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# $Id:$
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#
## NAME:
# 
# SpireTable_SpecSmecNominalSettings.txt
#
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#
## DESCRIPTION:
# 
# Cal. table with nominal settings of SMEC;
#
#    version     Version number
#    Home        SMEC Home position [Dec(Hex)]
#                 - SMEC is put here at beginning and end
#                   of observations and during PCAL Flashes
#    MoveSpeed   Speed of SMEC movement when not spectrally scanning [mum/sec]
#    MoveCmd     [Dec(Hex) associated Dec(Hex) number to command this speed 
#                 - DRCU cmds SetSScanFwdSpeed and SetSScanRevSpeed parameter
#                 - value to set the SMEC movement speed given in MoveSpeed  
#                   Note, this is somewhat 'empirical' and not following the
#                   formula given in the MCUCommandICD document! I.e you need
#                   to command slightly more to get a certain speed. 
#    encPwr       encoder power level
#    ffOff        feed forward offset 
#    ffGain       feed forward gain 
#    s1Off        encoder signal 1 offset
#    s2Off        encoder signal 2 offset
#    lvdtScale    lvdt scale
#    lvdtOff      lvdt offset
#    kp           proportional factor of the PID servo
#    ki           integral factor of the PID servo
#    kd           derivative factor of the PID servo
#    drvFlt       derivative filter
#    intLim       integral limit
#    rteLim       rate limiter
#    traTim       turn around time [millisec]
# 
# Note: The given MoveSpeed (and associated MoveCmd) are only used 
#       for moving the SMEC to a certain position e.g. in SpireProc_SmecMove.
#       The SMEC velocity for scanning is defined in SpireTable_Spectrometer.
#
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#
## HISTORY:
#
# M.Pohlen:
# 2008/11/03 V0.1: Version copied from 
#                  Spectrometer.txt (v1.9 2007/04/20 16:47:26 kking) 
#                  adding in versioning
# 2009/02/01 V0.2: (KJK) Changed to contain the non-operational SMEC parameters
#                  Fixed bug in MoveCmd, should be 5250 and not 525 for 500u/sec
# 2009/02/13 V0.3: (MP) Made some cosmetic changes to the header. Add in PID 
#                  parameter from SMEC_prime_settings (SDS 17th July 2008)
#                  using only the 'sd_' and 'cold' values.
# 2009/03/30 V0.4: (MP) Added some notes to the header. 
# 2009/07/06 V0.5: KJK  SCR-1595 - Updated SMEC PID parameters following tests
#                  in OD52. 
# 2009/07/07 V0.6: (MP) For last update two numbers s1Off and s2Off were
#                  missed out. They are now changed (see SCR-SPIRE-1595)
# 
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string   int   int   int   int   int   int   int   int   int   int   int   int   int   int   int   int   int   
version   Home   MoveSpeed   MoveCmd   encPwr   ffOff   ffGain   s1Off   s2Off   lvdtScale   lvdtOff   kp     ki     kd    drvFlt intLim rteLim traTim   
v00       3500   500         5250      1        32241   11941    55000   46000   11874       7828      2000   1000   2000  2000   2000   300    900