Thierry Zamofing
789224b83d
Here all IOCs were started without any hardware. So in the next steps the hardware must be tested.
29 lines
571 B
INI
29 lines
571 B
INI
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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-> Y
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#2-> X
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#3-> A
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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[1].JogTs=0
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Motor[1].JogTa=-2.5
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Motor[2].JogTs=0
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Motor[2].JogTa=-2.5
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Motor[1].MaxSpeed=50
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Motor[2].MaxSpeed=50
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Motor[3].MaxSpeed=360
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