Galil default parameters
The Galil IOC has a number of (quite obscure) parameters. The ISIS defaults for these are stated here. Parameters that are not on this list either vary so much per axis that a sensible default is hard to reach or are happy at the motor record default.
Parameter |
Description |
Default (Commissioning) |
Default (Running) |
Reasoning |
|---|---|---|---|---|
ESTALLTIME |
Throws an error when the encoder has not moved after specified time |
1 |
Small enough to catch errors when they occur |
Give some slack so that doesn’t throw errors, tighten when required |
EDEL |
In motion if encoder has moved by this amount |
2*ERES |
Could be increased if motor is particularly jittery |
A motor shouldn’t be jittering by more than 1 encoder step |
JAH |
When on the axis will jog a specified amount after a home |
No |
Same |
We don’t want to do this at ISIS |
JAH_VAL |
The amount to jog after home |
Don’t Care |
Same |
Doesn’t do anything when above PV not set |
EGUAFTLIMIT |
The distance between a limit switch and a hard stop |
0.001 |
Increased if a large deceleration would be bad |
A very small amount will definitely stop the axis |
HOMEVAL |
What position to send the device after a home |
0 |
Same |
|
OFFONERRORLIMIT |
Turns the motor off when position error is greater than specified |
Off |
Same |
Would be useful if the IOC sent a new position on start up but currently doesn’t |
ERROR LIMIT |
The position error to turn the motor off at |
Don’t Care |
Same |
Doesn’t do anything when above PV not set |
WLP |
Stops the motor from moving when it hits any limit |
On |
Off |
Provides a safety net during commissioning but means you cannot move off a limit when running |
AUTOONOFF |
Automatically turns the motor on for a move and off when complete |
On |
Off when the motor needs to be constantly energised e.g. it will fall under gravity |
Better to turn the motor off when not in use |
ONDELAY |
If AUTOONOFF set, how long to wait after the motor is turned on to begin a move |
0.2 |
0 |
Used to make sure the amp is ready for the move. Generally we do not need to wait. |
OFFDELAY |
If AUTOONOFF set, how long to wait after stopped before turning off |
0.2 |
2 |
Should wait some time if you’re doing correction moves immediately |
ON_CMD |
If on will leave the motor on at all times |
Off |
Off when the motor needs to be constantly energised e.g. it will fall under gravity (Make sure the AUTOONOFF is Off) |
Better to turn the motor off when not in use |
K1, K2, K3, FV, FC, FA, FN, ZP, ZN, CT, AF |
Used for ceramic motors |
0 |
Change if ceramic |
This is the Galil’s default when not ceramic motors |
FV, FA |
Changes the output voltages based on the acceleration/velocity |
0 |
Change if required |
Most axes in ISIS do not require this |
IL, TL |
Used for setting limits on the integrator and torque |
9.998 |
Change if required |
Most axes at ISIS do not need a limit so set the highest possible |
CP |
Used for ceramic motors but effects all motors. At the end of a move if the motor is within this value of the setpoint then the motor is switched off |
-1.0 |
Change if ceramic |
-ve turns off the motor-off command (Can be set via the engineering view) |
VBAS |
The minimum speed the motor should go at (NOTE THAT ACCEL IS CALCULATED BASED ON THIS) |
0 |
Same |
Most motors should be happy at any speed below maximum |
BDST |
The distance to move to correct for backlash |
0 |
Same |
Most axes shouldn’t need to correct |
BVEL |
The velocity to move when correcting for backlash |
Don’t care |
Same |
Doesn’t do anything when BDST not set |
BACC |
The acceleration to move with when correcting for backlash |
Don’t care |
Same |
Doesn’t do anything when BDST not set |
DHLM |
The high soft limit |
2147483647 * MRES |
Slightly before the forward limit switch |
When commissioning turn off. When running we don’t normally want to hit the physical limits. |
DLLM |
The low soft limit |
-2147483648 * MRES |
Slightly before the reverse limit switch |
When commissioning turn off. When running we don’t normally want to hit the physical limits. |
UEIP |
Use an encoder |
Off |
On |
When starting to commission you are not using the encoder, when running you should if there is one |
RTRY |
The number of times to retry getting to the setpoint |
0 |
10 |
When commissioning don’t want to run ‘closed loop’ otherwise 10 tries is normally enough to get to position |