66 lines
1.0 KiB
YAML
66 lines
1.0 KiB
YAML
axis:
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id: ${AX_ID}
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group: virtualAxes
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type: end effector
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epics:
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name: CENTERY
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precision: 4
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unit: mm
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motorRecord:
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description: "Center (Virtual)"
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fieldInit: "SPAM=0,RTRY=1,FOFF=Frozen,TWV=1"
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encoder:
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type: 1
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source: 1
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numerator: 1
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bits: 32
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trajectory:
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axis:
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velocity: 0.5
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acceleration: 0.25
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jerk: 0.25
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input:
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limit:
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forward: ec0.s0.ONE.0 # unused
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backward: ec0.s0.ONE.0 # unused
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home: ec0.s0.ONE.0 # unused
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interlock: ec0.s0.ONE.0 # unused
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softlimits:
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enable: false
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forwardEnable: true
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backwardEnable: true
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forward: 52
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backward: 8
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monitoring:
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lag:
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enable: yes
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tolerance: 0.02
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time: 100
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target:
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enable: yes
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tolerance: 0.02
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time: 100
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velocity:
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enable: yes
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max: 0.6
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time:
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trajectory: 100
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drive: 100
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plc:
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enable: true
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externalCommands: true
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filter:
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velocity:
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enable: false
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size: 10
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trajectory:
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enable: false
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size: 10
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