sf-mx/PBSwissMX
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

adding cryojet and other stuff...

Browse Source
This commit is contained in:
zamofing_t
2018-02-28 14:33:22 +01:00
parent 13686b03b7
commit c7a3ac8f36
8 changed files with 145 additions and 97 deletions
Download Patch File Download Diff File Expand all files Collapse all files

137
cfg/MX3_coordTrf.py
View File

@@ -1,4 +1,4 @@
def coordTrf(fileParser,kwargs):
def MX3_coordTrf(fileParser,kwargs):
from math import sqrt
'''
--- mandatory ---
@@ -49,84 +49,69 @@ S=D*X
Coord[1].Ta=100
Coord[1].Td=100
Coord[1].AltFeedRate=1
open forward
define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
define(r='L6',scl='L7')
define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
define(X='C6',Y='C7',U='C3',V='C4',W='C5')
r=$height/$width
scl=$exc/$sqrt2
S1=scl*sin(AA1*$camSf)
S2=scl*sin(AA2*$camSf)
S3=scl*sin(AA3*$camSf)
S4=scl*sin(AA4*$camSf)
S5=scl*sin(AA5*$camSf)
//debug code
P1=S1
P2=S2
P3=S3
P4=S4
P5=S5
P6=P6+1
//X=D^-1*S
X=+.5*S1 -.5*S2 +(r+.5)*S3 +(r-.5)*S4 +(.5-r)*$sqrt2*S5
Y=+.5*S1 +.5*S2 +.25*S3 +.25*S4 +.25*$sqrt2*S5
U= -.5*S3 -.5*S4 +.5$sqrt2*S5
V=-.5*S1 +1.*S2 +1.5*S3 -.5*S4 -.5*$sqrt2*S5
W=-.5*S1 -1.*S2 +.5*S3 +.5*S4 +.5*$sqrt2*S5
D0=$$000000f8; //U=$$8 V=$$10 W=$$20 X=$$40 Y=$$80 hex(8+int('10',16)+int('20',16)+int('40',16)+int('80',16)) -> '0xf8'
close
open inverse
define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
define(r='L6',scl='L7')
define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
define(X='C6',Y='C7',U='C3',V='C4',W='C5')
r=$height/$width
S1=+.5*X +.5*Y +(0) *U -.5*V +.5*W
S2=-.5*X +.5*Y +(0) *U +.5*V +.5*W
S3=+.5*X +.5*Y -(.5) *U +.5*V -.5*W
S4=-.5*X +.5*Y -(.5) *U -.5*V -.5*W
S5= .5*$sqrt2*Y +.5*$sqrt2*U -.5*$sqrt2*W
//debug code
P11=S1
P12=S2
P13=S3
P14=S4
P15=S5
P16=P16+1
scl=$sqrt2/$exc
AA1=asin(S1*scl)/$camSf
AA2=asin(S2*scl)/$camSf
AA3=asin(S3*scl)/$camSf
AA4=asin(S4*scl)/$camSf
AA5=asin(S5*scl)/$camSf
//debug code
P21=AA1
P22=AA2
P23=AA3
P24=AA4
P25=AA5
close
//#1..5j/
//#1..5hmz
&1
Motor[1].MaxSpeed=Motor[1].JogSpeed
Motor[2].MaxSpeed=Motor[2].JogSpeed
Motor[3].MaxSpeed=Motor[3].JogSpeed
Motor[4].MaxSpeed=Motor[4].JogSpeed
Motor[5].MaxSpeed=Motor[5].JogSpeed
open forward
define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
define(r='L6',scl='L7')
define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
define(X='C6',Y='C7',U='C3',V='C4',W='C5')
r=$height/$width
scl=$exc/$sqrt2
S1=scl*sin(AA1*$camSf)
S2=scl*sin(AA2*$camSf)
S3=scl*sin(AA3*$camSf)
S4=scl*sin(AA4*$camSf)
S5=scl*sin(AA5*$camSf)
send 1"fwd_inp(%f) %f %f %f %f %f\\n",D0,AA1,AA2,AA3,AA4,AA5
send 1"fwd_inp(%f) %f %f %f %f %f\\n",D0,S1,S2,S3,S4,S5
//X=D^-1*S
X=+.5*S1 -.5*S2 +(r+.5)*S3 +(r-.5)*S4 +(.5-r)*$sqrt2*S5
Y=+.5*S1 +.5*S2 +.25*S3 +.25*S4 +.25*$sqrt2*S5
U= -.5*S3 -.5*S4 +.5*$sqrt2*S5
V=-.5*S1 +1.*S2 +1.5*S3 -.5*S4 -.5*$sqrt2*S5
W=-.5*S1 -1.*S2 +.5*S3 +.5*S4 +.5*$sqrt2*S5
send 1"fwd_res %f %f %f %f %f\\n",X,Y,U,V,W
D0=$$000000f8; //U=$$8 V=$$10 W=$$20 X=$$40 Y=$$80 hex(8+int('10',16)+int('20',16)+int('40',16)+int('80',16)) -> '0xf8'
close
open inverse
define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
define(r='L6',scl='L7')
define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
define(X='C6',Y='C7',U='C3',V='C4',W='C5')
//if(D0>0)
// send 1"Velocity calculation NOT SUPPORTED\\n"
send 1"inv_inp(%f) %f %f %f %f %f\\n",D0,X,Y,U,V,W
r=$height/$width
S1=+.5*X +.5*Y +(0) *U -.5*V +.5*W
S2=-.5*X +.5*Y +(0) *U +.5*V +.5*W
S3=+.5*X +.5*Y -(.5) *U +.5*V -.5*W
S4=-.5*X +.5*Y -(.5) *U -.5*V -.5*W
S5= .5*$sqrt2*Y +.5*$sqrt2*U -.5*$sqrt2*W
scl=$sqrt2/$exc
AA1=asin(S1*scl)/$camSf
AA2=asin(S2*scl)/$camSf
AA3=asin(S3*scl)/$camSf
AA4=asin(S4*scl)/$camSf
AA5=asin(S5*scl)/$camSf
send 1"inv_res %f %f %f %f %f\\n",AA1,AA2,AA3,AA4,AA5
close
''',kw)