...

<ac:structured-macro ac:name="unmigrated-wiki-markup" ac:schema-version="1" ac:macro-id="8d547f2f73954b53-4f82ec8b-41ae43e7-91e1b07a-5418e32dcf49e7d462f29b9a"><ac:plain-text-body><![CDATA[	Var	Value [step/s(^2)]	[deg/s(^2)]	[rev/s(^2)]	]]></ac:plain-text-body></ac:structured-macro>
VI	5300	1192.5	3.3125
VM	10000	2250	6.25
A	1875000	421880	1171.9
D	1875000	421880	1171.9

...

<ac:structured-macro ac:name="unmigrated-wiki-markup" ac:schema-version="1" ac:macro-id="cd9ad01ba95609df-eca5317e-422d4732-8906a513-cf6949f4f46c11dd63f1dc0e"><ac:plain-text-body><![CDATA[	Var	Value [step/s(^2)]	[deg/s(^2)]	[rev/s(^2)]	]]></ac:plain-text-body></ac:structured-macro>
VI	7500	1687.5	3.3125
VM	10000	2250	4.6875
A	1875000	421880	1171.9
D	1875000	421880	1171.9

...

<ac:structured-macro ac:name="unmigrated-wiki-markup" ac:schema-version="1" ac:macro-id="c4b975ad04031894-3c44cf82-498145f2-94ada7e1-c1e16f8bcf63b2325b4de1f5"><ac:plain-text-body><![CDATA[	Var	Value [step/s(^2)]	[deg/s(^2)]	[rev/s(^2)]	]]></ac:plain-text-body></ac:structured-macro>
VI	7500	1687.5	3.3125
VM	10000	2250	4.6875
A	1875000	421880	1171.9
D	1875000	421880	1171.9

...

<ac:structured-macro ac:name="unmigrated-wiki-markup" ac:schema-version="1" ac:macro-id="7e80498f5d7539fa-8199966c-421d46ee-9e00b742-4259dc0b684e8488ae081277"><ac:plain-text-body><![CDATA[	Var	Value [step/s(^2)]	[deg/s(^2)]	[rev/s(^2)]	]]></ac:plain-text-body></ac:structured-macro>
VI	640	144	0.4
VM	2560	576	1.6
A	640	144	0.4
D	640	144	0.4

...

Installation	Date	Mo	Spindle PV
XPP	2013-10-14	-245	XPP:SB2:MMS:29
MEC	2013-10-14	-255	MEC:HXM:MMS:18
XCS	2013-10-14	-239	XCS:SB2:MMS:09

The magic offsets are normally stored in IMS NVRAM, but in case they are lost, refer to the table above.

Changelog

Version Ns=91

Reduced call depth by moving code from subroutines into their respective ISRs/functions. This was done for speed, as we gain a significant fraction of a millisecond for each CL/RT pair eliminated.
Eliminated a few Sd states that are no longer being used (for speed purposes).
Burst mode now drift checks the open position, to allow it to be used ad infinitum without risk of it drifting in the positive direction.
Drift limit violation counters are now reset upon homing as well as upon power cycle.
Eliminated no-longer-used subroutines.
Removed all unneeded spaces from conditional branch/call statements.
Wishlist for next revision:
- Test realignment subroutine (X7) and add it to every mode change (especially fast open/close modes)
- Further velocity tuning? We could possibly go faster.