add preliminary path shaping and programming tools

2016-12-21 11:08:36 +01:00
parent 37c5f65d52
commit b4e28084d8
4 changed files with 486 additions and 3 deletions
--- a/cfg/mx-stage.cfg
+++ b/cfg/mx-stage.cfg
@@ -40,6 +40,113 @@ $$$***
 !common()
 !torqueCtrl()

-!sh sleep 1
-#1,2,3,4,6j/
+
+&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
+
+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
+
+
+
+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
+
+open prog 3
+  Gather.Enable=2
+  //this uses Coord[1].Tm and limits with MaxSpeed
+  linear abs
+  X(10000)  //Y(0)
+  //X(0)      Y(0)
+  //dwell 0
+  X(0)      Y(10000)
+  X(0)      Y(0)
+  X(10000)  Y(10000)
+  X(0)      Y(0)
+  dwell 100
+  Gather.Enable=0
+close
+
+
+open prog 4
+  Gather.Enable=2
+  //this uses Coord[1].Tm and limits with MaxSpeed
+  linear abs
+  X(100)  Y(100)
+  X(200)  Y(110)
+  X(300)  Y(140)
+  X(400)  Y(130)
+  X(500)  Y(134)
+  X(600)  Y(146)
+  X(700)  Y(178)
+  X(800)  Y(143)
+  X(900)  Y(133)
+  X(1000)  Y(147)
+  X(1100)  Y(196)
+  X(1200)  Y(104)
+  X(1300)  Y(183)
+  X(1400)  Y(135)
+  X(1500)  Y(134)
+  X(1600)  Y(195)
+  X(1700)  Y(116)
+  X(1800)  Y(150)
+  X(1900)  Y(127)
+  X(1900)  Y(272)
+  X(1800)  Y(215)
+  X(1700)  Y(232)
+  X(1600)  Y(276)
+  X(1500)  Y(215)
+  X(1400)  Y(298)
+  X(1300)  Y(235)
+  X(1200)  Y(297)
+  X(1100)  Y(256)
+  X(1000)  Y(244)
+  X(900)  Y(279)
+  X(800)  Y(238)
+  X(700)  Y(265)
+  X(600)  Y(279)
+  X(500)  Y(234)
+  X(400)  Y(235)
+  X(300)  Y(297)
+  X(200)  Y(227)
+  X(100)  Y(256)
+  dwell 100
+  Gather.Enable=0
+close