same devices with "direct microstepping" (fixed idCmd, iqCmd used to control speed)
This commit is contained in:
101
cfg/mx-stage.cfg
101
cfg/mx-stage.cfg
@@ -1,84 +1,85 @@
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//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H
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//Enc 1: Rotation stage LS Mecapion
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//Mot 2: Stage X Parker MX80L D11 25mm
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//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm
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// x einraster == -> x-N and x-S poles =2*x poles -> 1 rev = x*2048 ustep=phase_steps
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//Mot 3: Stage Y Parker MX80L D11 25mm
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//Enc 3: Stage Y Parker MX80L D11 inc_enc 20nm
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//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev= 16*2048 usteps
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//Enc 1: Rotation stage LS Mecapion 1 rev = 1048576 enc_steps
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//Mot 4: Test Servo: Trinamic QBL 4208 motor
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//Enc 4: Test Servo: Incremental encoder mounted with motor 1
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//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor
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//Mot 2: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048usteps
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//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
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//Mot 6: Test Stepper: Vextra PK244M
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//Enc 6: Test Stepper: inc_enc
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//Mot 3: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048usteps
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//Enc 3: Stage Y Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
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//Mot 7: Test Stepper: Vextra PK244M
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//Enc 7: Test Stepper: ssi_enc multiturn
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//Mot 4: Test Servo: Trinamic QBL 4208 motor 8 poles 1 rev = 8*2048 usteps
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//Enc 4: Test Servo: Incremental encoder mounted with motor 1 1 rev = 2000 enc count (500 inc_ quadrature encoder)
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//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor 1 rev = 24 enc count (hall sensor encoder)
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//Mot 6: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 usteps (2 stepper motor)
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//Enc 6: Test Stepper: inc_enc 1 rev = 1600 enc_step
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//Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 usteps (2 stepper motor)
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//Enc 7: Test Stepper: ssi_enc multiturn 1 rev = 4096 enc_step
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$$$***
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!common()
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//rot stage
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//---------
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!encoder_sim(enc=1,tbl=1,mot=1)
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!encoder_biss(enc=1,tbl=9,mot=9,numBits=20,posSf=1.)
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//real limits in closed loop (does not work with simulated encoder)
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//!motor(mot=5,dirCur=0,contCur=1460,peakCur=4380,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
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!motor(mot=1,dirCur=200,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=8.,numPhase=3,invDir=True)
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//8 einraster -> 8N 8S poles -> 16 poles ->16*2048=1 rev
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//#1j:32768 // = 1 rev = 1048576 enc_steps
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//use 360'000 for 360 deg as motor unit
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!encoder_sim(enc=1,tbl=9,mot=9,posSf=360000./32768)
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!encoder_biss(enc=1,tbl=1,mot=1,numBits=20,posSf=360000./1048576)
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!motor(mot=1,dirCur=200,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=8.,numPhase=3,invDir=True,servoSf=32768/360000.)
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//#1j:90000 // = moves 90 deg
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//Stage X Parker MX80L
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//--------------------
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!encoder_sim(enc=2,tbl=2,mot=2)
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!encoder_inc(enc=2,tbl=10,mot=10,posSf=1.)
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//!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
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!motor(mot=2,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.,numPhase=3,invDir=True)
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//#2j:2048 -> moves one pole cycle= 650000 enc_step =13mm (Electrical Pitch in MX80 doc)
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!encoder_sim(enc=2,tbl=10,mot=10,posSf=13000./2048)
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!encoder_inc(enc=2,tbl=2,mot=2,posSf=13000./650000)
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!motor(mot=2,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.,numPhase=3,invDir=True,servoSf=2048/13000.)
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//#2j:1000 -> moves 1000um
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//Stage Y Parker MX80L
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//--------------------
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!encoder_sim(enc=3,tbl=3,mot=3)
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!encoder_inc(enc=3,tbl=11,mot=11,posSf=1.)
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!encoder_sim(enc=3,tbl=11,mot=11,posSf=13000./2048)
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!encoder_inc(enc=3,tbl=3,mot=3,posSf=1.,posSf=13000./650000)
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//!motor(mot=3,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
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!motor(mot=3,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.,numPhase=3,invDir=True)
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//#3j:2048 -> moves one pole cycle= 650000 enc_step =13mm (Electrical Pitch in MX80 doc)
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!motor(mot=3,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.,numPhase=3,invDir=True,servoSf=2048/13000.)
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//#3j:1000 -> moves 1000um
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//Test Servo: Trinamic QBL 4208 motor
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//-----------------------------------
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!encoder_sim(enc=4,tbl=4,mot=4)
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!encoder_inc(enc=4,tbl=12,mot=12,posSf=1.) // incremental encoder
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!encoder_inc(enc=5,tbl=13,mot=13,encctrl=15) //encctrl=11 Hall sensor encoder
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//real limits in closed loop (does not work with simulated encoder)
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//!motor(mot=4,dirCur=0,contCur=1790,peakCur=5400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
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!motor(mot=4,dirCur=200,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
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//#4j:2048 -> moves one pole cycle= 90deg -> 8 poles
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//#4j:8192 -> moves 1 rev
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//use 360 for 360 deg as motor unit
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!encoder_sim(enc=4,tbl=12,mot=12,posSf=360./8192)
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!encoder_inc(enc=4,tbl=4,mot=4,posSf=360./2000) // incremental encoder
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!encoder_inc(enc=5,tbl=13,mot=13,encctrl=15,posSf=360./24) //Hall sensor encoder
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!motor(mot=4,dirCur=400,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=8.,numPhase=3,servoSf=8192/360.)
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//#4j:360 -> moves 1 rev
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// 1 rev = 8 poles (4 lock pos) = 4*2048 ustep=phase_step
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// 1 rev = 2000 enc count (500 inc_ quadrature encoder)
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// 1 rev = 24 enc count (hall sensor encoder)
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//Test Stepper: Vextra PK244M inc_enc
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//-----------------------------------
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!encoder_sim(enc=6,tbl=6,mot=6)
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!encoder_inc(enc=6,tbl=14,mot=14)
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!motor(mot=6,dirCur=100,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False)
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//#6j:2048 ->moves one pole cycle -> #6j:204800 moves 1 rev
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//use 360 for 360 deg as motor unit
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!encoder_sim(enc=6,tbl=14,mot=14,posSf=360./204800)
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!encoder_inc(enc=6,tbl=6,mot=6,posSf=360./1600)
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!motor(mot=6,dirCur=200,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False,servoSf=204800/360.)
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//#6j:360 -> moves 1 rev
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// 1 rev = 200 poles = 100 lock pos = 100*2048 ustep=phase_step
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// 1 rev = 1600 enc count (400 inc_ quadrature encoder)
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//Test Stepper: Vextra PK244M abs_enc
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//-----------------------------------
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!encoder_sim(enc=7,tbl=7,mot=7)
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!encoder_ssi(enc=7,tbl=15,mot=15,numBits=25)
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!motor(mot=7,dirCur=100,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False)
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//#7j:2048 ->moves one pole cycle -> #6j:204800 moves 1 rev
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// 1 rev = 4096 enc count
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//use 360 for 360 deg as motor unit -> JogSpeed=2048./204800*360
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!encoder_sim(enc=7,tbl=7,mot=7,posSf=360./204800)
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!encoder_ssi(enc=7,tbl=15,mot=15,numBits=25,posSf=360./4096)
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!motor(mot=7,dirCur=100,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False,servoSf=204800/360.,JogSpeed=3.6)
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//#7j:360 -> moves 1 rev
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// 1 rev = 4096 enc count = 204800 ustep=phase_step = 360 deg
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84
cfg/simEncoder.cfg
Normal file
84
cfg/simEncoder.cfg
Normal file
@@ -0,0 +1,84 @@
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//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H
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//Enc 1: Rotation stage LS Mecapion
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//Mot 2: Stage X Parker MX80L D11 25mm
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//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm
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//Mot 3: Stage Y Parker MX80L D11 25mm
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//Enc 3: Stage Y Parker MX80L D11 inc_enc 20nm
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//Mot 4: Test Servo: Trinamic QBL 4208 motor
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//Enc 4: Test Servo: Incremental encoder mounted with motor 1
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//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor
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//Mot 6: Test Stepper: Vextra PK244M
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//Enc 6: Test Stepper: inc_enc
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//Mot 7: Test Stepper: Vextra PK244M
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//Enc 7: Test Stepper: ssi_enc multiturn
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$$$***
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!common()
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//rot stage
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//---------
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!encoder_sim(enc=1,tbl=1,mot=1)
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!encoder_biss(enc=1,tbl=9,mot=9,numBits=20,posSf=1.)
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//real limits in closed loop (does not work with simulated encoder)
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//!motor(mot=5,dirCur=0,contCur=1460,peakCur=4380,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
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!motor(mot=1,dirCur=200,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=8.,numPhase=3,invDir=True)
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//16 einraster -> 16N 16S poles -> 1 rev = 16*2048
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//#1j:32768 // = 1 rev = 1048576 enc_steps
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//Stage X Parker MX80L
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//--------------------
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!encoder_sim(enc=2,tbl=2,mot=2)
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!encoder_inc(enc=2,tbl=10,mot=10,posSf=1.)
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//!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
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!motor(mot=2,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.,numPhase=3,invDir=True)
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//#2j:2048 -> moves one pole cycle= 650000 enc_step =13mm (Electrical Pitch in MX80 doc)
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//Stage Y Parker MX80L
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//--------------------
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!encoder_sim(enc=3,tbl=3,mot=3)
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!encoder_inc(enc=3,tbl=11,mot=11,posSf=1.)
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//!motor(mot=3,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
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!motor(mot=3,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.,numPhase=3,invDir=True)
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//#3j:2048 -> moves one pole cycle= 650000 enc_step =13mm (Electrical Pitch in MX80 doc)
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//Test Servo: Trinamic QBL 4208 motor
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//-----------------------------------
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!encoder_sim(enc=4,tbl=4,mot=4)
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!encoder_inc(enc=4,tbl=12,mot=12,posSf=1.) // incremental encoder
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!encoder_inc(enc=5,tbl=13,mot=13,encctrl=15) //encctrl=11 Hall sensor encoder
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//real limits in closed loop (does not work with simulated encoder)
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//!motor(mot=4,dirCur=0,contCur=1790,peakCur=5400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
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!motor(mot=4,dirCur=200,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
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//#4j:2048 -> moves one pole cycle= 90deg -> 8 poles
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//#4j:8192 -> moves 1 rev
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// 1 rev = 2000 enc count (500 inc_ quadrature encoder)
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// 1 rev = 24 enc count (hall sensor encoder)
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//Test Stepper: Vextra PK244M inc_enc
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//-----------------------------------
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!encoder_sim(enc=6,tbl=6,mot=6)
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!encoder_inc(enc=6,tbl=14,mot=14)
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!motor(mot=6,dirCur=100,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False,JogSpeed=2048)
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//#6j:2048 ->moves one pole cycle -> #6j:204800 moves 1 rev
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// 1 rev = 1600 enc count (400 inc_ quadrature encoder)
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//Test Stepper: Vextra PK244M abs_enc
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//-----------------------------------
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!encoder_sim(enc=7,tbl=7,mot=7)
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!encoder_ssi(enc=7,tbl=15,mot=15,numBits=25)
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!motor(mot=7,dirCur=100,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False,JogSpeed=2048)
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//#7j:2048 ->moves one pole cycle -> #7j:204800 moves 1 rev
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// 1 rev = 4096 enc count
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