From 87168508e608427f4af9e9023944800e732718b7 Mon Sep 17 00:00:00 2001 From: Thierry Zamofing Date: Thu, 15 Dec 2016 16:31:31 +0100 Subject: [PATCH] same devices with "direct PWM" (idCmd=0, iqCmd controls torque) Test Servo, Stage X Parker MX80L, Stage Y Parker MX80L, LS Mecapion rotationstage --- Readme.md | 20 ++++++-- cfg/dirMicrostep.cfg | 83 ++++++++++++++++++++++++++++++++ cfg/mx-stage.cfg | 112 ++++++++++++++++++++++++++++++++----------- cfg/simEncoder.cfg | 58 +++++++++++----------- 4 files changed, 212 insertions(+), 61 deletions(-) create mode 100644 cfg/dirMicrostep.cfg diff --git a/Readme.md b/Readme.md index 4acba3e..f962bec 100644 --- a/Readme.md +++ b/Readme.md @@ -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 +$$$ +#4$ \ No newline at end of file diff --git a/cfg/dirMicrostep.cfg b/cfg/dirMicrostep.cfg new file mode 100644 index 0000000..7ad1dba --- /dev/null +++ b/cfg/dirMicrostep.cfg @@ -0,0 +1,83 @@ +// Here we use 'real encoder with direct microstepping'. Further the axis are scaled +// in this configuration, the PID gives 'speed' to iqCmd this is multiplied with 0.25 (SlipGain) to result in the phasePos +// The torque is constant given as idCmd +// the PID regulates the position by setting speed, if the motor is not at the desired position + +// x einraster == -> x-N and x-S poles =2*x poles -> 1 rev = x*2048 ustep=phase_step +// changing the polarity from S-N-S (one pole cycle) are 2048 phase_step. phase_step is also called ustep + +//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev = 16*2048=32768 phase_step +//Enc 1: Rotation stage LS Mecapion 1 rev = 1048576 enc_steps + +//Mot 2: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step +//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step) + +//Mot 3: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step +//Enc 3: Stage Y Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step) + +//Mot 4: Test Servo: Trinamic QBL 4208 motor 8 poles 1 rev = 4*2048=8192 phase_step +//Enc 4: Test Servo: Incremental encoder mounted with motor 1 1 rev = 2000 enc count (500 inc_ quadrature encoder) +//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor 1 rev = 24 enc count (hall sensor encoder) + +//Mot 6: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor) +//Enc 6: Test Stepper: inc_enc 1 rev = 1600 enc_step + +//Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor) +//Enc 7: Test Stepper: ssi_enc multiturn 1 rev = 4096 enc_step + +$$$*** +!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 + diff --git a/cfg/mx-stage.cfg b/cfg/mx-stage.cfg index baed85e..4001215 100644 --- a/cfg/mx-stage.cfg +++ b/cfg/mx-stage.cfg @@ -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 - - diff --git a/cfg/simEncoder.cfg b/cfg/simEncoder.cfg index 142f59b..9d65ce2 100644 --- a/cfg/simEncoder.cfg +++ b/cfg/simEncoder.cfg @@ -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