From d42ff4d4919ccbc61f41e7eb4ad45d332dd7c894 Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Tue, 24 Apr 2012 17:11:54 +1000
Subject: [PATCH] Apply changes to monochromator tilt stages as found on the
 instrument - limits tilts to 2 degrees r3535 | dcl | 2012-04-24 17:11:54
 +1000 (Tue, 24 Apr 2012) | 1 line

---
 .../config/motors/motor_configuration.tcl     | 25 ++++++++++---------
 1 file changed, 13 insertions(+), 12 deletions(-)

diff --git a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
index f2e36e43..2295aefe 100644
--- a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
@@ -594,14 +594,14 @@ momc home -45
 # mc4: Monochromator crystal stages tilt stage - G270
 set mphiSetRate 25000
 
-#Motor mphi $motor_driver_type [params \
+Motor mphi $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-pelican\
   port pmc4-pelican\
   axis A\
   units degrees\
-  hardlowerlim -5\
-  hardupperlim 5\
+  hardlowerlim -2\
+  hardupperlim 2\
   maxSpeed [expr 50000.0/25000.0]\
   maxAccel [expr 12500.0/25000.0]\
   maxDecel [expr 12500.0/25000.0]\
@@ -609,23 +609,24 @@ set mphiSetRate 25000
   absEnc 1\
   absEncHome $mphi_Home\
   cntsPerX 4096]
-#mphi part crystal 
-#mphi long_name mphi
-#mphi softlowerlim -5
-#mphi softupperlim 5
-#mphi home 0
+mphi part crystal 
+mphi long_name mphi
+mphi softlowerlim -2
+mphi softupperlim 2
+mphi home 0
 
 # mc4: Monochromator crystal stages tilt stage - G350
 set mchiSetRate 25000
 
+# NOTE: A limit of +-2 degrees ensures that you cannot drive the crystals into the face of the guide even when the crystal y translation is at the maximum
 Motor mchi $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-pelican\
   port pmc4-pelican\
   axis B\
   units degrees\
-  hardlowerlim -5\
-  hardupperlim 5\
+  hardlowerlim -2\
+  hardupperlim 2\
   maxSpeed [expr 50000.0/25000.0]\
   maxAccel [expr 12500.0/25000.0]\
   maxDecel [expr 12500.0/25000.0]\
@@ -635,8 +636,8 @@ Motor mchi $motor_driver_type [params \
   cntsPerX 4096]
 mchi part crystal
 mchi long_name mchi
-mchi softlowerlim -5
-mchi softupperlim 5
+mchi softlowerlim -2
+mchi softupperlim 2
 mchi home 0
 mchi speed 0.2
 mchi accel 0.1