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bugfixing

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zamofing_t
2017-01-19 13:40:04 +01:00
parent 3519c559a1
commit df42fa49b3
10 changed files with 129 additions and 51 deletions
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logbook.md
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@@ -346,10 +346,58 @@ Motor[3].LimitBits = 9 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144
Motor[3].DacShift=0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].AdcMask = $FFFC0000 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].ctrl=Sys.servoctrl // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].DtOverRotorTc = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].DtOverRotorTc = 0 // Hardware Interface //12/9/2016 0:8:53 AM - 129.129.144.138
Motor[3].IxCoupleGain = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].SlipGain = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].AdvGain = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].Stime = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].PhaseOffset =-683 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
BrickLV.Reset = 1 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
*** 16.1.2017 ***
==================
Parker stage current step response
----------------------------------
Motor[2].IiGain=0
Motor[2].IpfGain=1
Motor[2].IpbGain=-1
Current step: Magnitude 4000 bits
Phasing 0
Dwell 10 ms
Motor 2 Phase pos at hard limit (towards kable)
> Motor[2].PhasePos;#2$
Motor[2].PhasePos=1317.26495427904138
Motor[2].PhasePos=1286.11002741653601
Motor[2].PhasePos=1310.62328616849777
Motor[2].PhasePos=1310.62328616849686
Motor[2].PhasePos=1307.26431089312473
Motor[2].PhasePos=1323.77420922660667
Motor[2].PhasePos=1323.77735999583911
Motor[2].PhasePos=1331.42989161901664
Motor[2].PhasePos=1332.17854273394619
Use Motor[2].PhasePos=1330
Use Motor[3].PhasePos=150 (or 1200???)
*** 19.1.2017 ***
==================
Friction force of Parker stage
X(top stage): 1N max 0.1N min.. depends on the magnetic poles
#3out20 -> Force 2N
#3out30 -> Force 3N (changes in torque at poles)
Weight: ca 250g
Y(lower stage): 1N max 0.1N min.. depends on the magnetic poles
#2out20 -> Force 2.5N iqCmd=402
#2out30 -> Force 3N iqCmd=603 (changes in torque at poles)
Weight: ca 750g