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MSTATE.MAC | ||||||
[ source code | installed at | configured at ] | ||||||
See other macros in category: Positioning | ||||||
Description:
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Documentation:
These macros read the actual parameters of motors configured in SPEC, or installed on a MAXE device. They eventually check whether these parameters fit the CY550 vpap board chip stepping algorithm. You can choose what to read, compute and list out of SPEC, MAXE and CY550 parameters. Parameters read and listed from SPEC for a given motor are : motor as motor mnemonic in SPEC ctrllr as motor controller name fstepr as first step rate velo as velocity acc ms as acceleration time in ms accel as acceleration value eventually sent to MAXE server backl as backlash hslewr as home slew rate step as stepping mode (Full or Half step) Parameters read and listed from MAXE for a given device and axis number or for a given SPEC motor are: devices names list axis as axis number units as current unit mstate as motor state mpos as motor position estate as encoder state epos as encoder position backl as backlash hslewr as home slew rate stepr as first step rate velo as velocity accel as acceleration value limits as limits switches CY550 parameters are the following, computed from MAXE parameters for a given device and axis number or for a given SPEC motor, or from given SPEC motors parameters, or from the base rate, velocity and acceleration parameters input by the user: Fstepr as first rate parameter min max slewR as slew rate parameter min max accel as acceleration value min max Slop as slope parameter Rdyn as step rate dynamic min max acctms as corresponding SPEC acceleration time in ms min max The values out of range in CY550 part are highlighted.
ATTENTION The CY550 calculations stand as a general guide for the choice of the stepping parameters for Vpap boards equipped with the CY550 chip at 12 MHz clock frequency. Be aware that due to the complex nature of the CY550 stepping algorithm, it is difficult to provide an exact formula concerning its acceleration behaviour. The formula used in these macros is an aproximate formula. This should be used as a general guide only, with actual timing and acceleration values best determined experimentally. | ||||||
Macros:
Usage: mstate [<+|->MAXE] [<+|->CY] [<+|->SPEC] [maxe_device|motor_mne_list] [axis_number] [axis_number] ...
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Internal Macros: | ||||||
Usage: ms_parse <mstate_input_argument_line> Parses the mstate input arguments to figure out if they are SPEC motor mnemonics or MAXE device names. ms_pr_endmsg Usage: ms_pr_endmsg ms_spec Usage: ms_spec <motor_mnemonic_list> For each motor of the list, extracts parameters from SPEC; if a motor is controlled by MAXE, parameters are read from MAXE server as well and cy550 stepping parameters computed; Lists parameters out according to the options set. ms_maxe Usage: ms_maxe <device_name [axis] ...> Reads parameters from MAXE server and computes the cy550 stepping parameters. ms_assign_M Usage: ms_assign_M Prepares MAXE parameters display output. ms_pr_maxe Usage: ms_pr_maxe Prints out MAXE parameters if MAXE option is set. ms_cy550 Usage: ms_cy550 <base_rate> <velocity> <0|acceleration> <acceleration_time|0> Calculates the CY550 parameters and their limits out of the input arguments arguments, and prepares the display output. ms_pr_cy550 Usage: ms_pr_cy550 Prints out the CY550 parameters if the CY option is set. utilsetup Usage: utilsetup Sets some characters processing up. (Bold,Underlined,...) | ||||||
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