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

@@ -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
+Servo Test Motor QBL 4208-41-04-006
---------------------
+-----------------------------------
-- 8 pole (4 einraster per rev)
+     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$

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
+

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.)
+Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
-//#1j:90000 // = moves 90 deg
+//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.)
+!motor_servo(mot=2,ctrl='ServoCtrl',Kp=16,Kvfb=800,Ki=0.001,Kvff=1000,Kaff=0,MaxInt=1000)
-//#2j:1000 -> moves 1000um
+!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)
+!encoder_inc(enc=3,tbl=3,mot=3,posSf=13000./650000)
-//!motor(mot=3,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
+!motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=220,Ki=0.001,Kvff=240,Kaff=0,MaxInt=1000)
-!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.)
+!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)
-//#3j:1000 -> moves 1000um
 
 
 //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
+//the phasing is very critical with stepper motors
-// 1 rev = 1600 enc count (400 inc_ quadrature encoder)
-
 
 //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
-
-
 

cfg/simEncoder.cfg

@@ -1,41 +1,44 @@
-//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H
+// Here we use 'simulated encoder with direct microstepping'
-//Enc 1: Rotation stage LS Mecapion
+// 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
+// x einraster == -> x-N and x-S poles =2*x poles -> 1 rev = x*2048 ustep=phase_step
-//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm
+// 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
+//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H    32 poles = 1 rev = 16*2048=32768 phase_step
-//Enc 3: Stage Y Parker MX80L D11 inc_enc 20nm
+//Enc 1: Rotation stage LS Mecapion                  1 rev = 1048576 enc_steps
 
-//Mot 4: Test Servo: Trinamic QBL 4208 motor
+//Mot 2: Stage X Parker MX80L D11 25mm               one pole cycle = 13mm = 2048 phase_step
-//Enc 4: Test Servo: Incremental encoder mounted with motor 1
+//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm       one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
-//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor
 
-//Mot 6: Test Stepper: Vextra PK244M
+//Mot 3: Stage Y Parker MX80L D11 25mm               one pole cycle = 13mm = 2048 phase_step
-//Enc 6: Test Stepper: inc_enc
+//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
+//Mot 4: Test Servo: Trinamic QBL 4208 motor                   8 poles 1 rev = 4*2048=8192 phase_step
-//Enc 7: Test Stepper: ssi_enc multiturn
+//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
-//#1j:32768 // = 1 rev = 1048576 enc_steps
 
 
 //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)
+//#4j:2048 -> moves one pole cycle= 90deg -> 8 poles
-// 1 rev = 24 enc count (hall sensor encoder)
+
 
 //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
+//#6j:204800 moves 1 rev
-// 1 rev = 1600 enc count (400 inc_ quadrature encoder)
+//#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
+//#7j:204800 moves 1 rev
-// 1 rev = 4096 enc count
+//#7j:2048 ->moves one pole cycle