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same devices with "direct PWM" (idCmd=0, iqCmd controls torque)

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Test Servo, Stage X Parker MX80L, Stage Y Parker MX80L, LS Mecapion rotationstage
This commit is contained in:
zamofing_t
2016-12-15 16:31:31 +01:00
parent 5b4848f6dc
commit 87168508e6
4 changed files with 212 additions and 61 deletions
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20
Readme.md
View File

@@ -29,13 +29,27 @@ http://www.inmoco.co.uk/Upload/product/1037_DD_Series_Motors_79.pdf
- Max Current 4.38 Arms
- 32 pole (16 einraster per rev)
Servo Test Motor QBL
--------------------
- 8 pole (4 einraster per rev)
Servo Test Motor QBL 4208-41-04-006
-----------------------------------
8 pole (4 lock position per rev)
24 V rated voltage
1.79 A rated phase current
5.4 A max peak current
4000 rpm rated speed
1.8 ohm line to line resistance
2.6 mH line to line inductance
2Phase Stepper Test Motor Vextra PK244M
---------------------------------------
- 200 pole (100 einraster per rev)
************************
copy configuration after 'save':
scp -r root@SAROP11-CPPM-MOT6871:/opt/ppmac/usrflash /scratch
restore
scp -r /scratch/usrflash.IDE/* root@SAROP11-CPPM-MOT6871:/opt/ppmac/usrflash
$$$
#4$

83
cfg/dirMicrostep.cfg Normal file
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@@ -0,0 +1,83 @@
// Here we use 'real encoder with direct microstepping'. Further the axis are scaled
// in this configuration, the PID gives 'speed' to iqCmd this is multiplied with 0.25 (SlipGain) to result in the phasePos
// The torque is constant given as idCmd
// the PID regulates the position by setting speed, if the motor is not at the desired position
// x einraster == -> x-N and x-S poles =2*x poles -> 1 rev = x*2048 ustep=phase_step
// changing the polarity from S-N-S (one pole cycle) are 2048 phase_step. phase_step is also called ustep
//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev = 16*2048=32768 phase_step
//Enc 1: Rotation stage LS Mecapion 1 rev = 1048576 enc_steps
//Mot 2: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
//Mot 3: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
//Enc 3: Stage Y Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
//Mot 4: Test Servo: Trinamic QBL 4208 motor 8 poles 1 rev = 4*2048=8192 phase_step
//Enc 4: Test Servo: Incremental encoder mounted with motor 1 1 rev = 2000 enc count (500 inc_ quadrature encoder)
//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor 1 rev = 24 enc count (hall sensor encoder)
//Mot 6: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 6: Test Stepper: inc_enc 1 rev = 1600 enc_step
//Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 7: Test Stepper: ssi_enc multiturn 1 rev = 4096 enc_step
$$$***
!common()
//rot stage
//---------
//use 360'000 for 360 deg as motor unit
!encoder_sim(enc=1,tbl=9,mot=9,posSf=360000./32768)
!encoder_biss(enc=1,tbl=1,mot=1,numBits=20,posSf=360000./1048576)
!motor(mot=1,dirCur=200,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=8.,numPhase=3,invDir=True,servoSf=32768/360000.)
//#1j:90000 // = moves 90 deg
//Stage X Parker MX80L
//--------------------
//use um as motor unit
!encoder_sim(enc=2,tbl=10,mot=10,posSf=13000./2048)
!encoder_inc(enc=2,tbl=2,mot=2,posSf=13000./650000)
!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.)
//#2j:1000 -> moves 1000um
//Stage Y Parker MX80L
//--------------------
//use um as motor unit
!encoder_sim(enc=3,tbl=11,mot=11,posSf=13000./2048)
!encoder_inc(enc=3,tbl=3,mot=3,posSf=13000./650000)
!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.)
//#3j:1000 -> moves 1000um
//Test Servo: Trinamic QBL 4208 motor
//-----------------------------------
//use 360 for 360 deg as motor unit
!encoder_sim(enc=4,tbl=12,mot=12,posSf=360./8192)
!encoder_inc(enc=4,tbl=4,mot=4,posSf=360./2000) // incremental encoder
!encoder_inc(enc=5,tbl=13,mot=13,encctrl=15,posSf=360./24) //Hall sensor encoder
!motor(mot=4,dirCur=400,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=8.,numPhase=3,servoSf=8192/360.)
//#4j:360 -> moves 1 rev
//Test Stepper: Vextra PK244M inc_enc
//-----------------------------------
//use 360 for 360 deg as motor unit
!encoder_sim(enc=6,tbl=14,mot=14,posSf=360./204800)
!encoder_inc(enc=6,tbl=6,mot=6,posSf=360./1600)
!motor(mot=6,dirCur=200,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False,servoSf=204800/360.)
//#6j:360 -> moves 1 rev
//Test Stepper: Vextra PK244M abs_enc
//-----------------------------------
//use 360 for 360 deg as motor unit -> JogSpeed=2048./204800*360
!encoder_sim(enc=7,tbl=7,mot=7,posSf=360./204800)
!encoder_ssi(enc=7,tbl=15,mot=15,numBits=25,posSf=360./4096)
!motor(mot=7,dirCur=100,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False,servoSf=204800/360.,JogSpeed=3.6)
//#7j:360 -> moves 1 rev

112
cfg/mx-stage.cfg
View File

@@ -1,23 +1,39 @@
// Here we use 'real encoder with direct PWM'. Further the axis are scaled
// in this configuration, the PID gives 'torque' to iqCmd.
// the phasePos is received from tne encoder on the motor shaft.
// The idCmd is set to 0
// the PID regulates the position by setting torque, if the motor is not at the desired position
// Compared to 'real encoder with direct microstepping', following main elements have to be reconfigured:
// SlipGain=0 (instead 0.25) ,PhasePosSf= calculated value (instead of 0)
// look also at PwmSf,PhaseMode,PhaseCtrl,
// x einraster == -> x-N and x-S poles =2*x poles -> 1 rev = x*2048 ustep=phase_steps
// -> PhasePosSf is calculated as follows: (2048*pole_cycle)/(256*enc_step) = 8*pole_cycle/enc_step
//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev= 16*2048 usteps
// e.g. Motor[x].pPhaseEnc -> PowerBrick[.].Chan[.].PhaseCapt.a
// 1 rev = 8192 phase_step = 4 pole_cycle = 512000 PhaseCapt =256*2000 (256=scaling of encTable, 2000=enc_step/rev)
// PhasePosSf 8*4/2000=0.016
// x einraster == -> x-N and x-S poles =2*x poles -> 1 rev = x*2048 ustep=phase_step
// changing the polarity from S-N-S (one pole cycle) are 2048 phase_step. phase_step is also called ustep
//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev = 16*2048=32768 phase_step
//Enc 1: Rotation stage LS Mecapion 1 rev = 1048576 enc_steps
//Mot 2: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048usteps
//Mot 2: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
//Mot 3: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048usteps
//Mot 3: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
//Enc 3: Stage Y Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
//Mot 4: Test Servo: Trinamic QBL 4208 motor 8 poles 1 rev = 8*2048 usteps
//Mot 4: Test Servo: Trinamic QBL 4208 motor 8 poles 1 rev = 4*2048=8192 phase_step
//Enc 4: Test Servo: Incremental encoder mounted with motor 1 1 rev = 2000 enc count (500 inc_ quadrature encoder)
//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor 1 rev = 24 enc count (hall sensor encoder)
//Mot 6: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 usteps (2 stepper motor)
//Mot 6: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 6: Test Stepper: inc_enc 1 rev = 1600 enc_step
//Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 usteps (2 stepper motor)
//Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 7: Test Stepper: ssi_enc multiturn 1 rev = 4096 enc_step
$$$***
@@ -25,52 +41,95 @@ $$$***
//rot stage
//---------
//use 360'000 for 360 deg as motor unit
//1 rev = 16*2048=32768 phase_step = 1048576 enc_steps
//PhasePosSf= 8*el_cycle/enc_step =8*16/1048576=1./8192
//Motor[1].pPhaseEnc=EncTable[1].pEnc=Acc84B[0].Chan[0].SerialEncDataA.a
// -> PhasePosSf is calculated as follows: (2048*pole_cycle)/(256*enc_step) = 8*pole_cycle/enc_step
//PhasePosSf = (2048*pole_cycle)/(SerialEncDataA)=8*16/1048576=1/32
!encoder_sim(enc=1,tbl=9,mot=9,posSf=360000./32768)
!encoder_biss(enc=1,tbl=1,mot=1,numBits=20,posSf=360000./1048576)
!motor(mot=1,dirCur=200,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=8.,numPhase=3,invDir=True,servoSf=32768/360000.)
//#1j:90000 // = moves 90 deg
Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
//Motor[1].pAbsPhasePos=Acc84B[0].Chan[0].SerialEncDataA.a
!motor_servo(mot=1,ctrl='ServoCtrl',Kp=0.8,Kvfb=20,Ki=0.001,Kvff=40,Kaff=0,MaxInt=1000)
!motor(mot=1,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=360.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./8192,PhaseFindingDac=1000,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10)
//Stage X Parker MX80L
//--------------------
//Motor[2].pPhaseEnc -> PowerBrick[0].Chan[1].PhaseCapt.a
// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable)
// -> PhasePosSf=(2048*el_cycle)/(256*enc_step) = 8*el_cycle/enc_step =2048*1/(256*650000)=8*1/650000=1./81250=1.23077e-05
//2048 phase_step =166400000 PhaseCapt -> PhasePosSf = 2048/166400000= 2048./(256*650000)
$$$***
!common()
//use um as motor unit
!encoder_sim(enc=2,tbl=10,mot=10,posSf=13000./2048)
!encoder_inc(enc=2,tbl=2,mot=2,posSf=13000./650000)
!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.)
//#2j:1000 -> moves 1000um
!motor_servo(mot=2,ctrl='ServoCtrl',Kp=16,Kvfb=800,Ki=0.001,Kvff=1000,Kaff=0,MaxInt=1000)
!motor(mot=2,dirCur=0,contCur=500,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=200,WarnFeLimit=100,InPosBand=2)
//Stage Y Parker MX80L
//--------------------
//Motor[3].pPhaseEnc -> PowerBrick[0].Chan[1].PhaseCapt.a
// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable)
// -> PhasePosSf=(2048*el_cycle)/(256*enc_step) = 8*el_cycle/enc_step =2048*1/(256*650000)=8*1/650000=1./81250=1.23077e-05
//2048 phase_step =166400000 PhaseCapt -> PhasePosSf = 2048/166400000= 2048./(256*650000)
!encoder_sim(enc=3,tbl=11,mot=11,posSf=13000./2048)
!encoder_inc(enc=3,tbl=3,mot=3,posSf=1.,posSf=13000./650000)
//!motor(mot=3,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
!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.)
//#3j:1000 -> moves 1000um
!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)
!motor(mot=3,dirCur=0,contCur=500,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)
//Test Servo: Trinamic QBL 4208 motor
//-----------------------------------
//use 360 for 360 deg as motor unit
//Motor[4].pPhaseEnc -> PowerBrick[0].Chan[3].PhaseCapt.a
// 1 rev = 8192 phase_step = 512000 PhaseCapt =256*2000 (256=scaling of encTable, 2000=enc_step/rev)
// -> PhasePosSf=8192/512000 = 0.016 = (2048*el_cycle)/(256*enc_step) = 8*el_cycle/enc_step
!encoder_sim(enc=4,tbl=12,mot=12,posSf=360./8192)
!encoder_inc(enc=4,tbl=4,mot=4,posSf=360./2000) // incremental encoder
!encoder_inc(enc=5,tbl=13,mot=13,encctrl=15,posSf=360./24) //Hall sensor encoder
!motor(mot=4,dirCur=400,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=8.,numPhase=3,servoSf=8192/360.)
//!motor_servo(mot=4,ctrl='ServoCtrl',Kp=40,Kvfb=715.17053,Kvff=715.17053,Kaff=63279.855,Ki=5.9003407e-5,MaxInt=1500,MaxPosErr=1333.356) //tweaked parameters from IDE
!motor_servo(mot=4,ctrl='ServoCtrl',Kp=30.8,Kvfb=461.,Kvff=461,Kaff=3522,Ki=0.0e-5,MaxInt=1500,MaxPosErr=1333.356) //tweaked parameters from IDE
!motor(mot=4,dirCur=0,contCur=1790,peakCur=5400,timeAtPeak=.5,JogSpeed=8.,numPhase=3,servo=None,PhasePosSf=0.016,SlipGain=0,PhaseFindingTime=50.0,PhaseFindingDac=90.0)
//Further tweaks to optimize positioning
//Motor[4].Servo.BreakPosErr=4
//Motor[4].Servo.Kbreak=5
//Motor[4].Servo.OutDbOn=.2
//Motor[4].Servo.OutDbOff=.3
//Motor[4].Servo.OutDbOn=0
//Motor[4].Servo.OutDbOff=.3
//#4j:360 -> moves 1 rev
// 1 rev = 8 poles (4 lock pos) = 4*2048 ustep=phase_step
// 1 rev = 2000 enc count (500 inc_ quadrature encoder)
// 1 rev = 24 enc count (hall sensor encoder)
//Test Stepper: Vextra PK244M inc_enc
//-----------------------------------
//use 360 for 360 deg as motor unit
// Motor[6].pPhaseEnc -> PowerBrick[1].Chan[1].PhaseCapt.a
//3.6deg=2048 phase_step -> 360 deg= 204800 phase_step
// 1 rev = 409600 = PhaseCapt =256*1600 (256=scaling of encTable, 1600=enc_step/rev)
// -> PhasePosSf=204800/409600 = 0.5 = (2048*el_cycle)/(256*enc_step) = 32*el_cycle/enc_step
!encoder_sim(enc=6,tbl=14,mot=14,posSf=360./204800)
!encoder_inc(enc=6,tbl=6,mot=6,posSf=360./1600)
!motor(mot=6,dirCur=200,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False,servoSf=204800/360.)
!motor_servo(mot=6,ctrl='ServoCtrl',Kp=40,Kvfb=715.17053,Kvff=715.17053,Kaff=63279.855,Ki=5.9003407e-5,MaxInt=1500,MaxPosErr=1333.356)
!motor(mot=6,dirCur=0,contCur=800,peakCur=1000,timeAtPeak=1,numPhase=2,invDir=False,servo=None,PhasePosSf=0.5,SlipGain=0,PhaseFindingTime=50.0,PhaseFindingDac=400.0)
Motor[6].JogSpeed=0.32
Motor[6].FatalFeLimit=90
!!!!! THIS WORKS (but needs slow speed to never get out of sync! if it gets out of sync it runs in the wrong direction until following error)
//Motor[6].PhaseFindingTime=50.0;Motor[6].PhaseFindingDac=400.0 //Four Guess Phasing Search
//#6$
//Motor[6].PhaseFindingTime=260.0;Motor[6].PhaseFindingDac=400.0 //stepper-motor phasing-search
//#6$
//#6j:360 -> moves 1 rev
// 1 rev = 200 poles = 100 lock pos = 100*2048 ustep=phase_step
// 1 rev = 1600 enc count (400 inc_ quadrature encoder)
//the phasing is very critical with stepper motors
//Test Stepper: Vextra PK244M abs_enc
//-----------------------------------
@@ -79,7 +138,4 @@ $$$***
!encoder_ssi(enc=7,tbl=15,mot=15,numBits=25,posSf=360./4096)
!motor(mot=7,dirCur=100,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False,servoSf=204800/360.,JogSpeed=3.6)
//#7j:360 -> moves 1 rev
// 1 rev = 4096 enc count = 204800 ustep=phase_step = 360 deg

58
cfg/simEncoder.cfg
View File

@@ -1,41 +1,44 @@
//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H
//Enc 1: Rotation stage LS Mecapion
// Here we use 'simulated encoder with direct microstepping'
// in this configuration, the PID gives 'speed' to iqCmd this is multiplied with 0.25 (SlipGain) to result in the phasePos
// The torque is constant given as idCmd
// the PID does no regulation, as a real encoder is not used
//Mot 2: Stage X Parker MX80L D11 25mm
//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm
// x einraster == -> x-N and x-S poles =2*x poles -> 1 rev = x*2048 ustep=phase_step
// changing the polarity from S-N-S (one pole cycle) are 2048 phase_step. phase_step is also called ustep
//Mot 3: Stage Y Parker MX80L D11 25mm
//Enc 3: Stage Y Parker MX80L D11 inc_enc 20nm
//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev = 16*2048=32768 phase_step
//Enc 1: Rotation stage LS Mecapion 1 rev = 1048576 enc_steps
//Mot 4: Test Servo: Trinamic QBL 4208 motor
//Enc 4: Test Servo: Incremental encoder mounted with motor 1
//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor
//Mot 2: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
//Mot 6: Test Stepper: Vextra PK244M
//Enc 6: Test Stepper: inc_enc
//Mot 3: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
//Enc 3: Stage Y Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
//Mot 7: Test Stepper: Vextra PK244M
//Enc 7: Test Stepper: ssi_enc multiturn
//Mot 4: Test Servo: Trinamic QBL 4208 motor 8 poles 1 rev = 4*2048=8192 phase_step
//Enc 4: Test Servo: Incremental encoder mounted with motor 1 1 rev = 2000 enc count (500 inc_ quadrature encoder)
//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor 1 rev = 24 enc count (hall sensor encoder)
//Mot 6: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 6: Test Stepper: inc_enc 1 rev = 1600 enc_step
//Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 7: Test Stepper: ssi_enc multiturn 1 rev = 4096 enc_step
$$$***
!common()
//rot stage
//---------
!encoder_sim(enc=1,tbl=1,mot=1)
!encoder_biss(enc=1,tbl=9,mot=9,numBits=20,posSf=1.)
//real limits in closed loop (does not work with simulated encoder)
//!motor(mot=5,dirCur=0,contCur=1460,peakCur=4380,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
!motor(mot=1,dirCur=200,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=8.,numPhase=3,invDir=True)
//16 einraster -> 16N 16S poles -> 1 rev = 16*2048
//#1j:32768 // = 1 rev = 1048576 enc_steps
//#1j:32768 = 1 rev
//Stage X Parker MX80L
//--------------------
!encoder_sim(enc=2,tbl=2,mot=2)
!encoder_inc(enc=2,tbl=10,mot=10,posSf=1.)
//!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
!motor(mot=2,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.,numPhase=3,invDir=True)
//#2j:2048 -> moves one pole cycle= 650000 enc_step =13mm (Electrical Pitch in MX80 doc)
@@ -45,7 +48,6 @@ $$$***
//--------------------
!encoder_sim(enc=3,tbl=3,mot=3)
!encoder_inc(enc=3,tbl=11,mot=11,posSf=1.)
//!motor(mot=3,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
!motor(mot=3,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.,numPhase=3,invDir=True)
//#3j:2048 -> moves one pole cycle= 650000 enc_step =13mm (Electrical Pitch in MX80 doc)
@@ -56,14 +58,10 @@ $$$***
!encoder_sim(enc=4,tbl=4,mot=4)
!encoder_inc(enc=4,tbl=12,mot=12,posSf=1.) // incremental encoder
!encoder_inc(enc=5,tbl=13,mot=13,encctrl=15) //encctrl=11 Hall sensor encoder
//real limits in closed loop (does not work with simulated encoder)
//!motor(mot=4,dirCur=0,contCur=1790,peakCur=5400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
!motor(mot=4,dirCur=200,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
//#4j:2048 -> moves one pole cycle= 90deg -> 8 poles
//#4j:8192 -> moves 1 rev
// 1 rev = 2000 enc count (500 inc_ quadrature encoder)
// 1 rev = 24 enc count (hall sensor encoder)
//#4j:2048 -> moves one pole cycle= 90deg -> 8 poles
//Test Stepper: Vextra PK244M inc_enc
//-----------------------------------
@@ -71,8 +69,8 @@ $$$***
!encoder_sim(enc=6,tbl=6,mot=6)
!encoder_inc(enc=6,tbl=14,mot=14)
!motor(mot=6,dirCur=100,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False,JogSpeed=2048)
//#6j:2048 ->moves one pole cycle -> #6j:204800 moves 1 rev
// 1 rev = 1600 enc count (400 inc_ quadrature encoder)
//#6j:204800 moves 1 rev
//#6j:2048 ->moves one pole cycle
//Test Stepper: Vextra PK244M abs_enc
@@ -80,5 +78,5 @@ $$$***
!encoder_sim(enc=7,tbl=7,mot=7)
!encoder_ssi(enc=7,tbl=15,mot=15,numBits=25)
!motor(mot=7,dirCur=100,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False,JogSpeed=2048)
//#7j:2048 ->moves one pole cycle -> #7j:204800 moves 1 rev
// 1 rev = 4096 enc count
//#7j:204800 moves 1 rev
//#7j:2048 ->moves one pole cycle