# $Revision: 1.3 $
# $Date: 2006-05-11 23:56:58 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: ffr $

#START SERVER CONFIGURATION SECTION
installprotocolhandler 
# Use this to create an array of named parameters to inilise motors.
proc params {args} {
  upvar 1 "" x;
  if [info exists x] {unset x}
  eval "array set x [list $args]"
}

ServerOption statusfile /home/sics/SICS/log/status.tcl 
ServerOption RedirectFile /home/sics/SICS/log/stdout 
ServerOption LogFileBaseName /home/sics/SICS/log/serverlog 
ServerOption LogFileDir /home/sics/SICS/log 
ServerOption QuieckPort 60004 
ServerOption ServerPort 60003 
ServerOption InterruptPort 60002 
ServerOption TelWord sicslogin 
ServerOption TelnetPort 60001 
ServerOption ReadUserPasswdTimeout 600000 
ServerOption AcceptTimeOut 10 
ServerOption ReadTimeOut 10 
SicsUser manager ansto 1 
SicsUser user sydney 2 
SicsUser spy 007 3 
MakeDataNumber SicsDataNumber /home/sics/SICS/data/DataNumber 
VarMake SicsDataPath Text Internal 
SicsDataPath /home/sics/SICS/data/ 
SicsDataPath lock
VarMake SicsDataPrefix Text Internal 
SicsDataPrefix smp 
SicsDataPrefix lock
VarMake SicsDataPostFix Text Internal 
SicsDataPostFix .hdf 
SicsDataPostFix lock
VarMake Title Text User 
VarMake Sample Text User 
VarMake User Text User 
VarMake starttime Text User 
VarMake currentfile Text User 
VarMake batchroot Text User 
VarMake Instrument Text Internal 
Instrument RSD 
Instrument lock
MakeDrive
#END SERVER CONFIGURATION SECTION

########################################
# INSTRUMENT SPECIFIC CONFIGURATION

# Setup addresses of Galil DMC2280 controllers.
set dmc2280_controller1(host) 137.157.201.66
set dmc2280_controller1(port) 1034

set dmc2280_controller2(host) 137.157.201.67 1034
set dmc2280_controller2(port) 1034

set dmc2280_controller3(host) 137.157.201.67
set dmc2280_controller3(port) 1035

set dmc2280_controller4(host) 137.157.201.68
set dmc2280_controller4(port) 1034

Motor mth DMC2280 [params \
	host $dmc2280_controller1(host)\
	port $dmc2280_controller1(port)\
	axis X?\
	stepsPerX XXX\
	absEnc 1\
	absEncHome YYY\
	cntsPerX ZZZ]
mth hardlowerlim -180
mth hardupperlim 180
mth softlowerlim -180
mth softupperlim 180
mth home 0

Motor mom DMC2280 [params \
	host $dmc2280_controller1(host)\
	port $dmc2280_controller1(port)\
	axis X?\
	stepsPerX XXX\
	absEnc 1\
	absEncHome YYY\
	cntsPerX ZZZ]
mom hardlowerlim -180
mom hardupperlim 180
mom softlowerlim -180
mom softupperlim 180
mom home 0

Motor mtth DMC2280 [params \
	host $dmc2280_controller1(host)\
	port $dmc2280_controller1(port)\
	axis X?\
	stepsPerX XXX\
	absEnc 1\
	absEncHome YYY\
	cntsPerX ZZZ]
mtth hardlowerlim 40
mtth hardupperlim 120
mtth softlowerlim 40
mtth softupperlim 120
mtth home 80

Motor mchi DMC2280 [params \
	host $dmc2280_controller1(host)\
	port $dmc2280_controller1(port)\
	axis X?\
	stepsPerX XXX\
	absEnc 1\
	absEncHome YYY\
	cntsPerX ZZZ]
mchi hardlowerlim 70
mchi hardupperlim 110
mchi softlowerlim 70
mchi softupperlim 110
mchi home 90

Motor mphi DMC2280 [params \
	host $dmc2280_controller1(host)\
	port $dmc2280_controller1(port)\
	axis X?\
	stepsPerX XXX\
	absEnc 1\
	absEncHome YYY\
	cntsPerX ZZZ]
mphi hardlowerlim -20
mphi hardupperlim 20
mphi softlowerlim -20
mphi softupperlim 20
mphi home 0

Motor mx DMC2280 [params \
	host $dmc2280_controller1(host)\
	port $dmc2280_controller1(port)\
	axis X?\
	stepsPerX XXX\
	absEnc 1\
	absEncHome YYY\
	cntsPerX ZZZ]
mx hardlowerlim xxxx
mx hardupperlim xxxx
mx softlowerlim xxxx
mx softupperlim xxxx
mx home 0

Motor my DMC2280 [params \
	host $dmc2280_controller1(host)\
	port $dmc2280_controller1(port)\
	axis X?\
	stepsPerX XXX\
	absEnc 1\
	absEncHome YYY\
	cntsPerX ZZZ]
my hardlowerlim xxxx
my hardupperlim xxxx
my softlowerlim xxxx
my softupperlim xxxx
my home 0

Motor mrh DMC2280 [params \
	host $dmc2280_controller1(host)\
	port $dmc2280_controller1(port)\
	axis X?\
	stepsPerX XXX\
	absEnc 1\
	absEncHome YYY\
	cntsPerX ZZZ]
mrh hardlowerlim HLL
mrh hardupperlim HUL
mrh softlowerlim SLL
mrh softupperlim SUL
mrh home 0

Motor mrv DMC2280 [params \
	host $dmc2280_controller1(host)\
	port $dmc2280_controller1(port)\
	axis X?\
	stepsPerX XXX\
	absEnc 1\
	absEncHome YYY\
	cntsPerX ZZZ]
mrv hardlowerlim HLL
mrv hardupperlim HUL
mrv softlowerlim SLL
mrv softupperlim SUL
mrv home 0

Motor som DMC2280 [params \
	host $dmc2280_controller2(host)\
	port $dmc2280_controller2(port)\
	axis xxxx\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
	stepsPerX xxxx\
	absEnc 1\
	absEncHome xxxx\
	cntsPerX xxxx]
som hardlowerlim 0
som hardupperlim 360
som softlowerlim 0
som softupperlim 360
som home 0

Motor stth DMC2280 [params \
	host $dmc2280_controller2(host)\
	port $dmc2280_controller2(port)\
	axis xxxx\
  units degrees\
  maxSpeed xxxx\
  maxAccel xxxx\
  maxDecel xxxx\
	stepsPerX xxxx\
  motorHome xxxx\
	absEnc 1\
	absEncHome xxxx\
	cntsPerX xxxx]
stth hardlowerlim 75
stth hardupperlim 105
stth softlowerlim 75
stth softupperlim 105
stth home 160

Motor sx DMC2280 [params \
	host $dmc2280_controller2(host)\
	port $dmc2280_controller2(port)\
	axis xxxx\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
	stepsPerX xxxx\
	absEnc 1\
	absEncHome xxxx\
	cntsPerX xxxx]
sx hardlowerlim -250
sx hardupperlim 250
sx softlowerlim -250
sx softupperlim 250
sx home 0

Motor sy DMC2280 [params \
	host $dmc2280_controller2(host)\
	port $dmc2280_controller2(port)\
	axis xxxx\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
	stepsPerX xxxx\
	absEnc 1\
	absEncHome xxxx\
	cntsPerX xxxx]
sy hardlowerlim -250
sy hardupperlim 250
sy softlowerlim -250
sy softupperlim 250
sy home 0

Motor sz DMC2280 [params \
	host $dmc2280_controller2(host)\
	port $dmc2280_controller2(port)\
	axis xxxx\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
	stepsPerX xxxx\
	absEnc 1\
	absEncHome xxxx\
	cntsPerX xxxx]
sz hardlowerlim 0
sz hardupperlim 650
sz softlowerlim 0
sz softupperlim 650
sz home 0

Motor psp DMC2280 [params \
	host $dmc2280_controller3(host)\
	port $dmc2280_controller3(port)\
	axis xxxx\
  units xxxx\
  maxSpeed xxxx\
  maxAccel xxxx\
  maxDecel xxxx\
	stepsPerX xxxx\
	absEnc 1\
	absEncHome xxxx\
	cntsPerX xxxx]
psp hardlowerlim xxxx
psp hardupperlim xxxx
psp softlowerlim xxxx
psp softupperlim xxxx
psp home xxxx

Motor psw DMC2280 [params \
	host $dmc2280_controller3(host)\
	port $dmc2280_controller3(port)\
	axis xxxx\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
	stepsPerX xxxx\
	absEnc 1\
	absEncHome xxxx\
	cntsPerX xxxx]
psw hardlowerlim 0
psw hardupperlim 30
psw softlowerlim 0
psw softupperlim 30
psw home 0

Motor pso DMC2280 [params \
	host $dmc2280_controller3(host)\
	port $dmc2280_controller3(port)\
	axis xxxx\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
	stepsPerX xxxx\
	absEnc 1\
	absEncHome xxxx\
	cntsPerX xxxx]
pso hardlowerlim 0
pso hardupperlim 30
pso softlowerlim 0
pso softupperlim 30
pso home 0

Motor ssp DMC2280 [params \
	host $dmc2280_controller3(host)\
	port $dmc2280_controller3(port)\
	axis xxxx\
  units xxxx\
  maxSpeed xxxx\
  maxAccel xxxx\
  maxDecel xxxx\
	stepsPerX xxxx\
	absEnc 1\
	absEncHome xxxx\
	cntsPerX xxxx]
ssp hardlowerlim xxxx
ssp hardupperlim xxxx
ssp softlowerlim xxxx
ssp softupperlim xxxx
ssp home xxxx

Motor ssw DMC2280 [params \
	host $dmc2280_controller4(host)\
	port $dmc2280_controller4(port)\
	axis xxxx\
  units mm\
	stepsPerX xxxx\
	absEnc 1\
	absEncHome xxxx\
	cntsPerX xxxx]
ssw hardlowerlim 0
ssw hardupperlim 30
ssw softlowerlim 0
ssw softupperlim 30
ssw home 0

Motor ssh DMC2280 [params \
	host $dmc2280_controller4(host)\
	port $dmc2280_controller4(port)\
	axis xxxx\
  units mm\
	stepsPerX xxxx\
	absEnc 1\
	absEncHome xxxx\
	cntsPerX xxxx]
ssh hardlowerlim 0
ssh hardupperlim 30
ssh softlowerlim 0
ssh softupperlim 30
ssh home 0

Motor ssho DMC2280 [params \
	host $dmc2280_controller4(host)\
	port $dmc2280_controller4(port)\
	axis xxxx\
  units mm\
	stepsPerX xxxx\
	absEnc 1\
	absEncHome xxxx\
	cntsPerX xxxx]
ssho hardlowerlim 0
ssho hardupperlim 30
ssho softlowerlim 0
ssho softupperlim 30
ssho home 0