Merges from ics1-wombat

r2834 | ffr | 2009-12-09 17:07:45 +1100 (Wed, 09 Dec 2009) | 2 lines

site_ansto/instrument/hipd/config/motors/euler_configuration.tcl

@@ -2,7 +2,7 @@
 
 set ephi_Home 6647698 
 set echi_Home 8919294
-set eom_Home 22960659
+set eom_Home 23165482
 
 # Sample Tilt 1, euler omega stage
 Motor eom $motor_driver_type [params \
@@ -30,8 +30,8 @@ Motor echi $motor_driver_type [params \
   asyncqueue mc2\
   axis B\
   units degrees\
-  hardlowerlim -20\
-  hardupperlim 95\
+  hardlowerlim -32\
+  hardupperlim 97\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\

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

@@ -32,11 +32,14 @@ if {$sim_mode == "true"} {
 }
 
 #Measured absolute encoder reading at home position
-set mx_Home 7464891
+#set mx_Home 7464891
+set mx_Home 23263535
 set mom_Home 9274794
 set mtth_Home 19927837
-set mphi_Home 7613516
-set mchi_Home 9050090
+#set mphi_Home 7613516
+set mphi_Home 27847793
+#set mchi_Home 9050090
+set mchi_Home 25561619
 set my_Home 6767221
 set som_Home 17214054
 set stth_Home 2896180
@@ -241,7 +244,7 @@ Motor mtth $motor_driver_type [params \
   asyncqueue mc1\
   axis F\
   units degrees\
-  hardlowerlim 45\
+  hardlowerlim 40.7\
   hardupperlim 120.5\
   maxSpeed 0.2\
   maxAccel 0.2\
@@ -253,7 +256,7 @@ Motor mtth $motor_driver_type [params \
   absEnc 1\
   absEncHome $mtth_Home\
   cntsPerX -93207]
-mtth softlowerlim 45
+mtth softlowerlim 40.75
 mtth softupperlim 120
 mtth home 90
 mtth speed 0.2
@@ -281,7 +284,7 @@ Motor som $motor_driver_type [params \
   units degrees\
   hardlowerlim -110\
   hardupperlim 160\
-  maxSpeed 1\
+  maxSpeed 5\
   maxAccel 1\
   maxDecel 1\
   stepsPerX 12500\
@@ -299,7 +302,7 @@ Motor stth $motor_driver_type [params \
   asyncqueue mc2\
   axis F\
   units degrees\
-  hardlowerlim -120\
+  hardlowerlim 5\
   hardupperlim 30\
   maxSpeed 0.5\
   maxAccel 0.1\
@@ -308,7 +311,7 @@ Motor stth $motor_driver_type [params \
   absEnc 1\
   absEncHome $stth_Home\
   cntsPerX -93207]
-stth softlowerlim -120
+stth softlowerlim 5 
 stth softupperlim 30
 stth home 0
 stth speed 0.5
@@ -323,16 +326,16 @@ Motor oct $motor_driver_type [params \
   axis G\
   units degrees\
   hardlowerlim -2\
-  hardupperlim 2\
-  maxSpeed 1.0\
-  maxAccel 1.0\
-  maxDecel 1.0\
+  hardupperlim 4.2\
+  maxSpeed 2.0\
+  maxAccel 5.0\
+  maxDecel 5.0\
   stepsPerX 56762\
   absEnc 1\
   absEncHome $oct_Home\
   cntsPerX -465]
 oct softlowerlim -2
-oct softupperlim 2
+oct softupperlim 4
 oct home 0
 oct speed 0.5
 oct precision 0.01
@@ -373,17 +376,17 @@ Motor mf2 $motor_driver_type [params \
   axis A\
   units degrees\
   hardlowerlim 0\
-  hardupperlim 1\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
+  hardupperlim 2\
+  maxSpeed 0.1\
+  maxAccel 0.1\
+  maxDecel 0.1\
   stepsPerX 22000\
   absEnc 1\
   absEncHome 350\
   cntsPerX 14000]
-setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 1
-mf2 speed 0.1
-mf2 precision 0.01
+setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 2
+mf2 speed 0.02
+mf2 precision 0.005
 mf2 part monochromator
 mf2 long_name mf2