Merge pull request #128 from nrwslac/hutch-states

ENH: add MR2/3/4K2 States, expand fault buffer
pcdshub · Oct 10, 2024 · 2172bdd · 2172bdd
2 parents de4735f + 88d6f82
commit 2172bdd
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Showing 10 changed files with 3,093 additions and 1,095 deletions.
diff --git a/...EK1521-0010)/Term 306 (EK1501-0010)/Term 310 (EK1122)/EK1100_MR2K2/EL5042_M2K2X_M2K2Y.xti b/...EK1521-0010)/Term 306 (EK1501-0010)/Term 310 (EK1122)/EK1100_MR2K2/EL5042_M2K2X_M2K2Y.xti
@@ -1,5 +1,5 @@
-<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
-<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmItem" TcSmVersion="1.0" TcVersion="3.1.4022.30" ClassName="CFlbTermDef" SubType="9099">
+<?xml version="1.0"?>
+<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.35" ClassName="CFlbTermDef" SubType="9099">
 	<DataTypes>
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@@ -11,7 +11,7 @@
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
 			<BitSize>4</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -46,6 +46,7 @@
 			<MBoxUserCmdData>02000300090000000e0000000300000000000000000000000000000000000000201880120100000032537570706c7920566f6c7461676500</MBoxUserCmdData>
 			<MBoxUserCmdData>02000300090000000f00000003000000000000000000000000000000000000002018801501000000004d756c74697475726e205b4269745d00</MBoxUserCmdData>
 			<MBoxUserCmdData>020003000900000010000000030000000000000000000000000000000000000020188016010000001a53696e676c657475726e205b4269745d00</MBoxUserCmdData>
+			<MBoxUserCmdData>0200030009000000190000000300000000000000000000000000000000000000200880010100000001496e7665727420466565646261636b20446972656374696f6e00</MBoxUserCmdData>
 			<Pdo Name="FB Inputs Channel 1" Index="#x1a00" Flags="#x0010" SyncMan="3">
 				<ExcludePdo>#x1a02</ExcludePdo>
 				<Entry Name="Status__Warning" Index="#x6000" Sub="#x01">

diff --git a/lcls-plc-rixs-optics/_Config/NC/Axes/M2K2 X.xti b/lcls-plc-rixs-optics/_Config/NC/Axes/M2K2 X.xti
@@ -1319,11 +1319,11 @@ External Setpoint Generation:
 		<Name>__FILENAME__</Name>
 		<AxisPara>
 			<Dynamic AccelerationMaximum="100" DecelerationMaximum="100" Acceleration="100" Deceleration="100" DelayTime="0.008"/>
-			<Velo Maximum="20"/>
+			<Velo Maximum="0.35"/>
 			<OtherSettings AllowMotionCmdToSlave="true"/>
 		</AxisPara>
 		<Encoder Name="Enc" EncType="29">
-			<EncPara ScaleFactorNumerator="5e-06" Offset="30.3574" Inverse="true" MaxCount="#xffffffff" ReferenceSystem="1">
+			<EncPara ScaleFactorNumerator="5e-06" Offset="-21444.48" MaxCount="#xffffffff" ReferenceSystem="1">
 				<SoftEndMinControl Enable="true" Range="-12.5"/>
 				<SoftEndMaxControl Enable="true" Range="12.5"/>
 				<Inc RefSoftSyncMask="#x0000ffff"/>