Thierry Zamofing
789224b83d
Here all IOCs were started without any hardware. So in the next steps the hardware must be tested.
83 lines
3.7 KiB
INI
83 lines
3.7 KiB
INI
// Here we use 'simulated encoder with direct microstepping'
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// in this configuration, the PID gives 'speed' to iqCmd this is multiplied with 0.25 (SlipGain) to result in the phasePos
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// The torque is constant given as idCmd
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// the PID does no regulation, as a real encoder is not used
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// x einraster == -> x-N and x-S poles =2*x poles -> 1 rev = x*2048 ustep=phase_step
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// changing the polarity from S-N-S (one pole cycle) are 2048 phase_step. phase_step is also called ustep
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//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev = 16*2048=32768 phase_step
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//Enc 1: Rotation stage LS Mecapion 1 rev = 1048576 enc_steps
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//Mot 2: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
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//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
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//Mot 3: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
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//Enc 3: Stage Y Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
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//Mot 4: Test Servo: Trinamic QBL 4208 motor 8 poles 1 rev = 4*2048=8192 phase_step
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//Enc 4: Test Servo: Incremental encoder mounted with motor 1 1 rev = 2000 enc count (500 inc_ quadrature encoder)
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//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor 1 rev = 24 enc count (hall sensor encoder)
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//Mot 6: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
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//Enc 6: Test Stepper: inc_enc 1 rev = 1600 enc_step
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//Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
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//Enc 7: Test Stepper: ssi_enc multiturn 1 rev = 4096 enc_step
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$$$***
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!common()
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//rot stage
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//---------
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!encoder_sim(enc=1,tbl=1,mot=1)
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!encoder_biss(enc=1,tbl=9,mot=9,numBits=20,posSf=1.)
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!motor(mot=1,dirCur=200,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=8.,numPhase=3,invDir=True)
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//#1j:32768 = 1 rev
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//Stage X Parker MX80L
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//--------------------
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!encoder_sim(enc=2,tbl=2,mot=2)
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!encoder_inc(enc=2,tbl=10,mot=10,posSf=1.)
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!motor(mot=2,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.,numPhase=3,invDir=True)
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//#2j:2048 -> moves one pole cycle= 650000 enc_step =13mm (Electrical Pitch in MX80 doc)
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//Stage Y Parker MX80L
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//--------------------
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!encoder_sim(enc=3,tbl=3,mot=3)
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!encoder_inc(enc=3,tbl=11,mot=11,posSf=1.)
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!motor(mot=3,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.,numPhase=3,invDir=True)
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//#3j:2048 -> moves one pole cycle= 650000 enc_step =13mm (Electrical Pitch in MX80 doc)
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//Test Servo: Trinamic QBL 4208 motor
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//-----------------------------------
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!encoder_sim(enc=4,tbl=4,mot=4)
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!encoder_inc(enc=4,tbl=12,mot=12,posSf=1.) // incremental encoder
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!encoder_inc(enc=5,tbl=13,mot=13,encctrl=15) //encctrl=11 Hall sensor encoder
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!motor(mot=4,dirCur=200,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
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//#4j:8192 -> moves 1 rev
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//#4j:2048 -> moves one pole cycle= 90deg -> 8 poles
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//Test Stepper: Vextra PK244M inc_enc
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//-----------------------------------
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!encoder_sim(enc=6,tbl=6,mot=6)
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!encoder_inc(enc=6,tbl=14,mot=14)
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!motor(mot=6,dirCur=100,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False,JogSpeed=2048)
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//#6j:204800 moves 1 rev
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//#6j:2048 ->moves one pole cycle
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//Test Stepper: Vextra PK244M abs_enc
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//-----------------------------------
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!encoder_sim(enc=7,tbl=7,mot=7)
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!encoder_ssi(enc=7,tbl=15,mot=15,numBits=25)
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!motor(mot=7,dirCur=100,contCur=400,peakCur=600,timeAtPeak=1,numPhase=2,invDir=False,JogSpeed=2048)
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//#7j:204800 moves 1 rev
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//#7j:2048 ->moves one pole cycle
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