helicalscan wip

cfg/coordTrf.cfg

@@ -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