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friction compensating user servo

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This commit is contained in:
zamofing_t
2017-02-01 15:21:56 +01:00
parent c2910090f3
commit 3fafe53c39
14 changed files with 841 additions and 62 deletions
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2
cfg/torqueCtrl.cfg
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@@ -77,6 +77,8 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
!encoder_sim(enc=3,tbl=11,mot=11,posSf=13000./2048)
!encoder_inc(enc=3,tbl=3,mot=3,posSf=13000./650000)
!motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=220,Ki=0.001,Kvff=240,Kaff=0,MaxInt=1000)
//PhaseFreq=20000,PhasePerServo=1
//!motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=220*4,Ki=0.001/4,Kvff=240*4,Kaff=0*4*4,MaxInt=1000)
!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)