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WIP Commissioning refinement

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r3557 | dcl | 2012-05-30 14:09:27 +1000 (Wed, 30 May 2012) | 1 line
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Douglas Clowes
2012-05-30 14:09:27 +10:00
parent ac494897c6
commit 85d88a7bc6
1 changed files with 10 additions and 10 deletions
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20
site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
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@@ -207,7 +207,7 @@ pom creep_offset 0.1
# mc1: Sample/Detector Chamber Rotation (Detector) # mc1: Sample/Detector Chamber Rotation (Detector)
#set stthStepRate 66807.314 #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 \ Motor stth $motor_driver_type [params \
asyncqueue mc1\ asyncqueue mc1\
@@ -217,10 +217,10 @@ Motor stth $motor_driver_type [params \
units degrees\ units degrees\
hardlowerlim -60\ hardlowerlim -60\
hardupperlim 65\ hardupperlim 65\
maxSpeed [expr { 25000.0 / $stthStepRate }]\ maxSpeed [expr { 50000.0 / $stthStepRate }]\
maxAccel [expr { 5000.0 / $stthStepRate }]\ maxAccel [expr { 50000.0 / $stthStepRate }]\
maxDecel [expr { 5000.0 / $stthStepRate }]\ maxDecel [expr { 50000.0 / $stthStepRate }]\
stepsPerX [expr {0.75 * $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 }]]
@@ -231,7 +231,7 @@ stth softupperlim 65
stth home 0 stth home 0
stth Blockage_Thresh 5.0 stth Blockage_Thresh 5.0
stth Blockage_Ratio 50.0 stth Blockage_Ratio 50.0
stth Backlash_offset -0.100000 stth Backlash_offset 0
stth MotOffDelay 2000 stth MotOffDelay 2000
stth creep_offset 1 stth creep_offset 1
stth creep_precision 0.05 stth creep_precision 0.05
@@ -759,8 +759,8 @@ Motor rco $motor_driver_type [params \
port pmc6-pelican\ port pmc6-pelican\
axis A\ axis A\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim -2.4\
hardupperlim 0\ hardupperlim 1.9\
maxSpeed [expr { 5000.0 / $rcoStepRate }]\ maxSpeed [expr { 5000.0 / $rcoStepRate }]\
maxAccel [expr { 5000.0 / $rcoStepRate }]\ maxAccel [expr { 5000.0 / $rcoStepRate }]\
maxDecel [expr { 5000.0 / $rcoStepRate }]\ maxDecel [expr { 5000.0 / $rcoStepRate }]\
@@ -771,8 +771,8 @@ Motor rco $motor_driver_type [params \
posit_count 3] posit_count 3]
rco part collimator rco part collimator
rco long_name rco rco long_name rco
rco softlowerlim 0 rco softlowerlim -2.4
rco softupperlim 0 rco softupperlim 1.9
# 1:RevLimit, 2:Center, 3:FwdLim # 1:RevLimit, 2:Center, 3:FwdLim
rco posit_1 33529987 rco posit_1 33529987
rco posit_2 33531098 rco posit_2 33531098