91 lines
3.2 KiB
INI
91 lines
3.2 KiB
INI
// Here we use 'real encoder with direct PWM'. Further the axis are scaled
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// in this configuration, the PID gives 'torque' to iqCmd.
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// the phasePos is received from tne encoder on the motor shaft.
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// The idCmd is set to 0
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// the PID regulates the position by setting torque, if the motor is not at the desired position
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// Compared to 'real encoder with direct microstepping', following main elements have to be reconfigured:
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// SlipGain=0 (instead 0.25) ,PhasePosSf= calculated value (instead of 0)
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// look also at PwmSf,PhaseMode,PhaseCtrl,
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// -> PhasePosSf is calculated as follows: (2048*pole_cycle)/(256*enc_step) = 8*pole_cycle/enc_step
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// e.g. Motor[x].pPhaseEnc -> PowerBrick[.].Chan[.].PhaseCapt.a
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// 1 rev = 8192 phase_step = 4 pole_cycle = 512000 PhaseCapt =256*2000 (256=scaling of encTable, 2000=enc_step/rev)
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// PhasePosSf 8*4/2000=0.016
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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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!torqueCtrl()
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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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