t2mh.MAC |
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source code |
installed at |
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Description:
Macros for operating tables with 2 independent legs.
Can be used for any 2 actuators device (ex : mirror)
%PRE%
This macro set allows you to define macros motors on tab2s.
Angles are considered smalls and in miliradians.
a tab2 controller in config (one controller will work on one
pair of legs)
MOTORS DEVICE ADDR <>MODE NUM <>TYPE
YES tab2 2 Macro Motors
motors in config referring to that controller. Channel assignment
will decide on the motor role as follow:
Channel
0 - theta angle
1 - offset
The reference point for rotation and offset is defined via the 'lup'
and 'ldown' properties.
Different pairs of tab2s can be defined by using additional
module numbers in the motor unit/module/channel assignment.
Config file
The following motor parameters have to be associated in config
file to the channel 0 of the controller/module.
Example:
MOT000 = MAXE:0/0 [...] motup
MOT001 = MAXE:0/1 [...] motdwn
MOT006 = MAC_MOT:0/0/0 [....] tht
MOTPAR:legup = motup
MOTPAR:legdown = motdwn
MOTPAR: lup = 30
MOTPAR: ldown = 50
MOTPAR: back_opp = 1 new new
MOT007 = MAC_MOT:0/0/1 [....] offset
Note: requested by ID26: 3/5/17 on the microjacks
If back_opp is defined (with any value <>0), that means that
legdown will reverse its config backlash value when a motion on tht is required.
On all other motions, tht will keep its config backlash value
%PRE%
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Documentation:
OVERVIEW
global tab2_DEBUG
#####################################################################
########################### ###########################
########################### MACRO MOTOR ###########################
########################### ###########################
#####################################################################
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Macros:
tab2
Usage: tab2 <mne>
Ask for infos on a tab2 set.
Provide as argument one of the calc motors.
tab2_debug
Usage: tab2_debug
Toggles the debug mode.
if (!(whatis("__tab2_debug") & 2)) rdef __tab2_debug \'#$*\'
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Internal Macros:
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tab2_config
Usage: tab2_config (<mot_num>, <type>, <unit>, <module>, <chan>)
calc macromotor: config
tab2_calc
Usage: tab2_calc (<mot_num>, <mode>, <master0>)
calc macromotor: calc
tab2_checkmove
Usage: tab2_checkmove (master)
To lock positions for calc. Provide as parameter a tab2 master
(the one at channel 0).
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Filename: | t2mh.mac |
Author: | mcd july 2011 |
Last mod.: | 10/08/2017 15:26 by domingue |
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