Add Taipan euler_config

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

@@ -0,0 +1,76 @@
+# This must be loaded by motor_configuration.tcl
+
+set ephi_Home 26575217
+#set echi_Home 24224381
+#set echi_Home 8919294
+set echi_Home 24207159
+set eom_Home 23165482
+
+# Sample Lower Tilt sgl -> Euler Chi
+Motor echi $motor_driver_type [params \
+  asyncqueue mc2\
+  axis B\
+  units degrees\
+  hardlowerlim -45\
+  hardupperlim 120\
+  maxSpeed 2\
+  maxAccel 2\
+  maxDecel 2\
+  stepsPerX -25000\
+  absEnc 1\
+  absEncHome $echi_Home\
+  cntsPerX 8192]
+setHomeandRange -motor echi -home 0 -lowrange 10 -uprange 95
+echi softlowerlim -10
+echi softupperlim 120
+echi home 0
+echi speed 1
+echi movecount $move_count
+echi precision 0.01
+echi part sample
+echi long_name euler_chi
+
+# Sample Upper Tilt sgu -> Euler Phi
+Motor ephi $motor_driver_type [params \
+  asyncqueue mc2\
+  axis A\
+  units degrees\
+  hardlowerlim -365\
+  hardupperlim 365\
+  maxSpeed 5\
+  maxAccel 5\
+  maxDecel 5\
+  stepsPerX -12500\
+  absEnc 1\
+  absEncHome $ephi_Home\
+  cntsPerX -4096]
+setHomeandRange -motor ephi -home 0 -lowrange -360 -uprange 360
+ephi softlowerlim -360
+ephi softupperlim 360
+ephi home 0
+ephi speed 3
+ephi movecount $move_count
+ephi precision 0.01
+ephi part sample
+ephi long_name euler_phi
+
+# Sample Upper Translation stu -> euler omega stage
+Motor eom $motor_driver_type [params \
+  asyncqueue mc2\
+  axis C\
+  units degrees\
+  hardlowerlim -45\
+  hardupperlim 80\
+  maxSpeed 2\
+  maxAccel 2\
+  maxDecel 2\
+  stepsPerX 25000\
+  absEnc 1\
+  absEncHome $eom_Home\
+  cntsPerX -8192]
+setHomeandRange -motor eom -home 0 -lowrange 35 -uprange 80
+eom speed 1
+eom movecount $move_count
+eom precision 0.01
+eom part sample
+eom long_name euler_omega