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  1. #*******************
  2. #  AXIS Y
  3. #*******************
  4.  
  5. # Step Gen signals/setup
  6. setp   hm2_7i43.0.stepgen.01.dirsetup        [AXIS_1]DIRSETUP
  7. setp   hm2_7i43.0.stepgen.01.dirhold         [AXIS_1]DIRHOLD
  8. setp   hm2_7i43.0.stepgen.01.steplen         [AXIS_1]STEPLEN
  9. setp   hm2_7i43.0.stepgen.01.stepspace       [AXIS_1]STEPSPACE
  10. setp   hm2_7i43.0.stepgen.01.position-scale  [AXIS_1]SCALE
  11. setp   hm2_7i43.0.stepgen.01.maxaccel        [AXIS_1]MMAX_ACCELERATION
  12. setp   hm2_7i43.0.stepgen.01.maxvel          [AXIS_1]MMAX_VELOCITY
  13. setp   hm2_7i43.0.stepgen.01.step_type        0
  14. setp   hm2_7i43.0.stepgen.01.control-type     1
  15.  
  16. # ---PID signals/setup---
  17. setp pid.1.Pgain [AXIS_1]P
  18. setp pid.1.Igain [AXIS_1]I
  19. setp pid.1.Dgain [AXIS_1]D
  20. setp pid.1.bias [AXIS_1]BIAS
  21. setp pid.1.FF0 [AXIS_1]FF0
  22. setp pid.1.FF1 [AXIS_1]FF1
  23. setp pid.1.FF2 [AXIS_1]FF2
  24. setp pid.1.deadband [AXIS_1]DEADBAND
  25. setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT
  26.  
  27. # ---Encoder feedback signals/setup---
  28. setp    hm2_7i43.0.encoder.01.counter-mode 0
  29. setp    hm2_7i43.0.encoder.01.filter 1
  30. setp    hm2_7i43.0.encoder.01.index-invert 0
  31. setp    hm2_7i43.0.encoder.01.index-mask 0
  32. setp    hm2_7i43.0.encoder.01.index-mask-invert 0
  33. setp    hm2_7i43.0.encoder.01.scale  [AXIS_1]INPUT_SCALE
  34.  
  35. net Y.pos-fb axis.1.motor-pos-fb <= hm2_7i43.0.encoder.01.position => pid.1.feedback
  36. net Y.pos-cmd axis.1.motor-pos-cmd => pid.1.command
  37. net Y.enable axis.1.amp-enable-out => hm2_7i43.0.stepgen.01.enable => pid.1.enable
  38. net Y.pos-out pid.1.output => hm2_7i43.0.stepgen.01.velocity-cmd
  39.  
  40. net y-index-enable    axis.1.index-enable  <=>  hm2_7i43.0.encoder.01.index-enable
  41.  
  42.  
  43. #*******************
  44. #  AXIS Y2
  45. #*******************
  46.  
  47. # Step Gen signals/setup
  48. setp   hm2_7i43.0.stepgen.03.dirsetup        [AXIS_3]DIRSETUP
  49. setp   hm2_7i43.0.stepgen.03.dirhold         [AXIS_3]DIRHOLD
  50. setp   hm2_7i43.0.stepgen.03.steplen         [AXIS_3]STEPLEN
  51. setp   hm2_7i43.0.stepgen.03.stepspace       [AXIS_3]STEPSPACE
  52. setp   hm2_7i43.0.stepgen.03.position-scale  [AXIS_3]SCALE
  53. setp   hm2_7i43.0.stepgen.03.maxaccel        [AXIS_3]MMAX_ACCELERATION
  54. setp   hm2_7i43.0.stepgen.03.maxvel          [AXIS_3]MMAX_VELOCITY
  55. setp   hm2_7i43.0.stepgen.03.step_type        0
  56. setp   hm2_7i43.0.stepgen.03.control-type     1
  57.  
  58. # ---PID signals/setup---
  59. setp pid.3.Pgain [AXIS_3]P
  60. setp pid.3.Igain [AXIS_3]I
  61. setp pid.3.Dgain [AXIS_3]D
  62. setp pid.3.bias [AXIS_3]BIAS
  63. setp pid.3.FF0 [AXIS_3]FF0
  64. setp pid.3.FF1 [AXIS_3]FF1
  65. setp pid.3.FF2 [AXIS_3]FF2
  66. setp pid.3.deadband [AXIS_3]DEADBAND
  67. setp pid.3.maxoutput [AXIS_3]MAX_OUTPUT
  68.  
  69.  
  70. # ---Encoder feedback signals/setup---
  71. setp    hm2_7i43.0.encoder.03.counter-mode 0
  72. setp    hm2_7i43.0.encoder.03.filter 1
  73. setp    hm2_7i43.0.encoder.03.index-invert 0
  74. setp    hm2_7i43.0.encoder.03.index-mask 0
  75. setp    hm2_7i43.0.encoder.03.index-mask-invert 0
  76. setp    hm2_7i43.0.encoder.03.scale  [AXIS_3]INPUT_SCALE
  77.  
  78. net Y2.pos-fb axis.3.motor-pos-fb <= hm2_7i43.0.encoder.03.position => pid.3.feedback
  79. net Y.pos-cmd axis.1.motor-pos-cmd => pid.3.command
  80. net Y2.enable axis.3.amp-enable-out => hm2_7i43.0.stepgen.03.enable => pid.3.enable
  81. net Y2.pos-out pid.3.output => hm2_7i43.0.stepgen.03.velocity-cmd
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