Galil default parameters

Wiki > The Backend System > IOCs > Motor IOCs > Galil > 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	Home is defined as zero across ISIS
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