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