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Moved to hipadaba directory.

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r1242 | ffr | 2006-11-07 12:20:07 +1100 (Tue, 07 Nov 2006) | 2 lines
This commit is contained in:
Ferdi Franceschini
2006-11-07 12:20:07 +11:00
committed by Douglas Clowes
parent a8ba8b89cb
commit 899aaa90d5
15 changed files with 0 additions and 796 deletions
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83
site_ansto/instrument/genCLOSLOOP.tcl
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#TODO Version stamp this code and write the version number to the generated code
# axis = A B C D E F
# encodercounts = number of encoder counts per revolution
# quadcounts = number of quadrature counts per revolution
# tolquadcounts = tolerance in quadrature counts
proc genMOVE {axis encodercounts quadcounts tolquadcounts} {
puts "NO CLOSE MOTION LOOP FOR ${axis} AXIS
NO If the motor is within ${axis}TOLQC quadrature counts of the target
NO position then adjust it.
${axis}DIFF=${axis}QTARGET - _TP${axis}
IF ( ((100*${axis}TOLQC) > @ABS\[${axis}DIFF\]) & (@ABS\[${axis}DIFF\] > ${axis}TOLQC) )
${axis}SHLDFIX=1
ELSE
${axis}SHLDFIX=0
ENDIF
IF (${axis}FIXPOS=1)
${axis}OLDQT=${axis}QTARGET
${axis}count=10
SH${axis}
#${axis}LOOP
NO Abort if target position changes
IF (${axis}OLDQT <> ${axis}QTARGET)
JP#${axis}ENDCLP
ENDIF
${axis}count=${axis}count-1
PR${axis}=${encodercounts}*(${axis}DIFF/${quadcounts})
IF (_SP${axis}>${axis}MINSP)
SP${axis}=@ABS\[_PR${axis}\]/2.0
IF (_SP${axis} < ${axis}MINSP)
SP${axis}=${axis}MINSP
ENDIF
IF (_SP${axis} > ${axis}MAXSP)
SP${axis}=${axis}MAXSP
ENDIF
ENDIF
BG${axis}
MC${axis}
${axis}DIFF=${axis}QTARGET - _TP${axis}
IF ( ((100*${axis}TOLQC) > @ABS\[${axis}DIFF\]) & (@ABS\[${axis}DIFF\] > ${axis}TOLQC) )
JP#${axis}LOOP,${axis}count>0
ENDIF
#${axis}ENDCLP
NO Restore speed to maximum
${axis}FIXPOS=0
${axis}SHLDFIX=0
SP${axis}=${axis}MAXSP
ENDIF"
}
# Generate subroutine to start the servo loop thread
puts "#CLSLOOP"
set tolquadcounts 1
set encodercounts 25000
set quadcounts 8192
puts "NO Initilise tolerance, max and min speeds
ATOLQC=100
AMAXSP=${encodercounts}
AMINSP=100*(${encodercounts}/93207)
AFIXPOS=0"
foreach {axis} {B C D E F} {
puts "${axis}TOLQC=${tolquadcounts}
${axis}MAXSP=${encodercounts}
${axis}MINSP=100*(${encodercounts}/$quadcounts)
${axis}FIXPOS=0"
}
foreach {axis} {A B C D E F} {
puts "${axis}DIFF=${axis}QTARGET - _TP${axis}
IF ( ((100*${axis}TOLQC) > @ABS\[${axis}DIFF\]) & (@ABS\[${axis}DIFF\] > ${axis}TOLQC) )
${axis}SHLDFIX=1
ELSE
${axis}SHLDFIX=0
ENDIF"
}
puts "XQ#SERVOLP,1
EN"
# Generate servo loop
puts "#SERVOLP"
genMOVE A $encodercounts -93165 $tolquadcounts
foreach {axis} {B C D E F} {
genMOVE $axis $encodercounts $quadcounts $tolquadcounts
}
puts "JP#SERVOLP"