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first steps to commission wedge mover: all motors + encoder ok.

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Homing limit switch and coorTrf to be done.
This commit is contained in:
zamofing_t
2018-01-15 11:28:14 +01:00
parent c2695e0ebf
commit 4d197eb204
12 changed files with 941 additions and 364 deletions
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2
cfg/MX1_home.cfg
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@@ -108,6 +108,8 @@ open plc PLC_Homing
//Motor[1].PhasePos=560 // 555 581 593 558
//Motor[2].PhasePos=1540 //1549 1531 1543 1537
homez6,7
goto 1
N0: //ERROR_END

4
cfg/MX1_setup.cfg
View File

@@ -95,8 +95,8 @@ Motor[3].pPhaseEnc=Acc84B[0].Chan[2].SerialEncDataA.a
//Interferometer 1,2
//------------------
!encoder_inc(enc=6,tbl=6,mot=6)# ,posSf=13000./650000)
!encoder_inc(enc=7,tbl=7,mot=7)# ,posSf=13000./650000)
!encoder_inc(enc=6,tbl=6,mot=6 ,posSf=.01) //1 incr=10nm -> posSf=.01 to scale to um
!encoder_inc(enc=7,tbl=7,mot=7 ,posSf=-.01) //1 incr=10nm,inverse direction -> posSf=.01 to scale to um
#3,4,5hmz

42
cfg/MX2_setup.cfg
View File

@@ -1,18 +1,40 @@
//Wedge Movers
--------------
!encoder_inc(enc=1,posSf=1./20)
!motor(mot=1,current=120,JogSpeed=1,HomeVel=.5,servoSf=12.28878*20,homing='enc-index',invDir=True,HomeOffset=2855,InPosBand=1)
//--------------
//Nanotec 2 ph motor 42.3mm 1.8deg, Planetgetriebe 1.5Nm I=1:12, Spindel 2mm steigung
//ST4118L1804-B 42 mm 17 50 Ncm 1.8 deg/step 1.8 A/Wicklung 49 mm €34.10
!encoder_inc(enc=2,posSf=1./20)
!motor(mot=2,current=120,JogSpeed=1,HomeVel=.5,servoSf=12.28878*20,homing='enc-index',invDir=True,HomeOffset=2844,InPosBand=1)
//102400*12=1228800 == 2mm
//#1j:1228800 -> 1 rev = 2mm = 2000inc
//posSf = userUnits/encoder_steps =1
//servoSf=motor_u_steps/userUnits = 1228800/2000. = 614.4
!encoder_inc(enc=3,posSf=1./20)
!motor(mot=3,current=120,JogSpeed=1,HomeVel=.5,servoSf=12.28878*20,homing='enc-index',invDir=True,HomeOffset=204,InPosBand=1)
//#1 = wedge 1a
//#2 = wedge 1b
//#3 = wedge 2a
//#4 = wedge 2b
!encoder_inc(enc=4,posSf=1./20)
!motor(mot=4,current=120,JogSpeed=1,HomeVel=.5,servoSf=12.28878*20,homing='enc-index',invDir=True,HomeOffset=2094,InPosBand=1)
//steigung Keil: 11.4212deg = arctan(0.2)=11.31deg -> Steigung 1:5
//on 146mm from 35 to 21.5mm 146/(35-21.5)=10.81
//on 280mm from 61mm to 38 mm 280/(61-38)=
//!encoder_sim(enc=1)
//!encoder_inc(enc=1,tbl=9,mot=9,posSf=1)
//!motor(mot=1,dirCur=120,JogSpeed=102.4*1,invDir=False)
//Motor[1].pLimits=0
!encoder_inc(enc=1,posSf=1.)
!motor(mot=1,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1)
!encoder_inc(enc=2,posSf=1.)
!motor(mot=2,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1)
!encoder_inc(enc=3,posSf=1.)
!motor(mot=3,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1)
!encoder_inc(enc=4,posSf=1.)
!motor(mot=4,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1)
//Backlight
@@ -22,4 +44,4 @@
!motor(mot=5,dirCur=1800,JogSpeed=40,invDir=False)
!holding_current(m5=[1400,1800])
!holding_current(m1=[0,1000],m2=[0,1000],m3=[0,1000],m4=[0,1000],m5=[1400,1800])