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tweaking stages

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zamofing_t
2023-11-23 17:26:31 +01:00
parent 228caf0729
commit ca3b8f6ff2
2 changed files with 14 additions and 6 deletions
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18
cfg/MX1_setup.cfg
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@@ -1,3 +1,7 @@
//servoSf : motorusteps/user_units
//posSf : user_units/encoder_steps
//because of many problems with pos2Sf, selt them to 0
// Here we use 'real encoder with direct PWM'. Further the axis are scaled
// in this configuration, the PID gives 'torque' to iqCmd.
// the phasePos is received from tne encoder on the motor shaft.
@@ -95,13 +99,17 @@ Motor[2].pEncLoss=0
//Y stage OWIS
//------------
//2000enc/rev 500um/rev
//1 rev = 2000 enc_cnt = 500um
// max. 2.1A 36V
//1 rev = 2000 enc_cnt = 500um -> posSf=500um/2000=0.25
//measured: 30mm=119640.5 enc_cnt posSf=30000/119640.5=0.2507
// max. 2.1A 36V 12mm/s
!encoder_sim(enc=3,tbl=11,mot=11,posSf=360000./32768)
!encoder_inc(enc=3,tbl=3,mot=3,posSf=13000./650000)
//!encoder_inc(enc=3,tbl=11,mot=11,posSf=1)
!encoder_inc(enc=3,tbl=3,mot=3,posSf=0.25)
!motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=0,Ki=0.0,Kvff=0,Kaff=0,MaxInt=1000,Kfff=0)
!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1,IpfGain=3,IpbGain=3,JogSpeed=2.,numPhase=2,invDir=False,servo=None,PhasePosSf=0,PhaseFindingDac=0,PhaseFindingTime=0,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10,homing='enc-index')
!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1,IpfGain=3,IpbGain=3,JogSpeed=12.,numPhase=2,invDir=False,servo=None,PhasePosSf=0,PhaseFindingDac=0,PhaseFindingTime=0,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10,homing='enc-index')
Motor[3].Servo.Kp=50
Motor[3].Servo.BreakPosErr=5
Motor[3].Servo.Ki=.0004
//Stada stage

2
generate.py
View File

@@ -71,7 +71,7 @@ class Generate:
( 'DESC' , 'M' , 'ADDR' , 'DIR' , 'VELO' , 'HVEL' , 'MRES' , 'PREC' , 'EGU' ) ,
( '"Sample F-Trans Y"' , 'MOT_FY' , 1 , 0 , 16 , 2 , 0.001 , 4 , 'mm' ) ,
( '"Sample F-Trans X"' , 'MOT_FX' , 2 , 1 , 16 , 2 , 0.001 , 4 , 'mm' ) ,
( '"Sample C-Trans Y"' , 'MOT_CY' , 3 , 0 , 2 , 2 , 0.001 , 4 , 'mm' ) ,
( '"Sample C-Trans Y"' , 'MOT_CY' , 3 , 0 , 12 , 4 , 0.001 , 4 , 'mm' ) ,
( '"Sample C-Trans X"' , 'MOT_CX' , 4 , 0 , 2 , 2 , 0.001 , 4 , 'mm' ) ,
( '"Sample C-Trans Z"' , 'MOT_CZ' , 5 , 0 , 2 , 2 , 0.001 , 4 , 'mm' ) ,
( '"Interfero Y"' , 'ENC_FY' , 6 , 0 , 2 , 2 , 0.001 , 4 , 'mm' ) ,