Progressive refinement and alignment with HRPD

r1371 | dcl | 2006-12-13 08:15:29 +1100 (Wed, 13 Dec 2006) | 2 lines

site_ansto/instrument/reflectometer/motor_configuration.tcl

@@ -11,43 +11,54 @@ set dmc2280_controller3(port) pmc3-platypus
 set dmc2280_controller4(host) mc4-platypus
 set dmc2280_controller4(port) pmc4-platypus
 
+############################
 # MOTORS
-#Motor dszvt DMC2280 [params \
+# Motor Controller 1
-#	host $dmc2280_controller1(host)\
+# Motor Controller 1
-#	port $dmc2280_controller1(port)\
+# Motor Controller 1
-#	axis A\
+############################
-#  units mm\
+#:TP at HOME
-#  maxSpeed 1\
+#
-#  maxAccel 1\
-#  maxDecel 1\
-#	stepsPerX 25000\
-#	absEnc 1\
-#	absEncHome 7500000\
-#	cntsPerX 8192]
-#dszvt hardlowerlim xxxx
-#dszvt hardupperlim xxxx
-#dszvt softlowerlim xxxx
-#dszvt softupperlim xxxx
-#dszvt home 0
 
-#Motor c1ht DMC2280 [params \
+# Beam Shade Vertical Translation
-#	host $dmc2280_controller1(host)\
+Motor dszvt DMC2280 [params \
-#	port $dmc2280_controller1(port)\
+  host $dmc2280_controller1(host)\
-#	axis B\
+  port $dmc2280_controller1(port)\
-#  units mm\
+  axis A\
-#  maxSpeed 1\
+  units mm\
-#  maxAccel 1\
+  maxSpeed 1\
-#  maxDecel 1\
+  maxAccel 1\
-#	stepsPerX 25000\
+  maxDecel 1\
-#	absEnc 1\
+  stepsPerX 25000\
-#	absEncHome 7500000\
+  absEnc 1\
-#	cntsPerX 8192]
+  absEncHome 7500000\
-#c1ht hardlowerlim xxxx
+  cntsPerX 8192]
-#c1ht hardupperlim xxxx
+dszvt hardlowerlim 0
-#c1ht softlowerlim xxxx
+dszvt hardupperlim 0
-#c1ht softupperlim xxxx
+dszvt softlowerlim 0
-#c1ht home 0
+dszvt softupperlim 0
+dszvt home 0
 
+# Collimator Table Translation
+Motor c1ht DMC2280 [params \
+  host $dmc2280_controller1(host)\
+  port $dmc2280_controller1(port)\
+  axis B\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000\
+  absEnc 1\
+  absEncHome 7500000\
+  cntsPerX 8192]
+c1ht hardlowerlim 0
+c1ht hardupperlim 0
+c1ht softlowerlim 0
+c1ht softupperlim 0
+c1ht home 0
+
+# Collimator Tilt, Z axis, Coarse
 Motor m1ro DMC2280 [params \
   host $dmc2280_controller1(host)\
   port $dmc2280_controller1(port)\
@@ -66,6 +77,26 @@ m1ro softlowerlim -5
 m1ro softupperlim 5
 m1ro home 0
 
+# Beam Attenuator (5mm/turn, 200mm travel)
+Motor bat DMC2280 [params \
+  host $dmc2280_controller1(host)\
+  port $dmc2280_controller1(port)\
+  axis D\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 5000\
+  absEnc 1\
+  absEncHome 7500000\
+  cntsPerX 1638.4]
+bat hardlowerlim 0
+bat hardupperlim 200
+bat softlowerlim 0
+bat softupperlim 200
+bat home 0
+
+# Slit 3 Tower Translation (1mm/T, +/- 100mm)
 Motor st3vt DMC2280 [params \
   host $dmc2280_controller1(host)\
   port $dmc2280_controller1(port)\
@@ -78,12 +109,13 @@ Motor st3vt DMC2280 [params \
   absEnc 1\
   absEncHome 7500000\
   cntsPerX 8192]
-st3vt hardlowerlim -179
+st3vt hardlowerlim -100
-st3vt hardupperlim 21
+st3vt hardupperlim 100
-st3vt softlowerlim -179
+st3vt softlowerlim -100
-st3vt softupperlim 21
+st3vt softupperlim 100
 st3vt home 0
 
+# Slit 4 Tower Translation (1mm/T, +/- 100mm)
 Motor st4vt DMC2280 [params \
   host $dmc2280_controller1(host)\
   port $dmc2280_controller1(port)\
@@ -96,17 +128,22 @@ Motor st4vt DMC2280 [params \
   absEnc 1\
   absEncHome 7500000\
   cntsPerX 8192]
-st4vt hardlowerlim -179
+st4vt hardlowerlim -100
-st4vt hardupperlim 21
+st4vt hardupperlim 100
-st4vt softlowerlim -179
+st4vt softlowerlim -100
-st4vt softupperlim 21
+st4vt softupperlim 100
 st4vt home 0
 
+############################
+# Motor Controller 2
+# Motor Controller 2
+# Motor Controller 2
+############################
+#:TP at HOME
 #
-#Motor Controller 2
+
-#
+# Sample Tilt 1, upper, phi
-# A: Sample Tilt Upper
+Motor sphi DMC2280 [params \
-Motor sath DMC2280 [params \
   host $dmc2280_controller2(host)\
   port $dmc2280_controller2(port)\
   axis A\
@@ -114,18 +151,16 @@ Motor sath DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-	stepsPerX 25000\
+  stepsPerX -25000\
   absEnc 1\
   absEncHome 7500000\
-	cntsPerX 8192]
+  cntsPerX -8192]
-sath hardlowerlim -10
+setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
-sath hardupperlim 10
+sphi speed 1
-sath softlowerlim -10
+sphi precision 0.01
-sath softupperlim 10
-sath home 0
 
-# B: Sample Tilt Lower
+# Sample Tilt 2, lower, chi
-Motor saphi DMC2280 [params \
+Motor schi DMC2280 [params \
   host $dmc2280_controller2(host)\
   port $dmc2280_controller2(port)\
   axis B\
@@ -137,36 +172,15 @@ Motor saphi DMC2280 [params \
   absEnc 1\
   absEncHome 7500000\
   cntsPerX 8192]
-saphi hardlowerlim -20
+setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
-saphi hardupperlim 20
+schi speed 1
-saphi softlowerlim -20
+schi precision 0.01
-saphi softupperlim 20
-saphi home 0
 
-# C: Sample Translation, Linear X
+# Sample Translation, Linear X
-#Motor sax DMC2280 [params \
+Motor sax DMC2280 [params \
-#	host $dmc2280_controller2(host)\
-#	port $dmc2280_controller2(port)\
-#	axis C\
-#  units mm\
-#  maxSpeed 1\
-#  maxAccel 1\
-#  maxDecel 1\
-#	stepsPerX 25000\
-#	absEnc 1\
-#	absEncHome 7500000\
-#	cntsPerX 8192]
-#sax hardlowerlim xxxx
-#sax hardupperlim 750
-#sax softlowerlim xxxx
-#sax softupperlim 750
-#sax home 0
-
-# D: Sample Translation, Linear Y
-Motor say DMC2280 [params \
   host $dmc2280_controller2(host)\
   port $dmc2280_controller2(port)\
-	axis D\
+  axis C\
   units mm\
   maxSpeed 1\
   maxAccel 1\
@@ -175,13 +189,32 @@ Motor say DMC2280 [params \
   absEnc 1\
   absEncHome 7500000\
   cntsPerX 8192]
-say hardlowerlim -600
+sax hardlowerlim 0
-say hardupperlim -300
+sax hardupperlim 750
-say softlowerlim -600
+sax softlowerlim 0
-say softupperlim -300
+sax softupperlim 750
-say home -450
+sax home 0
 
-# E: Sample Translation, Linear Z
+# Sample Translation, Linear Y
+#Motor say DMC2280 [params \
+#  host $dmc2280_controller2(host)\
+#  port $dmc2280_controller2(port)\
+#  axis D\
+#  units mm\
+#  maxSpeed 1\
+#  maxAccel 1\
+#  maxDecel 1\
+#  stepsPerX 25000\
+#  absEnc 1\
+#  absEncHome 7500000\
+#  cntsPerX 8192]
+#say hardlowerlim -600
+#say hardupperlim -300
+#say softlowerlim -600
+#say softupperlim -300
+#say home -450
+
+# Sample Translation, Linear Z
 Motor saz DMC2280 [params \
   host $dmc2280_controller2(host)\
   port $dmc2280_controller2(port)\
@@ -200,6 +233,307 @@ saz softlowerlim -600
 saz softupperlim -300
 saz home -450
 
+# Detector Translation, Linear Y
+Motor deyht DMC2280 [params \
+  host $dmc2280_controller2(host)\
+  port $dmc2280_controller2(port)\
+  axis F\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000\
+  absEnc 1\
+  absEncHome 7500000\
+  cntsPerX 8192]
+deyht hardlowerlim -595
+deyht hardupperlim 800
+deyht softlowerlim -595
+deyht softupperlim 800
+deyht home 0
+
+# Detector Translation, Linear Z
+Motor dezvt DMC2280 [params \
+  host $dmc2280_controller2(host)\
+  port $dmc2280_controller2(port)\
+  axis G\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000\
+  absEnc 1\
+  absEncHome 7500000\
+  cntsPerX 8192]
+dezvt hardlowerlim -595
+dezvt hardupperlim 800
+dezvt softlowerlim -595
+dezvt softupperlim 800
+dezvt home 0
+
+############################
+# Motor Controller 3
+# Motor Controller 3
+# Motor Controller 3
+############################
+#
+
+# Slit 1, upper
+Motor s1up DMC2280 [params \
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis A\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s1up hardlowerlim -25
+s1up hardupperlim 95
+s1up softlowerlim -25
+s1up softupperlim 95
+s1up home 0
+
+# Slit 1, lower
+Motor s1lo DMC2280 [params \
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis B\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s1lo hardlowerlim -25
+s1lo hardupperlim 95
+s1lo softlowerlim -25
+s1lo softupperlim 95
+s1lo home 0
+
+# Slit 1, right
+Motor s1ri DMC2280 [params \
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis C\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s1ri hardlowerlim -25
+s1ri hardupperlim 25
+s1ri softlowerlim -25
+s1ri softupperlim 25
+s1ri home 0
+
+# Slit 1, left
+Motor s1le DMC2280 [params \
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis D\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s1le hardlowerlim -25
+s1le hardupperlim 25
+s1le softlowerlim -25
+s1le softupperlim 25
+s1le home 0
+
+# Slit 2, upper
+Motor s2up DMC2280 [params \
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis E\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s2up hardlowerlim -25
+s2up hardupperlim 95
+s2up softlowerlim -25
+s2up softupperlim 95
+s2up home 0
+
+# Slit 2, lower
+Motor s2lo DMC2280 [params \
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis F\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s2lo hardlowerlim -25
+s2lo hardupperlim 95
+s2lo softlowerlim -25
+s2lo softupperlim 95
+s2lo home 0
+
+# Slit 2, right
+Motor s2ri DMC2280 [params \
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis G\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s2ri hardlowerlim -25
+s2ri hardupperlim 25
+s2ri softlowerlim -25
+s2ri softupperlim 25
+s2ri home 0
+
+# Slit 2, left
+Motor s2le DMC2280 [params \
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis H\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s2le hardlowerlim -25
+s2le hardupperlim 25
+s2le softlowerlim -25
+s2le softupperlim 25
+s2le home 0
+
+# Slit 3, upper
+Motor s3up DMC2280 [params \
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis A\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s3up hardlowerlim -25
+s3up hardupperlim 95
+s3up softlowerlim -25
+s3up softupperlim 95
+s3up home 0
+
+# Slit 3, lower
+Motor s3lo DMC2280 [params \
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis B\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s3lo hardlowerlim -25
+s3lo hardupperlim 95
+s3lo softlowerlim -25
+s3lo softupperlim 95
+s3lo home 0
+
+# Slit 3, right
+Motor s3ri DMC2280 [params \
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis C\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s3ri hardlowerlim -25
+s3ri hardupperlim 25
+s3ri softlowerlim -25
+s3ri softupperlim 25
+s3ri home 0
+
+# Slit 3, Left
+Motor s3le DMC2280 [params \
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis D\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s3le hardlowerlim -25
+s3le hardupperlim 25
+s3le softlowerlim -25
+s3le softupperlim 25
+s3le home 0
+
+# Slit 4, upper
+Motor s4up DMC2280 [params \
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis E\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s4up hardlowerlim -25
+s4up hardupperlim 95
+s4up softlowerlim -25
+s4up softupperlim 95
+s4up home 0
+
+# Slit 4, lower
+Motor s4lo DMC2280 [params \
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis F\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s4lo hardlowerlim -25
+s4lo hardupperlim 95
+s4lo softlowerlim -25
+s4lo softupperlim 95
+s4lo home 0
+
+# Slit 4, right
+Motor s4ri DMC2280 [params \
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis G\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s4ri hardlowerlim -25
+s4ri hardupperlim 25
+s4ri softlowerlim -25
+s4ri softupperlim 25
+s4ri home 0
+
+# Slit 4, left
+Motor s4le DMC2280 [params \
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis H\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+s4le hardlowerlim -25
+s4le hardupperlim 25
+s4le softlowerlim -25
+s4le softupperlim 25
+s4le home 0
+
 #Motor anzvt DMC2280 [params \
 #	host $dmc2280_controller2(host)\
 #	port $dmc2280_controller2(port)\
@@ -236,326 +570,6 @@ saz home -450
 #anro softupperlim 10
 #anro home 0
 
-# F: Detector Translation, Linear Y
-Motor deyht DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis F\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-deyht hardlowerlim -595
-deyht hardupperlim 800
-deyht softlowerlim -595
-deyht softupperlim 800
-deyht home 0
-
-# G: Detector Translation, Linear Z
-Motor dezvt DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis G\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-dezvt hardlowerlim -595
-dezvt hardupperlim 800
-dezvt softlowerlim -595
-dezvt softupperlim 800
-dezvt home 0
-
-Motor s1up DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis A\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s1up hardlowerlim -15
-s1up hardupperlim 15
-s1up softlowerlim -15
-s1up softupperlim 15
-s1up home 0
-
-Motor s1lo DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis B\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s1lo hardlowerlim -15
-s1lo hardupperlim 15
-s1lo softlowerlim -15
-s1lo softupperlim 15
-s1lo home 0
-
-Motor s1ri DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis C\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s1ri hardlowerlim -13
-s1ri hardupperlim 27
-s1ri softlowerlim -13
-s1ri softupperlim 27
-s1ri home 0
-
-Motor s1le DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis D\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s1le hardlowerlim -27
-s1le hardupperlim 13
-s1le softlowerlim -27
-s1le softupperlim 13
-s1le home 0
-
-Motor s2up DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis E\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s2up hardlowerlim -15
-s2up hardupperlim 15
-s2up softlowerlim -15
-s2up softupperlim 15
-s2up home 0
-
-Motor s2lo DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis F\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s2lo hardlowerlim -15
-s2lo hardupperlim 15
-s2lo softlowerlim -15
-s2lo softupperlim 15
-s2lo home 0
-
-Motor s2ri DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis G\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000]
-s2ri hardlowerlim -13
-s2ri hardupperlim 27
-s2ri softlowerlim -13
-s2ri softupperlim 27
-s2ri home 0
-
-Motor s2le DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis H\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000]
-s2le hardlowerlim -27
-s2le hardupperlim 13
-s2le softlowerlim -27
-s2le softupperlim 13
-s2le home 0
-
-Motor s3up DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis A\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s3up hardlowerlim -15
-s3up hardupperlim 15
-s3up softlowerlim -15
-s3up softupperlim 15
-s3up home 0
-
-Motor s3lo DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis B\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s3lo hardlowerlim -15
-s3lo hardupperlim 15
-s3lo softlowerlim -15
-s3lo softupperlim 15
-s3lo home 0
-
-Motor s3ri DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis C\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s3ri hardlowerlim -13
-s3ri hardupperlim 27
-s3ri softlowerlim -13
-s3ri softupperlim 27
-s3ri home 0
-
-Motor s3le DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis D\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s3le hardlowerlim -27
-s3le hardupperlim 13
-s3le softlowerlim -27
-s3le softupperlim 13
-s3le home 0
-
-Motor s4up DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis E\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s4up hardlowerlim -15
-s4up hardupperlim 15
-s4up softlowerlim -15
-s4up softupperlim 15
-s4up home 0
-
-Motor s4lo DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis F\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s4lo hardlowerlim -15
-s4lo hardupperlim 15
-s4lo softlowerlim -15
-s4lo softupperlim 15
-s4lo home 0
-
-Motor s4ri DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis G\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s4ri hardlowerlim -13
-s4ri hardupperlim 27
-s4ri softlowerlim -13
-s4ri softupperlim 27
-s4ri home 0
-
-Motor s4le DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis H\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s4le hardlowerlim -27
-s4le hardupperlim 13
-s4le softlowerlim -27
-s4le softupperlim 13
-s4le home 0
-
 #Motor dezht DMC2280 [params \
 #	host $dmc2280_controllerxxxx(host)\
 #	port $dmc2280_controllerxxxx(port)\