Corrections made to Emu_motion_control... spreadsheet during testing.

Also renamed axes and added reference positions from spreadsheet.

site_ansto/instrument/emu/config/motors/Emu_motion_control_commissioning_checklist.csv

@@ -1,64 +1,70 @@
-mtth2_axis,F
-mtth2_axis_number,14
-mtth2_cnts_per_x,8192
-mtth2_description,2nd Reflector rotation
-mtth2_dflt_accel_steps,25000
-mtth2_dflt_decel_steps,25000
-mtth2_dflt_speed_steps,100000
-mtth2_fwd_enc_lim,293114
-mtth2_maxaccel,0.4
-mtth2_maxdecel,0.4
-mtth2_maxspeed,0.4
-mtth2_mc,mc2
-mtth2_part,instrument
-mtth2_rev_enc_lim,23251
-mtth2_steps_per_x,500000
-mtth2_units,degrees
-pmchi_axis,A
-pmchi_axis_number,1
-pmchi_cnts_per_x,2046
-pmchi_description,Pre Mono Tilt
-pmchi_dflt_accel_steps,50000
-pmchi_dflt_decel_steps,50000
-pmchi_dflt_speed_steps,50000
-pmchi_fwd_enc_lim,4181460
-pmchi_maxaccel,0.1
-pmchi_maxdecel,0.1
-pmchi_maxspeed,0.1
-pmchi_mc,mc1
-pmchi_part,instrument
-pmchi_rev_enc_lim,4210266
-pmchi_steps_per_x,500000
-pmchi_units,degrees
-pmth_axis,A
-pmth_axis_number,9
-pmth_cnts_per_x,93206.7555555556
-pmth_description,Pre Mono Rotation
-pmth_dflt_accel_steps,50000
-pmth_dflt_decel_steps,50000
-pmth_dflt_speed_steps,50000
-pmth_fwd_enc_lim,19270709
-pmth_maxaccel,0.1
-pmth_maxdecel,0.1
-pmth_maxspeed,0.1
-pmth_mc,mc2
-pmth_part,instrument
-pmth_rev_enc_lim,20287178
-pmth_steps_per_x,500000
-pmth_units,degrees
-pmx_axis,B
-pmx_axis_number,2
-pmx_cnts_per_x,10241
-pmx_description,Pre Mono Translation
-pmx_dflt_accel_steps,50000
-pmx_dflt_decel_steps,50000
-pmx_dflt_speed_steps,50000
-pmx_fwd_enc_lim,4131464
-pmx_maxaccel,0.4
-pmx_maxdecel,0.4
-pmx_maxspeed,0.4
-pmx_mc,mc1
-pmx_part,instrument
-pmx_rev_enc_lim,4275488
-pmx_steps_per_x,125000
-pmx_units,mm
+mchi_absenchome,4196137
+mchi_axis,A
+mchi_axis_number,1
+mchi_cnts_per_x,-2046
+mchi_description,Pre Mono Tilt
+mchi_dflt_accel_steps,50000
+mchi_dflt_decel_steps,50000
+mchi_dflt_speed_steps,50000
+mchi_fwd_enc_lim,4181460
+mchi_home,0
+mchi_maxaccel,0.1
+mchi_maxdecel,0.1
+mchi_maxspeed,0.1
+mchi_mc,mc1
+mchi_part,instrument
+mchi_rev_enc_lim,4210266
+mchi_steps_per_x,500000
+mchi_units,degrees
+mom_absenchome,19818756
+mom_axis,A
+mom_axis_number,9
+mom_cnts_per_x,-93206.7555555556
+mom_description,Pre Mono Rotation
+mom_dflt_accel_steps,50000
+mom_dflt_decel_steps,50000
+mom_dflt_speed_steps,50000
+mom_fwd_enc_lim,19270709
+mom_home,20.8
+mom_maxaccel,0.1
+mom_maxdecel,0.1
+mom_maxspeed,0.1
+mom_mc,mc2
+mom_part,instrument
+mom_rev_enc_lim,20287178
+mom_steps_per_x,500000
+mom_units,degrees
+mtth_absenchome,222114
+mtth_axis,F
+mtth_axis_number,14
+mtth_cnts_per_x,8192
+mtth_description,2nd Reflector rotation
+mtth_dflt_accel_steps,25000
+mtth_dflt_decel_steps,25000
+mtth_dflt_speed_steps,100000
+mtth_fwd_enc_lim,293114
+mtth_home,20.8
+mtth_maxaccel,0.4
+mtth_maxdecel,0.4
+mtth_maxspeed,0.4
+mtth_mc,mc2
+mtth_part,instrument
+mtth_rev_enc_lim,23251
+mtth_steps_per_x,500000
+mtth_units,degrees
+my_axis,B
+my_axis_number,2
+my_cnts_per_x,-10241
+my_description,Pre Mono Translation
+my_dflt_accel_steps,50000
+my_dflt_decel_steps,50000
+my_dflt_speed_steps,50000
+my_fwd_enc_lim,4275488
+my_maxaccel,0.4
+my_maxdecel,0.4
+my_maxspeed,0.4
+my_mc,mc1
+my_part,instrument
+my_rev_enc_lim,4131464
+my_steps_per_x,125000
+my_units,mm

site_ansto/instrument/emu/config/motors/generated_motor_configuration.tcl

@@ -37,104 +37,104 @@ if {$sim_mode == false} {
   MakeAsyncQueue mc2 DMC2280 [dict get $::MOTOR_HOSTPORT MC2 HOST] [dict get $::MOTOR_HOSTPORT MC2 PORT]
 }
 
-# mtth2 configuration
-# 2nd Reflector rotation
-# Axis number 14
-Motor mtth2 $motor_driver_type [params\
-  asyncqueue mc2\
-  axis F\
-  units $mtth2_units\
-  hardlowerlim $mtth2_rev_lim\
-  hardupperlim $mtth2_fwd_lim\
-  maxSpeed $mtth2_maxspeed\
-  maxAccel $mtth2_maxaccel\
-  maxDecel $mtth2_maxdecel\
-  stepsPerX $mtth2_steps_per_x\
-  absEnc 1\
-  absEncHome $mtth2_absenchome\
-  cntsPerX $mtth2_cnts_per_x]
-mtth2 softlowerlim $mtth2_rev_lim
-mtth2 softupperlim $mtth2_fwd_lim
-mtth2 home $mtth2_home
-mtth2 part $mtth2_part
-mtth2 long_name mtth2
-mtth2 speed $mtth2_speed
-mtth2 accel $mtth2_accel
-mtth2 decel $mtth2_decel
-
-# pmchi configuration
+# mchi configuration
 # Pre Mono Tilt
 # Axis number 1
-Motor pmchi $motor_driver_type [params\
+Motor mchi $motor_driver_type [params\
   asyncqueue mc1\
   axis A\
-  units $pmchi_units\
-  hardlowerlim $pmchi_rev_lim\
-  hardupperlim $pmchi_fwd_lim\
-  maxSpeed $pmchi_maxspeed\
-  maxAccel $pmchi_maxaccel\
-  maxDecel $pmchi_maxdecel\
-  stepsPerX $pmchi_steps_per_x\
+  units $mchi_units\
+  hardlowerlim $mchi_rev_lim\
+  hardupperlim $mchi_fwd_lim\
+  maxSpeed $mchi_maxspeed\
+  maxAccel $mchi_maxaccel\
+  maxDecel $mchi_maxdecel\
+  stepsPerX $mchi_steps_per_x\
   absEnc 1\
-  absEncHome $pmchi_absenchome\
-  cntsPerX $pmchi_cnts_per_x]
-pmchi softlowerlim $pmchi_rev_lim
-pmchi softupperlim $pmchi_fwd_lim
-pmchi home $pmchi_home
-pmchi part $pmchi_part
-pmchi long_name pmchi
-pmchi speed $pmchi_speed
-pmchi accel $pmchi_accel
-pmchi decel $pmchi_decel
+  absEncHome $mchi_absenchome\
+  cntsPerX $mchi_cnts_per_x]
+mchi softlowerlim $mchi_rev_lim
+mchi softupperlim $mchi_fwd_lim
+mchi home $mchi_home
+mchi part $mchi_part
+mchi long_name mchi
+mchi speed $mchi_speed
+mchi accel $mchi_accel
+mchi decel $mchi_decel
 
-# pmth configuration
+# mom configuration
 # Pre Mono Rotation
 # Axis number 9
-Motor pmth $motor_driver_type [params\
+Motor mom $motor_driver_type [params\
   asyncqueue mc2\
   axis A\
-  units $pmth_units\
-  hardlowerlim $pmth_rev_lim\
-  hardupperlim $pmth_fwd_lim\
-  maxSpeed $pmth_maxspeed\
-  maxAccel $pmth_maxaccel\
-  maxDecel $pmth_maxdecel\
-  stepsPerX $pmth_steps_per_x\
+  units $mom_units\
+  hardlowerlim $mom_rev_lim\
+  hardupperlim $mom_fwd_lim\
+  maxSpeed $mom_maxspeed\
+  maxAccel $mom_maxaccel\
+  maxDecel $mom_maxdecel\
+  stepsPerX $mom_steps_per_x\
   absEnc 1\
-  absEncHome $pmth_absenchome\
-  cntsPerX $pmth_cnts_per_x]
-pmth softlowerlim $pmth_rev_lim
-pmth softupperlim $pmth_fwd_lim
-pmth home $pmth_home
-pmth part $pmth_part
-pmth long_name pmth
-pmth speed $pmth_speed
-pmth accel $pmth_accel
-pmth decel $pmth_decel
+  absEncHome $mom_absenchome\
+  cntsPerX $mom_cnts_per_x]
+mom softlowerlim $mom_rev_lim
+mom softupperlim $mom_fwd_lim
+mom home $mom_home
+mom part $mom_part
+mom long_name mom
+mom speed $mom_speed
+mom accel $mom_accel
+mom decel $mom_decel
 
-# pmx configuration
+# mtth configuration
+# 2nd Reflector rotation
+# Axis number 14
+Motor mtth $motor_driver_type [params\
+  asyncqueue mc2\
+  axis F\
+  units $mtth_units\
+  hardlowerlim $mtth_rev_lim\
+  hardupperlim $mtth_fwd_lim\
+  maxSpeed $mtth_maxspeed\
+  maxAccel $mtth_maxaccel\
+  maxDecel $mtth_maxdecel\
+  stepsPerX $mtth_steps_per_x\
+  absEnc 1\
+  absEncHome $mtth_absenchome\
+  cntsPerX $mtth_cnts_per_x]
+mtth softlowerlim $mtth_rev_lim
+mtth softupperlim $mtth_fwd_lim
+mtth home $mtth_home
+mtth part $mtth_part
+mtth long_name mtth
+mtth speed $mtth_speed
+mtth accel $mtth_accel
+mtth decel $mtth_decel
+
+# my configuration
 # Pre Mono Translation
 # Axis number 2
-Motor pmx $motor_driver_type [params\
+Motor my $motor_driver_type [params\
   asyncqueue mc1\
   axis B\
-  units $pmx_units\
-  hardlowerlim $pmx_rev_lim\
-  hardupperlim $pmx_fwd_lim\
-  maxSpeed $pmx_maxspeed\
-  maxAccel $pmx_maxaccel\
-  maxDecel $pmx_maxdecel\
-  stepsPerX $pmx_steps_per_x\
+  units $my_units\
+  hardlowerlim $my_rev_lim\
+  hardupperlim $my_fwd_lim\
+  maxSpeed $my_maxspeed\
+  maxAccel $my_maxaccel\
+  maxDecel $my_maxdecel\
+  stepsPerX $my_steps_per_x\
   absEnc 1\
-  absEncHome $pmx_absenchome\
-  cntsPerX $pmx_cnts_per_x]
-pmx softlowerlim $pmx_rev_lim
-pmx softupperlim $pmx_fwd_lim
-pmx home $pmx_home
-pmx part $pmx_part
-pmx long_name pmx
-pmx speed $pmx_speed
-pmx accel $pmx_accel
-pmx decel $pmx_decel
+  absEncHome $my_absenchome\
+  cntsPerX $my_cnts_per_x]
+my softlowerlim $my_rev_lim
+my softupperlim $my_fwd_lim
+my home $my_home
+my part $my_part
+my long_name my
+my speed $my_speed
+my accel $my_accel
+my decel $my_decel
 
 proc motor_set_sobj_attributes {} {}

site_ansto/instrument/emu/config/motors/genmotconf_errors.log

@@ -1,5 +0,0 @@
-0 ERRORS IN PARSE STAGE 'Emu_motion_control_commissioning_checklist.csv'. PROCESSED 64 lines
-0 ERRORS IN PARSE STAGE 'sicsmot_attlist.csv'. PROCESSED 28 lines
-GENERATE MOTOR CONFIGURATIONS
-Required attributes: axis fwd_lim home maxaccel maxdecel maxspeed mc part rev_lim steps_per_x units
-Found 0 incomplete motor configurations

site_ansto/instrument/emu/config/motors/genmotconf_report.log

@@ -1,198 +0,0 @@
-
-PARSE 'Emu_motion_control_commissioning_checklist.csv'
-Processing 'mtth2_axis,F'
-Add ::mtth2_attarr(axis) = F
-Processing 'mtth2_axis_number,14'
-Add ::mtth2_attarr(axis_number) = 14
-Processing 'mtth2_cnts_per_x,8192'
-Add ::mtth2_encatts(cnts_per_x) = 8192
-Processing 'mtth2_description,2nd Reflector rotation'
-Add ::mtth2_attarr(description) = 2nd Reflector rotation
-Processing 'mtth2_dflt_accel_steps,25000'
-Add ::mtth2_attarr(dflt_accel_steps) = 25000
-Processing 'mtth2_dflt_decel_steps,25000'
-Add ::mtth2_attarr(dflt_decel_steps) = 25000
-Processing 'mtth2_dflt_speed_steps,100000'
-Add ::mtth2_attarr(dflt_speed_steps) = 100000
-Processing 'mtth2_fwd_enc_lim,293114'
-Add ::mtth2_encatts(fwd_enc_lim) = 293114
-Processing 'mtth2_maxaccel,0.4'
-Add ::mtth2_attarr(maxaccel) = 0.4
-Processing 'mtth2_maxdecel,0.4'
-Add ::mtth2_attarr(maxdecel) = 0.4
-Processing 'mtth2_maxspeed,0.4'
-Add ::mtth2_attarr(maxspeed) = 0.4
-Processing 'mtth2_mc,mc2'
-Add ::mtth2_attarr(mc) = mc2
-Processing 'mtth2_part,instrument'
-Add ::mtth2_attarr(part) = instrument
-Processing 'mtth2_rev_enc_lim,23251'
-Add ::mtth2_encatts(rev_enc_lim) = 23251
-Processing 'mtth2_steps_per_x,500000'
-Add ::mtth2_attarr(steps_per_x) = 500000
-Processing 'mtth2_units,degrees'
-Add ::mtth2_attarr(units) = degrees
-Processing 'pmchi_axis,A'
-Add ::pmchi_attarr(axis) = A
-Processing 'pmchi_axis_number,1'
-Add ::pmchi_attarr(axis_number) = 1
-Processing 'pmchi_cnts_per_x,2046'
-Add ::pmchi_encatts(cnts_per_x) = 2046
-Processing 'pmchi_description,Pre Mono Tilt'
-Add ::pmchi_attarr(description) = Pre Mono Tilt
-Processing 'pmchi_dflt_accel_steps,50000'
-Add ::pmchi_attarr(dflt_accel_steps) = 50000
-Processing 'pmchi_dflt_decel_steps,50000'
-Add ::pmchi_attarr(dflt_decel_steps) = 50000
-Processing 'pmchi_dflt_speed_steps,50000'
-Add ::pmchi_attarr(dflt_speed_steps) = 50000
-Processing 'pmchi_fwd_enc_lim,4181460'
-Add ::pmchi_encatts(fwd_enc_lim) = 4181460
-Processing 'pmchi_maxaccel,0.1'
-Add ::pmchi_attarr(maxaccel) = 0.1
-Processing 'pmchi_maxdecel,0.1'
-Add ::pmchi_attarr(maxdecel) = 0.1
-Processing 'pmchi_maxspeed,0.1'
-Add ::pmchi_attarr(maxspeed) = 0.1
-Processing 'pmchi_mc,mc1'
-Add ::pmchi_attarr(mc) = mc1
-Processing 'pmchi_part,instrument'
-Add ::pmchi_attarr(part) = instrument
-Processing 'pmchi_rev_enc_lim,4210266'
-Add ::pmchi_encatts(rev_enc_lim) = 4210266
-Processing 'pmchi_steps_per_x,500000'
-Add ::pmchi_attarr(steps_per_x) = 500000
-Processing 'pmchi_units,degrees'
-Add ::pmchi_attarr(units) = degrees
-Processing 'pmth_axis,A'
-Add ::pmth_attarr(axis) = A
-Processing 'pmth_axis_number,9'
-Add ::pmth_attarr(axis_number) = 9
-Processing 'pmth_cnts_per_x,93206.7555555556'
-Add ::pmth_encatts(cnts_per_x) = 93206.7555555556
-Processing 'pmth_description,Pre Mono Rotation'
-Add ::pmth_attarr(description) = Pre Mono Rotation
-Processing 'pmth_dflt_accel_steps,50000'
-Add ::pmth_attarr(dflt_accel_steps) = 50000
-Processing 'pmth_dflt_decel_steps,50000'
-Add ::pmth_attarr(dflt_decel_steps) = 50000
-Processing 'pmth_dflt_speed_steps,50000'
-Add ::pmth_attarr(dflt_speed_steps) = 50000
-Processing 'pmth_fwd_enc_lim,19270709'
-Add ::pmth_encatts(fwd_enc_lim) = 19270709
-Processing 'pmth_maxaccel,0.1'
-Add ::pmth_attarr(maxaccel) = 0.1
-Processing 'pmth_maxdecel,0.1'
-Add ::pmth_attarr(maxdecel) = 0.1
-Processing 'pmth_maxspeed,0.1'
-Add ::pmth_attarr(maxspeed) = 0.1
-Processing 'pmth_mc,mc2'
-Add ::pmth_attarr(mc) = mc2
-Processing 'pmth_part,instrument'
-Add ::pmth_attarr(part) = instrument
-Processing 'pmth_rev_enc_lim,20287178'
-Add ::pmth_encatts(rev_enc_lim) = 20287178
-Processing 'pmth_steps_per_x,500000'
-Add ::pmth_attarr(steps_per_x) = 500000
-Processing 'pmth_units,degrees'
-Add ::pmth_attarr(units) = degrees
-Processing 'pmx_axis,B'
-Add ::pmx_attarr(axis) = B
-Processing 'pmx_axis_number,2'
-Add ::pmx_attarr(axis_number) = 2
-Processing 'pmx_cnts_per_x,10241'
-Add ::pmx_encatts(cnts_per_x) = 10241
-Processing 'pmx_description,Pre Mono Translation'
-Add ::pmx_attarr(description) = Pre Mono Translation
-Processing 'pmx_dflt_accel_steps,50000'
-Add ::pmx_attarr(dflt_accel_steps) = 50000
-Processing 'pmx_dflt_decel_steps,50000'
-Add ::pmx_attarr(dflt_decel_steps) = 50000
-Processing 'pmx_dflt_speed_steps,50000'
-Add ::pmx_attarr(dflt_speed_steps) = 50000
-Processing 'pmx_fwd_enc_lim,4131464'
-Add ::pmx_encatts(fwd_enc_lim) = 4131464
-Processing 'pmx_maxaccel,0.4'
-Add ::pmx_attarr(maxaccel) = 0.4
-Processing 'pmx_maxdecel,0.4'
-Add ::pmx_attarr(maxdecel) = 0.4
-Processing 'pmx_maxspeed,0.4'
-Add ::pmx_attarr(maxspeed) = 0.4
-Processing 'pmx_mc,mc1'
-Add ::pmx_attarr(mc) = mc1
-Processing 'pmx_part,instrument'
-Add ::pmx_attarr(part) = instrument
-Processing 'pmx_rev_enc_lim,4275488'
-Add ::pmx_encatts(rev_enc_lim) = 4275488
-Processing 'pmx_steps_per_x,125000'
-Add ::pmx_attarr(steps_per_x) = 125000
-Processing 'pmx_units,mm'
-Add ::pmx_attarr(units) = mm
-CONTROLLER USAGE COUNT: mc1 count=2; mc2 count=2; 
-PARSED 64 lines in 'Emu_motion_control_commissioning_checklist.csv'; failed 0 lines
-
-PARSE 'sicsmot_attlist.csv'
-Processing 'mtth2_absenchome,23251.0000'
-Add ::mtth2_attarr(absenchome) = 23251.0000
-Processing 'mtth2_accel,0.0500'
-Add ::mtth2_attarr(accel) = 0.0500
-Processing 'mtth2_decel,0.0500'
-Add ::mtth2_attarr(decel) = 0.0500
-Processing 'mtth2_fwd_lim,32.9423'
-Add ::mtth2_attarr(fwd_lim) = 32.9423
-Processing 'mtth2_home,0.0000'
-Add ::mtth2_attarr(home) = 0.0000
-Processing 'mtth2_rev_lim,0.0000'
-Add ::mtth2_attarr(rev_lim) = 0.0000
-Processing 'mtth2_speed,0.2000'
-Add ::mtth2_attarr(speed) = 0.2000
-Processing 'pmchi_absenchome,4210266.0000'
-Add ::pmchi_attarr(absenchome) = 4210266.0000
-Processing 'pmchi_accel,0.1000'
-Add ::pmchi_attarr(accel) = 0.1000
-Processing 'pmchi_decel,0.1000'
-Add ::pmchi_attarr(decel) = 0.1000
-Processing 'pmchi_fwd_lim,-14.0792'
-Add ::pmchi_attarr(fwd_lim) = -14.0792
-Processing 'pmchi_home,0.0000'
-Add ::pmchi_attarr(home) = 0.0000
-Processing 'pmchi_rev_lim,0.0000'
-Add ::pmchi_attarr(rev_lim) = 0.0000
-Processing 'pmchi_speed,0.1000'
-Add ::pmchi_attarr(speed) = 0.1000
-Processing 'pmth_absenchome,20287178.0000'
-Add ::pmth_attarr(absenchome) = 20287178.0000
-Processing 'pmth_accel,0.1000'
-Add ::pmth_attarr(accel) = 0.1000
-Processing 'pmth_decel,0.1000'
-Add ::pmth_attarr(decel) = 0.1000
-Processing 'pmth_fwd_lim,-10.9055'
-Add ::pmth_attarr(fwd_lim) = -10.9055
-Processing 'pmth_home,0.0000'
-Add ::pmth_attarr(home) = 0.0000
-Processing 'pmth_rev_lim,0.0000'
-Add ::pmth_attarr(rev_lim) = 0.0000
-Processing 'pmth_speed,0.1000'
-Add ::pmth_attarr(speed) = 0.1000
-Processing 'pmx_absenchome,4275488.0000'
-Add ::pmx_attarr(absenchome) = 4275488.0000
-Processing 'pmx_accel,0.4000'
-Add ::pmx_attarr(accel) = 0.4000
-Processing 'pmx_decel,0.4000'
-Add ::pmx_attarr(decel) = 0.4000
-Processing 'pmx_fwd_lim,-14.0635'
-Add ::pmx_attarr(fwd_lim) = -14.0635
-Processing 'pmx_home,0.0000'
-Add ::pmx_attarr(home) = 0.0000
-Processing 'pmx_rev_lim,0.0000'
-Add ::pmx_attarr(rev_lim) = 0.0000
-Processing 'pmx_speed,0.4000'
-Add ::pmx_attarr(speed) = 0.4000
-CONTROLLER USAGE COUNT: mc1 count=2; mc2 count=2; 
-PARSED 28 lines in 'sicsmot_attlist.csv'; failed 0 lines
-GENERATE MOTOR CONFIGURATIONS
-Configured mtth2
-Configured pmchi
-Configured pmth
-Configured pmx
-Generated 4 motor driver configurations

site_ansto/instrument/emu/config/motors/sicsmot_attlist.csv

@@ -1,28 +1,22 @@
-mtth2_absenchome,23251.0000
-mtth2_accel,0.0500
-mtth2_decel,0.0500
-mtth2_fwd_lim,32.9423
-mtth2_home,0.0000
-mtth2_rev_lim,0.0000
-mtth2_speed,0.2000
-pmchi_absenchome,4210266.0000
-pmchi_accel,0.1000
-pmchi_decel,0.1000
-pmchi_fwd_lim,-14.0792
-pmchi_home,0.0000
-pmchi_rev_lim,0.0000
-pmchi_speed,0.1000
-pmth_absenchome,20287178.0000
-pmth_accel,0.1000
-pmth_decel,0.1000
-pmth_fwd_lim,-10.9055
-pmth_home,0.0000
-pmth_rev_lim,0.0000
-pmth_speed,0.1000
-pmx_absenchome,4275488.0000
-pmx_accel,0.4000
-pmx_decel,0.4000
-pmx_fwd_lim,-14.0635
-pmx_home,0.0000
-pmx_rev_lim,0.0000
-pmx_speed,0.4000
+mchi_accel,0.1000
+mchi_decel,0.1000
+mchi_fwd_lim,7.1735
+mchi_rev_lim,-6.9057
+mchi_speed,0.1000
+mom_accel,0.1000
+mom_decel,0.1000
+mom_fwd_lim,26.6799
+mom_rev_lim,15.7744
+mom_speed,0.1000
+mtth_accel,0.0500
+mtth_decel,0.0500
+mtth_fwd_lim,29.4670
+mtth_rev_lim,-3.4753
+mtth_speed,0.2000
+my_absenchome,4131464.0000
+my_accel,0.4000
+my_decel,0.4000
+my_fwd_lim,-14.0635
+my_home,0.0000
+my_rev_lim,0.0000
+my_speed,0.4000