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full stage tested with ioc. all 5 axis working with EPICS caqtdm ui

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This commit is contained in:
zamofing_t
2017-08-02 11:20:46 +02:00
parent ede6671ff0
commit f6b3853550
6 changed files with 101 additions and 11 deletions
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8
cfg/mx-stage.cfg
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@@ -30,11 +30,11 @@
//Enc 4: Test Servo: Incremental encoder mounted with motor 1 1 rev = 2000 enc count (500 inc_ quadrature encoder)
//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor 1 rev = 24 enc count (hall sensor encoder)
//Mot 6: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 6: Test Stepper: inc_enc 1 rev = 1600 enc_step
//Mot 7: Stada Stepper: 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 7: Renishaw absolute BiSS
//Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 7: Test Stepper: ssi_enc multiturn 1 rev = 4096 enc_step
//Mot 8: Stada Stepper: 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 8: Renishaw absolute BiSS
//$$$***
//!common()

19
cfg/torqueCtrl.cfg
View File

@@ -77,3 +77,22 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
!encoder_inc(enc=4,tbl=4,mot=4)# ,posSf=13000./650000)
!encoder_inc(enc=5,tbl=5,mot=5)# ,posSf=13000./650000)
//Stada stage
//----------------------------------------------------
//512000 ustep == 50000 encCnt == 2500um
//posSf = userUnits/encoder_steps
//servoSf=motor_u_steps/userUnits
!encoder_biss(enc=7,numBits=32,posSf=1./20)
!encoder_biss(enc=8,numBits=32,posSf=1./20)
!motor(mot=7,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8)
!motor(mot=8,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8)
//turn off servon and inpos below ... user units (here 1um)
Motor[7].InPosBand=1;Motor[7].Servo.BreakPosErr=Motor[7].InPosBand
Motor[8].InPosBand=1;Motor[8].Servo.BreakPosErr=Motor[8].InPosBand
//holding current
!holding_current(m7=[0,200],m8=[0,200])