axelim.dat

!+
! AXES LIMITS BLOCK
!
! History:
! 2006-01-24 ROwen changed min alt from 0 to 6 to avoid crushing
!                  the holloman light baffles.
! 2007-08-09 ROwen reduced jerk equal to  acceleration
! 2010-05-05 ROwen added status bits closed_loop and clock_not_set to BadStatusMask
!                  added status bits max_pos, min_pos to WarnStatusMask
!                  removed closed_loop from WarnStatusMask
! 2012-08-10 DL    Increased Altitude lower limit to 18.2 from 6
! 2015-02-11 DL    Moved stop button in from bad status mask to warning mask
! 2017-08-30 CS    Adjusted rot limits from -180, 361 to -101, 255 due to damaged encoder tape.
! 2017-10-10 CS    Set rot limits back to -180, 361 after JohnD's new readhead install.
!-

!   Basic Mount Limits
!   axes are: axes are: tel1 (az/eq), tel2 (alt/dec), rot

! Minimum Position (deg)
MinPos   -195       18.2    -180
! Maximum Position (deg)
MaxPos    435      90    +361
! Maximum |velocity| (deg*/sec)
Vel         2.0     1.5    2.0
! Mmaximum |acceleration| (deg*/sec^2)
Accel       0.2   0.08   0.25
! Maximum |jerk| (deg*/sec^3) (ignored for uncomputed offsets).
Jerk        0.2     0.08     0.25

!   Status Related Parameters

! Bad status mask: Bad<Axis>Status is printed and
! Axis Init fails if any of these bits is high in a status word:
! bit name
! 11  Out of closed loop
! 12  Amplifier is bad
! 14  Semaphore taken
! 18  clock_not_set
! mask = 284672 = 0x45800
BadStatusMask  284672

! Warning status mask: Warn<Axis>Status is printed
! and Axis Init warns if any of these bits is high in a status word:
! bit name
!  0  pvt_empty
!  1  pvt_time_late
!  2  max_pos
!  3  min_pos
!  4  max_vel
!  5  max_acc
!  6  min_limit
!  7  max_limit
! 13  One or more stop buttons is in
! 16  1 Hz clock signal missing
! 17  clock_slow_signal
! 24  ms_on_correction_too_large
! 29  bump_dn_cw_sticky
! 30  bump_up_ccw_sticky
! mask = 1627595007 = 0x610320ff
WarnStatusMask 1627595007

! Maximum delta-time between axis controller and TCC, in sec
MaxDTime 0.85

!+
! END OF AXES LIMITS BLOCK
!-