51 lines
2.3 KiB
INI
51 lines
2.3 KiB
INI
//5 simulated cam movers
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!encoder_sim(enc=1,tbl=1,mot=1)
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!motor(mot=1,dirCur=0,contCur=100,peakCur=100,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
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Motor[1].pLimits=0;Motor[1].AmpFaultLevel=0;Motor[1].pAmpEnable=0;Motor[1].pAmpFault=0
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!encoder_sim(enc=2,tbl=2,mot=2)
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!motor(mot=2,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
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Motor[2].pLimits=0;Motor[2].AmpFaultLevel=0;Motor[2].pAmpEnable=0;Motor[2].pAmpFault=0
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!encoder_sim(enc=3,tbl=3,mot=3)
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!motor(mot=3,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
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Motor[3].pLimits=0;Motor[3].AmpFaultLevel=0;Motor[3].pAmpEnable=0;Motor[3].pAmpFault=0
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!encoder_sim(enc=4,tbl=4,mot=4)
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!motor(mot=4,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
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Motor[4].pLimits=0;Motor[4].AmpFaultLevel=0;Motor[4].pAmpEnable=0;Motor[4].pAmpFault=0
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!encoder_sim(enc=5,tbl=5,mot=5)
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!motor(mot=5,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
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Motor[5].pLimits=0;Motor[5].AmpFaultLevel=0;Motor[5].pAmpEnable=0;Motor[5].pAmpFault=0
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// //NEW:
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// //the motor has 512*200*100 usteps per revolution (512 uystep/step, 200 steps/rev 1:100 gear)
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// //the ssi-encoder has 2**18=262144 steps per revolution
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// //motor_u_steps/inc_enc_step=39.0625
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// //JogSpeed=102.4 ustep/ms=102400ustep/s = 512*200= 1 rev/sec
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// posSf : position scale factor: encoder position to motor u-steps, 1 motor step is 512 motor u-steps
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// motor_u_steps=posSf*encoder_steps -> posSf = motor_u_steps/encoder_steps
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// default is 1.0 (1 motor_u_steps = 1 encoder_steps)
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// !encoder_ssi(enc=1,numBits=18,posSf=39.0625)
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// !encoder_ssi(enc=2,numBits=18,posSf=39.0625)
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// !encoder_ssi(enc=3,numBits=18,posSf=39.0625)
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// !encoder_ssi(enc=4,numBits=18,posSf=39.0625)
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// !encoder_ssi(enc=5,numBits=18,posSf=39.0625)
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// !motor(mot=1,dirCur=600,JogSpeed=102.4)
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// !motor(mot=2,dirCur=600,JogSpeed=102.4)
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// !motor(mot=3,dirCur=600,JogSpeed=102.4)
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// !motor(mot=4,dirCur=600,JogSpeed=102.4)
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// !motor(mot=5,dirCur=600,JogSpeed=102.4)
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// !cm_brake(mot=1,curOn=600,cs=1,delay=200,gpio=16)
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// !cm_brake(mot=2,curOn=600,cs=1,delay=200,gpio=17)
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// !cm_brake(mot=3,curOn=600,cs=1,delay=200,gpio=18)
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// !cm_brake(mot=4,curOn=600,cs=1,delay=200,gpio=19)
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// !cm_brake(mot=5,curOn=600,cs=1,delay=200,gpio=20)
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