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WIP: another pass at the Pelican motor configuration

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r3539 | dcl | 2012-04-27 14:40:00 +1000 (Fri, 27 Apr 2012) | 1 line
This commit is contained in:
Douglas Clowes
2012-04-27 14:40:00 +10:00
parent 1326492c00
commit 7959d78fd1
1 changed files with 180 additions and 167 deletions
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347
site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
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@@ -1,9 +1,6 @@
# Author: Jing Chen (jgn@ansto.gov.au) # Author: Jing Chen (jgn@ansto.gov.au)
# All Motors are 25000 steps per motor revolution # All Motors are 25000 steps per motor revolution
# SET TO 1 TO USE THE TILT STAGE ie sample phi and chi
set use_tiltstage 0
set animal pelican set animal pelican
set sim_mode [SplitReply [motor_simulation]] set sim_mode [SplitReply [motor_simulation]]
@@ -30,29 +27,29 @@ if {$sim_mode == "true"} {
set motor_driver_type asim set motor_driver_type asim
} else { } else {
set motor_driver_type DMC2280 set motor_driver_type DMC2280
# MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port) MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
# MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port) MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port) MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port)
MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port) MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
# MakeAsyncQueue mc6 DMC2280 $dmc2280_controller6(host) $dmc2280_controller6(port) MakeAsyncQueue mc6 DMC2280 $dmc2280_controller6(host) $dmc2280_controller6(port)
} }
#Measured absolute encoder reading at home position #Measured absolute encoder reading at home position
set dummy_Home 0 set dummy_Home 0
set ftz_Home 32096132 set ptz_Home 32096132
set ptz_Home 1242083 set ftz_Home 1242083
set pom_Home 34677 set pom_Home 34677
set stth_Home 152965 set stth_Home 152965
set mtth_Home 24409175 set mtth_Home 24409175
set sv1_Home 0 set sv1_Home 33431185
set sh1_Home 0 set sh1_Home 33414
set sv2_Home 0 set sv2_Home 33357369
set sh2_Home 0 set sh2_Home 33505668
set gom_Home 0 set gom_Home 373521
set scor_Home 0 set scor_Home 20193638
# AND abs Encoder Reading with FFF to get the lowest 12 bits only # AND abs Encoder Reading with FFF to get the lowest 12 bits only
#set mra_Home 4286 #set mra_Home 4286
@@ -74,9 +71,10 @@ set mx_Home 8390604
set my_Home 8391084 set my_Home 8391084
set mom_Home 8389414 set mom_Home 8389414
set rco_Home 0 set rco_Home 33531098
set rcz_Home 0 # TODO get real values from Dan
set bsr_Home 0 set rcz_Home 33141607
set bsr_Home 1192516
set gv1_Home 0 set gv1_Home 0
set gv2_Home 0 set gv2_Home 0
@@ -125,29 +123,26 @@ Motor ptz $motor_driver_type [params \
port pmc1-pelican\ port pmc1-pelican\
axis B\ axis B\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim -264\
hardupperlim 500\ hardupperlim 187\
maxSpeed [expr { 300000.0 / $ptzStepRate }]\ maxSpeed [expr { 300000.0 / $ptzStepRate }]\
maxAccel [expr { 150000.0 / $ptzStepRate }]\ maxAccel [expr { 150000.0 / $ptzStepRate }]\
maxDecel [expr { 150000.0 / $ptzStepRate }]\ maxDecel [expr { 150000.0 / $ptzStepRate }]\
stepsPerX $ptzStepRate\ stepsPerX -$ptzStepRate\
absEnc 1\ absEnc 1\
absEncHome $ptz_Home\ absEncHome $ptz_Home\
cntsPerX 4096\ cntsPerX -[expr { 8192.0 / 2.0 }]\
posit_count 5] posit_count 3]
ptz part crystal ptz part crystal
ptz long_name ptz ptz long_name ptz
ptz softlowerlim 0 ptz softlowerlim -264
ptz softupperlim 500 ptz softupperlim 187
ptz home 0 ptz home 0
# 1:RevLimit, 2:Coll, 3:Open, 4:Polarizer, 5:FwdLim # 1:RevLimit, 2:Coll, 3:Open, 4:Polarizer, 5:FwdLim
ptz posit_1 31327313 ptz posit_1 31408274
ptz posit_2 31408274 ptz posit_2 32096132
ptz_posit_3 32096132 ptz posit_3 33171650
ptz posit_4 33171650
ptz posit_5 33179305
#if $use_tiltstage {
# mc1: Beryllium / Graphite filter shared - Z translation slide # mc1: Beryllium / Graphite filter shared - Z translation slide
# Moto: 100:1 gear, 2mm pitch # Moto: 100:1 gear, 2mm pitch
set ftzStepRate [expr { 25000 * 100 / 2.0 }] set ftzStepRate [expr { 25000 * 100 / 2.0 }]
@@ -158,27 +153,25 @@ Motor ftz $motor_driver_type [params \
port pmc1-pelican\ port pmc1-pelican\
axis C\ axis C\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim -280\
hardupperlim 500\ hardupperlim 160\
maxSpeed [expr { 300000.0 / $ftzStepRate }]\ maxSpeed [expr { 300000.0 / $ftzStepRate }]\
maxAccel [expr { 150000.0 / $ftzStepRate }]\ maxAccel [expr { 150000.0 / $ftzStepRate }]\
maxDecel [expr { 150000.0 / $ftzStepRate }]\ maxDecel [expr { 150000.0 / $ftzStepRate }]\
stepsPerX $ftzStepRate\ stepsPerX -$ftzStepRate\
absEnc 1\ absEnc 1\
absEncHome $ftz_Home\ absEncHome $ftz_Home\
cntsPerX 4096\ cntsPerX -[expr { 8192.0 / 2.0 }]\
posit_count 5] posit_count 3]
ftz part crystal ftz part crystal
ftz long_name ftz ftz long_name ftz
ftz softlowerlim 0 ftz softlowerlim -280
ftz softupperlim 500 ftz softupperlim 160
ftz home 0 ftz home 0
# 1:RevLimit, 2:PG, 3:Open, 4:Be, 5:FwdLim # 1:RevLimit, 2:PG, 3:Open, 4:Be, 5:FwdLim
ptz posit_1 590458 ftz posit_1 590157
ptz posit_2 590157 ftz posit_2 1242083
ptz_posit_3 1242083 ftz posit_3 2348104
ptz posit_4 2348104
ptz posit_5 2426769
# mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow) # mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow)
set pomStepRate [expr { 1176 * 25000 }] set pomStepRate [expr { 1176 * 25000 }]
@@ -206,7 +199,7 @@ pom home 0
# mc1: Sample/Detector Chamber Rotation (Detector) # mc1: Sample/Detector Chamber Rotation (Detector)
#set stthStepRate 66807.314 #set stthStepRate 66807.314
set stthStepRate [expr { 25000 * 100.0 * (3800.0 / 395.0) / 360.0) }] set stthStepRate [expr { 25000 * 100.0 * (3800.0 / 395.0) / 360.0 }]
Motor stth $motor_driver_type [params \ Motor stth $motor_driver_type [params \
asyncqueue mc1\ asyncqueue mc1\
@@ -222,7 +215,7 @@ Motor stth $motor_driver_type [params \
stepsPerX $stthStepRate\ stepsPerX $stthStepRate\
absEnc 1\ absEnc 1\
absEncHome $stth_Home\ absEncHome $stth_Home\
cntsPerX [expr { -8192.0 / 360.0 }]] cntsPerX -[expr { 8192.0 / 360.0 }]]
stth part detector stth part detector
stth long_name stth stth long_name stth
stth softlowerlim -60 stth softlowerlim -60
@@ -263,129 +256,129 @@ mtth home 90
# #
# mc2: Slits Set AB1- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set) # mc2: Slits Set AB1- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
set sv1StepRate 25000 set sv1StepRate [expr { 25000 / 0.635 / 2.0 }]
#Motor sv1 $motor_driver_type [params \ Motor sv1 $motor_driver_type [params \
asyncqueue mc2\ asyncqueue mc2\
host mc2-pelican\ host mc2-pelican\
port pmc2-pelican\ port pmc2-pelican\
axis A\ axis A\
units mm\ units mm\
hardlowerlim -2\ hardlowerlim -0.2\
hardupperlim 60\ hardupperlim 116\
maxSpeed [expr 25000.0/$sv1StepRate]\ maxSpeed [expr 25000.0/$sv1StepRate]\
maxAccel [expr 25000.0/$sv1StepRate]\ maxAccel [expr 25000.0/$sv1StepRate]\
maxDecel [expr 25000.0/$sv1StepRate]\ maxDecel [expr 25000.0/$sv1StepRate]\
stepsPerX $sv1StepRate\ stepsPerX -$sv1StepRate\
absEnc 1\ absEnc 1\
absEncHome $sv1_Home\ absEncHome $sv1_Home\
cntsPerX 4096] cntsPerX [expr { 1024.0 / 0.635 / 2.0 }]]
#sv1 part aperture sv1 part aperture
#sv1 long_name sv1 sv1 long_name sv1
#sv1 softlowerlim -2 sv1 softlowerlim -0.2
#sv1 softupperlim 60 sv1 softupperlim 116
#sv1 home 0 sv1 home 0
# mc2: Slits Set AB2- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set) # mc2: Slits Set AB2- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
set sh1StepRate 25000 set sh1StepRate [expr { 25000 / 0.635 / 2.0 }]
#Motor sh1 $motor_driver_type [params \ Motor sh1 $motor_driver_type [params \
asyncqueue mc2\ asyncqueue mc2\
host mc2-pelican\ host mc2-pelican\
port pmc2-pelican\ port pmc2-pelican\
axis B\ axis B\
units mm\ units mm\
hardlowerlim -2\ hardlowerlim -3\
hardupperlim 50\ hardupperlim 90\
maxSpeed [expr 25000.0/$sh1StepRate]\ maxSpeed [expr 25000.0/$sh1StepRate]\
maxAccel [expr 25000.0/$sh1StepRate]\ maxAccel [expr 25000.0/$sh1StepRate]\
maxDecel [expr 25000.0/$sh1StepRate]\ maxDecel [expr 25000.0/$sh1StepRate]\
stepsPerX $sh1StepRate\ stepsPerX -$sh1StepRate\
absEnc 1\ absEnc 1\
absEncHome $sh1_Home\ absEncHome $sh1_Home\
cntsPerX 4096] cntsPerX [expr { 1024.0 / 0.635 / 2.0 }]]
#sh1 part aperture sh1 part aperture
#sh1 long_name sh1 sh1 long_name sh1
#sh1 softlowerlim -2 sh1 softlowerlim -3
#sh1 softupperlim 50 sh1 softupperlim 90
#sh1 home 0 sh1 home 0
# mc2: Slits Set AF1- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set) # mc2: Slits Set AF1- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
set sv2StepRate 25000 set sv2StepRate [expr { 25000 / 0.635 / 2.0 }]
#Motor sv2 $motor_driver_type [params \ Motor sv2 $motor_driver_type [params \
asyncqueue mc2\ asyncqueue mc2\
host mc2-pelican\ host mc2-pelican\
port pmc2-pelican\ port pmc2-pelican\
axis C\ axis C\
units mm\ units mm\
hardlowerlim -2\ hardlowerlim -2\
hardupperlim 40\ hardupperlim 80\
maxSpeed [expr 25000.0/$sv2StepRate]\ maxSpeed [expr 25000.0/$sv2StepRate]\
maxAccel [expr 25000.0/$sv2StepRate]\ maxAccel [expr 25000.0/$sv2StepRate]\
maxDecel [expr 25000.0/$sv2StepRate]\ maxDecel [expr 25000.0/$sv2StepRate]\
stepsPerX $sv2StepRate\ stepsPerX $sv2StepRate\
absEnc 1\ absEnc 1\
absEncHome $sv2_Home\ absEncHome $sv2_Home\
cntsPerX 4096] cntsPerX [expr { 1024.0 / 0.635 / 2.0 }]]
#sv2 part aperture sv2 part aperture
#sv2 long_name sv2 sv2 long_name sv2
#sv2 softlowerlim -2 sv2 softlowerlim -2
#sv2 softupperlim 40 sv2 softupperlim 80
#sv2 home 0 sv2 home 0
# mc2: Slits Set AF2- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set) # mc2: Slits Set AF2- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
set sh2StepRate 25000 set sh2StepRate [expr { 25000 / 0.635 / 2.0 }]
#Motor sh2 $motor_driver_type [params \ Motor sh2 $motor_driver_type [params \
asyncqueue mc2\ asyncqueue mc2\
host mc2-pelican\ host mc2-pelican\
port pmc2-pelican\ port pmc2-pelican\
axis D\ axis D\
units mm\ units mm\
hardlowerlim -2\ hardlowerlim -0.5\
hardupperlim 30\ hardupperlim 50\
maxSpeed [expr 25000.0/$sh2StepRate]\ maxSpeed [expr 25000.0/$sh2StepRate]\
maxAccel [expr 25000.0/$sh2StepRate]\ maxAccel [expr 25000.0/$sh2StepRate]\
maxDecel [expr 25000.0/$sh2StepRate]\ maxDecel [expr 25000.0/$sh2StepRate]\
stepsPerX $sh2StepRate\ stepsPerX -$sh2StepRate\
absEnc 1\ absEnc 1\
absEncHome $sh2_Home\ absEncHome $sh2_Home\
cntsPerX 4096] cntsPerX [expr { 1024.0 / 0.635 / 2.0 }]]
#sh2 part aperture sh2 part aperture
#sh2 long_name sh2 sh2 long_name sh2
#sh2 softlowerlim -2 sh2 softlowerlim -0.5
#sh2 softupperlim 30 sh2 softupperlim 50
#sh2 home 0 sh2 home 0
# mc2: Graphite filter rotation stage (post 1st slit and post 1st Fermi chopper) # mc2: Graphite filter rotation stage (post 1st slit and post 1st Fermi chopper)
set gomStepRate 25000 set gomStepRate [expr { 25000.0 / 2.0 }]
#Motor gom $motor_driver_type [params \ Motor gom $motor_driver_type [params \
asyncqueue mc2\ asyncqueue mc2\
host mc2-pelican\ host mc2-pelican\
port pmc2-pelican\ port pmc2-pelican\
axis E\ axis E\
units degrees\ units degrees\
hardlowerlim 0\ hardlowerlim -15\
hardupperlim 15\ hardupperlim 15\
maxSpeed [expr 50000.0/$gomStepRate]\ maxSpeed [expr 25000.0/$gomStepRate]\
maxAccel [expr 25000.0/$gomStepRate]\ maxAccel [expr 25000.0/$gomStepRate]\
maxDecel [expr 25000.0/$gomStepRate]\ maxDecel [expr 25000.0/$gomStepRate]\
stepsPerX $gomStepRate\ stepsPerX $gomStepRate\
absEnc 1\ absEnc 1\
absEncHome $gom_Home\ absEncHome $gom_Home\
cntsPerX 4096] cntsPerX [expr { 8192.0 / 2.0 }]]
#gom part sample gom part sample
#gom long_name gom gom long_name gom
#gom softlowerlim 0 gom softlowerlim -15
#gom softupperlim 15 gom softupperlim 15
#gom home 0 gom home 0
# mc2: Sample rotation correction - 10 deg rotation # mc2: Sample rotation correction - 10 deg rotation
set scorStepRate 25000 set scorStepRate [expr { 25000.0 * 100.0 / 360.0 }]
#Motor scor $motor_driver_type [params \ Motor scor $motor_driver_type [params \
asyncqueue mc2\ asyncqueue mc2\
host mc2-pelican\ host mc2-pelican\
port pmc2-pelican\ port pmc2-pelican\
@@ -393,18 +386,18 @@ set scorStepRate 25000
units degrees\ units degrees\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim 360\ hardupperlim 360\
maxSpeed [expr 50000.0/$scorStepRate]\ maxSpeed [expr 25000.0/$scorStepRate]\
maxAccel [expr 25000.0/$scorStepRate]\ maxAccel [expr 25000.0/$scorStepRate]\
maxDecel [expr 25000.0/$scorStepRate]\ maxDecel [expr 25000.0/$scorStepRate]\
stepsPerX $scorStepRate\ stepsPerX $scorStepRate\
absEnc 1\ absEnc 1\
absEncHome $scor_Home\ absEncHome $scor_Home\
cntsPerX 4096] cntsPerX -[expr { 8192.0 * 100.0 / 360.0 }]]
#scor part sample scor part sample
#scor long_name scor scor long_name scor
#scor softlowerlim 0 scor softlowerlim 0
#scor softupperlim 360 scor softupperlim 360
#scor home 0 scor home 0
############################ ############################
# Motor Controller 3 # Motor Controller 3
@@ -742,118 +735,138 @@ mom home 0
# #
# mc6: Radial Collimator -- Oscillator # mc6: Radial Collimator -- Oscillator
#Motor rco $motor_driver_type [params \ set rcoStepRate [expr { (1200.26 / 60.0) * (25000.0 / 360.0) * 49.0 }]
Motor rco $motor_driver_type [params \
asyncqueue mc6\ asyncqueue mc6\
host mc6-pelican\ host mc6-pelican\
port pmc6-pelican\ port pmc6-pelican\
axis A\ axis A\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim 180\ hardupperlim 0\
maxSpeed 50000\ maxSpeed [expr { 5000.0 / $rcoStepRate }]\
maxAccel 60000\ maxAccel [expr { 5000.0 / $rcoStepRate }]\
maxDecel 60000\ maxDecel [expr { 5000.0 / $rcoStepRate }]\
stepsPerX 4096\ stepsPerX $rcoStepRate\
absEnc 1\ absEnc 1\
absEncHome $rco_Home\ absEncHome $rco_Home\
cntsPerX 4096] cntsPerX [expr { (1200.26 / 60.0) * (8192.0 / 360.0) }]]
#rco part collimator rco part collimator
#rco long_name rco rco long_name rco
#rco softlowerlim 0 rco softlowerlim 0
#rco softupperlim 180 rco softupperlim 0
#rco home 0 rco home 0
# fix this motor
rco fixed 1
# mc6: Radial Collimator -- Z Translation # mc6: Radial Collimator -- Z Translation
#Motor rcz $motor_driver_type [params \ set rczStepRate [expr { 25000.0 * 100.0 / 10.0 }]
Motor rcz $motor_driver_type [params \
asyncqueue mc6\ asyncqueue mc6\
host mc6-pelican\ host mc6-pelican\
port pmc6-pelican\ port pmc6-pelican\
axis B\ axis B\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim 180\ hardupperlim 450\
maxSpeed 50000\ maxSpeed [expr { 250000 / $rczStepRate }]\
maxAccel 60000\ maxAccel [expr { 100000 / $rczStepRate }]\
maxDecel 60000\ maxDecel [expr { 100000 / $rczStepRate }]\
stepsPerX 4096\ stepsPerX $rczStepRate\
absEnc 1\ absEnc 1\
absEncHome $rcz_Home\ absEncHome $rcz_Home\
cntsPerX 4096] cntsPerX [expr { 8192.0 / 10.0 }]]
#rcz part collimator rcz part collimator
#rcz long_name rcz rcz long_name rcz
#rcz softlowerlim 0 rcz softlowerlim 0
#rcz softupperlim 180 rcz softupperlim 450
#rcz home 0 rcz home 0
# fix this motor
rcz fixed 1
# mc6: Beam Stop Stage - Rotation # mc6: Beam Stop Stage - Rotation
#Motor bsr $motor_driver_type [params \ set bsrStepRate [expr { 25000.0 / 2.0 }]
Motor bsr $motor_driver_type [params \
asyncqueue mc6\ asyncqueue mc6\
host mc6-pelican\ host mc6-pelican\
port pmc6-pelican\ port pmc6-pelican\
axis C\ axis C\
units degrees\ units degrees\
hardlowerlim 0\ hardlowerlim -150\
hardupperlim 180\ hardupperlim 180\
maxSpeed 50000\ maxSpeed [expr { 25000.0 / $bsrStepRate }]\
maxAccel 60000\ maxAccel [expr { 25000.0 / $bsrStepRate }]\
maxDecel 60000\ maxDecel [expr { 25000.0 / $bsrStepRate }]\
stepsPerX 4096\ stepsPerX $bsrStepRate\
absEnc 1\ absEnc 1\
absEncHome $bsr_Home\ absEncHome $bsr_Home\
cntsPerX 4096] cntsPerX [expr { 8192.0 / 2.0 }]]
#bsr part sample bsr part sample
#bsr long_name bsr bsr long_name bsr
#bsr softlowerlim 0 bsr softlowerlim -150
#bsr softupperlim 180 bsr softupperlim 180
#bsr home 0 bsr home 0
# fix this motor
bsr fixed 1
# mc6: 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 \ Motor gv1 $motor_driver_type [params \
asyncqueue mc6\ asyncqueue mc6\
host mc6-pelican\ host mc6-pelican\
port pmc6-pelican\ port pmc6-pelican\
axis E\ axis E\
units degrees\ units degrees\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim 180\ hardupperlim 0\
maxSpeed 50000\ maxSpeed 0\
maxAccel 60000\ maxAccel 0\
maxDecel 60000\ maxDecel 0\
stepsPerX 4096\ stepsPerX 1\
absEnc 1\ absEnc 1\
absEncHome $gv1_Home\ absEncHome $gv1_Home\
cntsPerX 4096] cntsPerX 1\
#gv1 part sample posit_count 2]
#gv1 long_name gv1 gv1 part sample
#gv1 softlowerlim 0 gv1 long_name gv1
#gv1 softupperlim 180 gv1 softlowerlim 0
#gv1 home 0 gv1 softupperlim 180
gv1 home 0
# 1:open, 2:closed
gv1 posit_1 33468000
gv1 posit_2 33221600
# fix the motor # fix the motor
#gv1 fixed -1 gv1 fixed 1
# mc6: 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 \ Motor gv2 $motor_driver_type [params \
asyncqueue mc6\ asyncqueue mc6\
host mc6-pelican\ host mc6-pelican\
port pmc6-pelican\ port pmc6-pelican\
axis F\ axis F\
units degrees\ units degrees\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim 180\ hardupperlim 0\
maxSpeed 30000\ maxSpeed 0\
maxAccel 60000\ maxAccel 0\
maxDecel 60000\ maxDecel 0\
stepsPerX 4096\ stepsPerX 1\
absEnc 1\ absEnc 1\
absEncHome $gv2_Home\ absEncHome $gv2_Home\
cntsPerX 4096] cntsPerX 1\
#gv2 part sample posit_count 2]
#gv2 long_name gv2 gv2 part sample
#gv2 softlowerlim 0 gv2 long_name gv2
#gv2 softupperlim 180 gv2 softlowerlim 0
#gv2 home 0 gv2 softupperlim 0
gv2 home 0
# 1:open, 2:closed
gv2 posit_1 33549541
gv2 posit_2 33549541
# fix the motor # fix the motor
#gv2 fixed -1 gv2 fixed 1
proc motor_set_sobj_attributes {} { proc motor_set_sobj_attributes {} {
} }