From 85d88a7bc6294c0f1f220503ff855bdbf202f90d Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Wed, 30 May 2012 14:09:27 +1000
Subject: [PATCH] WIP Commissioning refinement r3557 | dcl | 2012-05-30
 14:09:27 +1000 (Wed, 30 May 2012) | 1 line

---
 .../config/motors/motor_configuration.tcl     | 20 +++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
index 4813c23d..8f0ff67b 100644
--- a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
@@ -207,7 +207,7 @@ pom creep_offset 0.1
 
 # mc1: Sample/Detector Chamber Rotation (Detector)
 #set stthStepRate 66807.314
-set stthStepRate [expr { 25000 * 400.0 * (2 * 1800.0 / 400.0) / 360.0 }]
+set stthStepRate [expr { 0.5 * 25000 * 400.0 * (2 * 1800.0 / 400.0) / 360.0 }]
 
 Motor stth $motor_driver_type [params \
   asyncqueue mc1\
@@ -217,10 +217,10 @@ Motor stth $motor_driver_type [params \
   units degrees\
   hardlowerlim -60\
   hardupperlim 65\
-  maxSpeed [expr { 25000.0 / $stthStepRate }]\
-  maxAccel [expr {  5000.0 / $stthStepRate }]\
-  maxDecel [expr {  5000.0 / $stthStepRate }]\
-  stepsPerX [expr {0.75 * $stthStepRate}]\
+  maxSpeed [expr { 50000.0 / $stthStepRate }]\
+  maxAccel [expr { 50000.0 / $stthStepRate }]\
+  maxDecel [expr { 50000.0 / $stthStepRate }]\
+  stepsPerX $stthStepRate\
   absEnc 1\
   absEncHome $stth_Home\
   cntsPerX -[expr { 8192.0 / 360.0 }]]
@@ -231,7 +231,7 @@ stth softupperlim 65
 stth home 0
 stth Blockage_Thresh 5.0
 stth Blockage_Ratio 50.0
-stth Backlash_offset -0.100000
+stth Backlash_offset 0
 stth MotOffDelay 2000
 stth creep_offset 1
 stth creep_precision 0.05
@@ -759,8 +759,8 @@ Motor rco $motor_driver_type [params \
   port pmc6-pelican\
   axis A\
   units mm\
-  hardlowerlim 0\
-  hardupperlim 0\
+  hardlowerlim -2.4\
+  hardupperlim 1.9\
   maxSpeed [expr { 5000.0 / $rcoStepRate }]\
   maxAccel [expr { 5000.0 / $rcoStepRate }]\
   maxDecel [expr { 5000.0 / $rcoStepRate }]\
@@ -771,8 +771,8 @@ Motor rco $motor_driver_type [params \
   posit_count 3]
 rco part collimator
 rco long_name rco
-rco softlowerlim 0
-rco softupperlim 0
+rco softlowerlim -2.4
+rco softupperlim 1.9
 # 1:RevLimit, 2:Center, 3:FwdLim
 rco posit_1 33529987
 rco posit_2 33531098