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This commit is contained in:
zamofing_t
2018-09-18 14:53:05 +02:00
parent eea3f10d98
commit 6f5278ec5c
2 changed files with 8 additions and 7 deletions
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2
cfg/MX1_setup.cfg
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@@ -78,7 +78,7 @@
!encoder_biss(enc=3,tbl=3,mot=3,numBits=20,posSf=360000./1048576) !encoder_biss(enc=3,tbl=3,mot=3,numBits=20,posSf=360000./1048576)
Motor[3].pPhaseEnc=Acc84B[0].Chan[2].SerialEncDataA.a Motor[3].pPhaseEnc=Acc84B[0].Chan[2].SerialEncDataA.a
!motor_servo(mot=3,ctrl='ServoCtrl',Kp=0.8,Kvfb=20,Ki=0.001,Kvff=40,Kaff=0,MaxInt=1000) !motor_servo(mot=3,ctrl='ServoCtrl',Kp=0.8,Kvfb=20,Ki=0.001,Kvff=40,Kaff=0,MaxInt=1000)
!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10, HomeOffset=228987) !motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=False,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10, HomeOffset=228987)
//Stada stage //Stada stage

13
python/PBTuning.py
View File

@@ -33,6 +33,7 @@ Modes:
2: chirp bode open loop 2: chirp bode open loop
3: sine bode closed loop 3: sine bode closed loop
4: chirp bode closed loop 4: chirp bode closed loop
5: full bode open loop record of both motors (including init_stage
TODO: TODO:
use openloopsine to create a bode diagram of the 'strecke' use openloopsine to create a bode diagram of the 'strecke'
@@ -88,12 +89,12 @@ class PBTuning:
p = sprc.Popen(cmd, shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE, stderr=sprc.PIPE) p = sprc.Popen(cmd, shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE, stderr=sprc.PIPE)
retval = p.wait() retval = p.wait()
print(p.stderr.read());print(p.stdout.read()) print(p.stderr.read());print(p.stdout.read())
time.sleep(5) time.sleep(10)
cmd=(gpasciiCommander ,'--host',host,'--cmd','#1..2j=10000') #cmd=(gpasciiCommander ,'--host',host,'--cmd','#1..2j=10000')
p = sprc.Popen(cmd, shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE, stderr=sprc.PIPE) #p = sprc.Popen(cmd, shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE, stderr=sprc.PIPE)
retval = p.wait() #retval = p.wait()
print(p.stderr.read());print(p.stdout.read()) #print(p.stderr.read());print(p.stdout.read())
time.sleep(5) #time.sleep(5)