//Wedge Movers
//--------------
//Nanotec 2 ph motor 42.3mm 1.8deg, Planetgetriebe 1.5Nm I=1:12, Spindel 2mm steigung
//ST4118L1804-B 42 mm 	17 	50 Ncm 	1.8 deg/step 	1.8 A/Wicklung 	49 mm 	€34.10

//102400*12=1228800 == 2mm
//#1j:1228800 -> 1 rev = 2mm = 2000inc
//posSf = userUnits/encoder_steps =1
//servoSf=motor_u_steps/userUnits = 1228800/2000. = 614.4

//#1 = wedge 1a
//#2 = wedge 1b
//#3 = wedge 2a
//#4 = wedge 2b

//steigung Keil: 11.4212deg  = arctan(0.2)=11.31deg -> Steigung 1:5
//on 146mm from 35 to 21.5mm  146/(35-21.5)=10.81
//on 280mm from 61mm to 38 mm 280/(61-38)=

//!encoder_sim(enc=1)
//!encoder_inc(enc=1,tbl=9,mot=9,posSf=1)
//!motor(mot=1,dirCur=120,JogSpeed=102.4*1,invDir=False)
//Motor[1].pLimits=0

!encoder_inc(enc=1,posSf=1.)
!motor(mot=1,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1)

!encoder_inc(enc=2,posSf=1.)
!motor(mot=2,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1)

!encoder_inc(enc=3,posSf=1.)
!motor(mot=3,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1)

!encoder_inc(enc=4,posSf=1.)
!motor(mot=4,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1)


//Backlight
//---------
//#5j=0 //down #5j=-31000 //up
!encoder_sim(enc=5)
!motor(mot=5,dirCur=1800,JogSpeed=40,invDir=False)


//Cryojet
//---------
//Max. 1.5A -1024000=-10mm
//posSf = userUnits/encoder_steps =10000/1024000   =10./1024
//servoSf=motor_u_steps/userUnits = 1024000/10000. = 102.4
!encoder_sim(enc=6,posSf=10./1024)
!motor(mot=6,dirCur=1500,JogSpeed=10,invDir=False,servoSf=102.4)


!holding_current(m1=[0,1000],m2=[0,1000],m3=[0,1000],m4=[0,1000],m5=[1400,1800],m6=[0,500])