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zamofing_t
2019-02-12 16:52:55 +01:00
parent 3412e33595
commit 5a05b7355e
8 changed files with 306 additions and 54 deletions
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7
cfg/MX1_setup.cfg
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@@ -49,8 +49,6 @@
!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)
//----------------------------------------------------
//Motor[2].pPhaseEnc -> PowerBrick[0].Chan[1].PhaseCapt.a
@@ -64,6 +62,11 @@
!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')
//Tweaks:
//Motor[1].Servo.Kfff=100
//Motor[2].Servo.Kfff=100
//rot stage
//---------