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Код: Выделить всё

[AXIS_num]
# Данная секция влияет только на axis и motion и ни на что больше.
# Описание геометрических параметров оси num , влияет только на axis и motion и ни на что больше не влияет.
TYPE = LINEAR
MIN_LIMIT = -1000
MAX_LIMIT = 1000

MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
FERROR = 1.0
MIN_FERROR = 0.010

BACKLASH = 0.0000

HOME = 0.0
#Rename HOME_FINAL_VEL to SPEED_HOME_MOVEMENT 
SPEED_HOME_MOVEMENT = 0.0

#Rename HOME_OFFSET to HOME_SENSOR_OFFSET
HOME_SENSOR_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_IS_SHARED = <n>
HOME_SEQUENCE = <n>
VOLATILE_HOME = 0

[PID_num]
# Описание конфигурации hal компонента pid и ни на что больше не влияет.
DEADBAND = 0.000015
BIAS = 0.000
P = 50
I = 0
D = 0
FF0 = 0
FF1 = 0
FF2 = 0
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.000
MAX_OUTPUT = 10
INPUT_SCALE = 20000

[ENCODER_num]
# Влияет только на hal компонет encoder и ни на что больше не влияет.
ENCODER_SCALE = 20000
# И ещё не помню какие опции энкодера.

[STEPGEN_num]
# Описание конфигурации hal компонента stepgen и ни на что больше не влияет.
SCALE = 444.444444444
MAXVEL = 1.01
MAXACCEL = 1500.0
# Stepgen
STEP_TYPE    = 0
CONTROL_TYPE = 0
# these are in nanoseconds
STEPLEN    = 2500
STEPSPACE  = 2500
DIRSETUP   = 5000
DIRHOLD    = 5000

Код: Выделить всё

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
MIN_LIMIT = -0.3
MAX_LIMIT = 700.3

HOME_OFFSET = -1.0
HOME_SEQUENCE = 1
HOME_IGNORE_LIMITS = YES

FERROR = 1
MIN_FERROR = 0.25

MAX_VELOCITY = 70.0
#MAX_ACCELERATION = 400.0
MAX_ACCELERATION = 750.0

HOME = 1.0
#HOME_FINAL_VEL = 360.0
# HOME_SEARCH_VEL = -28.0
HOME_SEARCH_VEL = -24.0
HOME_LATCH_VEL = 0.5

[HOSTMOT2]
# **** This is for info only ****
DRIVER=hm2_pci
CONFIG="num_encoders=1 num_pwmgens=0 num_3pwmgens=0 num_stepgens=5 sserial_port_0=00xxxxxx"
# 

[AMPLIFIER_01]
SCALE = 1280.0
MAXVEL = 133.0
MAXACCEL = 937.5
# Stepgen
STEP_TYPE    = 0
CONTROL_TYPE = 0
# these are in nanoseconds
STEPLEN    = 2500
STEPSPACE  = 2500
DIRSETUP   = 5000
DIRHOLD    = 5000

Код: Выделить всё

[PID_X1]
P = 3.0
I = 0.0
D = 0.005
FF0 = 0.0
FF1 = 0.008
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10.0

Код: Выделить всё

setp   pid.x1.Pgain     [PID_X1]P
setp   pid.x1.Igain     [PID_X1]I
setp   pid.x1.Dgain     [PID_X1]D
setp   pid.x1.bias      [PID_X1]BIAS
setp   pid.x1.FF0       [PID_X1]FF0
setp   pid.x1.FF1       [PID_X1]FF1
setp   pid.x1.FF2       [PID_X1]FF2
setp   pid.x1.deadband  [PID_X1]DEADBAND
setp   pid.x1.maxoutput [PID_X1]MAX_OUTPUT