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zamofing_t
2017-09-29 10:38:24 +02:00
parent f6b3853550
commit 3764e27d13
6 changed files with 90 additions and 30 deletions
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12
cfg/torqueCtrl.cfg
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@@ -41,7 +41,7 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
//Motor[1].pAbsPhasePos=Acc84B[0].Chan[0].SerialEncDataA.a
!motor_servo(mot=1,ctrl='ServoCtrl',Kp=0.8,Kvfb=20,Ki=0.001,Kvff=40,Kaff=0,MaxInt=1000)
!motor(mot=1,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10)
!motor(mot=1,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10, HomeOffset=228987)
//Stage Y Parker MX80L
@@ -85,12 +85,14 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
!encoder_biss(enc=7,numBits=32,posSf=1./20)
!encoder_biss(enc=8,numBits=32,posSf=1./20)
!motor(mot=7,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8)
!motor(mot=8,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8)
!motor(mot=7,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8,InPosBand=1,HomeOffset=39278)
!motor(mot=8,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8,InPosBand=1,HomeOffset=39736)
//turn off servon and inpos below ... user units (here 1um)
Motor[7].InPosBand=1;Motor[7].Servo.BreakPosErr=Motor[7].InPosBand
Motor[8].InPosBand=1;Motor[8].Servo.BreakPosErr=Motor[8].InPosBand
//Motor[7].InPosBand=1;Motor[7].Servo.BreakPosErr=Motor[7].InPosBand
//Motor[8].InPosBand=1;Motor[8].Servo.BreakPosErr=Motor[8].InPosBand
#1,7,8hmz
//holding current
!holding_current(m7=[0,200],m8=[0,200])