asyncqueue mc1\
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host mc1-pelican\
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@@ -218,10 +218,10 @@ Motor mtth $motor_driver_type [params \
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units mm\
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hardlowerlim 40\
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hardupperlim 140\
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maxSpeed 100000\
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maxAccel 32768\
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maxDecel 32768\
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stepsPerX 8192\
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maxSpeed [expr 150000.0/$mtthSetRate]\
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maxAccel [expr 25000.0/$mtthSetRate]\
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maxDecel [expr 25000.0/$mtthSetRate]\
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stepsPerX $mtthSetRate\
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absEnc 1\
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absEncHome $mtth_Home\
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cntsPerX 4096]
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@@ -240,6 +240,8 @@ mtth home 0
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#
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# mc2: Slits Set AB1- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
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set sv1SetRate 25000
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Motor sv1 $motor_driver_type [params \
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asyncqueue mc2\
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host mc2-pelican\
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@@ -248,10 +250,10 @@ Motor sv1 $motor_driver_type [params \
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units mm\
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hardlowerlim -2\
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hardupperlim 60\
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maxSpeed 12500\
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maxAccel 32768\
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maxDecel 32768\
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stepsPerX 8192\
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maxSpeed [expr 25000.0/$sv1SetRate]\
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maxAccel [expr 25000.0/$sv1SetRate]\
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maxDecel [expr 25000.0/$sv1SetRate]\
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stepsPerX $sv1SetRate\
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absEnc 1\
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absEncHome $sv1_Home\
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cntsPerX 4096]
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@@ -262,6 +264,8 @@ sv1 softupperlim 60
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sv1 home 0
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# mc2: Slits Set AB2- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
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set sh1SetRate 25000
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Motor sh1 $motor_driver_type [params \
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asyncqueue mc2\
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host mc2-pelican\
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@@ -270,10 +274,10 @@ Motor sh1 $motor_driver_type [params \
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units mm\
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hardlowerlim -2\
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hardupperlim 50\
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maxSpeed 25000\
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maxAccel 25000\
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maxDecel 25000\
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stepsPerX 8192\
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maxSpeed [expr 25000.0/$sh1SetRate]\
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maxAccel [expr 25000.0/$sh1SetRate]\
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maxDecel [expr 25000.0/$sh1SetRate]\
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stepsPerX $sh1SetRate\
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absEnc 1\
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absEncHome $sh1_Home\
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cntsPerX 4096]
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@@ -284,6 +288,8 @@ sh1 softupperlim 50
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sh1 home 0
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# mc2: Slits Set AF1- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
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set sv2SetRate 25000
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Motor sv2 $motor_driver_type [params \
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asyncqueue mc2\
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host mc2-pelican\
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@@ -292,10 +298,10 @@ Motor sv2 $motor_driver_type [params \
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units mm\
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hardlowerlim -2\
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hardupperlim 40\
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maxSpeed 30000\
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maxAccel 32768\
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maxDecel 32768\
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stepsPerX 8192\
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maxSpeed [expr 25000.0/$sv2SetRate]\
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maxAccel [expr 25000.0/$sv2SetRate]\
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maxDecel [expr 25000.0/$sv2SetRate]\
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stepsPerX $sv2SetRate\
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absEnc 1\
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absEncHome $sv2_Home\
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cntsPerX 4096]
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@@ -306,6 +312,8 @@ sv2 softupperlim 40
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sv2 home 0
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# mc2: Slits Set AF2- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
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set sh2SetRate 25000
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Motor sh2 $motor_driver_type [params \
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asyncqueue mc2\
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host mc2-pelican\
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@@ -314,10 +322,10 @@ Motor sh2 $motor_driver_type [params \
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units mm\
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hardlowerlim -2\
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hardupperlim 30\
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maxSpeed 30000\
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maxAccel 32768\
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maxDecel 32768\
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stepsPerX 8192\
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maxSpeed [expr 25000.0/$sh2SetRate]\
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maxAccel [expr 25000.0/$sh2SetRate]\
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maxDecel [expr 25000.0/$sh2SetRate]\
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stepsPerX $sh2SetRate\
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absEnc 1\
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absEncHome $sh2_Home\
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cntsPerX 4096]
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@@ -328,6 +336,8 @@ sh2 softupperlim 30
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sh2 home 0
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# mc2: Graphite filter rotation stage (post 1st slit and post 1st Fermi chopper)
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set gomSetRate 25000
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Motor gom $motor_driver_type [params \
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asyncqueue mc2\
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host mc2-pelican\
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@@ -336,10 +346,10 @@ Motor gom $motor_driver_type [params \
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units degrees\
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hardlowerlim 0\
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hardupperlim 15\
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maxSpeed 25000\
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maxAccel 25000\
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maxDecel 25000\
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stepsPerX 8192\
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maxSpeed [expr 50000.0/$gomSetRate]\
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maxAccel [expr 25000.0/$gomSetRate]\
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maxDecel [expr 25000.0/$gomSetRate]\
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stepsPerX $gomSetRate\
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absEnc 1\
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absEncHome $gom_Home\
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cntsPerX 4096]
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@@ -350,6 +360,8 @@ gom softupperlim 15
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gom home 0
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# mc2: Sample rotation correction - 10 deg rotation
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set scorSetRate 25000
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Motor scor $motor_driver_type [params \
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asyncqueue mc2\
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host mc2-pelican\
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@@ -358,10 +370,10 @@ Motor scor $motor_driver_type [params \
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units degrees\
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hardlowerlim 0\
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hardupperlim 360\
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maxSpeed 100000\
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maxAccel 25000\
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maxDecel 25000\
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stepsPerX 8192\
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maxSpeed [expr 50000.0/$scorSetRate]\
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maxAccel [expr 25000.0/$scorSetRate]\
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maxDecel [expr 25000.0/$scorSetRate]\
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stepsPerX $scorSetRate\
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absEnc 1\
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absEncHome $scor_Home\
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cntsPerX 4096]
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@@ -378,23 +390,43 @@ scor home 0
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############################
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#
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# ROTATION STAGES 120:1 PLUS GEARBOX 8:1
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# ROTATION STAGE RESOLVER 360:55
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# FOCUS STAGE GEARBOX 6:1
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# FOCUS STAGE RESOLVER DIRECT 310 DEG, 3527 COUNTS USABLE RANGE
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# Computed Monochromator step rates (steps per degree) of focusing and Rotation
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set monoRotateStepRate [expr 25000.0/8.0/120.0*360.0]
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# Encode reading at the roation
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set MonoRotateEncoderCountRate [expr 4096.0*360.0/55.0]
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# Focusing rate 12500 steps * 6:1 gears = 150000
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set monoFocusStepRate [expr 12500.0/6.0]
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# Encode reading at Focusing stage
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set monoFocusEncoderCountRate 4096
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# mc3: Monochromator Focusing 1 - Focus
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Motor mra $motor_driver_type [params \
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asyncqueue mc3\
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host mc3-pelican\
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port pmc3-pelican\
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axis A\
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units degrees\
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units mm\
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hardlowerlim 0\
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hardupperlim 5\
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maxSpeed 25000\
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maxAccel 8192\
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maxDecel 4096\
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maxSpeed [expr 12500.0/12500.0]\
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maxAccel [expr 25000.0/12500.0]\
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maxDecel [expr 25000.0/12500.0]\
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stepsPerX $monoFocusStepRate\
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absEnc 1\
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absEncHome $mra_Home\
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bias_bits 12\
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cntsPerX 4096]
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cntsPerX $monoFocusEncoderCountRate]
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mra part crystal
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mra long_name mra
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mra softlowerlim 0
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@@ -412,9 +444,9 @@ Motor moma $motor_driver_type [params \
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units degrees\
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hardlowerlim 0\
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hardupperlim 70\
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maxSpeed 25000\
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maxAccel 8192\
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maxDecel 4096\
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maxSpeed [expr 12500.0/25000.0]\
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maxAccel [expr 50000.0/25000.0]\
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maxDecel [expr 50000.0/25000.0]\
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stepsPerX $monoRotateStepRate\
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absEnc 1\
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absEncHome $moma_Home\
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@@ -431,17 +463,17 @@ Motor mrb $motor_driver_type [params \
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host mc3-pelican\
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port pmc3-pelican\
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axis C\
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units degrees\
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units mm\
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hardlowerlim 0\
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hardupperlim 5\
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maxSpeed 75000\
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maxAccel 25000\
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maxDecel 25000\
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maxSpeed [expr 12500.0/12500.0]\
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maxAccel [expr 25000.0/12500.0]\
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maxDecel [expr 25000.0/12500.0]\
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stepsPerX $monoFocusStepRate\
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absEnc 1\
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absEncHome $mrb_Home\
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bias_bits 12\
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cntsPerX 4096]
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cntsPerX $monoFocusEncoderCountRate]
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mrb part crystal
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mrb long_name mrb
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mrb softlowerlim 0
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@@ -459,9 +491,9 @@ Motor momb $motor_driver_type [params \
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units degree\
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hardlowerlim 0\
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hardupperlim 70\
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maxSpeed 75000\
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maxAccel 25000\
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maxDecel 25000\
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maxSpeed [expr 12500.0/25000.0]\
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maxAccel [expr 50000.0/25000.0]\
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maxDecel [expr 50000.0/25000.0]\
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stepsPerX $monoRotateStepRate\
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absEnc 1\
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absEncHome $momb_Home\
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@@ -478,17 +510,17 @@ Motor mrc $motor_driver_type [params \
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host mc3-pelican\
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port pmc3-pelican\
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axis E\
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units degrees\
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units mm\
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hardlowerlim 0\
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hardupperlim 5\
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maxSpeed 75000\
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maxAccel 25000\
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maxDecel 25000\
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maxSpeed [expr 12500.0/12500.0]\
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maxAccel [expr 25000.0/12500.0]\
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maxDecel [expr 25000.0/12500.0]\
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stepsPerX $monoFocusStepRate\
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absEnc 1\
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absEncHome $mrc_Home\
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bias_bits 12\
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cntsPerX 4096]
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cntsPerX $monoFocusEncoderCountRate]
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mrc part crystal
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mrc long_name mrc
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mrc softlowerlim 0
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@@ -502,13 +534,13 @@ Motor momc $motor_driver_type [params \
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asyncqueue mc3\
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host mc3-pelican\
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port pmc3-pelican\
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axis D\
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axis F\
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units degree\
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hardlowerlim 0\
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hardupperlim 70\
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maxSpeed 75000\
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maxAccel 25000\
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maxDecel 25000\
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maxSpeed [expr 12500.0/25000.0]\
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maxAccel [expr 50000.0/25000.0]\
|
||||
maxDecel [expr 50000.0/25000.0]\
|
||||
stepsPerX $monoRotateStepRate\
|
||||
absEnc 1\
|
||||
absEncHome $momc_Home\
|
||||
@@ -528,6 +560,8 @@ momc home 0
|
||||
#
|
||||
|
||||
# mc4: Monochromator crystal stages tilt stage - G270
|
||||
set mphiSetRate 25000
|
||||
|
||||
Motor mphi $motor_driver_type [params \
|
||||
asyncqueue mc4\
|
||||
host mc4-pelican\
|
||||
@@ -536,10 +570,10 @@ Motor mphi $motor_driver_type [params \
|
||||
units degrees\
|
||||
hardlowerlim -5\
|
||||
hardupperlim 5\
|
||||
maxSpeed 100000\
|
||||
maxAccel 32768\
|
||||
maxDecel 32768\
|
||||
stepsPerX 8192\
|
||||
maxSpeed [expr 50000.0/25000.0]\
|
||||
maxAccel [expr 12500.0/25000.0]\
|
||||
maxDecel [expr 12500.0/25000.0]\
|
||||
stepsPerX $mphiSetRate\
|
||||
absEnc 1\
|
||||
absEncHome $mphi_Home\
|
||||
cntsPerX 4096]
|
||||
@@ -550,6 +584,8 @@ mphi softupperlim 5
|
||||
mphi home 0
|
||||
|
||||
# mc4: Monochromator crystal stages tilt stage - G350
|
||||
set nchiSetRate 25000
|
||||
|
||||
Motor nchi $motor_driver_type [params \
|
||||
asyncqueue mc4\
|
||||
host mc4-pelican\
|
||||
@@ -558,10 +594,10 @@ Motor nchi $motor_driver_type [params \
|
||||
units degrees\
|
||||
hardlowerlim -5\
|
||||
hardupperlim 5\
|
||||
maxSpeed 100000\
|
||||
maxAccel 32768\
|
||||
maxDecel 32768\
|
||||
stepsPerX 8192\
|
||||
maxSpeed [expr 50000.0/25000.0]\
|
||||
maxAccel [expr 12500.0/25000.0]\
|
||||
maxDecel [expr 12500.0/25000.0]\
|
||||
stepsPerX $nchiSetRate\
|
||||
absEnc 1\
|
||||
absEncHome $nchi_Home\
|
||||
cntsPerX 4096]
|
||||
@@ -572,6 +608,8 @@ nchi softupperlim 5
|
||||
nchi home 0
|
||||
|
||||
# mc4: Monochromator crystal stages Linear stage X - T250
|
||||
set mxSetRate 25000
|
||||
|
||||
Motor mx $motor_driver_type [params \
|
||||
asyncqueue mc4\
|
||||
host mc4-pelican\
|
||||
@@ -580,10 +618,10 @@ Motor mx $motor_driver_type [params \
|
||||
units mm\
|
||||
hardlowerlim -5\
|
||||
hardupperlim 5\
|
||||
maxSpeed 100000\
|
||||
maxAccel 32768\
|
||||
maxDecel 32768\
|
||||
stepsPerX 8192\
|
||||
maxSpeed [expr 50000.0/25000.0]\
|
||||
maxAccel [expr 12500.0/25000.0]\
|
||||
maxDecel [expr 12500.0/25000.0]\
|
||||
stepsPerX $mxSetRate\
|
||||
absEnc 1\
|
||||
absEncHome $mx_Home\
|
||||
cntsPerX 4096]
|
||||
@@ -594,6 +632,8 @@ mx softupperlim 5
|
||||
mx home 0
|
||||
|
||||
# mc4: Monochromator crystal stages Linear stage Y - T250
|
||||
set mySetRate 25000
|
||||
|
||||
Motor my $motor_driver_type [params \
|
||||
asyncqueue mc4\
|
||||
host mc4-pelican\
|
||||
@@ -602,10 +642,10 @@ Motor my $motor_driver_type [params \
|
||||
units mm\
|
||||
hardlowerlim -50\
|
||||
hardupperlim 50\
|
||||
maxSpeed 100000\
|
||||
maxAccel 32768\
|
||||
maxDecel 32768\
|
||||
stepsPerX 8192\
|
||||
maxSpeed [expr 50000.0/25000.0]\
|
||||
maxAccel [expr 12500.0/25000.0]\
|
||||
maxDecel [expr 12500.0/25000.0]\
|
||||
stepsPerX $mySetRate\
|
||||
absEnc 1\
|
||||
absEncHome $my_Home\
|
||||
cntsPerX 4096]
|
||||
@@ -616,6 +656,8 @@ mx softupperlim 50
|
||||
mx home 0
|
||||
|
||||
# mc4: Monochromator crystal stages Rotation stage - R275
|
||||
set momSetRate 25000
|
||||
|
||||
Motor mom $motor_driver_type [params \
|
||||
asyncqueue mc4\
|
||||
host mc4-pelican\
|
||||
@@ -624,10 +666,10 @@ Motor mom $motor_driver_type [params \
|
||||
units degrees\
|
||||
hardlowerlim 20\
|
||||
hardupperlim 70\
|
||||
maxSpeed 50000\
|
||||
maxAccel 32768\
|
||||
maxDecel 32768\
|
||||
stepsPerX $monoRotationStateStepRate\
|
||||
maxSpeed [expr 50000.0/25000.0]\
|
||||
maxAccel [expr 12500.0/25000.0]\
|
||||
maxDecel [expr 12500.0/25000.0]\
|
||||
stepsPerX $momSetRate\
|
||||
absEnc 1\
|
||||
absEncHome $mom_Home\
|
||||
cntsPerX 4096]
|
||||
@@ -639,22 +681,22 @@ mom home 0
|
||||
|
||||
|
||||
############################
|
||||
# Motor Controller 5
|
||||
# Motor Controller 5
|
||||
# Motor Controller 5
|
||||
# Motor Controller 6
|
||||
# Motor Controller 6
|
||||
# Motor Controller 6
|
||||
############################
|
||||
#
|
||||
|
||||
# mc5: Radial Collimator -- Oscillator
|
||||
# mc6: Radial Collimator -- Oscillator
|
||||
Motor rco $motor_driver_type [params \
|
||||
asyncqueue mc5\
|
||||
host mc5-pelican\
|
||||
port pmc5-pelican\
|
||||
asyncqueue mc6\
|
||||
host mc6-pelican\
|
||||
port pmc6-pelican\
|
||||
axis A\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 180\
|
||||
maxSpeed 30000\
|
||||
maxSpeed 50000\
|
||||
maxAccel 60000\
|
||||
maxDecel 60000\
|
||||
stepsPerX 4096\
|
||||
@@ -667,16 +709,16 @@ rco softlowerlim 0
|
||||
rco softupperlim 180
|
||||
rco home 0
|
||||
|
||||
# mc5: Radial Collimator -- Z Translation
|
||||
# mc6: Radial Collimator -- Z Translation
|
||||
Motor rcz $motor_driver_type [params \
|
||||
asyncqueue mc5\
|
||||
host mc5-pelican\
|
||||
port pmc5-pelican\
|
||||
asyncqueue mc6\
|
||||
host mc6-pelican\
|
||||
port pmc6-pelican\
|
||||
axis B\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 180\
|
||||
maxSpeed 30000\
|
||||
maxSpeed 50000\
|
||||
maxAccel 60000\
|
||||
maxDecel 60000\
|
||||
stepsPerX 4096\
|
||||
@@ -689,16 +731,16 @@ rcz softlowerlim 0
|
||||
rcz softupperlim 180
|
||||
rcz home 0
|
||||
|
||||
# mc5: Beam Stop Stage - Rotation
|
||||
# mc6: Beam Stop Stage - Rotation
|
||||
Motor bsr $motor_driver_type [params \
|
||||
asyncqueue mc5\
|
||||
host mc5-pelican\
|
||||
port pmc5-pelican\
|
||||
asyncqueue mc6\
|
||||
host mc6-pelican\
|
||||
port pmc6-pelican\
|
||||
axis C\
|
||||
units degrees\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 180\
|
||||
maxSpeed 30000\
|
||||
maxSpeed 50000\
|
||||
maxAccel 60000\
|
||||
maxDecel 60000\
|
||||
stepsPerX 4096\
|
||||
@@ -711,16 +753,16 @@ bsr softlowerlim 0
|
||||
bsr softupperlim 180
|
||||
bsr home 0
|
||||
|
||||
# mc5: Isolation Vaue -- Axis 1, currently this Axis is set to read ONLY to read the encoder
|
||||
# mc6: Isolation Vaue -- Axis 1, currently this Axis is set to read ONLY to read the encoder
|
||||
Motor gv1 $motor_driver_type [params \
|
||||
asyncqueue mc5\
|
||||
host mc5-pelican\
|
||||
port pmc5-pelican\
|
||||
asyncqueue mc6\
|
||||
host mc6-pelican\
|
||||
port pmc6-pelican\
|
||||
axis E\
|
||||
units degrees\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 180\
|
||||
maxSpeed 30000\
|
||||
maxSpeed 50000\
|
||||
maxAccel 60000\
|
||||
maxDecel 60000\
|
||||
stepsPerX 4096\
|
||||
@@ -735,11 +777,11 @@ gv1 home 0
|
||||
# fix the motor
|
||||
gv1 fixed -1
|
||||
|
||||
# mc5: Isolation Vaue -- Axis 2, currently this Axis is set to read ONLY to read the encoder
|
||||
# mc6: Isolation Vaue -- Axis 2, currently this Axis is set to read ONLY to read the encoder
|
||||
Motor gv2 $motor_driver_type [params \
|
||||
asyncqueue mc5\
|
||||
host mc5-pelican\
|
||||
port pmc5-pelican\
|
||||
asyncqueue mc6\
|
||||
host mc6-pelican\
|
||||
port pmc6-pelican\
|
||||
axis F\
|
||||
units degrees\
|
||||
hardlowerlim 0\
|
||||
|
||||
Reference in New Issue
Block a user