change according to the latest Galil code

r3326 | jgn | 2012-01-04 11:53:07 +1100 (Wed, 04 Jan 2012) | 1 line

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

@@ -22,6 +22,9 @@ set dmc2280_controller4(port) pmc4-$animal
 set dmc2280_controller5(host) mc5-$animal
 set dmc2280_controller5(port) pmc5-$animal
 
+set dmc2280_controller5(host) mc6-$animal
+set dmc2280_controller5(port) pmc6-$animal
+
 if {$sim_mode == "true"} {
   set motor_driver_type asim
 } else {
@@ -30,25 +33,10 @@ if {$sim_mode == "true"} {
   MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
   MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port)
   MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
-  MakeAsyncQueue mc5 DMC2280 $dmc2280_controller5(host) $dmc2280_controller5(port)
+  MakeAsyncQueue mc6 DMC2280 $dmc2280_controller6(host) $dmc2280_controller6(port)
 }
 
 
-# Computed Monochromator step rates (steps per degree) of focusing and Rotation
-
-# Rotate rate -- 8:1 gear on motor and 120:1 gear on rotation stage \
-# 25000 steps * 8:1 gear * 120:1 gear = 200000
-set monoRotateStepRate 200000
-
-# Rotation stage rate 25000 steps * 120:1 gears = 3000000 
-set monoRotationStateStepRate 3000000
-
-# Encode reading at the roation 4096 * 360:55 backlash gear = 26810.1818
-set MonoRotateEncoderCountRate 26810.1818
-
-# Focusing rate 25000 steps * 6:1 gears = 150000
-set monoFocusStepRate  150000   
-
 #Measured absolute encoder reading at home position
 set dummy_Home    0
 
@@ -119,8 +107,36 @@ dummy_motor softlowerlim -500
 dummy_motor softupperlim 500
 dummy_motor home 0
 
+# mc1: Polariser & Spin Flipper - Z translation slide
+# Moto: 100:1 gear, 2mm pitch
+set ptzStepRate [expr (300000.0/100.0)/2.0]
+
+Motor ptz $motor_driver_type [params \
+  asyncqueue mc1\
+  host mc1-pelican\
+  port pmc1-pelican\
+  axis B\
+  units mm\
+  hardlowerlim 0\
+  hardupperlim 500\
+  maxSpeed [expr 400000.0/300000.0]\
+  maxAccel [expr 150000.0/300000.0]\
+  maxDecel [expr 150000.0/300000.0]\
+  stepsPerX $ptzStepRate\
+  absEnc 1\
+  absEncHome $ptz_Home\
+  cntsPerX 4096]
+ptz part crystal
+ptz long_name ptz
+ptz softlowerlim 0
+ptz softupperlim 500
+ptz home 0
+
 #if $use_tiltstage {
 # mc1: Beryllium / Graphite filter  shared - Z translation slide
+# Moto: 100:1 gear, 2mm pitch
+set  ftzStepRate [expr (300000.0/100.0)/2.0]
+
 Motor ftz $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-pelican\
@@ -129,10 +145,10 @@ Motor ftz $motor_driver_type [params \
   units mm\
   hardlowerlim 0\
   hardupperlim 500\
-  maxSpeed 5000\
+  maxSpeed [expr 400000.0/300000.0]\
-  maxAccel 2048\
+  maxAccel [expr 150000.0/300000.0]\
-  maxDecel 2048\
+  maxDecel [expr 150000.0/300000.0]\
-  stepsPerX 4096\
+  stepsPerX $ftzStepRate\
   absEnc 1\
   absEncHome $ftz_Home\
   cntsPerX 4096]
@@ -143,29 +159,9 @@ ftz softupperlim 500
 ftz home 0
 #}
 
-# mc1: Polariser & Spin Flipper - Z translation slide
-Motor ptz $motor_driver_type [params \
-  asyncqueue mc1\
-  host mc1-pelican\
-  port pmc1-pelican\
-  axis D\
-  units mm\
-  hardlowerlim 0\
-  hardupperlim 500\
-  maxSpeed 20000\
-  maxAccel 2048\
-  maxDecel 2048\
-  stepsPerX 4096\
-  absEnc 1\
-  absEncHome $ptz_Home\
-  cntsPerX 4096]
-ptz part crystal
-ptz long_name ptz
-ptz softlowerlim 0
-ptz softupperlim 500
-ptz home 0
-
 # mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow)
+set pomSetRate 25000
+
 Motor pom $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-pelican\
@@ -174,10 +170,10 @@ Motor pom $motor_driver_type [params \
   units degrees\
   hardlowerlim 0\
   hardupperlim 2\
-  maxSpeed 75000\
+  maxSpeed [expr 250000.0/$pomSetRate]\
-  maxAccel 25000\
+  maxAccel [expr 25000.0/$pomSetRate]\
-  maxDecel 25000\
+  maxDecel [expr 25000.0/$pomSetRate]\
-  stepsPerX 8192\
+  stepsPerX $pomSetRate\
   absEnc 1\
   absEncHome $pom_Home\
   cntsPerX 4096]
@@ -188,6 +184,8 @@ pom softupperlim 2
 pom home 0
 
 # mc1: Sample/Detector Chamber Rotation (Detector)
+set stthSetRate 25000
+
 Motor stth $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-pelican\
@@ -196,10 +194,10 @@ Motor stth $motor_driver_type [params \
   units degrees\
   hardlowerlim -125\
   hardupperlim 8\
-  maxSpeed 75000\
+  maxSpeed [expr 150000.0/$stthSetRate]\
-  maxAccel 25000\
+  maxAccel [expr 5000.0/$stthSetRate]\
-  maxDecel 25000\
+  maxDecel [expr 5000.0/$stthSetRate]\
-  stepsPerX 8192\
+  stepsPerX $stthSetRate\
   absEnc 1\
   absEncHome $stth_Home\
   cntsPerX 4096]
@@ -210,6 +208,8 @@ stth softupperlim 8
 stth home 0
 
 # mc1: Instrument Drive System (Main Drive)
+set mtthSetRate 25000
+
 Motor mtth $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-pelican\
@@ -218,10 +218,10 @@ Motor mtth $motor_driver_type [params \
   units mm\
   hardlowerlim 40\
   hardupperlim 140\
-  maxSpeed 100000\
+  maxSpeed [expr 150000.0/$mtthSetRate]\
-  maxAccel 32768\
+  maxAccel [expr 25000.0/$mtthSetRate]\
-  maxDecel 32768\
+  maxDecel [expr 25000.0/$mtthSetRate]\
-  stepsPerX 8192\
+  stepsPerX $mtthSetRate\
   absEnc 1\
   absEncHome $mtth_Home\
   cntsPerX 4096]
@@ -240,6 +240,8 @@ mtth home 0
 # 
 
 # mc2: Slits Set AB1- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
+set sv1SetRate 25000
+
 Motor sv1 $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
@@ -248,10 +250,10 @@ Motor sv1 $motor_driver_type [params \
   units mm\
   hardlowerlim -2\
   hardupperlim 60\
-  maxSpeed 12500\
+  maxSpeed [expr 25000.0/$sv1SetRate]\
-  maxAccel 32768\
+  maxAccel [expr 25000.0/$sv1SetRate]\
-  maxDecel 32768\
+  maxDecel [expr 25000.0/$sv1SetRate]\
-  stepsPerX 8192\
+  stepsPerX $sv1SetRate\
   absEnc 1\
   absEncHome $sv1_Home\
   cntsPerX 4096]
@@ -262,6 +264,8 @@ sv1 softupperlim 60
 sv1 home 0
 
 # mc2: Slits Set AB2- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
+set sh1SetRate 25000
+
 Motor sh1 $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
@@ -270,10 +274,10 @@ Motor sh1 $motor_driver_type [params \
   units mm\
   hardlowerlim -2\
   hardupperlim 50\
-  maxSpeed 25000\
+  maxSpeed [expr 25000.0/$sh1SetRate]\
-  maxAccel 25000\
+  maxAccel [expr 25000.0/$sh1SetRate]\
-  maxDecel 25000\
+  maxDecel [expr 25000.0/$sh1SetRate]\
-  stepsPerX 8192\
+  stepsPerX $sh1SetRate\
   absEnc 1\
   absEncHome $sh1_Home\
   cntsPerX 4096]
@@ -284,6 +288,8 @@ sh1 softupperlim 50
 sh1 home 0
 
 # mc2: Slits Set AF1- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
+set sv2SetRate 25000
+
 Motor sv2 $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
@@ -292,10 +298,10 @@ Motor sv2 $motor_driver_type [params \
   units mm\
   hardlowerlim -2\
   hardupperlim 40\
-  maxSpeed 30000\
+  maxSpeed [expr 25000.0/$sv2SetRate]\
-  maxAccel 32768\
+  maxAccel [expr 25000.0/$sv2SetRate]\
-  maxDecel 32768\
+  maxDecel [expr 25000.0/$sv2SetRate]\
-  stepsPerX 8192\
+  stepsPerX $sv2SetRate\
   absEnc 1\
   absEncHome $sv2_Home\
   cntsPerX 4096]
@@ -306,6 +312,8 @@ sv2 softupperlim 40
 sv2 home 0
 
 # mc2: Slits Set AF2- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
+set sh2SetRate 25000
+
 Motor sh2 $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
@@ -314,10 +322,10 @@ Motor sh2 $motor_driver_type [params \
   units mm\
   hardlowerlim -2\
   hardupperlim 30\
-  maxSpeed 30000\
+  maxSpeed [expr 25000.0/$sh2SetRate]\
-  maxAccel 32768\
+  maxAccel [expr 25000.0/$sh2SetRate]\
-  maxDecel 32768\
+  maxDecel [expr 25000.0/$sh2SetRate]\
-  stepsPerX 8192\
+  stepsPerX $sh2SetRate\
   absEnc 1\
   absEncHome $sh2_Home\
   cntsPerX 4096]
@@ -328,6 +336,8 @@ sh2 softupperlim 30
 sh2 home 0
 
 # mc2: Graphite filter rotation stage (post 1st slit and post 1st Fermi chopper)
+set gomSetRate 25000
+
 Motor gom $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
@@ -336,10 +346,10 @@ Motor gom $motor_driver_type [params \
   units degrees\
   hardlowerlim 0\
   hardupperlim 15\
-  maxSpeed 25000\
+  maxSpeed [expr 50000.0/$gomSetRate]\
-  maxAccel 25000\
+  maxAccel [expr 25000.0/$gomSetRate]\
-  maxDecel 25000\
+  maxDecel [expr 25000.0/$gomSetRate]\
-  stepsPerX 8192\
+  stepsPerX $gomSetRate\
   absEnc 1\
   absEncHome $gom_Home\
   cntsPerX 4096]
@@ -350,6 +360,8 @@ gom softupperlim 15
 gom home 0
 
 # mc2: Sample rotation correction - 10 deg rotation
+set scorSetRate 25000
+
 Motor scor $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
@@ -358,10 +370,10 @@ Motor scor $motor_driver_type [params \
   units degrees\
   hardlowerlim 0\
   hardupperlim 360\
-  maxSpeed 100000\
+  maxSpeed [expr 50000.0/$scorSetRate]\
-  maxAccel 25000\
+  maxAccel [expr 25000.0/$scorSetRate]\
-  maxDecel 25000\
+  maxDecel [expr 25000.0/$scorSetRate]\
-  stepsPerX 8192\
+  stepsPerX $scorSetRate\
   absEnc 1\
   absEncHome $scor_Home\
   cntsPerX 4096]
@@ -378,23 +390,43 @@ scor home 0
 ############################
 # 
 
+# ROTATION STAGES 120:1 PLUS GEARBOX 8:1
+# ROTATION STAGE RESOLVER 360:55
+
+# FOCUS STAGE GEARBOX 6:1
+# FOCUS STAGE RESOLVER DIRECT 310 DEG, 3527 COUNTS USABLE RANGE
+
+# Computed Monochromator step rates (steps per degree) of focusing and Rotation
+
+set monoRotateStepRate [expr 25000.0/8.0/120.0*360.0]
+
+# Encode reading at the roation 
+set MonoRotateEncoderCountRate [expr 4096.0*360.0/55.0]
+
+# Focusing rate 12500 steps * 6:1 gears = 150000
+set monoFocusStepRate  [expr 12500.0/6.0]
+
+#  Encode reading at Focusing stage
+set monoFocusEncoderCountRate 4096
+
+
 # mc3: Monochromator Focusing 1 - Focus 
 Motor mra $motor_driver_type [params \
   asyncqueue mc3\
   host mc3-pelican\
   port pmc3-pelican\
   axis A\
-  units degrees\
+  units mm\
   hardlowerlim 0\
   hardupperlim 5\
-  maxSpeed 25000\
+  maxSpeed [expr 12500.0/12500.0]\
-  maxAccel 8192\
+  maxAccel [expr 25000.0/12500.0]\
-  maxDecel 4096\
+  maxDecel [expr 25000.0/12500.0]\
   stepsPerX $monoFocusStepRate\
   absEnc 1\
   absEncHome $mra_Home\
   bias_bits 12\
-  cntsPerX 4096]
+  cntsPerX $monoFocusEncoderCountRate]
 mra part crystal 
 mra long_name mra
 mra softlowerlim 0
@@ -412,9 +444,9 @@ Motor moma $motor_driver_type [params \
   units degrees\
   hardlowerlim 0\
   hardupperlim 70\
-  maxSpeed 25000\
+  maxSpeed [expr 12500.0/25000.0]\
-  maxAccel 8192\
+  maxAccel [expr 50000.0/25000.0]\
-  maxDecel 4096\
+  maxDecel [expr 50000.0/25000.0]\
   stepsPerX $monoRotateStepRate\
   absEnc 1\
   absEncHome $moma_Home\
@@ -431,17 +463,17 @@ Motor mrb $motor_driver_type [params \
   host mc3-pelican\
   port pmc3-pelican\
   axis C\
-  units degrees\
+  units mm\
   hardlowerlim 0\
   hardupperlim 5\
-  maxSpeed 75000\
+  maxSpeed [expr 12500.0/12500.0]\
-  maxAccel 25000\
+  maxAccel [expr 25000.0/12500.0]\
-  maxDecel 25000\
+  maxDecel [expr 25000.0/12500.0]\
   stepsPerX $monoFocusStepRate\
   absEnc 1\
   absEncHome $mrb_Home\
   bias_bits 12\
-  cntsPerX 4096]
+  cntsPerX $monoFocusEncoderCountRate]
 mrb part crystal
 mrb long_name mrb
 mrb softlowerlim 0
@@ -459,9 +491,9 @@ Motor momb $motor_driver_type [params \
   units degree\
   hardlowerlim 0\
   hardupperlim 70\
-  maxSpeed 75000\
+  maxSpeed [expr 12500.0/25000.0]\
-  maxAccel 25000\
+  maxAccel [expr 50000.0/25000.0]\
-  maxDecel 25000\
+  maxDecel [expr 50000.0/25000.0]\
   stepsPerX $monoRotateStepRate\
   absEnc 1\
   absEncHome $momb_Home\
@@ -478,17 +510,17 @@ Motor mrc $motor_driver_type [params \
   host mc3-pelican\
   port pmc3-pelican\
   axis E\
-  units degrees\
+  units mm\
   hardlowerlim 0\
   hardupperlim 5\
-  maxSpeed 75000\
+  maxSpeed [expr 12500.0/12500.0]\
-  maxAccel 25000\
+  maxAccel [expr 25000.0/12500.0]\
-  maxDecel 25000\
+  maxDecel [expr 25000.0/12500.0]\
   stepsPerX $monoFocusStepRate\
   absEnc 1\
   absEncHome $mrc_Home\
   bias_bits 12\
-  cntsPerX 4096]
+  cntsPerX $monoFocusEncoderCountRate]
 mrc part crystal
 mrc long_name mrc
 mrc softlowerlim 0
@@ -502,13 +534,13 @@ Motor momc $motor_driver_type [params \
   asyncqueue mc3\
   host mc3-pelican\
   port pmc3-pelican\
-  axis D\
+  axis F\
   units degree\
   hardlowerlim 0\
   hardupperlim 70\
-  maxSpeed 75000\
+  maxSpeed [expr 12500.0/25000.0]\
-  maxAccel 25000\
+  maxAccel [expr 50000.0/25000.0]\
-  maxDecel 25000\
+  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\
+  maxSpeed [expr 50000.0/25000.0]\
-  maxAccel 32768\
+  maxAccel [expr 12500.0/25000.0]\
-  maxDecel 32768\
+  maxDecel [expr 12500.0/25000.0]\
-  stepsPerX 8192\
+  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\
+  maxSpeed [expr 50000.0/25000.0]\
-  maxAccel 32768\
+  maxAccel [expr 12500.0/25000.0]\
-  maxDecel 32768\
+  maxDecel [expr 12500.0/25000.0]\
-  stepsPerX 8192\
+  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\
+  maxSpeed [expr 50000.0/25000.0]\
-  maxAccel 32768\
+  maxAccel [expr 12500.0/25000.0]\
-  maxDecel 32768\
+  maxDecel [expr 12500.0/25000.0]\
-  stepsPerX 8192\
+  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\
+  maxSpeed [expr 50000.0/25000.0]\
-  maxAccel 32768\
+  maxAccel [expr 12500.0/25000.0]\
-  maxDecel 32768\
+  maxDecel [expr 12500.0/25000.0]\
-  stepsPerX 8192\
+  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\
+  maxSpeed [expr 50000.0/25000.0]\
-  maxAccel 32768\
+  maxAccel [expr 12500.0/25000.0]\
-  maxDecel 32768\
+  maxDecel [expr 12500.0/25000.0]\
-  stepsPerX $monoRotationStateStepRate\
+  stepsPerX $momSetRate\
   absEnc 1\
   absEncHome $mom_Home\
   cntsPerX 4096]
@@ -639,22 +681,22 @@ mom home 0
 
 
 ############################
-# Motor Controller 5
+# Motor Controller 6
-# Motor Controller 5
+# Motor Controller 6
-# Motor Controller 5
+# Motor Controller 6
 ############################
 # 
 
-# mc5: Radial Collimator -- Oscillator
+# mc6: Radial Collimator -- Oscillator
 Motor rco $motor_driver_type [params \
-  asyncqueue mc5\
+  asyncqueue mc6\
-  host mc5-pelican\
+  host mc6-pelican\
-  port pmc5-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\
+  asyncqueue mc6\
-  host mc5-pelican\
+  host mc6-pelican\
-  port pmc5-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\
+  asyncqueue mc6\
-  host mc5-pelican\
+  host mc6-pelican\
-  port pmc5-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\
+  asyncqueue mc6\
-  host mc5-pelican\
+  host mc6-pelican\
-  port pmc5-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\
+  asyncqueue mc6\
-  host mc5-pelican\
+  host mc6-pelican\
-  port pmc5-pelican\
+  port pmc6-pelican\
   axis F\
   units degrees\
   hardlowerlim 0\