Add speed acceleration and descriptive information sourced from Dan's spreadsheet.

site_ansto/instrument/bilby/config/motors/Bilby_Motion_control_axes.csv

@@ -1,46 +0,0 @@
-ap1_cnts_per_x,364.088888888889
-ap1_steps_per_x,35555.5555555556
-ap2_cnts_per_x,364.088888888889
-ap2_steps_per_x,35555.5555555556
-ap3_cnts_per_x,364.088888888889
-ap3_steps_per_x,35555.5555555556
-ap4_cnts_per_x,364.088888888889
-ap4_steps_per_x,35555.5555555556
-ap5_cnts_per_x,364.088888888889
-ap5_steps_per_x,35555.5555555556
-ap6_cnts_per_x,364.088888888889
-ap6_steps_per_x,35555.5555555556
-ap7_cnts_per_x,364.088888888889
-ap7_steps_per_x,35555.5555555556
-ap8_cnts_per_x,364.088888888889
-ap8_steps_per_x,35555.5555555556
-col1_cnts_per_x,2048
-col1_steps_per_x,150000
-col2_cnts_per_x,2048
-col2_steps_per_x,150000
-col3_cnts_per_x,2048
-col3_steps_per_x,150000
-col4_cnts_per_x,4096
-col4_steps_per_x,150000
-col5_cnts_per_x,2048
-col5_steps_per_x,150000
-col6_cnts_per_x,2048
-col6_steps_per_x,150000
-col7_cnts_per_x,2048
-col7_steps_per_x,150000
-col8_cnts_per_x,2048
-col8_steps_per_x,150000
-lat_cnts_per_x,1365.33333333333
-lat_steps_per_x,4166.66666666667
-mirr1_cnts_per_x,12288
-mirr1_steps_per_x,37500
-mirr2_cnts_per_x,12288
-mirr2_steps_per_x,37500
-ss1d_cnts_per_x,16384
-ss1d_steps_per_x,25000
-ss1l_cnts_per_x,16384
-ss1l_steps_per_x,25000
-ss1r_cnts_per_x,16384
-ss1r_steps_per_x,25000
-ss1u_cnts_per_x,16384
-ss1u_steps_per_x,25000

site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv

@@ -1,77 +1,166 @@
-ap1_100X100,110608
+ap1_100X40,110608
 ap1_40X40,102604
 ap1_axis,A
+ap1_axis_number,1
+ap1_cnts_per_x,364.088888888889
 ap1_D10,86208
 ap1_D20,91680
 ap1_D40,97116
+ap1_description,Aperture Selector (Collimator SEG 1 Start) 
+ap1_dflt_accel_steps,50000
+ap1_dflt_decel_steps,50000
+ap1_dflt_speed_steps,50000
 ap1_fwd_enc_lim,112188
+ap1_maxaccel,2.8125
+ap1_maxdecel,2.8125
+ap1_maxspeed,2.8125
 ap1_mc,mc1
 ap1_rev_enc_lim,73952
-ap2_100X100,93637
+ap1_steps_per_x,35555.5555555556
+ap2_100X40,93637
 ap2_40X40,85637
 ap2_axis,B
+ap2_axis_number,2
+ap2_cnts_per_x,364.088888888889
 ap2_D10,69193
 ap2_D20,74677
 ap2_D40,80149
+ap2_description,Aperture Selector (COLLIMATION SEG 2)
+ap2_dflt_accel_steps,50000
+ap2_dflt_decel_steps,50000
+ap2_dflt_speed_steps,50000
 ap2_fwd_enc_lim,95461
+ap2_maxaccel,2.8125
+ap2_maxdecel,2.8125
+ap2_maxspeed,2.8125
 ap2_mc,mc1
 ap2_rev_enc_lim,54293
-ap3_100X100,49584
+ap2_steps_per_x,35555.5555555556
+ap3_100X40,49584
 ap3_40X40,41532
 ap3_axis,C
+ap3_axis_number,3
+ap3_cnts_per_x,364.088888888889
 ap3_D10,25168
 ap3_D20,30656
 ap3_D40,36080
+ap3_description,Aperture Selector (COLLIMATION SEG 3)
+ap3_dflt_accel_steps,50000
+ap3_dflt_decel_steps,50000
+ap3_dflt_speed_steps,50000
 ap3_fwd_enc_lim,51616
+ap3_maxaccel,2.8125
+ap3_maxdecel,2.8125
+ap3_maxspeed,2.8125
 ap3_mc,mc1
 ap3_rev_enc_lim,13644
-ap4_100X100,43506
+ap3_steps_per_x,35555.5555555556
+ap4_100X40,43506
 ap4_40X40,35490
 ap4_axis,D
+ap4_axis_number,4
+ap4_cnts_per_x,364.088888888889
 ap4_D10,19118
 ap4_D20,24578
 ap4_D40,30038
+ap4_description,Aperture Selector (COLLIMATION SEG 4)
+ap4_dflt_accel_steps,50000
+ap4_dflt_decel_steps,50000
+ap4_dflt_speed_steps,50000
 ap4_fwd_enc_lim,45234
+ap4_maxaccel,2.8125
+ap4_maxdecel,2.8125
+ap4_maxspeed,2.8125
 ap4_mc,mc1
 ap4_rev_enc_lim,5666
-ap5_100X100,109480
+ap4_steps_per_x,35555.5555555556
+ap5_100X40,109480
 ap5_40X40,101476
 ap5_axis,E
+ap5_axis_number,5
+ap5_cnts_per_x,364.088888888889
 ap5_D10,85076
 ap5_D20,90552
 ap5_D40,96008
+ap5_description,Aperture Selector (COLLIMATION SEG 5)
+ap5_dflt_accel_steps,50000
+ap5_dflt_decel_steps,50000
+ap5_dflt_speed_steps,50000
 ap5_fwd_enc_lim,110696
+ap5_maxaccel,2.8125
+ap5_maxdecel,2.8125
+ap5_maxspeed,2.8125
 ap5_mc,mc1
 ap5_rev_enc_lim,72824
-ap6_100X100,110499
+ap5_steps_per_x,35555.5555555556
+ap6_100X40,110499
 ap6_40X40,102419
 ap6_axis,F
+ap6_axis_number,6
+ap6_cnts_per_x,364.088888888889
 ap6_D10,86097
 ap6_D20,91587
 ap6_D40,97011
+ap6_description,Aperture Selector (COLLIMATION SEG 6)
+ap6_dflt_accel_steps,50000
+ap6_dflt_decel_steps,50000
+ap6_dflt_speed_steps,50000
 ap6_fwd_enc_lim,112435
+ap6_maxaccel,2.8125
+ap6_maxdecel,2.8125
+ap6_maxspeed,2.8125
 ap6_mc,mc1
 ap6_rev_enc_lim,72115
-ap7_100X100,110371
+ap6_steps_per_x,35555.5555555556
+ap7_100X40,110371
 ap7_40X40,102343
 ap7_axis,G
+ap7_axis_number,7
+ap7_cnts_per_x,364.088888888889
 ap7_D10,85929
 ap7_D20,91399
 ap7_D40,96871
+ap7_description,Aperture Selector (COLLIMATION SEG 7)
+ap7_dflt_accel_steps,50000
+ap7_dflt_decel_steps,50000
+ap7_dflt_speed_steps,50000
 ap7_fwd_enc_lim,112391
+ap7_maxaccel,2.8125
+ap7_maxdecel,2.8125
+ap7_maxspeed,2.8125
 ap7_mc,mc1
 ap7_rev_enc_lim,74299
-ap8_100X100,46069
+ap7_steps_per_x,35555.5555555556
+ap8_100X40,46069
 ap8_40X40,38027
 ap8_axis,H
+ap8_axis_number,8
+ap8_cnts_per_x,364.088888888889
 ap8_D10,21657
 ap8_D20,27115
 ap8_D40,32629
+ap8_description,Aperture Selector (Collimator SEG 8 End)
+ap8_dflt_accel_steps,50000
+ap8_dflt_decel_steps,50000
+ap8_dflt_speed_steps,50000
 ap8_fwd_enc_lim,6791
+ap8_maxaccel,2.8125
+ap8_maxdecel,2.8125
+ap8_maxspeed,2.8125
 ap8_mc,mc1
 ap8_rev_enc_lim,47639
+ap8_steps_per_x,35555.5555555556
 att_axis,A
+att_axis_number,25
+att_cnts_per_x,-1365.33333333333
+att_description,4 Position linear Attenuator
+att_dflt_accel_steps,15000
+att_dflt_decel_steps,15000
+att_dflt_speed_steps,15000
 att_fwd_enc_lim,33394989
+att_maxaccel,3.6
+att_maxdecel,3.6
+att_maxspeed,3.6
 att_mc,mc4
 att_pos1,33373433
 att_pos2,33291514
@@ -79,62 +168,283 @@ att_pos3,33209595
 att_pos4,33127674
 att_pos5,33045750
 att_rev_enc_lim,33021197
-col1_aperture,541261
+att_steps_per_x,-4166.66666666667
+cdd_axis,F
+cdd_axis_number,62
+cdd_cnts_per_x,32768
+cdd_description,CURTAIN DETECTOR BOTTOM TRANSLATION
+cdd_dflt_accel_steps,25000
+cdd_dflt_decel_steps,25000
+cdd_dflt_speed_steps,150000
+cdd_fwd_enc_lim,15618875
+cdd_maxaccel,8
+cdd_maxdecel,8
+cdd_maxspeed,8
+cdd_mc,mc8
+cdd_rev_enc_lim,4159255
+cdd_steps_per_x,100000
+cdl_axis,C
+cdl_axis_number,59
+cdl_cnts_per_x,32768
+cdl_description,CURTAIN DETECTOR WEST TRANSLATION
+cdl_dflt_accel_steps,25000
+cdl_dflt_decel_steps,25000
+cdl_dflt_speed_steps,150000
+cdl_fwd_enc_lim,17466632
+cdl_maxaccel,8
+cdl_maxdecel,8
+cdl_maxspeed,8
+cdl_mc,mc8
+cdl_rev_enc_lim,5769621
+cdl_steps_per_x,100000
+cdr_axis,D
+cdr_axis_number,60
+cdr_cnts_per_x,32768
+cdr_description,CURTAIN DETECTOR EAST TRANSLATION
+cdr_dflt_accel_steps,25000
+cdr_dflt_decel_steps,25000
+cdr_dflt_speed_steps,150000
+cdr_fwd_enc_lim,16104612
+cdr_maxaccel,8
+cdr_maxdecel,8
+cdr_maxspeed,8
+cdr_mc,mc8
+cdr_rev_enc_lim,4371043
+cdr_steps_per_x,100000
+cdu_axis,E
+cdu_axis_number,61
+cdu_cnts_per_x,32768
+cdu_description,CURTAIN DETECTOR TOP TRANSLATION
+cdu_dflt_accel_steps,25000
+cdu_dflt_decel_steps,25000
+cdu_dflt_speed_steps,150000
+cdu_fwd_enc_lim,33499670
+cdu_maxaccel,8
+cdu_maxdecel,8
+cdu_maxspeed,8
+cdu_mc,mc8
+cdu_rev_enc_lim,21804679
+cdu_steps_per_x,100000
 col1_axis,A
+col1_axis_number,9
+col1_cnts_per_x,2048
+col1_description,Collimator Trans (Col SEG 1) VH
+col1_dflt_accel_steps,50000
+col1_dflt_decel_steps,50000
+col1_dflt_speed_steps,100000
+col1_empty,541261
 col1_fwd_enc_lim,557470
 col1_guide,262369
+col1_maxaccel,0.833333333333333
+col1_maxdecel,0.833333333333333
+col1_maxspeed,0.833333333333333
 col1_mc,mc2
 col1_rev_enc_lim,3902
-col2_aperture,546816
+col1_steps_per_x,150000
 col2_axis,B
+col2_axis_number,10
+col2_cnts_per_x,2048
+col2_description,Collimator Trans (Col SEG 2) VH
+col2_dflt_accel_steps,50000
+col2_dflt_decel_steps,50000
+col2_dflt_speed_steps,100000
+col2_empty,546816
 col2_fwd_enc_lim,564598
 col2_guide,273591
+col2_maxaccel,0.833333333333333
+col2_maxdecel,0.833333333333333
+col2_maxspeed,0.833333333333333
 col2_mc,mc2
 col2_rev_enc_lim,9598
-col3_aperture,558462
+col2_steps_per_x,150000
 col3_axis,C
+col3_axis_number,11
+col3_cnts_per_x,2048
+col3_description,Collimator Trans (Col SEG 3) VH
+col3_dflt_accel_steps,50000
+col3_dflt_decel_steps,50000
+col3_dflt_speed_steps,100000
+col3_empty,558462
 col3_fwd_enc_lim,578556
 col3_guide,287471
+col3_maxaccel,0.833333333333333
+col3_maxdecel,0.833333333333333
+col3_maxspeed,0.833333333333333
 col3_mc,mc2
 col3_rev_enc_lim,29466
-col4_aperture,1062105
+col3_steps_per_x,150000
 col4_axis,D
+col4_axis_number,12
+col4_cnts_per_x,4096
+col4_description,Collimator Trans (Col SEG 4) VH
+col4_dflt_accel_steps,50000
+col4_dflt_decel_steps,50000
+col4_dflt_speed_steps,100000
+col4_empty,1062105
 col4_fwd_enc_lim,1116447
 col4_guide,539261
+col4_maxaccel,0.833333333333333
+col4_maxdecel,0.833333333333333
+col4_maxspeed,0.833333333333333
 col4_mc,mc2
 col4_rev_enc_lim,12861
-col5_aperture,904072
+col4_steps_per_x,150000
 col5_axis,E
+col5_axis_number,13
+col5_cnts_per_x,2048
+col5_description,Collimator Trans (Col SEG 5) VH
+col5_dflt_accel_steps,50000
+col5_dflt_decel_steps,50000
+col5_dflt_speed_steps,100000
+col5_empty,904072
 col5_fwd_enc_lim,928235
 col5_guide,644380
+col5_maxaccel,0.833333333333333
+col5_maxdecel,0.833333333333333
+col5_maxspeed,0.833333333333333
 col5_mc,mc2
 col5_rev_enc_lim,377801
-col6_aperture,721132
+col5_steps_per_x,150000
 col6_axis,F
+col6_axis_number,14
+col6_cnts_per_x,2048
+col6_description,Collimator Trans (Col SEG 6) VH
+col6_dflt_accel_steps,50000
+col6_dflt_decel_steps,50000
+col6_dflt_speed_steps,100000
+col6_empty,721132
 col6_fwd_enc_lim,747130
 col6_guide,457285
+col6_maxaccel,0.833333333333333
+col6_maxdecel,0.833333333333333
+col6_maxspeed,0.833333333333333
 col6_mc,mc2
 col6_rev_enc_lim,191508
-col7_aperture,555984
+col6_steps_per_x,150000
 col7_axis,G
+col7_axis_number,15
+col7_cnts_per_x,2048
+col7_description,Collimator Trans (Col SEG 7) VH
+col7_dflt_accel_steps,50000
+col7_dflt_decel_steps,50000
+col7_dflt_speed_steps,100000
+col7_empty,555984
 col7_fwd_enc_lim,577633
 col7_guide,288216
+col7_maxaccel,0.833333333333333
+col7_maxdecel,0.833333333333333
+col7_maxspeed,0.833333333333333
 col7_mc,mc2
 col7_rev_enc_lim,24810
-col8_aperture,538544
+col7_steps_per_x,150000
 col8_axis,H
+col8_axis_number,16
+col8_cnts_per_x,2048
+col8_description,Collimator Trans (Col SEG 8) VH
+col8_dflt_accel_steps,50000
+col8_dflt_decel_steps,50000
+col8_dflt_speed_steps,100000
+col8_empty,538544
 col8_fwd_enc_lim,561091
 col8_guide,273474
+col8_maxaccel,0.833333333333333
+col8_maxdecel,0.833333333333333
+col8_maxspeed,0.833333333333333
 col8_mc,mc2
 col8_rev_enc_lim,12893
+col8_steps_per_x,150000
+det_axis,B
+det_axis_number,58
+det_cnts_per_x,524.288
+det_description,CURTAIN DETECTOR CARRIAGE Y TRANS
+det_dflt_accel_steps,25000
+det_dflt_decel_steps,25000
+det_dflt_speed_steps,100000
+det_fwd_enc_lim,0
+det_maxaccel,25
+det_maxdecel,25
+det_maxspeed,25
+det_mc,mc8
+det_rev_enc_lim,0
+det_steps_per_x,3900
 sdh_5a_in,1535698
 sdh_5b_in,3747542
 sdh_axis,B
+sdh_axis_number,26
+sdh_cnts_per_x,12288
+sdh_description,SDH Box
 sdh_fwd_enc_lim,1189505
 sdh_mc,mc4
 sdh_rev_enc_lim,4166803
+sdh_steps_per_x,37500
+ss1d_axis,D
+ss1d_axis_number,20
+ss1d_cnts_per_x,-16384
+ss1d_description,Slit System 1 - Z DOWN
+ss1d_dflt_accel_steps,25000
+ss1d_dflt_decel_steps,25000
+ss1d_dflt_speed_steps,25000
+ss1d_fwd_enc_lim,31525131
+ss1d_maxaccel,1
+ss1d_maxdecel,1
+ss1d_maxspeed,1
+ss1d_mc,mc3
+ss1d_rev_enc_lim,33398312
+ss1d_steps_per_x,50000
+ss1l_axis,A
+ss1l_axis_number,17
+ss1l_cnts_per_x,16384
+ss1l_description,Slit System 1 - X WEST
+ss1l_dflt_accel_steps,25000
+ss1l_dflt_decel_steps,25000
+ss1l_dflt_speed_steps,25000
+ss1l_fwd_enc_lim,31524107
+ss1l_maxaccel,1
+ss1l_maxdecel,1
+ss1l_maxspeed,1
+ss1l_mc,mc3
+ss1l_rev_enc_lim,32637740
+ss1l_steps_per_x,-50000
+ss1r_axis,C
+ss1r_axis_number,19
+ss1r_cnts_per_x,16384
+ss1r_description,Slit System 1 - X EAST
+ss1r_dflt_accel_steps,25000
+ss1r_dflt_decel_steps,25000
+ss1r_dflt_speed_steps,25000
+ss1r_fwd_enc_lim,32248545
+ss1r_maxaccel,1
+ss1r_maxdecel,1
+ss1r_maxspeed,1
+ss1r_mc,mc3
+ss1r_rev_enc_lim,33421848
+ss1r_steps_per_x,-50000
+ss1u_axis,B
+ss1u_axis_number,18
+ss1u_cnts_per_x,-16384
+ss1u_description,Slit System 1 - Z UP
+ss1u_dflt_accel_steps,25000
+ss1u_dflt_decel_steps,25000
+ss1u_dflt_speed_steps,25000
+ss1u_fwd_enc_lim,31434607
+ss1u_maxaccel,1
+ss1u_maxdecel,1
+ss1u_maxspeed,1
+ss1u_mc,mc3
+ss1u_rev_enc_lim,33297987
+ss1u_steps_per_x,50000
 vs_axis,D
+vs_axis_number,28
+vs_cnts_per_x,12288
+vs_description,Velocity Selector Trans
+vs_dflt_accel_steps,15000
+vs_dflt_decel_steps,50000
+vs_dflt_speed_steps,50000
 vs_fwd_enc_lim,406690
 vs_glass_in,741128
+vs_maxaccel,1.33333333333333
+vs_maxdecel,1.33333333333333
+vs_maxspeed,1.33333333333333
 vs_mc,mc4
 vs_rev_enc_lim,3789130
+vs_steps_per_x,37500

site_ansto/instrument/bilby/config/motors/README.TXT

@@ -1,6 +1,5 @@
 The generated_motor_configuration.tcl file was generated from the following CSV files,
 
-Bilby_Motion_control_axes.csv: Extracted from spreadsheet of the same name
 Bilby_motion_control_commissioning_checklist.csv: Extracted from spreadsheet of the same name
 hdb_info.csv: Some parameters for hipadaba tree. Hand written.
 sicsmot_attlist.csv: Extra parameters generated by the genmotconf.tcl script to complete the motor configurations.

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

@@ -1,15 +1,13 @@
 #### SICS motor driver configuration ####
-# Generated by: ../../../util/genmotconf.tcl Bilby_Motion_control_axes.csv Bilby_motion_control_commissioning_checklist.csv hdb_info.csv sicsmot_attlist.csv userdef_attlist.csv
+# Generated by: ../../../util/genmotconf.tcl Bilby_motion_control_commissioning_checklist.csv hdb_info.csv sicsmot_attlist.csv userdef_attlist.csv
 # Generated from the following files,
-# file1: Bilby_Motion_control_axes.csv
-# file2: Bilby_motion_control_commissioning_checklist.csv
-# file3: hdb_info.csv
-# file4: sicsmot_attlist.csv
-# file5: userdef_attlist.csv
+# file1: Bilby_motion_control_commissioning_checklist.csv
+# file2: hdb_info.csv
+# file3: sicsmot_attlist.csv
+# file4: userdef_attlist.csv
 
 # Load motor driver configuration parameters
 set flist [list\
-              {Bilby_Motion_control_axes.csv}\
               {Bilby_motion_control_commissioning_checklist.csv}\
               {hdb_info.csv}\
               {sicsmot_attlist.csv}\
@@ -39,12 +37,16 @@ if {$sim_mode == true} {
 }
 
 if {$sim_mode == false} {
-  MakeAsyncQueue mc4 DMC2280 [dict get $::MOTOR_HOSTPORT MC4 HOST] [dict get $::MOTOR_HOSTPORT MC4 PORT]
   MakeAsyncQueue mc1 DMC2280 [dict get $::MOTOR_HOSTPORT MC1 HOST] [dict get $::MOTOR_HOSTPORT MC1 PORT]
   MakeAsyncQueue mc2 DMC2280 [dict get $::MOTOR_HOSTPORT MC2 HOST] [dict get $::MOTOR_HOSTPORT MC2 PORT]
+  MakeAsyncQueue mc3 DMC2280 [dict get $::MOTOR_HOSTPORT MC3 HOST] [dict get $::MOTOR_HOSTPORT MC3 PORT]
+  MakeAsyncQueue mc4 DMC2280 [dict get $::MOTOR_HOSTPORT MC4 HOST] [dict get $::MOTOR_HOSTPORT MC4 PORT]
+  MakeAsyncQueue mc8 DMC2280 [dict get $::MOTOR_HOSTPORT MC8 HOST] [dict get $::MOTOR_HOSTPORT MC8 PORT]
 }
 
 # ap1 configuration
+# Aperture Selector (Collimator SEG 1 Start) 
+# Axis number 1
 Motor ap1 $motor_driver_type [params\
   asyncqueue mc1\
   axis A\
@@ -60,7 +62,7 @@ Motor ap1 $motor_driver_type [params\
   posit_2 $ap1_D20\
   posit_3 $ap1_D40\
   posit_4 $ap1_40X40\
-  posit_5 $ap1_100X100\
+  posit_5 $ap1_100X40\
   absEnc 1\
   absEncHome $ap1_absenchome\
   cntsPerX $ap1_cnts_per_x]
@@ -69,8 +71,13 @@ ap1 softupperlim $ap1_fwd_lim
 ap1 home $ap1_home
 ap1 part $ap1_part
 ap1 long_name ap1
+ap1 speed $ap1_speed
+ap1 accel $ap1_accel
+ap1 decel $ap1_decel
 
 # ap2 configuration
+# Aperture Selector (COLLIMATION SEG 2)
+# Axis number 2
 Motor ap2 $motor_driver_type [params\
   asyncqueue mc1\
   axis B\
@@ -86,7 +93,7 @@ Motor ap2 $motor_driver_type [params\
   posit_2 $ap2_D20\
   posit_3 $ap2_D40\
   posit_4 $ap2_40X40\
-  posit_5 $ap2_100X100\
+  posit_5 $ap2_100X40\
   absEnc 1\
   absEncHome $ap2_absenchome\
   cntsPerX $ap2_cnts_per_x]
@@ -95,8 +102,13 @@ ap2 softupperlim $ap2_fwd_lim
 ap2 home $ap2_home
 ap2 part $ap2_part
 ap2 long_name ap2
+ap2 speed $ap2_speed
+ap2 accel $ap2_accel
+ap2 decel $ap2_decel
 
 # ap3 configuration
+# Aperture Selector (COLLIMATION SEG 3)
+# Axis number 3
 Motor ap3 $motor_driver_type [params\
   asyncqueue mc1\
   axis C\
@@ -112,7 +124,7 @@ Motor ap3 $motor_driver_type [params\
   posit_2 $ap3_D20\
   posit_3 $ap3_D40\
   posit_4 $ap3_40X40\
-  posit_5 $ap3_100X100\
+  posit_5 $ap3_100X40\
   absEnc 1\
   absEncHome $ap3_absenchome\
   cntsPerX $ap3_cnts_per_x]
@@ -121,8 +133,13 @@ ap3 softupperlim $ap3_fwd_lim
 ap3 home $ap3_home
 ap3 part $ap3_part
 ap3 long_name ap3
+ap3 speed $ap3_speed
+ap3 accel $ap3_accel
+ap3 decel $ap3_decel
 
 # ap4 configuration
+# Aperture Selector (COLLIMATION SEG 4)
+# Axis number 4
 Motor ap4 $motor_driver_type [params\
   asyncqueue mc1\
   axis D\
@@ -138,7 +155,7 @@ Motor ap4 $motor_driver_type [params\
   posit_2 $ap4_D20\
   posit_3 $ap4_D40\
   posit_4 $ap4_40X40\
-  posit_5 $ap4_100X100\
+  posit_5 $ap4_100X40\
   absEnc 1\
   absEncHome $ap4_absenchome\
   cntsPerX $ap4_cnts_per_x]
@@ -147,8 +164,13 @@ ap4 softupperlim $ap4_fwd_lim
 ap4 home $ap4_home
 ap4 part $ap4_part
 ap4 long_name ap4
+ap4 speed $ap4_speed
+ap4 accel $ap4_accel
+ap4 decel $ap4_decel
 
 # ap5 configuration
+# Aperture Selector (COLLIMATION SEG 5)
+# Axis number 5
 Motor ap5 $motor_driver_type [params\
   asyncqueue mc1\
   axis E\
@@ -164,7 +186,7 @@ Motor ap5 $motor_driver_type [params\
   posit_2 $ap5_D20\
   posit_3 $ap5_D40\
   posit_4 $ap5_40X40\
-  posit_5 $ap5_100X100\
+  posit_5 $ap5_100X40\
   absEnc 1\
   absEncHome $ap5_absenchome\
   cntsPerX $ap5_cnts_per_x]
@@ -173,8 +195,13 @@ ap5 softupperlim $ap5_fwd_lim
 ap5 home $ap5_home
 ap5 part $ap5_part
 ap5 long_name ap5
+ap5 speed $ap5_speed
+ap5 accel $ap5_accel
+ap5 decel $ap5_decel
 
 # ap6 configuration
+# Aperture Selector (COLLIMATION SEG 6)
+# Axis number 6
 Motor ap6 $motor_driver_type [params\
   asyncqueue mc1\
   axis F\
@@ -190,7 +217,7 @@ Motor ap6 $motor_driver_type [params\
   posit_2 $ap6_D20\
   posit_3 $ap6_D40\
   posit_4 $ap6_40X40\
-  posit_5 $ap6_100X100\
+  posit_5 $ap6_100X40\
   absEnc 1\
   absEncHome $ap6_absenchome\
   cntsPerX $ap6_cnts_per_x]
@@ -199,8 +226,13 @@ ap6 softupperlim $ap6_fwd_lim
 ap6 home $ap6_home
 ap6 part $ap6_part
 ap6 long_name ap6
+ap6 speed $ap6_speed
+ap6 accel $ap6_accel
+ap6 decel $ap6_decel
 
 # ap7 configuration
+# Aperture Selector (COLLIMATION SEG 7)
+# Axis number 7
 Motor ap7 $motor_driver_type [params\
   asyncqueue mc1\
   axis G\
@@ -216,7 +248,7 @@ Motor ap7 $motor_driver_type [params\
   posit_2 $ap7_D20\
   posit_3 $ap7_D40\
   posit_4 $ap7_40X40\
-  posit_5 $ap7_100X100\
+  posit_5 $ap7_100X40\
   absEnc 1\
   absEncHome $ap7_absenchome\
   cntsPerX $ap7_cnts_per_x]
@@ -225,8 +257,13 @@ ap7 softupperlim $ap7_fwd_lim
 ap7 home $ap7_home
 ap7 part $ap7_part
 ap7 long_name ap7
+ap7 speed $ap7_speed
+ap7 accel $ap7_accel
+ap7 decel $ap7_decel
 
 # ap8 configuration
+# Aperture Selector (Collimator SEG 8 End)
+# Axis number 8
 Motor ap8 $motor_driver_type [params\
   asyncqueue mc1\
   axis H\
@@ -242,7 +279,7 @@ Motor ap8 $motor_driver_type [params\
   posit_2 $ap8_D20\
   posit_3 $ap8_D40\
   posit_4 $ap8_40X40\
-  posit_5 $ap8_100X100\
+  posit_5 $ap8_100X40\
   absEnc 1\
   absEncHome $ap8_absenchome\
   cntsPerX $ap8_cnts_per_x]
@@ -251,8 +288,148 @@ ap8 softupperlim $ap8_fwd_lim
 ap8 home $ap8_home
 ap8 part $ap8_part
 ap8 long_name ap8
+ap8 speed $ap8_speed
+ap8 accel $ap8_accel
+ap8 decel $ap8_decel
+
+# att configuration
+# 4 Position linear Attenuator
+# Axis number 25
+Motor att $motor_driver_type [params\
+  asyncqueue mc4\
+  axis A\
+  units $att_units\
+  hardlowerlim $att_rev_lim\
+  hardupperlim $att_fwd_lim\
+  maxSpeed $att_maxspeed\
+  maxAccel $att_maxaccel\
+  maxDecel $att_maxdecel\
+  stepsPerX $att_steps_per_x\
+  posit_count 5\
+  posit_1 $att_pos1\
+  posit_2 $att_pos2\
+  posit_3 $att_pos3\
+  posit_4 $att_pos4\
+  posit_5 $att_pos5\
+  absEnc 1\
+  absEncHome $att_absenchome\
+  cntsPerX $att_cnts_per_x]
+att softlowerlim $att_rev_lim
+att softupperlim $att_fwd_lim
+att home $att_home
+att part $att_part
+att long_name att
+att speed $att_speed
+att accel $att_accel
+att decel $att_decel
+
+# cdd configuration
+# CURTAIN DETECTOR BOTTOM TRANSLATION
+# Axis number 62
+Motor cdd $motor_driver_type [params\
+  asyncqueue mc8\
+  axis F\
+  units $cdd_units\
+  hardlowerlim $cdd_rev_lim\
+  hardupperlim $cdd_fwd_lim\
+  maxSpeed $cdd_maxspeed\
+  maxAccel $cdd_maxaccel\
+  maxDecel $cdd_maxdecel\
+  stepsPerX $cdd_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $cdd_absenchome\
+  cntsPerX $cdd_cnts_per_x]
+cdd softlowerlim $cdd_rev_lim
+cdd softupperlim $cdd_fwd_lim
+cdd home $cdd_home
+cdd part $cdd_part
+cdd long_name cdd
+cdd speed $cdd_speed
+cdd accel $cdd_accel
+cdd decel $cdd_decel
+
+# cdl configuration
+# CURTAIN DETECTOR WEST TRANSLATION
+# Axis number 59
+Motor cdl $motor_driver_type [params\
+  asyncqueue mc8\
+  axis C\
+  units $cdl_units\
+  hardlowerlim $cdl_rev_lim\
+  hardupperlim $cdl_fwd_lim\
+  maxSpeed $cdl_maxspeed\
+  maxAccel $cdl_maxaccel\
+  maxDecel $cdl_maxdecel\
+  stepsPerX $cdl_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $cdl_absenchome\
+  cntsPerX $cdl_cnts_per_x]
+cdl softlowerlim $cdl_rev_lim
+cdl softupperlim $cdl_fwd_lim
+cdl home $cdl_home
+cdl part $cdl_part
+cdl long_name cdl
+cdl speed $cdl_speed
+cdl accel $cdl_accel
+cdl decel $cdl_decel
+
+# cdr configuration
+# CURTAIN DETECTOR EAST TRANSLATION
+# Axis number 60
+Motor cdr $motor_driver_type [params\
+  asyncqueue mc8\
+  axis D\
+  units $cdr_units\
+  hardlowerlim $cdr_rev_lim\
+  hardupperlim $cdr_fwd_lim\
+  maxSpeed $cdr_maxspeed\
+  maxAccel $cdr_maxaccel\
+  maxDecel $cdr_maxdecel\
+  stepsPerX $cdr_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $cdr_absenchome\
+  cntsPerX $cdr_cnts_per_x]
+cdr softlowerlim $cdr_rev_lim
+cdr softupperlim $cdr_fwd_lim
+cdr home $cdr_home
+cdr part $cdr_part
+cdr long_name cdr
+cdr speed $cdr_speed
+cdr accel $cdr_accel
+cdr decel $cdr_decel
+
+# cdu configuration
+# CURTAIN DETECTOR TOP TRANSLATION
+# Axis number 61
+Motor cdu $motor_driver_type [params\
+  asyncqueue mc8\
+  axis E\
+  units $cdu_units\
+  hardlowerlim $cdu_rev_lim\
+  hardupperlim $cdu_fwd_lim\
+  maxSpeed $cdu_maxspeed\
+  maxAccel $cdu_maxaccel\
+  maxDecel $cdu_maxdecel\
+  stepsPerX $cdu_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $cdu_absenchome\
+  cntsPerX $cdu_cnts_per_x]
+cdu softlowerlim $cdu_rev_lim
+cdu softupperlim $cdu_fwd_lim
+cdu home $cdu_home
+cdu part $cdu_part
+cdu long_name cdu
+cdu speed $cdu_speed
+cdu accel $cdu_accel
+cdu decel $cdu_decel
 
 # col1 configuration
+# Collimator Trans (Col SEG 1) VH
+# Axis number 9
 Motor col1 $motor_driver_type [params\
   asyncqueue mc2\
   axis A\
@@ -265,7 +442,7 @@ Motor col1 $motor_driver_type [params\
   stepsPerX $col1_steps_per_x\
   posit_count 2\
   posit_1 $col1_guide\
-  posit_2 $col1_aperture\
+  posit_2 $col1_empty\
   absEnc 1\
   absEncHome $col1_absenchome\
   cntsPerX $col1_cnts_per_x]
@@ -274,8 +451,13 @@ col1 softupperlim $col1_fwd_lim
 col1 home $col1_home
 col1 part $col1_part
 col1 long_name col1
+col1 speed $col1_speed
+col1 accel $col1_accel
+col1 decel $col1_decel
 
 # col2 configuration
+# Collimator Trans (Col SEG 2) VH
+# Axis number 10
 Motor col2 $motor_driver_type [params\
   asyncqueue mc2\
   axis B\
@@ -288,7 +470,7 @@ Motor col2 $motor_driver_type [params\
   stepsPerX $col2_steps_per_x\
   posit_count 2\
   posit_1 $col2_guide\
-  posit_2 $col2_aperture\
+  posit_2 $col2_empty\
   absEnc 1\
   absEncHome $col2_absenchome\
   cntsPerX $col2_cnts_per_x]
@@ -297,8 +479,13 @@ col2 softupperlim $col2_fwd_lim
 col2 home $col2_home
 col2 part $col2_part
 col2 long_name col2
+col2 speed $col2_speed
+col2 accel $col2_accel
+col2 decel $col2_decel
 
 # col3 configuration
+# Collimator Trans (Col SEG 3) VH
+# Axis number 11
 Motor col3 $motor_driver_type [params\
   asyncqueue mc2\
   axis C\
@@ -311,7 +498,7 @@ Motor col3 $motor_driver_type [params\
   stepsPerX $col3_steps_per_x\
   posit_count 2\
   posit_1 $col3_guide\
-  posit_2 $col3_aperture\
+  posit_2 $col3_empty\
   absEnc 1\
   absEncHome $col3_absenchome\
   cntsPerX $col3_cnts_per_x]
@@ -320,8 +507,13 @@ col3 softupperlim $col3_fwd_lim
 col3 home $col3_home
 col3 part $col3_part
 col3 long_name col3
+col3 speed $col3_speed
+col3 accel $col3_accel
+col3 decel $col3_decel
 
 # col4 configuration
+# Collimator Trans (Col SEG 4) VH
+# Axis number 12
 Motor col4 $motor_driver_type [params\
   asyncqueue mc2\
   axis D\
@@ -334,7 +526,7 @@ Motor col4 $motor_driver_type [params\
   stepsPerX $col4_steps_per_x\
   posit_count 2\
   posit_1 $col4_guide\
-  posit_2 $col4_aperture\
+  posit_2 $col4_empty\
   absEnc 1\
   absEncHome $col4_absenchome\
   cntsPerX $col4_cnts_per_x]
@@ -343,8 +535,13 @@ col4 softupperlim $col4_fwd_lim
 col4 home $col4_home
 col4 part $col4_part
 col4 long_name col4
+col4 speed $col4_speed
+col4 accel $col4_accel
+col4 decel $col4_decel
 
 # col5 configuration
+# Collimator Trans (Col SEG 5) VH
+# Axis number 13
 Motor col5 $motor_driver_type [params\
   asyncqueue mc2\
   axis E\
@@ -357,7 +554,7 @@ Motor col5 $motor_driver_type [params\
   stepsPerX $col5_steps_per_x\
   posit_count 2\
   posit_1 $col5_guide\
-  posit_2 $col5_aperture\
+  posit_2 $col5_empty\
   absEnc 1\
   absEncHome $col5_absenchome\
   cntsPerX $col5_cnts_per_x]
@@ -366,8 +563,13 @@ col5 softupperlim $col5_fwd_lim
 col5 home $col5_home
 col5 part $col5_part
 col5 long_name col5
+col5 speed $col5_speed
+col5 accel $col5_accel
+col5 decel $col5_decel
 
 # col6 configuration
+# Collimator Trans (Col SEG 6) VH
+# Axis number 14
 Motor col6 $motor_driver_type [params\
   asyncqueue mc2\
   axis F\
@@ -380,7 +582,7 @@ Motor col6 $motor_driver_type [params\
   stepsPerX $col6_steps_per_x\
   posit_count 2\
   posit_1 $col6_guide\
-  posit_2 $col6_aperture\
+  posit_2 $col6_empty\
   absEnc 1\
   absEncHome $col6_absenchome\
   cntsPerX $col6_cnts_per_x]
@@ -389,8 +591,13 @@ col6 softupperlim $col6_fwd_lim
 col6 home $col6_home
 col6 part $col6_part
 col6 long_name col6
+col6 speed $col6_speed
+col6 accel $col6_accel
+col6 decel $col6_decel
 
 # col7 configuration
+# Collimator Trans (Col SEG 7) VH
+# Axis number 15
 Motor col7 $motor_driver_type [params\
   asyncqueue mc2\
   axis G\
@@ -403,7 +610,7 @@ Motor col7 $motor_driver_type [params\
   stepsPerX $col7_steps_per_x\
   posit_count 2\
   posit_1 $col7_guide\
-  posit_2 $col7_aperture\
+  posit_2 $col7_empty\
   absEnc 1\
   absEncHome $col7_absenchome\
   cntsPerX $col7_cnts_per_x]
@@ -412,8 +619,13 @@ col7 softupperlim $col7_fwd_lim
 col7 home $col7_home
 col7 part $col7_part
 col7 long_name col7
+col7 speed $col7_speed
+col7 accel $col7_accel
+col7 decel $col7_decel
 
 # col8 configuration
+# Collimator Trans (Col SEG 8) VH
+# Axis number 16
 Motor col8 $motor_driver_type [params\
   asyncqueue mc2\
   axis H\
@@ -426,7 +638,7 @@ Motor col8 $motor_driver_type [params\
   stepsPerX $col8_steps_per_x\
   posit_count 2\
   posit_1 $col8_guide\
-  posit_2 $col8_aperture\
+  posit_2 $col8_empty\
   absEnc 1\
   absEncHome $col8_absenchome\
   cntsPerX $col8_cnts_per_x]
@@ -435,5 +647,190 @@ col8 softupperlim $col8_fwd_lim
 col8 home $col8_home
 col8 part $col8_part
 col8 long_name col8
+col8 speed $col8_speed
+col8 accel $col8_accel
+col8 decel $col8_decel
+
+# det configuration
+# CURTAIN DETECTOR CARRIAGE Y TRANS
+# Axis number 58
+Motor det $motor_driver_type [params\
+  asyncqueue mc8\
+  axis B\
+  units $det_units\
+  hardlowerlim $det_rev_lim\
+  hardupperlim $det_fwd_lim\
+  maxSpeed $det_maxspeed\
+  maxAccel $det_maxaccel\
+  maxDecel $det_maxdecel\
+  stepsPerX $det_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $det_absenchome\
+  cntsPerX $det_cnts_per_x]
+det softlowerlim $det_rev_lim
+det softupperlim $det_fwd_lim
+det home $det_home
+det part $det_part
+det long_name det
+det speed $det_speed
+det accel $det_accel
+det decel $det_decel
+
+# sdh configuration
+# SDH Box
+# Axis number 26
+Motor sdh $motor_driver_type [params\
+  asyncqueue mc4\
+  axis B\
+  units $sdh_units\
+  hardlowerlim $sdh_rev_lim\
+  hardupperlim $sdh_fwd_lim\
+  maxSpeed $sdh_maxspeed\
+  maxAccel $sdh_maxaccel\
+  maxDecel $sdh_maxdecel\
+  stepsPerX $sdh_steps_per_x\
+  posit_count 2\
+  posit_1 $sdh_5a_in\
+  posit_2 $sdh_5b_in\
+  absEnc 1\
+  absEncHome $sdh_absenchome\
+  cntsPerX $sdh_cnts_per_x]
+sdh softlowerlim $sdh_rev_lim
+sdh softupperlim $sdh_fwd_lim
+sdh home $sdh_home
+sdh part $sdh_part
+sdh long_name sdh
+
+# ss1d configuration
+# Slit System 1 - Z DOWN
+# Axis number 20
+Motor ss1d $motor_driver_type [params\
+  asyncqueue mc3\
+  axis D\
+  units $ss1d_units\
+  hardlowerlim $ss1d_rev_lim\
+  hardupperlim $ss1d_fwd_lim\
+  maxSpeed $ss1d_maxspeed\
+  maxAccel $ss1d_maxaccel\
+  maxDecel $ss1d_maxdecel\
+  stepsPerX $ss1d_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $ss1d_absenchome\
+  cntsPerX $ss1d_cnts_per_x]
+ss1d softlowerlim $ss1d_rev_lim
+ss1d softupperlim $ss1d_fwd_lim
+ss1d home $ss1d_home
+ss1d part $ss1d_part
+ss1d long_name ss1d
+ss1d speed $ss1d_speed
+ss1d accel $ss1d_accel
+ss1d decel $ss1d_decel
+
+# ss1l configuration
+# Slit System 1 - X WEST
+# Axis number 17
+Motor ss1l $motor_driver_type [params\
+  asyncqueue mc3\
+  axis A\
+  units $ss1l_units\
+  hardlowerlim $ss1l_rev_lim\
+  hardupperlim $ss1l_fwd_lim\
+  maxSpeed $ss1l_maxspeed\
+  maxAccel $ss1l_maxaccel\
+  maxDecel $ss1l_maxdecel\
+  stepsPerX $ss1l_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $ss1l_absenchome\
+  cntsPerX $ss1l_cnts_per_x]
+ss1l softlowerlim $ss1l_rev_lim
+ss1l softupperlim $ss1l_fwd_lim
+ss1l home $ss1l_home
+ss1l part $ss1l_part
+ss1l long_name ss1l
+ss1l speed $ss1l_speed
+ss1l accel $ss1l_accel
+ss1l decel $ss1l_decel
+
+# ss1r configuration
+# Slit System 1 - X EAST
+# Axis number 19
+Motor ss1r $motor_driver_type [params\
+  asyncqueue mc3\
+  axis C\
+  units $ss1r_units\
+  hardlowerlim $ss1r_rev_lim\
+  hardupperlim $ss1r_fwd_lim\
+  maxSpeed $ss1r_maxspeed\
+  maxAccel $ss1r_maxaccel\
+  maxDecel $ss1r_maxdecel\
+  stepsPerX $ss1r_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $ss1r_absenchome\
+  cntsPerX $ss1r_cnts_per_x]
+ss1r softlowerlim $ss1r_rev_lim
+ss1r softupperlim $ss1r_fwd_lim
+ss1r home $ss1r_home
+ss1r part $ss1r_part
+ss1r long_name ss1r
+ss1r speed $ss1r_speed
+ss1r accel $ss1r_accel
+ss1r decel $ss1r_decel
+
+# ss1u configuration
+# Slit System 1 - Z UP
+# Axis number 18
+Motor ss1u $motor_driver_type [params\
+  asyncqueue mc3\
+  axis B\
+  units $ss1u_units\
+  hardlowerlim $ss1u_rev_lim\
+  hardupperlim $ss1u_fwd_lim\
+  maxSpeed $ss1u_maxspeed\
+  maxAccel $ss1u_maxaccel\
+  maxDecel $ss1u_maxdecel\
+  stepsPerX $ss1u_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $ss1u_absenchome\
+  cntsPerX $ss1u_cnts_per_x]
+ss1u softlowerlim $ss1u_rev_lim
+ss1u softupperlim $ss1u_fwd_lim
+ss1u home $ss1u_home
+ss1u part $ss1u_part
+ss1u long_name ss1u
+ss1u speed $ss1u_speed
+ss1u accel $ss1u_accel
+ss1u decel $ss1u_decel
+
+# vs configuration
+# Velocity Selector Trans
+# Axis number 28
+Motor vs $motor_driver_type [params\
+  asyncqueue mc4\
+  axis D\
+  units $vs_units\
+  hardlowerlim $vs_rev_lim\
+  hardupperlim $vs_fwd_lim\
+  maxSpeed $vs_maxspeed\
+  maxAccel $vs_maxaccel\
+  maxDecel $vs_maxdecel\
+  stepsPerX $vs_steps_per_x\
+  posit_count 1\
+  posit_1 $vs_glass_in\
+  absEnc 1\
+  absEncHome $vs_absenchome\
+  cntsPerX $vs_cnts_per_x]
+vs softlowerlim $vs_rev_lim
+vs softupperlim $vs_fwd_lim
+vs home $vs_home
+vs part $vs_part
+vs long_name vs
+vs speed $vs_speed
+vs accel $vs_accel
+vs decel $vs_decel
 
 proc motor_set_sobj_attributes {} {}

site_ansto/instrument/bilby/config/motors/hdb_info.csv

@@ -15,29 +15,17 @@ ap7_units,degrees
 ap8_part,collimator
 ap8_units,degrees
 bs1_part,detector
-bs1_units,xxx
+bs1_units,degrees
 bs2_part,detector
-bs2_units,xxx
+bs2_units,degrees
 bs3_part,detector
-bs3_units,xxx
-bs4_part,detector
-bs4_units,xxx
-bs5_part,detector
-bs5_units,xxx
-bs6_part,detector
-bs6_units,xxx
-cd1x_part,detector
-cd1x_units,mm
-cd2x_part,detector
-cd2x_units,mm
-cd3z_part,detector
-cd3z_units,mm
-cd4z_part,detector
-cd4z_units,mm
-cdy_part,detector
-cdy_units,mm
-cdz_part,detector
-cdz_units,mm
+bs3_units,degrees
+det_part,detector
+det_units,mm
+cdu_part,detector
+cdd_units,mm
+cdl_part,detector
+cdr_units,mm
 col1_part,collimator
 col1_units,mm
 col2_part,collimator
@@ -54,8 +42,8 @@ col7_part,collimator
 col7_units,mm
 col8_part,collimator
 col8_units,mm
-lat_part,disk_chopper
-lat_units,xxx
+att_part,collimator
+att_units,mm
 mdy_part,detector
 mdy_units,mm
 mirr1_part,disk_chopper

site_ansto/instrument/bilby/config/motors/motor_configuration.tcl

@@ -9,12 +9,3 @@ for {set n 1} {$n < 8} {incr n} {
   make_coll_motor_1 c$n c$n col$n count
   make_coll_motor_1 a$n a$n ap$n  count
 }
-
-for {set n 1} {$n < 8} {incr n} {
-  col$n speed 0.5
-  col$n accel 0.5
-  col$n decel 0.5
-  ap$n speed 0.5
-  ap$n accel 0.5
-  ap$n decel 0.5
-}

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

@@ -1,88 +1,202 @@
-ap1_absenchome,73952
-ap1_fwd_lim,105.01831054687496
-ap1_home,0
-ap1_maxaccel,1
-ap1_maxdecel,1
-ap1_maxspeed,1
-ap1_rev_lim,0
-ap2_absenchome,54293
-ap2_fwd_lim,113.07128906249996
-ap2_home,0
-ap2_maxaccel,1
-ap2_maxdecel,1
-ap2_maxspeed,1
-ap2_rev_lim,0
-ap3_absenchome,13644
-ap3_fwd_lim,104.29321289062496
-ap3_home,0
-ap3_maxaccel,1
-ap3_maxdecel,1
-ap3_maxspeed,1
-ap3_rev_lim,0
-ap4_absenchome,5666
-ap4_fwd_lim,108.67675781249996
-ap4_home,0
-ap4_maxaccel,1
-ap4_maxdecel,1
-ap4_maxspeed,1
-ap4_rev_lim,0
-ap5_absenchome,72824
-ap5_fwd_lim,104.01855468749996
-ap5_home,0
-ap5_maxaccel,1
-ap5_maxdecel,1
-ap5_maxspeed,1
-ap5_rev_lim,0
-ap6_absenchome,72115
-ap6_fwd_lim,110.74218749999996
-ap6_home,0
-ap6_maxaccel,1
-ap6_maxdecel,1
-ap6_maxspeed,1
-ap6_rev_lim,0
-ap7_absenchome,74299
-ap7_fwd_lim,104.62280273437496
-ap7_home,0
-ap7_maxaccel,1
-ap7_maxdecel,1
-ap7_maxspeed,1
-ap7_rev_lim,0
-ap8_absenchome,47639
-ap8_fwd_lim,-112.19238281249996
-ap8_home,0
-ap8_maxaccel,1
-ap8_maxdecel,1
-ap8_maxspeed,1
-ap8_rev_lim,0
-col1_absenchome,3902
-col1_fwd_lim,270
-col1_home,0
-col1_rev_lim,0
-col2_absenchome,9598
-col2_fwd_lim,270
-col2_home,0
-col2_rev_lim,0
-col3_absenchome,29466
-col3_fwd_lim,268
-col3_home,0
-col3_rev_lim,0
-col4_absenchome,12861
-col4_fwd_lim,269
-col4_home,0
-col4_rev_lim,0
-col5_absenchome,377801
-col5_fwd_lim,268
-col5_home,0
-col5_rev_lim,0
-col6_absenchome,191508
-col6_fwd_lim,271
-col6_home,0
-col6_rev_lim,0
-col7_absenchome,24810
-col7_fwd_lim,269
-col7_home,0
-col7_rev_lim,0
-col8_absenchome,12893
-col8_fwd_lim,267
-col8_home,0
-col8_rev_lim,0
+ap1_absenchome,73952.0000
+ap1_accel,1.4062
+ap1_decel,1.4062
+ap1_fwd_lim,105.0183
+ap1_home,0.0000
+ap1_rev_lim,0.0000
+ap1_speed,1.4062
+ap2_absenchome,54293.0000
+ap2_accel,1.4062
+ap2_decel,1.4062
+ap2_fwd_lim,113.0713
+ap2_home,0.0000
+ap2_rev_lim,0.0000
+ap2_speed,1.4062
+ap3_absenchome,13644.0000
+ap3_accel,1.4062
+ap3_decel,1.4062
+ap3_fwd_lim,104.2932
+ap3_home,0.0000
+ap3_rev_lim,0.0000
+ap3_speed,1.4062
+ap4_absenchome,5666.0000
+ap4_accel,1.4062
+ap4_decel,1.4062
+ap4_fwd_lim,108.6768
+ap4_home,0.0000
+ap4_rev_lim,0.0000
+ap4_speed,1.4062
+ap5_absenchome,72824.0000
+ap5_accel,1.4062
+ap5_decel,1.4062
+ap5_fwd_lim,104.0186
+ap5_home,0.0000
+ap5_rev_lim,0.0000
+ap5_speed,1.4062
+ap6_absenchome,72115.0000
+ap6_accel,1.4062
+ap6_decel,1.4062
+ap6_fwd_lim,110.7422
+ap6_home,0.0000
+ap6_rev_lim,0.0000
+ap6_speed,1.4062
+ap7_absenchome,74299.0000
+ap7_accel,1.4062
+ap7_decel,1.4062
+ap7_fwd_lim,104.6228
+ap7_home,0.0000
+ap7_rev_lim,0.0000
+ap7_speed,1.4062
+ap8_absenchome,47639.0000
+ap8_accel,1.4062
+ap8_decel,1.4062
+ap8_fwd_lim,-112.1924
+ap8_home,0.0000
+ap8_rev_lim,0.0000
+ap8_speed,1.4062
+att_absenchome,33021197.0000
+att_accel,3.6000
+att_decel,3.6000
+att_fwd_lim,-273.7734
+att_home,0.0000
+att_rev_lim,0.0000
+att_speed,3.6000
+cdd_absenchome,4159255.0000
+cdd_accel,0.2500
+cdd_decel,0.2500
+cdd_fwd_lim,349.0000
+cdd_home,0.0000
+cdd_part,instrument
+cdd_rev_lim,0.0000
+cdd_speed,1.5000
+cdl_absenchome,5769621.0000
+cdl_accel,0.2500
+cdl_decel,0.2500
+cdl_fwd_lim,356.0000
+cdl_home,0.0000
+cdl_rev_lim,0.0000
+cdl_speed,1.5000
+cdl_units,xxx
+cdr_absenchome,4371043.0000
+cdr_accel,0.2500
+cdr_decel,0.2500
+cdr_fwd_lim,358.0000
+cdr_home,0.0000
+cdr_part,instrument
+cdr_rev_lim,0.0000
+cdr_speed,1.5000
+cdu_absenchome,21804679.0000
+cdu_accel,0.2500
+cdu_decel,0.2500
+cdu_fwd_lim,356.0000
+cdu_home,0.0000
+cdu_rev_lim,0.0000
+cdu_speed,1.5000
+cdu_units,xxx
+col1_absenchome,3902.0000
+col1_accel,0.3333
+col1_decel,0.3333
+col1_fwd_lim,270.0000
+col1_home,0.0000
+col1_rev_lim,0.0000
+col1_speed,0.6667
+col2_absenchome,9598.0000
+col2_accel,0.3333
+col2_decel,0.3333
+col2_fwd_lim,270.0000
+col2_home,0.0000
+col2_rev_lim,0.0000
+col2_speed,0.6667
+col3_absenchome,29466.0000
+col3_accel,0.3333
+col3_decel,0.3333
+col3_fwd_lim,268.0000
+col3_home,0.0000
+col3_rev_lim,0.0000
+col3_speed,0.6667
+col4_absenchome,12861.0000
+col4_accel,0.3333
+col4_decel,0.3333
+col4_fwd_lim,269.0000
+col4_home,0.0000
+col4_rev_lim,0.0000
+col4_speed,0.6667
+col5_absenchome,377801.0000
+col5_accel,0.3333
+col5_decel,0.3333
+col5_fwd_lim,268.0000
+col5_home,0.0000
+col5_rev_lim,0.0000
+col5_speed,0.6667
+col6_absenchome,191508.0000
+col6_accel,0.3333
+col6_decel,0.3333
+col6_fwd_lim,271.0000
+col6_home,0.0000
+col6_rev_lim,0.0000
+col6_speed,0.6667
+col7_absenchome,24810.0000
+col7_accel,0.3333
+col7_decel,0.3333
+col7_fwd_lim,269.0000
+col7_home,0.0000
+col7_rev_lim,0.0000
+col7_speed,0.6667
+col8_absenchome,12893.0000
+col8_accel,0.3333
+col8_decel,0.3333
+col8_fwd_lim,267.0000
+col8_home,0.0000
+col8_rev_lim,0.0000
+col8_speed,0.6667
+det_absenchome,0.0000
+det_accel,6.4103
+det_decel,6.4103
+det_fwd_lim,0.0000
+det_home,0.0000
+det_rev_lim,0.0000
+det_speed,25.6410
+sdh_absenchome,4166803.0000
+sdh_fwd_lim,-243.0000
+sdh_home,0.0000
+sdh_maxaccel,1.0000
+sdh_maxdecel,1.0000
+sdh_maxspeed,1.0000
+sdh_part,instrument
+sdh_rev_lim,0.0000
+sdh_units,xxx
+ss1d_absenchome,33398312.0000
+ss1d_accel,0.5000
+ss1d_decel,0.5000
+ss1d_fwd_lim,114.0000
+ss1d_home,0.0000
+ss1d_rev_lim,0.0000
+ss1d_speed,0.5000
+ss1l_absenchome,32637740.0000
+ss1l_accel,0.5000
+ss1l_decel,0.5000
+ss1l_fwd_lim,-68.0000
+ss1l_home,0.0000
+ss1l_rev_lim,0.0000
+ss1l_speed,0.5000
+ss1r_absenchome,33421848.0000
+ss1r_accel,0.5000
+ss1r_decel,0.5000
+ss1r_fwd_lim,-72.0000
+ss1r_home,0.0000
+ss1r_rev_lim,0.0000
+ss1r_speed,0.5000
+ss1u_absenchome,33297987.0000
+ss1u_accel,0.5000
+ss1u_decel,0.5000
+ss1u_fwd_lim,113.0000
+ss1u_home,0.0000
+ss1u_rev_lim,0.0000
+ss1u_speed,0.5000
+vs_absenchome,3789130.0000
+vs_accel,0.4000
+vs_decel,1.3333
+vs_fwd_lim,-276.0000
+vs_home,0.0000
+vs_rev_lim,0.0000
+vs_speed,1.3333