59 lines
1.0 KiB
INI
59 lines
1.0 KiB
INI
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//$$$***
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//!common()
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//!common(PhaseFreq=20000,PhasePerServo=4)
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//!common(PhaseFreq=20000,PhasePerServo=1)
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//!common(PhaseFreq=40000)
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!torqueCtrl()
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!init()
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&1
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//#1-> 0.00001X+ 0.00001Y + A
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//#2-> +1. X + .5Y + 0.01A
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//#3-> + .5X +1. Y + 0.01A
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#1-> A
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#2-> X
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#3-> Y
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Coord[1].AltFeedRate=0
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Coord[1].Tm=1 //1ms time
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Coord[1].Ta=1
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Coord[1].Td=1
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Coord[1].Ts=0
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//Parker: Continous Force 4N -> assume 1kg load -> acceleration=a=F/m=4m/s^2
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//do not use time to accelerate but acceleration
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//4m/s^2=4um/(ms)^2 Motor units=um -> JogTa= -1ms^2/4mu -2.5-> 4m/s^2 -25->0.4m/s^2
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Motor[2].JogTs=0
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Motor[2].JogTa=-2.5
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Motor[3].JogTs=0
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Motor[3].JogTa=-2.5
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Motor[1].MaxSpeed=360
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Motor[2].MaxSpeed=50
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Motor[3].MaxSpeed=50
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open prog 1
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//this uses jogspeed
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rapid abs
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X(10000) Y(0) A(0)
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X(0) Y(10000) A(0)
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X(0) Y(0) A(36000)
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X(0) Y(0) A(0)
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close
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open prog 2
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//this uses Coord[1].Tm and limits with MaxSpeed
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linear abs
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X(10000) Y(0) A(0)
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X(0) Y(10000) A(0)
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X(0) Y(0) A(0)
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X(0) Y(0) A(36000)
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X(0) Y(0) A(0)
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close
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