Merge changes from Dingo 2014-09-09

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

@@ -199,6 +199,41 @@ dz softlowerlim 0
 dz softupperlim 170
 dz home 0
 
+# mc1:H Sample rotation axis
+# Resolver 2,048 counts per degree
+# Motor 12,500 steps per degree
+# Positive steps are CCW viewed from above
+set soma_Home  9867748
+#set somaStepRate [expr -$motorrate*100.0]
+set somaStepRate 12500
+Motor soma $motor_driver_type [params \
+  asyncqueue mc1\
+  host mc1-dingo\
+  port pmc1-dingo\
+  axis H\
+  units degree\
+  hardlowerlim -722\
+  hardupperlim 722\
+  maxSpeed 12\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX $somaStepRate\
+  absEnc 1\
+  absEncHome $soma_Home\
+  nopowersave 1\
+  cntsPerX 2048 ]
+soma speed 0.1
+soma accel 0.1
+soma decel 0.1
+soma part sample
+soma long_name soma
+soma softlowerlim -1
+soma softupperlim 361
+soma home 0
+#soma bias_bits 25
+#soma rotary_bits 25
+soma creep_offset 0.05
+
 
 ############################
 # Motor Controller 2