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tweak xy stage part1

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This commit is contained in:
zamofing_t
2018-08-14 11:59:01 +02:00
parent 55a82707a0
commit 2f37442828
6 changed files with 48 additions and 21 deletions
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12
cfg/MX1_setup.cfg
View File

@@ -45,10 +45,10 @@
//use um as motor unit
!encoder_sim(enc=1,tbl=9,mot=9,posSf=13000./2048)
!encoder_inc(enc=1,tbl=1,mot=1,posSf=13000./650000)
//!motor_servo(mot=1,ctrl='ServoCtrl',Kp=20,Kvfb=1000,Ki=0.07,Kvff=1000,Kaff=4000,MaxInt=1000)
//!motor_servo(mot=1,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
//Stage X Parker MX80L (top stage, mounted on Y stage)
@@ -57,12 +57,12 @@
// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable)
// -> PhasePosSf=(2048*el_cycle)/(256*enc_step) = 8*el_cycle/enc_step =2048*1/(256*650000)=8*1/650000=1./81250=1.23077e-05
//2048 phase_step =166400000 PhaseCapt -> PhasePosSf = 2048/166400000= 2048./(256*650000)
//PhaseFreq=20000,PhasePerServo=1 -> Kvfb=220*4 Ki/=4,Kvff*=4,Kaff*=4*4
!encoder_sim(enc=2,tbl=10,mot=10,posSf=13000./2048)
!encoder_inc(enc=2,tbl=2,mot=2,posSf=13000./650000)
!motor_servo(mot=2,ctrl='ServoCtrl',Kp=18,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
//PhaseFreq=20000,PhasePerServo=1 -> Kvfb=220*4 Ki/=4,Kvff*=4,Kaff*=4*4
!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
!motor_servo(mot=2,ctrl='ServoCtrl',Kp=22,Kvfb=350,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
//rot stage

2
cfg/MX2_home.cfg
View File

@@ -17,7 +17,7 @@ open plc PLC_Homing
Motor[3].HomeVel=0.5
Motor[4].HomeVel=0.5
status=1
while(1)
{
if((Motor[1].LimitStop==1 || Motor[1].FeFatal==1)){