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calibrating 5Cam in ID lab

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zamofing_t
2018-05-29 14:38:58 +02:00
parent c889da80aa
commit db8e9e8636
6 changed files with 119 additions and 54 deletions
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48
cfg/SAR-EXPMX3.cfg
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@@ -4,11 +4,19 @@
//!MX3_home()
//using 360000 for 1 rev. -> 1.7453292519943296e-05=np.pi/180000
//excentricity= 5mm
//height = 2mm ?
//width = 50cm ?
//length = 100cm ?
!MX3_coordTrf(exc=5000,height=2000,width=500000,length=1000000,camSf=1.7453292519943296e-05)
//height = 90+28mm = 118
//width = (450+305)/2=377.5
//length = 600mm
!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05)
//Motor 1 -> AA2
//Motor 2 -> AA1
//Motor 3 -> AA5
//Motor 4 -> AA3
//Motor 5 -> AA4
// define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
// define(AA1='L2',AA2='L1',AA3='L4',AA4='L5',AA5='L3')
Coord[1].Ta=10
Coord[1].Td=10
@@ -16,8 +24,6 @@ Coord[1].AltFeedRate=1000
Coord[1].Tm=-10000 //1000um/FeedTime -> 1mm/sec
Coord[1].FeedTime=1000 //default value 1000um
//motor current off (as cpxcall 16)
Motor[1].IdCmd=0;Motor[1].InPosBand=10
Motor[2].IdCmd=0;Motor[2].InPosBand=10
@@ -25,22 +31,28 @@ Motor[3].IdCmd=0;Motor[3].InPosBand=10
Motor[4].IdCmd=0;Motor[4].InPosBand=10
Motor[5].IdCmd=0;Motor[5].InPosBand=10
#1..5hmz
#1..5j/
//#1..5hmz
//#1..5j/
&1
//initialization code
open plc 0
if (Motor[1].ActPos-Motor[1].HomePos>180000)
Motor[1].HomePos=Motor[1].HomePos+360000
if (Motor[2].ActPos-Motor[2].HomePos>180000)
Motor[2].HomePos=Motor[2].HomePos+360000
if (Motor[3].ActPos-Motor[3].HomePos>180000)
Motor[3].HomePos=Motor[3].HomePos+360000
if (Motor[4].ActPos-Motor[4].HomePos>180000)
Motor[4].HomePos=Motor[4].HomePos+360000
if (Motor[5].ActPos-Motor[5].HomePos>180000)
Motor[5].HomePos=Motor[5].HomePos+360000
homez1..5
L0 = Sys.RunTime + .1
while (Sys.RunTime < L0){} //wait .1 sec
jog/1..5
while (Sys.RunTime < L0){} //wait .1 sec
if (Motor[1].ActPos-Motor[1].HomePos<-180000)
Motor[1].HomePos=Motor[1].HomePos-360000
if (Motor[2].ActPos-Motor[2].HomePos<-180000)
Motor[2].HomePos=Motor[2].HomePos-360000
if (Motor[3].ActPos-Motor[3].HomePos<-180000)
Motor[3].HomePos=Motor[3].HomePos-360000
if (Motor[4].ActPos-Motor[4].HomePos<-180000)
Motor[4].HomePos=Motor[4].HomePos-360000
if (Motor[5].ActPos-Motor[5].HomePos<-180000)
Motor[5].HomePos=Motor[5].HomePos-360000
disable plc 0
close // plc 0