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add preliminary path shaping and programming tools

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zamofing_t
2016-12-21 11:08:36 +01:00
parent 37c5f65d52
commit b4e28084d8
4 changed files with 486 additions and 3 deletions
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2
cfg/torqueCtrl.cfg
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@@ -51,7 +51,7 @@ 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=180.,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)
!motor(mot=1,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./8192,PhaseFindingDac=1000,PhaseFindingTime=1000,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10)
//Stage X Parker MX80L