61 lines
1.6 KiB
INI
61 lines
1.6 KiB
INI
|
|
!MX3_setup()
|
|
//!MX3_setup_sim() // comment out !MX3_setup() when this is active
|
|
//!MX3_home()
|
|
//using 360000 for 1 rev. -> 1.7453292519943296e-05=np.pi/180000
|
|
//excentricity= 5mm
|
|
//height = 90+28mm = 118
|
|
//width = (450+305)/2=377.5
|
|
//length = 600mm
|
|
//pivotpoint q= -.7 0= center 1=mover upstream -1=mover downstream ca. 100mm from downstream
|
|
//!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05)
|
|
!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05,q=-.7)
|
|
|
|
//Motor 1 -> AA2
|
|
//Motor 2 -> AA1
|
|
//Motor 3 -> AA5
|
|
//Motor 4 -> AA3
|
|
//Motor 5 -> AA4
|
|
|
|
// define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
|
|
// define(AA1='L2',AA2='L1',AA3='L4',AA4='L5',AA5='L3')
|
|
|
|
Coord[1].Ta=10
|
|
Coord[1].Td=10
|
|
Coord[1].AltFeedRate=1000
|
|
Coord[1].Tm=-10000 //1000um/FeedTime -> 1mm/sec
|
|
Coord[1].FeedTime=1000 //default value 1000um
|
|
|
|
&1
|
|
|
|
//initialization code
|
|
open plc 1
|
|
homez1..5
|
|
L0 = Sys.RunTime + .1
|
|
while (Sys.RunTime < L0){} //wait .1 sec
|
|
jog/1..5
|
|
while (Sys.RunTime < L0){} //wait .1 sec
|
|
|
|
if (Motor[1].ActPos-Motor[1].HomePos<-180000)
|
|
Motor[1].HomePos=Motor[1].HomePos-360000
|
|
if (Motor[2].ActPos-Motor[2].HomePos<-180000)
|
|
Motor[2].HomePos=Motor[2].HomePos-360000
|
|
if (Motor[3].ActPos-Motor[3].HomePos<-180000)
|
|
Motor[3].HomePos=Motor[3].HomePos-360000
|
|
if (Motor[4].ActPos-Motor[4].HomePos<-180000)
|
|
Motor[4].HomePos=Motor[4].HomePos-360000
|
|
if (Motor[5].ActPos-Motor[5].HomePos<-180000)
|
|
Motor[5].HomePos=Motor[5].HomePos-360000
|
|
disable plc 1
|
|
close // plc 1
|
|
|
|
enable plc 1
|
|
|
|
#1..5dkill
|
|
|
|
#6hmz
|
|
//motor 1..5 use break setup to kill motor
|
|
!holding_current(m6=[0,700])
|
|
|
|
|