64 lines
1.8 KiB
INI
64 lines
1.8 KiB
INI
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!MX3_setup()
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//!MX3_setup_sim() // comment out !MX3_setup() when this is active
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//!MX3_home()
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//using 360000 for 1 rev. -> 1.7453292519943296e-05=np.pi/180000
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//excentricity= 5mm
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//height = 90+28mm = 118
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//width = (450+305)/2=377.5
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//length = 600mm
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//pivotpoint q= -.7 0= center 1=mover upstream -1=mover downstream ca. 100mm from downstream
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//!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05)
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!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05,q=-.7)
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//Motor 1 -> AA2
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//Motor 2 -> AA1
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//Motor 3 -> AA5
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//Motor 4 -> AA3
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//Motor 5 -> AA4
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// define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
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// define(AA1='L2',AA2='L1',AA3='L4',AA4='L5',AA5='L3')
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Coord[1].Ta=10
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Coord[1].Td=10
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Coord[1].AltFeedRate=1000
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Coord[1].Tm=-10000 //1000um/FeedTime -> 1mm/sec
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Coord[1].FeedTime=1000 //default value 1000um
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//motor current off (as cpxcall 16)
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Motor[1].IdCmd=0;Motor[1].InPosBand=10
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Motor[2].IdCmd=0;Motor[2].InPosBand=10
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Motor[3].IdCmd=0;Motor[3].InPosBand=10
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Motor[4].IdCmd=0;Motor[4].InPosBand=10
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Motor[5].IdCmd=0;Motor[5].InPosBand=10
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//#1..5hmz
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//#1..5j/
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&1
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//initialization code
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open plc 0
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homez1..5
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L0 = Sys.RunTime + .1
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while (Sys.RunTime < L0){} //wait .1 sec
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jog/1..5
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while (Sys.RunTime < L0){} //wait .1 sec
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if (Motor[1].ActPos-Motor[1].HomePos<-180000)
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Motor[1].HomePos=Motor[1].HomePos-360000
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if (Motor[2].ActPos-Motor[2].HomePos<-180000)
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Motor[2].HomePos=Motor[2].HomePos-360000
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if (Motor[3].ActPos-Motor[3].HomePos<-180000)
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Motor[3].HomePos=Motor[3].HomePos-360000
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if (Motor[4].ActPos-Motor[4].HomePos<-180000)
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Motor[4].HomePos=Motor[4].HomePos-360000
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if (Motor[5].ActPos-Motor[5].HomePos<-180000)
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Motor[5].HomePos=Motor[5].HomePos-360000
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disable plc 0
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close // plc 0
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enable plc 0
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