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/gist:774e380c25d726127c8ca1911a5a50dd

Created August 8, 2016 00:45
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gistfile1.txt
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
setp pid.y.maxerror .0005
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-output => pid.y.output
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_5i25.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_5i25.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_5i25.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_5i25.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_5i25.0.stepgen.01.step_type 0
setp hm2_5i25.0.stepgen.01.control-type 1
setp hm2_5i25.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_5i25.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_5i25.0.stepgen.01.enable
# Step Gen signals/setup for tandem axis stepper
setp hm2_5i25.0.stepgen.03.dirsetup [JOINT_1]DIRSETUP
setp hm2_5i25.0.stepgen.03.dirhold [JOINT_1]DIRHOLD
setp hm2_5i25.0.stepgen.03.steplen [JOINT_1]STEPLEN
setp hm2_5i25.0.stepgen.03.stepspace [JOINT_1]STEPSPACE
setp hm2_5i25.0.stepgen.03.position-scale [JOINT_1]STEP_SCALE
setp hm2_5i25.0.stepgen.03.step_type 0
setp hm2_5i25.0.stepgen.03.control-type 0
setp hm2_5i25.0.stepgen.03.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.03.maxvel [JOINT_1]STEPGEN_MAXVEL
net y2-pos-fb <= hm2_5i25.0.stepgen.03.position-fb
net y-pos-cmd => hm2_5i25.0.stepgen.03.position-cmd
net y-enable => hm2_5i25.0.stepgen.03.enable
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