add DET_Z motor

cfg/MX3_setup.cfg

@@ -27,6 +27,16 @@
 //!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
 !motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=93168.)
 
+// PKP266D14BA2 1.4A 1.8deb/step
+//!encoder_sim(enc=6)
+//!motor(mot=6,dirCur=1400,JogSpeed=40,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
+// #6j=102400 -> 1 rev
+//#6j=102400 == 1 rev == 102400 enc_cnt == 2000*1um
+//servoSf  : motorusteps/user_units    = 102400./2000
+//posSf    : user_units/encoder_steps  = 2000./102400
+//!encoder_sim(enc=6,posSf=2000./102400,pos2Sf=0)
+!encoder_sim(enc=6,posSf=2000./102400)
+!motor(mot=6,dirCur=1400,servoSf=102400./2000,invDir=False,JogSpeed=2,InPosBand=1,FatalFeLimit=1000,HomeOffset=0.)
 
 define(SP_RelBrk='15',SP_LockBrk='16')
 
@@ -89,13 +99,3 @@ open subprog SP_LockBrk
 close
 
 
-//for motor #2
-//PowerBrick[0].GpioData[0].17=1
-//#2j:360000
-//PowerBrick[0].GpioData[0].17=0
-//#2k
-//!cm_brake(mot=2,curOn=1000,cs=1,delay=200,gpio=17)
-
-
-
-

cfg/SAR-EXPMX3.cfg

@@ -38,7 +38,7 @@ Motor[5].IdCmd=0;Motor[5].InPosBand=10
 &1
 
 //initialization code
-open plc 0
+open plc 1
   homez1..5
   L0 = Sys.RunTime + .1
   while (Sys.RunTime < L0){} //wait .1 sec
@@ -55,9 +55,13 @@ open plc 0
     Motor[4].HomePos=Motor[4].HomePos-360000
   if (Motor[5].ActPos-Motor[5].HomePos<-180000)
     Motor[5].HomePos=Motor[5].HomePos-360000
-  disable plc 0
-close // plc 0
+  disable plc 1
+close // plc 1
 
-enable plc 0
+enable plc 1
+
+
+//motor 1..5 use custom code to kill motor and use brake
+!holding_current(m6=[0,700])