# Genosensor calibration file for the Delta instrument 

# This file contains calibration data for the Genosensor 

# prototype instrument.  The calibration items are read 

# and parsed during program initialization and updated 

# in the appropriate modules initialize() methods 

# Last updated:

# 7:44 PM 8/1/00. Charlie Prototype

# 11:03 AM 8/4/00 Delta cal

# 12:09 PM 8/10/00 Delta carousel cal for MUSE

# 4:30 PM 1/28/00 Delta carousel re-cal per carousel polarity bug-fix

# 2/23/01 brent - Delta prototype just after being locktited

# 2/28/01 Karen/Scott - Calibrated load, unload and shuttle position parameters.

# 3/9/01 Brent - reduced shuttle current limit from 500 to 300 units

# 3/12/01 Brent - increased carousel backlash from 30 to 150

# 3/23/01 Brent - increased FLUSH.POS from 89 to 92K

# 4/17/01 Brent - decreased FILTERCLAMP.AL.CNTS from 300k to 285k

# 4/30/01 Brent - reduced MAXVELs to allow servo operation down to 11VDC input

# 6/13/02 Scott - Increased unload elevator backoff from 2000 to 3000

# 8/15/02 Danelle-increased SYRINGE axis range from 191991 to 198000

# 8/21/02 Scott - changed filterclamp to a 592:1 and updated filterclamp numbers

# 7/31/03 Roman - changed shuttle process position from 220000 to 222500 to center puck

# 10/10/03 Chris - Changed load elev backoff to 3200 for Ti pucks

# 10/10/03 Chris - changed unload camera seal to 11780 for Ti pucks

# 10/29/03 Chris - Changed load elev backoff to 3100 for Ti pucks

# 06/09/04 Scott - Changed the carousel numbers from below after carousel disassembly

#			after rebuild things moved.  Also trimmmed bottom of carousel.

# 06/09/04 Chris - changed load elv backoff and camera seal to original settings

# 08/03/04/ Scott- Changed Load elevator backoff for kapton tape

#

#A2.UNLOAD.INDEX.CNTS 11934,8954,5882,2908,32716,29761,26812,23867,20908,17944,14965

#A2.LOAD.INDEX.CNTS 0,29856,26798,23733,20786,17826,14807,11901,8961,5986,3079

# Define.MOTOR.CONTROL.PARMS as KP,KI,KD,TORQLIMIT, MAXACC, MAXDEC,

# MAXVEL, POSERRLIMIN, MAXCURRENT<optional>

# Loadelevator

LOADELEV.MOTOR.CONTROL.PARMS 750,1000,7500,1.7,16384,16384,4500,1000,2000

LOADELEV.AXIS.RANGE 244849

LOADELEV.FILTER.BACKOFF 2500 #3650 3100 3200 3650 2000

# Unloadelevator TL = 1.7 PE = 1000

UNLOADELEV.MOTOR.CONTROL.PARMS 750,1000,7500,1.7,16384,16384,4500,1000,2000

UNLOADELEV.AXIS.RANGE 243256

UNLOADELEV.FILTER.BACKOFF 3000 #2000

UNLOADELEV.CAMSEAL.INC 12000 # 11780 12000

# Shuttle

SHUTTLE.MOTOR.CONTROL.PARMS 250,1000,3500,1.0,16384,16384,6000,1000,300

SHUTTLE.AXIS.RANGE 452868

SHUTTLE.LOAD.POS 0

SHUTTLE.FLUSH.POS 92000

SHUTTLE.PROCESS.POS 222500

SHUTTLE.UNLOAD.POS 444000

# Carousel motor

CAROUSEL.MOTOR.CONTROL.PARMS 250,1000,3500,1.7,16384,16384,5500,1000,1000

CAROUSEL.CNTS.PER.REV 183120

# relative encoder backlash  508.0 cnts/degree

CAROUSEL.BACKLASH 150

# Carousel absolute encoder

A2.CNTSPERREV 32768

A2.UNLOAD.INDEX.CNTS 11962,8950,5946,2955,32763,29762,26814,23845,20908,17952,14981

A2.LOAD.INDEX.CNTS 0,29813,26799,23815,20785,17805,14807,11864,8942,5967,3033

# Filterclamp

FILTERCLAMP.MOTOR.CONTROL.PARMS 250,1000,4000,2.0,16384,16384,5500,1000,1000

FILTERCLAMP.AXIS.RANGE 200000

# Filter Clamp Calibration

FILTERCLAMP.AL.CNTS 185000 #285000      #Cnts to clamp aluminum filter

FILTERCLAMP.SS.CNTS 185000 #231000      #Cnts to clamp stainless steel filter

FILTERCLAMP.FLUSH.CNTS 185000 #231000   #Cnts to clamp flush puck

# Syringe

SYRINGE.MOTOR.CONTROL.PARMS 2000,100,3000,0.75,8192,8192,2000,1000,1000

SYRINGE.CNTSPERML 7992

SYRINGE.AXIS.RANGE 191991

# Temperature control Infrared-to-Water Temp Conversion

# These coeifficients are for a 1st order linear

# conversion to convert the infrared temperature reading to actual

# water temp in degrees Celcius# WATER.TEMP.CONVERSION <slope>, <intercept>

# WATER.TEMP.CONVERSION 2.365,-40.5

# WATER.TEMP.CONVERSION 3.0,-65.0

WATER.TEMP.CONVERSION 1,0

# Temperature control Infrared-to-Setpoint Temp Conversion

# These coeifficients are for a 1st order linear

# conversion to calculate the necessary setpoint

# to reach a desired water temp in degrees Celcius.

# SETPT.TEMP.CONVERSION <slope>, <intercept>

# SETPT.TEMP.CONVERSION 0.43,16.86

# SETPT.TEMP.CONVERSION 0.333,21.671

SETPT.TEMP.CONVERSION 1,0

TEMP.CONTROL.RANGE 20,100