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Use physical units for speeds and accelerations.

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r3147 | ffr | 2011-05-20 10:12:34 +1000 (Fri, 20 May 2011) | 1 line
This commit is contained in:
Ferdi Franceschini
2011-05-20 10:12:34 +10:00
committed by Douglas Clowes
parent e65cc662c6
commit 8b995f6d71
1 changed files with 90 additions and 90 deletions
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180
site_ansto/instrument/tas/config/motors/motor_configuration.tcl
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@@ -106,9 +106,9 @@ Motor mtilt $motor_driver_type [params \
units degrees\
hardlowerlim -5\
hardupperlim 5\
maxSpeed 50000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 2\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 80235\
@@ -131,9 +131,9 @@ Motor mtrans $motor_driver_type [params \
units mm\
hardlowerlim -10\
hardupperlim 195\
maxSpeed 50000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 2\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 743791\
@@ -153,9 +153,9 @@ Motor m2 $motor_driver_type [params \
units degrees\
hardlowerlim -32.5\
hardupperlim 53\
maxSpeed 50000\
maxAccel 5000\
maxDecel 5000\
maxSpeed 4\
maxAccel 0.4\
maxDecel 0.4\
stepsPerX 12500\
absEnc 1\
absEncHome 183787\
@@ -175,9 +175,9 @@ Motor a2 $motor_driver_type [params \
units degrees\
hardlowerlim -55\
hardupperlim 55\
maxSpeed 100000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 8\
maxAccel 2\
maxDecel 2\
stepsPerX 12500\
absEnc 1\
absEncHome 16093721\
@@ -205,9 +205,9 @@ Motor sgu $motor_driver_type [params \
units degrees\
hardlowerlim -18\
hardupperlim 19\
maxSpeed 50000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 2\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 7745445\
@@ -227,9 +227,9 @@ Motor sgl $motor_driver_type [params \
units degrees\
hardlowerlim -18\
hardupperlim 18\
maxSpeed 50000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 2\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 7499341\
@@ -249,9 +249,9 @@ Motor stu $motor_driver_type [params \
units mm\
hardlowerlim -15\
hardupperlim 15\
maxSpeed 50000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 2\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 7392945\
@@ -271,9 +271,9 @@ Motor stl $motor_driver_type [params \
units mm\
hardlowerlim -15\
hardupperlim 15\
maxSpeed 50000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 2\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 7582758\
@@ -293,9 +293,9 @@ Motor s1 $motor_driver_type [params \
units degrees\
hardlowerlim -185\
hardupperlim 124\
maxSpeed 50000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 4\
maxAccel 2\
maxDecel 2\
stepsPerX 12500\
absEnc 1\
absEncHome 10138002\
@@ -315,9 +315,9 @@ Motor s2 $motor_driver_type [params \
units degrees\
hardlowerlim -128\
hardupperlim 3\
maxSpeed 100000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 8\
maxAccel 2\
maxDecel 2\
stepsPerX 12500\
absEnc 1\
absEncHome 17827565\
@@ -337,9 +337,9 @@ Motor ahfocus $motor_driver_type [params \
units degrees\
hardlowerlim -360\
hardupperlim 360\
maxSpeed 25000\
maxAccel 12500\
maxDecel 12500\
maxSpeed 1\
maxAccel 0.5\
maxDecel 0.5\
stepsPerX 25000\
absEnc 1\
absEncHome 8361542\
@@ -359,9 +359,9 @@ Motor avfocus $motor_driver_type [params \
units degrees\
hardlowerlim -200\
hardupperlim 0\
maxSpeed 25000\
maxAccel 12500\
maxDecel 12500\
maxSpeed 1\
maxAccel 0.5\
maxDecel 0.5\
stepsPerX 25000\
absEnc 1\
absEncHome $samthet_Home\
@@ -381,9 +381,9 @@ Motor mvfocus $motor_driver_type [params \
units degrees\
hardlowerlim 0\
hardupperlim 240\
maxSpeed 12500\
maxAccel 6000\
maxDecel 6000\
maxSpeed 0.5\
maxAccel 0.24\
maxDecel 0.24\
stepsPerX 25000\
absEnc 1\
absEncHome 542614\
@@ -403,9 +403,9 @@ Motor mhfocus $motor_driver_type [params \
units degrees\
hardlowerlim -180\
hardupperlim 275\
maxSpeed 12500\
maxAccel 6000\
maxDecel 6000\
maxSpeed 0.5\
maxAccel 0.24\
maxDecel 0.24\
stepsPerX 25000\
absEnc 1\
absEncHome 5860595\
@@ -425,9 +425,9 @@ Motor m1 $motor_driver_type [params \
units degrees\
hardlowerlim 5\
hardupperlim 40\
maxSpeed 100000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 8\
maxAccel 2\
maxDecel 2\
stepsPerX 12500\
absEnc 1\
absEncHome 16293938\
@@ -447,9 +447,9 @@ Motor atilt $motor_driver_type [params \
units degrees\
hardlowerlim -5\
hardupperlim 5\
maxSpeed 50000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 2\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 7909774\
@@ -469,9 +469,9 @@ Motor atrans $motor_driver_type [params \
units mm\
hardlowerlim -1\
hardupperlim 22\
maxSpeed 50000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 2\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 23726439\
@@ -491,9 +491,9 @@ Motor a1 $motor_driver_type [params \
units degrees\
hardlowerlim -5.1\
hardupperlim 30\
maxSpeed 50000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 4\
maxAccel 2\
maxDecel 2\
stepsPerX 12500\
absEnc 1\
absEncHome 24771579\
@@ -513,9 +513,9 @@ Motor VS_left $motor_driver_type [params \
units mm\
hardlowerlim 2\
hardupperlim 35\
maxSpeed 12500\
maxAccel 25000\
maxDecel 25000\
maxSpeed 0.5\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 14574349\
@@ -535,9 +535,9 @@ Motor VS_right $motor_driver_type [params \
units mm\
hardlowerlim -35\
hardupperlim -2\
maxSpeed 12500\
maxAccel 25000\
maxDecel 25000\
maxSpeed 0.5\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 16251954\
@@ -557,9 +557,9 @@ Motor mfilter $motor_driver_type [params \
units degrees\
hardlowerlim 0\
hardupperlim 360\
maxSpeed 50000\
maxAccel 25000\
maxDecel 25000\
maxSpeed 4\
maxAccel 2\
maxDecel 2\
stepsPerX 12500\
absEnc 1\
absEncHome $samthet_Home\
@@ -579,9 +579,9 @@ Motor collimator $motor_driver_type [params \
units mm\
hardlowerlim -112\
hardupperlim 112\
maxSpeed 12500\
maxAccel 25000\
maxDecel 25000\
maxSpeed 0.5\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome $samthet_Home\
@@ -601,9 +601,9 @@ Motor ps_right $motor_driver_type [params \
units degrees\
hardlowerlim -27\
hardupperlim -2\
maxSpeed 30000\
maxAccel 60000\
maxDecel 60000\
maxSpeed 1.2\
maxAccel 2.4\
maxDecel 2.4\
stepsPerX 25000\
absEnc 1\
absEncHome 0\
@@ -623,9 +623,9 @@ Motor ps_left $motor_driver_type [params \
units degrees\
hardlowerlim -27\
hardupperlim -2\
maxSpeed 30000\
maxAccel 60000\
maxDecel 60000\
maxSpeed 1.2\
maxAccel 2.4\
maxDecel 2.4\
stepsPerX 25000\
absEnc 1\
absEncHome 0\
@@ -645,9 +645,9 @@ Motor ps_top $motor_driver_type [params \
units degrees\
hardlowerlim -200\
hardupperlim -2\
maxSpeed 30000\
maxAccel 60000\
maxDecel 60000\
maxSpeed 1.2\
maxAccel 2.4\
maxDecel 2.4\
stepsPerX 25000\
absEnc 1\
absEncHome 0\
@@ -667,9 +667,9 @@ Motor ps_bottom $motor_driver_type [params \
units degrees\
hardlowerlim -200\
hardupperlim -2\
maxSpeed 30000\
maxAccel 60000\
maxDecel 60000\
maxSpeed 1.2\
maxAccel 2.4\
maxDecel 2.4\
stepsPerX 25000\
absEnc 1\
absEncHome 0\
@@ -689,9 +689,9 @@ Motor pa_right $motor_driver_type [params \
units degrees\
hardlowerlim -26\
hardupperlim 2\
maxSpeed 30000\
maxAccel 60000\
maxDecel 60000\
maxSpeed 1.2\
maxAccel 2.4\
maxDecel 2.4\
stepsPerX 25000\
absEnc 1\
absEncHome 0\
@@ -711,9 +711,9 @@ Motor pa_left $motor_driver_type [params \
units degrees\
hardlowerlim -26\
hardupperlim 2\
maxSpeed 30000\
maxAccel 60000\
maxDecel 60000\
maxSpeed 1.2\
maxAccel 2.4\
maxDecel 2.4\
stepsPerX 25000\
absEnc 1\
absEncHome 0\
@@ -733,9 +733,9 @@ Motor pa_top $motor_driver_type [params \
units degrees\
hardlowerlim -200\
hardupperlim 0\
maxSpeed 30000\
maxAccel 60000\
maxDecel 60000\
maxSpeed 1.2\
maxAccel 2.4\
maxDecel 2.4\
stepsPerX 25000\
absEnc 1\
absEncHome 0\
@@ -755,9 +755,9 @@ Motor pa_bottom $motor_driver_type [params \
units degrees\
hardlowerlim -200\
hardupperlim 0\
maxSpeed 30000\
maxAccel 60000\
maxDecel 60000\
maxSpeed 1.2\
maxAccel 2.4\
maxDecel 2.4\
stepsPerX 25000\
absEnc 1\
absEncHome 0\