update accelation values

r3131 | jgn | 2011-05-12 13:52:54 +1000 (Thu, 12 May 2011) | 1 line

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

@@ -37,11 +37,7 @@ if {$sim_mode == "true"} {
 }
 
 #Measured absolute encoder reading at home position
-set samchi_Home 7808328
-set samphi_Home 7675008
 set samx_Home 7420441
-set samy_Home 7101486
-set samz_Home 9944901
 set samthet_Home 23004075
 set det_Home 7055209
 set detoff_Home 6857213
@@ -109,18 +105,18 @@ Motor mtilt $motor_driver_type [params \
   units degrees\
   hardlowerlim -5\
   hardupperlim 5\
-  maxSpeed 5000\
+  maxSpeed 50000\
-  maxAccel 2048\
+  maxAccel 25000\
-  maxDecel 2048\
+  maxDecel 25000\
-  stepsPerX 4096\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samchi_Home\
+  absEncHome 80235\
-  cntsPerX 4096]
+  cntsPerX 8192]
 mtilt part crystal
 mtilt long_name mtilt
 mtilt softlowerlim -5
 mtilt softupperlim 5
-mtilt home 0
+mtilt home 0.143
 #}
 
 set atest mtilt
@@ -131,21 +127,21 @@ Motor mtrans $motor_driver_type [params \
   host mc1-taipan\
   port pmc1-taipan\
   axis B\
-  units degrees\
+  units mm\
   hardlowerlim -10\
   hardupperlim 195\
-  maxSpeed 20000\
+  maxSpeed 50000\
-  maxAccel 2048\
+  maxAccel 25000\
-  maxDecel 2048\
+  maxDecel 25000\
-  stepsPerX 4096\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samphi_Home\
+  absEncHome 743791\
-  cntsPerX 4096]
+  cntsPerX 8192]
 mtrans part crystal
 mtrans long_name mtrans
 mtrans softlowerlim -10
 mtrans softupperlim 195
-mtrans home 0
+mtrans home 66.993
 
 # mc1: Fight Tube Rotate
 Motor m2 $motor_driver_type [params \
@@ -156,18 +152,18 @@ Motor m2 $motor_driver_type [params \
   units degrees\
   hardlowerlim -32.5\
   hardupperlim 53\
-  maxSpeed 75000\
+  maxSpeed 50000\
-  maxAccel 25000\
+  maxAccel 5000\
-  maxDecel 25000\
+  maxDecel 5000\
-  stepsPerX 8192\
+  stepsPerX 12500\
   absEnc 1\
-  absEncHome $samx_Home\
+  absEncHome 183787\
   cntsPerX 4096]
 m2 part sample
 m2 long_name m2
 m2 softlowerlim -32.5
 m2 softupperlim 53
-m2 home 0
+m2 home 69.42475 
 
 # mc1: Detector Rotate
 Motor a2 $motor_driver_type [params \
@@ -179,17 +175,17 @@ Motor a2 $motor_driver_type [params \
   hardlowerlim -55\
   hardupperlim 55\
   maxSpeed 100000\
-  maxAccel 32768\
+  maxAccel 25000\
-  maxDecel 32768\
+  maxDecel 25000\
-  stepsPerX 8192\
+  stepsPerX 12500\
   absEnc 1\
-  absEncHome $samy_Home\
+  absEncHome 16093721\
   cntsPerX 4096]
 a2 part detector
 a2 long_name a2
 a2 softlowerlim -55
 a2 softupperlim 55
-a2 home 0
+a2 home 20.0421
 
 
 ############################
@@ -208,13 +204,13 @@ Motor sgu $motor_driver_type [params \
   units degrees\
   hardlowerlim -18\
   hardupperlim 19\
-  maxSpeed 12500\
+  maxSpeed 50000\
-  maxAccel 32768\
+  maxAccel 25000\
-  maxDecel 32768\
+  maxDecel 25000\
-  stepsPerX 8192\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samz_Home\
+  absEncHome 7745445\
-  cntsPerX 4096]
+  cntsPerX 8192]
 sgu part sample
 sgu long_name sgu
 sgu softlowerlim -18
@@ -230,13 +226,13 @@ Motor sgl $motor_driver_type [params \
   units degrees\
   hardlowerlim -18\
   hardupperlim 18\
-  maxSpeed 25000\
+  maxSpeed 50000\
   maxAccel 25000\
   maxDecel 25000\
-  stepsPerX 8192\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 7499341\
-  cntsPerX 4096]
+  cntsPerX 8192]
 sgl part sample
 sgl long_name sgl
 sgl softlowerlim -18
@@ -252,18 +248,18 @@ Motor stu $motor_driver_type [params \
   units degrees\
   hardlowerlim -15\
   hardupperlim 15\
-  maxSpeed 30000\
+  maxSpeed 50000\
-  maxAccel 32768\
+  maxAccel 25000\
-  maxDecel 32768\
+  maxDecel 25000\
-  stepsPerX 8192\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 7392945\
-  cntsPerX 4096]
+  cntsPerX 8192]
 stu part sample
 stu long_name stu
 stu softlowerlim -15
 stu softupperlim 15
-stu home 0
+stu home -0.001
 
 # mc2: Sample Lower Tanslation
 Motor stl $motor_driver_type [params \
@@ -274,18 +270,18 @@ Motor stl $motor_driver_type [params \
   units degrees\
   hardlowerlim -15\
   hardupperlim 15\
-  maxSpeed 30000\
+  maxSpeed 50000\
-  maxAccel 32768\
+  maxAccel 25000\
-  maxDecel 32768\
+  maxDecel 25000\
-  stepsPerX 8192\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 7582758\
-  cntsPerX 4096]
+  cntsPerX 8192]
 stl part sample
 stl long_name stl
 stl softlowerlim -15
 stl softupperlim 15
-stl home 0
+stl home -0.002
 
 # mc2: Sample Rotate
 Motor s1 $motor_driver_type [params \
@@ -296,18 +292,18 @@ Motor s1 $motor_driver_type [params \
   units degrees\
   hardlowerlim -185\
   hardupperlim 124\
-  maxSpeed 25000\
+  maxSpeed 50000\
   maxAccel 25000\
   maxDecel 25000\
-  stepsPerX 8192\
+  stepsPerX 12500\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 10138002\
   cntsPerX 4096]
 s1 part sample
 s1 long_name s1
 s1 softlowerlim -185
 s1 softupperlim 124
-s1 home 0
+s1 home -100.0051
 
 # mc2: Analyser Detector Rotate -- Sample Scattering Angle
 Motor s2 $motor_driver_type [params \
@@ -321,15 +317,15 @@ Motor s2 $motor_driver_type [params \
   maxSpeed 100000\
   maxAccel 25000\
   maxDecel 25000\
-  stepsPerX 8192\
+  stepsPerX 12500\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 17827565\
   cntsPerX 4096]
 s2 part crystal 
 s2 long_name s2
 s2 softlowerlim -128
 s2 softupperlim 3
-s2 home 0
+s2 home -50.0026
 
 # mc2: Analyser Horizontal Focus
 Motor ahfocus $motor_driver_type [params \
@@ -340,18 +336,18 @@ Motor ahfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim -360\
   hardupperlim 360\
-  maxSpeed 2000\
+  maxSpeed 25000\
-  maxAccel 1000\
+  maxAccel 12500\
-  maxDecel 1000\
+  maxDecel 12500\
-  stepsPerX 8192\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 8361542\
-  cntsPerX 4096]
+  cntsPerX 8192]
 ahfocus part crystal 
 ahfocus long_name ahfocus
 ahfocus softlowerlim -360
 ahfocus softupperlim 360
-ahfocus home 0
+ahfocus home 58.887
 
 # mc2: Analyser Vertical Focus
 Motor avfocus $motor_driver_type [params \
@@ -362,13 +358,13 @@ Motor avfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim -200\
   hardupperlim 0\
-  maxSpeed 30000\
+  maxSpeed 25000\
-  maxAccel 60000\
+  maxAccel 12500\
-  maxDecel 60000\
+  maxDecel 12500\
-  stepsPerX 8192\
+  stepsPerX 25000\
   absEnc 1\
   absEncHome $samthet_Home\
-  cntsPerX 4096]
+  cntsPerX 8192]
 avfocus part crystal
 avfocus long_name avfocus
 avfocus softlowerlim -200
@@ -384,18 +380,18 @@ Motor mvfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim 0\
   hardupperlim 240\
-  maxSpeed 25000\
+  maxSpeed 12500\
-  maxAccel 8192\
+  maxAccel 6000\
-  maxDecel 4096\
+  maxDecel 6000\
-  stepsPerX 4096\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 542614\
-  cntsPerX 4096]
+  cntsPerX 8192]
 mvfocus part crystal
 mvfocus long_name mvfocus
 mvfocus softlowerlim 0
 mvfocus softupperlim 240
-mvfocus home 0
+mvfocus home 113.994
 
 # mc3: Monochromator Horizontal Focus
 Motor mhfocus $motor_driver_type [params \
@@ -406,18 +402,18 @@ Motor mhfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim -180\
   hardupperlim 275\
-  maxSpeed 25000\
+  maxSpeed 12500\
-  maxAccel 8192\
+  maxAccel 6000\
-  maxDecel 4096\
+  maxDecel 6000\
-  stepsPerX 4096\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 5860595\
-  cntsPerX 4096]
+  cntsPerX 8192]
 mhfocus part crystal
 mhfocus long_name mhfocus
 mhfocus softlowerlim 0
 mhfocus softupperlim 240
-mhfocus home 0
+mhfocus home -29.970
 
 # mc3: Monochromator Rotate
 Motor m1 $motor_driver_type [params \
@@ -428,18 +424,18 @@ Motor m1 $motor_driver_type [params \
   units degrees\
   hardlowerlim 5\
   hardupperlim 40\
-  maxSpeed 75000\
+  maxSpeed 100000\
   maxAccel 25000\
   maxDecel 25000\
-  stepsPerX 4096\
+  stepsPerX 12500\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 16293938\
   cntsPerX 4096]
 m1 part crystal
 m1 long_name m1
 m1 softlowerlim 5
 m1 softupperlim 40
-m1 home 0
+m1 home 34.76255
 
 # mc4: Analyzer Tilt 1 -- Two-theta Angle
 Motor atilt $motor_driver_type [params \
@@ -450,18 +446,18 @@ Motor atilt $motor_driver_type [params \
   units degrees\
   hardlowerlim -5\
   hardupperlim 5\
-  maxSpeed 100000\
+  maxSpeed 50000\
-  maxAccel 32768\
+  maxAccel 25000\
-  maxDecel 32768\
+  maxDecel 25000\
-  stepsPerX 8192\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 7909774\
-  cntsPerX 4096]
+  cntsPerX 8192]
 atilt part crystal 
 atilt long_name atilt
 atilt softlowerlim -5
 atilt softupperlim 5
-atilt home 0
+atilt home -0.004
 
 # mc4: Analyzer Translate
 Motor atrans $motor_driver_type [params \
@@ -469,21 +465,21 @@ Motor atrans $motor_driver_type [params \
   host mc4-taipan\
   port pmc4-taipan\
   axis C\
-  units degrees\
+  units mm\
   hardlowerlim -1\
   hardupperlim 22\
-  maxSpeed 100000\
+  maxSpeed 50000\
-  maxAccel 32768\
+  maxAccel 25000\
-  maxDecel 32768\
+  maxDecel 25000\
-  stepsPerX 8192\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 23726439\
-  cntsPerX 4096]
+  cntsPerX 8192]
 atrans part crystal 
 atrans long_name atrans
 atrans softlowerlim -1
 atrans softupperlim 22
-atrans home 0
+atrans home 0.00023
 
 # mc4: Analyzer Rotate
 Motor a1 $motor_driver_type [params \
@@ -495,17 +491,17 @@ Motor a1 $motor_driver_type [params \
   hardlowerlim -5.1\
   hardupperlim 30\
   maxSpeed 50000\
-  maxAccel 32768\
+  maxAccel 25000\
-  maxDecel 32768\
+  maxDecel 25000\
-  stepsPerX 8192\
+  stepsPerX 12500\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 24771579\
   cntsPerX 4096]
 a1 part crystal
 a1 long_name a1
 a1 softlowerlim -5.1
 a1 softupperlim 30
-a1 home 0
+a1 home 10.0204
 
 # mc4: Virtural Source Left Translation
 Motor VS_left $motor_driver_type [params \
@@ -519,15 +515,15 @@ Motor VS_left $motor_driver_type [params \
   maxSpeed 12500\
   maxAccel 25000\
   maxDecel 25000\
-  stepsPerX 8192\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 14574349\
-  cntsPerX 4096]
+  cntsPerX 8192]
 VS_left part slits
 VS_left long_name VS_left
 VS_left softlowerlim 2
 VS_left softupperlim 35
-VS_left home 0
+VS_left home 25.0019
 
 # mc4: Virtural Source Right Translation
 Motor VS_right $motor_driver_type [params \
@@ -541,15 +537,15 @@ Motor VS_right $motor_driver_type [params \
   maxSpeed 12500\
   maxAccel 25000\
   maxDecel 25000\
-  stepsPerX 8192\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 16251954\
-  cntsPerX 4096]
+  cntsPerX 8192]
 VS_right part slits 
 VS_right long_name VS_right
 VS_right softlowerlim -35
 VS_right softupperlim -2
-VS_right home 0
+VS_right home -24.9790
 
 # mc4: Filter Rotate
 Motor mfilter $motor_driver_type [params \
@@ -560,10 +556,10 @@ Motor mfilter $motor_driver_type [params \
   units degrees\
   hardlowerlim 0\
   hardupperlim 360\
-  maxSpeed 30000\
+  maxSpeed 50000\
-  maxAccel 60000\
+  maxAccel 25000\
-  maxDecel 60000\
+  maxDecel 25000\
-  stepsPerX 8192\
+  stepsPerX 12500\
   absEnc 1\
   absEncHome $samthet_Home\
   cntsPerX 4096]
@@ -585,10 +581,10 @@ Motor collimator $motor_driver_type [params \
   maxSpeed 12500\
   maxAccel 25000\
   maxDecel 25000\
-  stepsPerX 4096\
+  stepsPerX 25000\
   absEnc 1\
   absEncHome $samthet_Home\
-  cntsPerX 4096]
+  cntsPerX 8192]
 collimator part collimator
 collimator long_name collimator
 collimator softlowerlim -112
@@ -607,15 +603,15 @@ Motor ps_right $motor_driver_type [params \
   maxSpeed 30000\
   maxAccel 60000\
   maxDecel 60000\
-  stepsPerX 4096\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 0\
-  cntsPerX 4096]
+  cntsPerX 8192]
 ps_right part slits
 ps_right long_name ps_right
 ps_right softlowerlim -27
 ps_right softupperlim -2
-ps_right home 0
+ps_right home -8.0000
 
 # mc6: Pre-sample left aperture -- Slit s1 left Blade
 Motor ps_left $motor_driver_type [params \
@@ -629,15 +625,15 @@ Motor ps_left $motor_driver_type [params \
   maxSpeed 30000\
   maxAccel 60000\
   maxDecel 60000\
-  stepsPerX 4096\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 0\
-  cntsPerX 4096]
+  cntsPerX 8192]
 ps_left part slits 
 ps_left long_name ps_left
 ps_left softlowerlim -27
 ps_left softupperlim -2
-ps_left home 0
+ps_left home -7.99998
 
 # mc6: Pre-sample top aperture -- Slit s1 top Blade
 Motor ps_top $motor_driver_type [params \
@@ -651,15 +647,15 @@ Motor ps_top $motor_driver_type [params \
   maxSpeed 30000\
   maxAccel 60000\
   maxDecel 60000\
-  stepsPerX 4096\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 0\
-  cntsPerX 4096]
+  cntsPerX 8192]
 ps_top part slits 
 ps_top long_name ps_top
 ps_top softlowerlim -200
 ps_top softupperlim -2
-ps_top home 0
+ps_top home -40.0000
 
 # mc6: Pre-sample bottom aperture -- Slit s1 bottom Blade
 Motor ps_bottom $motor_driver_type [params \
@@ -673,15 +669,15 @@ Motor ps_bottom $motor_driver_type [params \
   maxSpeed 30000\
   maxAccel 60000\
   maxDecel 60000\
-  stepsPerX 4096\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 0\
-  cntsPerX 4096]
+  cntsPerX 8192]
 ps_bottom part slits 
 ps_bottom long_name ps_bottom
 ps_bottom softlowerlim -200
 ps_bottom softupperlim -2
-ps_bottom home 0
+ps_bottom home -40.0000
 
 # mc6: Pre-sample right aperture -- Slit s2 right Blade
 Motor pa_right $motor_driver_type [params \
@@ -695,15 +691,15 @@ Motor pa_right $motor_driver_type [params \
   maxSpeed 30000\
   maxAccel 60000\
   maxDecel 60000\
-  stepsPerX 4096\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 0\
-  cntsPerX 4096]
+  cntsPerX 8192]
 pa_right part slits 
 pa_right long_name pa_right
 pa_right softlowerlim -26
 pa_right softupperlim 2
-pa_right home 0
+pa_right home -7.0000
 
 # mc6: Pre-sample left aperture -- Slit s2 left Blade
 Motor pa_left $motor_driver_type [params \
@@ -717,15 +713,15 @@ Motor pa_left $motor_driver_type [params \
   maxSpeed 30000\
   maxAccel 60000\
   maxDecel 60000\
-  stepsPerX 4096\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 0\
-  cntsPerX 4096]
+  cntsPerX 8192]
 pa_left part slits 
 pa_left long_name pa_left
 pa_left softlowerlim -26
 pa_left softupperlim 2
-pa_left home 0
+pa_left home -7.0000
 
 # mc6: Pre-sample top aperture -- Slit s2 top Blade
 Motor pa_top $motor_driver_type [params \
@@ -739,15 +735,15 @@ Motor pa_top $motor_driver_type [params \
   maxSpeed 30000\
   maxAccel 60000\
   maxDecel 60000\
-  stepsPerX 4096\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 0\
-  cntsPerX 4096]
+  cntsPerX 8192]
 pa_left part slits 
 pa_left long_name pa_top
 pa_left softlowerlim -200
 pa_left softupperlim 0   
-pa_left home 0
+pa_left home -35.0000
 
 # mc6: Pre-sample bottom aperture -- Slit s2 bottom Blade
 Motor pa_bottom $motor_driver_type [params \
@@ -761,15 +757,15 @@ Motor pa_bottom $motor_driver_type [params \
   maxSpeed 30000\
   maxAccel 60000\
   maxDecel 60000\
-  stepsPerX 4096\
+  stepsPerX 25000\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome 0\
-  cntsPerX 4096]
+  cntsPerX 8192]
 pa_bottom part slits 
 pa_bottom long_name pa_bottom
 pa_bottom softlowerlim -200
 pa_bottom softupperlim 0  
-pa_bottom home 0
+pa_bottom home -35.0000
 
 proc motor_set_sobj_attributes {} {
 }