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homing plc and fixes

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This commit is contained in:
zamofing_t
2017-06-12 09:51:02 +02:00
parent 0bf383e155
commit 3b886088d9
15 changed files with 1133 additions and 87 deletions
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7
cfg/torqueCtrl.cfg
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@@ -53,8 +53,9 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
//use um as motor unit
!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=20,Kvfb=1000,Ki=0.07,Kvff=1000,Kaff=4000,MaxInt=1000)
!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)
//!motor_servo(mot=2,ctrl='ServoCtrl',Kp=20,Kvfb=1000,Ki=0.07,Kvff=1000,Kaff=4000,MaxInt=1000)
!motor_servo(mot=2,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
!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')
//Stage X Parker MX80L (top stage, mounted on Y stage)
@@ -68,7 +69,7 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
!encoder_inc(enc=3,tbl=3,mot=3,posSf=13000./650000)
!motor_servo(mot=3,ctrl='ServoCtrl',Kp=20,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=3,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=2000,WarnFeLimit=100,InPosBand=2)
!motor(mot=3,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')
//Interferometer 1 Stage Y Parker MX80L (bottom stage)
//----------------------------------------------------