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Код: Выделить всё

#include "KMotionDef.h"
#include "CorrectAnalogFunction.c"

#define RefVoltage 11.09f

main()
{
	float V=7.0;
	
	FPGA(KAN_TRIG_REG)=4;  // Mux PWM0 to JP7 Pin5 IO 44 for KSTEP 
	SetBitDirection(44,1);  // define bit as an output
	FPGA(IO_PWMS_PRESCALE) = 46;  	// divide clock by 46 (1.4 KHz)
	FPGA(IO_PWMS+1) = 1;  			// Enable
	
	FPGA(IO_PWMS) = CorrectAnalog(V/RefVoltage);  	// Set PWM
	// FPGA(IO_PWMS) = 7;  	// Set PWM to a specific count
}

Код: Выделить всё

#include "KMotionDef.h"

#define MAX_RPM 3000.0f

// drive PWM 0 as spindle
//

// PWM 0 is KFLOP IO bit #26
// JP6 Aux#1 Pin 5

main()
{
	int pwm;
	float speed = *(float *)&persist.UserData[0];  // value stored is actually a float 
	
	pwm = speed/MAX_RPM * 255.0f;
	
	if (pwm > 255) pwm=255;  // limit to max pwm value

	printf("Spindle Set to %f pwm %d\n",speed, pwm);  // print the desired speed
	
	FPGA(IO_PWMS+1) = 1;    // enable the PWM
	FPGA(IO_PWMS)   = pwm; 	// set the PWM
}

Код: Выделить всё

#include "KMotionDef.h"
#include "..\CorrectAnalogFunction.c"

#define RPM_FACTOR 500.0 // RPM for full duty cycle (max analog out)

// desired speed is passed in variable 1


main()
{
	float speed = *(float *)&persist.UserData[1];  // value stored is actually a float 
	
	FPGA(KAN_TRIG_REG)=4;  			// Mux PWM0 to JP7 Pin5 IO 44 for KSTEP 
	SetBitDirection(44,1);  		// define bit as an output
	FPGA(IO_PWMS_PRESCALE) = 46;  	// divide clock by 46 (1.4 KHz)
	FPGA(IO_PWMS+1) = 1;  			// Enable
	
	FPGA(IO_PWMS) = CorrectAnalog(speed/RPM_FACTOR);  	// Set PWM
}

Код: Выделить всё

#include "KMotionDef.h"

// Defines axis 0, 1, 2 as simple step dir TTL outputs for KSTEP
// enables them
// sets them as an xyz coordinate system for GCode

int main()

{
	
	SetBitDirection(0,1);  //set as output
	SetBitDirection(1,1);  //set as output
	
	double T0, LastX=0, LastY=0, LastZ=0, Tau;
	
	KStepPresent=TRUE;      // enable KSTEP input multiplexing
	FPGA(KAN_TRIG_REG)=4;  	// Mux PWM0 to JP7 Pin5 IO 44 for KSTEP 

	FPGA(STEP_PULSE_LENGTH_ADD) = 63 + 0x80;  // set polarity and pulse length to 4us
	
	ch0->InputMode=NO_INPUT_MODE;
	ch0->OutputMode=STEP_DIR_MODE;
	ch0->Vel=40000;
	ch0->Accel=200000;
	ch0->Jerk=4e+006;
	ch0->P=0;
	ch0->I=0.01;
	ch0->D=0;
	ch0->FFAccel=0;
	ch0->FFVel=0;
	ch0->MaxI=200;
	ch0->MaxErr=1e+006;
	ch0->MaxOutput=200;
	ch0->DeadBandGain=1;
	ch0->DeadBandRange=0;
	ch0->InputChan0=0;
	ch0->InputChan1=0;
	ch0->OutputChan0=8;
	ch0->OutputChan1=0;
	ch0->MasterAxis=-1;
	ch0->LimitSwitchOptions=0x12f;
	ch0->LimitSwitchNegBit=169;
	ch0->LimitSwitchPosBit=168;
	ch0->SoftLimitPos=1e+009;
	ch0->SoftLimitNeg=-1e+009;
	ch0->InputGain0=1;
	ch0->InputGain1=1;
	ch0->InputOffset0=0;
	ch0->InputOffset1=0;
	ch0->OutputGain=1;
	ch0->OutputOffset=0;
	ch0->SlaveGain=1;
	ch0->BacklashMode=BACKLASH_OFF;
	ch0->BacklashAmount=0;
	ch0->BacklashRate=0;
	ch0->invDistPerCycle=1;
	ch0->Lead=0;
	ch0->MaxFollowingError=1000000000;
	ch0->StepperAmplitude=20;

	ch0->iir[0].B0=1;
	ch0->iir[0].B1=0;
	ch0->iir[0].B2=0;
	ch0->iir[0].A1=0;
	ch0->iir[0].A2=0;

	ch0->iir[1].B0=1;
	ch0->iir[1].B1=0;
	ch0->iir[1].B2=0;
	ch0->iir[1].A1=0;
	ch0->iir[1].A2=0;

	ch0->iir[2].B0=0.000769;
	ch0->iir[2].B1=0.001538;
	ch0->iir[2].B2=0.000769;
	ch0->iir[2].A1=1.92076;
	ch0->iir[2].A2=-0.923833;
    EnableAxisDest(0,0);

	ch1->InputMode=NO_INPUT_MODE;
	ch1->OutputMode=STEP_DIR_MODE;
	ch1->Vel=40000;
	ch1->Accel=200000;
	ch1->Jerk=4e+006;
	ch1->P=0;
	ch1->I=0.01;
	ch1->D=0;
	ch1->FFAccel=0;
	ch1->FFVel=0;
	ch1->MaxI=200;
	ch1->MaxErr=1e+006;
	ch1->MaxOutput=200;
	ch1->DeadBandGain=1;
	ch1->DeadBandRange=0;
	ch1->InputChan0=0;
	ch1->InputChan1=0;
	ch1->OutputChan0=9;
	ch1->OutputChan1=0;
	ch1->MasterAxis=-1;
	ch1->LimitSwitchOptions=0x12f;
	ch1->LimitSwitchNegBit=171;
	ch1->LimitSwitchPosBit=170;
	ch1->SoftLimitPos=1e+009;
	ch1->SoftLimitNeg=-1e+009;
	ch1->InputGain0=1;
	ch1->InputGain1=1;
	ch1->InputOffset0=0;
	ch1->InputOffset1=0;
	ch1->OutputGain=1;
	ch1->OutputOffset=0;
	ch1->SlaveGain=1;
	ch1->BacklashMode=BACKLASH_OFF;
	ch1->BacklashAmount=0;
	ch1->BacklashRate=0;
	ch1->invDistPerCycle=1;
	ch1->Lead=0;
	ch1->MaxFollowingError=1000000000;
	ch1->StepperAmplitude=20;

	ch1->iir[0].B0=1;
	ch1->iir[0].B1=0;
	ch1->iir[0].B2=0;
	ch1->iir[0].A1=0;
	ch1->iir[0].A2=0;

	ch1->iir[1].B0=1;
	ch1->iir[1].B1=0;
	ch1->iir[1].B2=0;
	ch1->iir[1].A1=0;
	ch1->iir[1].A2=0;

	ch1->iir[2].B0=0.000769;
	ch1->iir[2].B1=0.001538;
	ch1->iir[2].B2=0.000769;
	ch1->iir[2].A1=1.92076;
	ch1->iir[2].A2=-0.923833;
    EnableAxisDest(1,0);

	ch2->InputMode=NO_INPUT_MODE;
	ch2->OutputMode=STEP_DIR_MODE;
	ch2->Vel=40000;
	ch2->Accel=200000;
	ch2->Jerk=4e+006;
	ch2->P=0;
	ch2->I=0.01;
	ch2->D=0;
	ch2->FFAccel=0;
	ch2->FFVel=0;
	ch2->MaxI=200;
	ch2->MaxErr=1e+006;
	ch2->MaxOutput=200;
	ch2->DeadBandGain=1;
	ch2->DeadBandRange=0;
	ch2->InputChan0=0;
	ch2->InputChan1=0;
	ch2->OutputChan0=10;
	ch2->OutputChan1=0;
	ch2->MasterAxis=-1;
	ch2->LimitSwitchOptions=0x12a;
	ch2->LimitSwitchNegBit=172;
	ch2->LimitSwitchPosBit=172;
	ch2->SoftLimitPos=1e+009;
	ch2->SoftLimitNeg=-1e+009;
	ch2->InputGain0=1;
	ch2->InputGain1=1;
	ch2->InputOffset0=0;
	ch2->InputOffset1=0;
	ch2->OutputGain=-1;
	ch2->OutputOffset=0;
	ch2->SlaveGain=1;
	ch2->BacklashMode=BACKLASH_OFF;
	ch2->BacklashAmount=0;
	ch2->BacklashRate=0;
	ch2->invDistPerCycle=1;
	ch2->Lead=0;
	ch2->MaxFollowingError=1000000000;
	ch2->StepperAmplitude=20;

	ch2->iir[0].B0=1;
	ch2->iir[0].B1=0;
	ch2->iir[0].B2=0;
	ch2->iir[0].A1=0;
	ch2->iir[0].A2=0;

	ch2->iir[1].B0=1;
	ch2->iir[1].B1=0;
	ch2->iir[1].B2=0;
	ch2->iir[1].A1=0;
	ch2->iir[1].A2=0;

	ch2->iir[2].B0=1;
	ch2->iir[2].B1=0;
	ch2->iir[2].B2=0;
	ch2->iir[2].A1=0;
	ch2->iir[2].A2=0;
	EnableAxisDest(2,0);
	
	DefineCoordSystem(0,1,2,-1);
	
	SetBitDirection(45,1);  // set Enable Signal as Output
	SetBit(45);				// Enable the amplifiers
	
//  Add a small amount of Coordinated Motion Path smoothing if desired
//	Tau = 0.001;  // seconds for Low Pass Filter Time Constant
//	KLP = exp(-TIMEBASE/Tau);
	KLP=0; // force to 0 to disable
//	printf("Tau=%f KLP=%f\n",Tau,KLP);
	
	
	for (;;) // loop forever
	{
		WaitNextTimeSlice();
		
		// Service Amplifier disable after no activity for a while
		if (ch0->Dest != LastX || ch1->Dest != LastY || ch2->Dest != LastZ)
		{
			// we moved - enable KStep Amplifers
			SetBit(45);
			T0 = Time_sec();  // record the time and position of last motion
			LastX=ch0->Dest;
			LastY=ch1->Dest;
			LastZ=ch2->Dest; 
		}
		else
		{
			if (Time_sec() > T0 + 10.0) ClearBit(45);
		}
	}

    return 0;
}

Код: Выделить всё

#include "KMotionDef.h"
#include "CorrectAnalogFunction.c"

#define RefVoltage 11.09f

main()
{
	float V=5.0;
	
	FPGA(KAN_TRIG_REG)=4;  // Mux PWM0 to JP7 Pin5 IO 44 for KSTEP 
	SetBitDirection(44,1);  // define bit as an output
	FPGA(IO_PWMS_PRESCALE) = 46;  	// divide clock by 46 (1.4 KHz)
	FPGA(IO_PWMS+1) = 1;  			// Enable
	
	FPGA(IO_PWMS) = CorrectAnalog(V/RefVoltage);  	// Set PWM
//	FPGA(IO_PWMS) = 7;  	// Set PWM to a specific count
}

Код: Выделить всё

#include "KMotionDef.h"
#include "CorrectAnalogFunction.c"

#define RPM_FACTOR 500.0 // RPM for full duty cycle (max analog out)

// desired speed is passed in variable 1


main()
{
	float speed = *(float *)&persist.UserData[1];  // value stored is actually a float 
	
	FPGA(KAN_TRIG_REG)=4;  			// Mux PWM0 to JP7 Pin5 IO 44 for KSTEP 
	SetBitDirection(44,1);  		// define bit as an output
	FPGA(IO_PWMS_PRESCALE) = 46;  	// divide clock by 46 (1.4 KHz)
	FPGA(IO_PWMS+1) = 1;  			// Enable
	
	FPGA(IO_PWMS) = CorrectAnalog(speed/RPM_FACTOR);  	// Set PWM
}

Код: Выделить всё

// PWM->Analog Correction
//
// assume very non-linear for first few count and linear thereafter 
//
// Measure output ratio for first 0-7 counts then at 240
 
float V[]=
{
0.001,  // count = 0
0.031,  // count = 1
0.044,  // count = 2
0.054,  // count = 3
0.062,  // count = 4
0.069,  // count = 5
0.074,  // count = 6
0.079   // count = 7
};

float V240=0.970;

int CorrectAnalog(float v)
{
	int r;
	float v2=2.0f*v;
	// compare with half way points to determine closest count
	if (v2 < V[1]+V[0]) return 0;
	if (v2 < V[2]+V[1]) return 1;
	if (v2 < V[3]+V[2]) return 2;
	if (v2 < V[4]+V[3]) return 3;
	if (v2 < V[5]+V[4]) return 4;
	if (v2 < V[6]+V[5]) return 5;
	if (v2 < V[7]+V[6]) return 6;
	
	// must be 7 or higher do linear interpolation
	
	r = (int)(7.5 + (v-V[7])/(V240-V[7])*(240.0f-7.0f));
	if (r>255) r=255;
	return r;
}

Код: Выделить всё

#include "KMotionDef.h"
#include "CorrectAnalogFunction.c"

#define RPM_FACTOR 500.0 // RPM for full duty cycle (max analog out)

// desired speed is passed in variable 1


main()
{
   float v = *(float *)&persist.UserData[1];  // value stored is actually a float 
   
   FPGA(KAN_TRIG_REG)=4;           // Mux PWM0 to JP7 Pin5 IO 44 for KSTEP 
   SetBitDirection(44,1);        // define bit as an output
   FPGA(IO_PWMS_PRESCALE) = 46;     // divide clock by 46 (1.4 KHz)
   FPGA(IO_PWMS+1) = 1;           // Enable
   
   FPGA(IO_PWMS) = CorrectAnalog(v/RPM_FACTOR);     // Set PWM
}

Код: Выделить всё

#include "KMotionDef.h"
#include "CorrectAnalogFunction.c"

#define RPM_FACTOR 500.0 // RPM for full duty cycle (max analog out)

// desired speed is passed in variable 1


main()
{
   float v = *(float *)&persist.UserData[1];  // value stored is actually a float 
   
   FPGA(KAN_TRIG_REG)=4;           // Mux PWM0 to JP7 Pin5 IO 44 for KSTEP 
   SetBitDirection(44,1);        // define bit as an output
   FPGA(IO_PWMS_PRESCALE) = 46;     // divide clock by 46 (1.4 KHz)
   FPGA(IO_PWMS+1) = 1;           // Enable
   
   FPGA(IO_PWMS) = CorrectAnalog(v/RPM_FACTOR);     // Set PWM