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helicalscan wip

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This commit is contained in:
zamofing_t
2017-12-07 16:59:58 +01:00
parent f91ce6ad93
commit 9a663ac251
6 changed files with 491 additions and 134 deletions
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47
cfg/coordTrf.cfg Normal file
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@@ -0,0 +1,47 @@
&1
//#1-> 0.00001X+ 0.00001Y + A
//#2-> +1. X + .5Y + 0.01A
//#3-> + .5X +1. Y + 0.01A
#1-> A
#2-> X
#3-> Y
Coord[1].AltFeedRate=0
Coord[1].Tm=1 //1ms time
Coord[1].Ta=1
Coord[1].Td=1
Coord[1].Ts=0
//Parker: Continous Force 4N -> assume 1kg load -> acceleration=a=F/m=4m/s^2
//do not use time to accelerate but acceleration
//4m/s^2=4um/(ms)^2 Motor units=um -> JogTa= -1ms^2/4mu -2.5-> 4m/s^2 -25->0.4m/s^2
Motor[2].JogTs=0
Motor[2].JogTa=-2.5
Motor[3].JogTs=0
Motor[3].JogTa=-2.5
Motor[1].MaxSpeed=360
Motor[2].MaxSpeed=50
Motor[3].MaxSpeed=50
open prog 1
//this uses jogspeed
rapid abs
X(10000) Y(0) A(0)
X(0) Y(10000) A(0)
X(0) Y(0) A(36000)
X(0) Y(0) A(0)
close
open prog 2
//this uses Coord[1].Tm and limits with MaxSpeed
linear abs
X(10000) Y(0) A(0)
X(0) Y(10000) A(0)
X(0) Y(0) A(0)
X(0) Y(0) A(36000)
X(0) Y(0) A(0)
close

50
cfg/mx-stage.cfg
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@@ -7,52 +7,4 @@
!torqueCtrl()
!init()
&1
//#1-> 0.00001X+ 0.00001Y + A
//#2-> +1. X + .5Y + 0.01A
//#3-> + .5X +1. Y + 0.01A
#1-> A
#2-> X
#3-> Y
Coord[1].AltFeedRate=0
Coord[1].Tm=1 //1ms time
Coord[1].Ta=1
Coord[1].Td=1
Coord[1].Ts=0
//Parker: Continous Force 4N -> assume 1kg load -> acceleration=a=F/m=4m/s^2
//do not use time to accelerate but acceleration
//4m/s^2=4um/(ms)^2 Motor units=um -> JogTa= -1ms^2/4mu -2.5-> 4m/s^2 -25->0.4m/s^2
Motor[2].JogTs=0
Motor[2].JogTa=-2.5
Motor[3].JogTs=0
Motor[3].JogTa=-2.5
Motor[1].MaxSpeed=360
Motor[2].MaxSpeed=50
Motor[3].MaxSpeed=50
open prog 1
//this uses jogspeed
rapid abs
X(10000) Y(0) A(0)
X(0) Y(10000) A(0)
X(0) Y(0) A(36000)
X(0) Y(0) A(0)
close
open prog 2
//this uses Coord[1].Tm and limits with MaxSpeed
linear abs
X(10000) Y(0) A(0)
X(0) Y(10000) A(0)
X(0) Y(0) A(0)
X(0) Y(0) A(36000)
X(0) Y(0) A(0)
close
!coordTrf()

66
cfg/mx-stage_sim.cfg Normal file
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@@ -0,0 +1,66 @@
//simulated stage without real motors needed
$$$***
!common()
//!common(PhaseFreq=20000,PhasePerServo=4)
//!common(PhaseFreq=20000,PhasePerServo=1)
//!common(PhaseFreq=40000)
//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 Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
//Enc 2: Stage Y Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
//Mot 3: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
//Enc 3: Stage X Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
//Mot/Enc 4: camera base plate X
// OBSOLETE: Enc 4: Interferometer 1
//Mot/Enc 5: camera base plate Y
// OBSOLETE Enc 5: Interferometer 2
//Mot 6: Backlight 2.3A
//Mot 7: Stada Stepper: 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 7: Renishaw absolute BiSS
//Mot 8: Stada Stepper: 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 8: Renishaw absolute BiSS
!encoder_sim(enc=1,tbl=1,mot=1)
!motor(mot=1,dirCur=0,contCur=100,peakCur=100,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
Motor[1].pLimits=0
//Motor[1].pDac=PowerBrick[0].MacroOutA[0][0].a
//Motor[1].pAdc=PowerBrick[0].MacroInA[0][1].a
!encoder_sim(enc=2,tbl=2,mot=2)
!motor(mot=2,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
Motor[2].pLimits=0
!encoder_sim(enc=3,tbl=3,mot=3)
!motor(mot=3,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
Motor[3].pLimits=0
!encoder_sim(enc=4,tbl=4,mot=4)
!motor(mot=4,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
Motor[4].pLimits=0
!encoder_sim(enc=5,tbl=5,mot=5)
!motor(mot=5,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
Motor[5].pLimits=0
!encoder_sim(enc=6,tbl=6,mot=6)
!motor(mot=6,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
Motor[6].pLimits=0
!encoder_sim(enc=7,tbl=7,mot=7)
!motor(mot=7,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
Motor[7].pLimits=0
!encoder_sim(enc=8,tbl=8,mot=8)
!motor(mot=8,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
Motor[8].pLimits=0
!coordTrf()