Page History
...
- Copy current encoder count to Cs for future drift checks
- Signal at positive closed position (Df=1)
- EndIf
Realign by computing new open-loop position (LB X7)
This routine updates the open-loop position based on the encoder reading. The target position of any subsequent move will be better aligned.
...
<ac:structured-macro ac:name="unmigrated-wiki-markup" ac:schema-version="1" ac:macro-id="fc5609c5de722501-b56373d0-42c54ad3-8e26a978-001a30112c61c3ad8d9f68fe"><ac:plain-text-body><![CDATA[ | Var | Value [step/s(^2)] | [deg/s(^2)] | [rev/s(^2)] | ]]></ac:plain-text-body></ac:structured-macro> |
|---|---|---|---|---|---|
VI | 5300 | 1192.5 | 3.3125 | ||
VM | 10000 | 2250 | 6.25 | ||
A | 1875000 | 421880 | 1171.9 | ||
D | 1875000 | 421880 | 1171.9 |
...
<ac:structured-macro ac:name="unmigrated-wiki-markup" ac:schema-version="1" ac:macro-id="30fed6ed5f1a93be-f6fc3272-49924400-825baf92-d8efdef99c9fcddd212315ff"><ac:plain-text-body><![CDATA[ | Var | Value [step/s(^2)] | [deg/s(^2)] | [rev/s(^2)] | ]]></ac:plain-text-body></ac:structured-macro> |
|---|---|---|---|---|---|
VI | 7500 | 1687.5 | 3.3125 | ||
VM | 10000 | 2250 | 4.6875 | ||
A | 1875000 | 421880 | 1171.9 | ||
D | 1875000 | 421880 | 1171.9 |
...
<ac:structured-macro ac:name="unmigrated-wiki-markup" ac:schema-version="1" ac:macro-id="e88d6c399cf31829-210d309b-45704c72-af1499e9-c743f7728ec054a00b8c9c44"><ac:plain-text-body><![CDATA[ | Var | Value [step/s(^2)] | [deg/s(^2)] | [rev/s(^2)] | ]]></ac:plain-text-body></ac:structured-macro> |
|---|---|---|---|---|---|
VI | 7500 | 1687.5 | 3.3125 | ||
VM | 10000 | 2250 | 4.6875 | ||
A | 1875000 | 421880 | 1171.9 | ||
D | 1875000 | 421880 | 1171.9 |
...
<ac:structured-macro ac:name="unmigrated-wiki-markup" ac:schema-version="1" ac:macro-id="b09c2e6cb9536c39-d64737e2-4ab64df3-9e5fa0fd-19fd64bf6deb4d5c1aee9f5f"><ac:plain-text-body><![CDATA[ | Var | Value [step/s(^2)] | [deg/s(^2)] | [rev/s(^2)] | ]]></ac:plain-text-body></ac:structured-macro> |
|---|---|---|---|---|---|
VI | 640 | 144 | 0.4 | ||
VM | 2560 | 576 | 1.6 | ||
A | 640 | 144 | 0.4 | ||
D | 640 | 144 | 0.4 |
These speeds are arbitrarily selected to be slow.
Changelog
Version Ns=91
- Reduced call depth by moving code from subroutines into their respective ISRs/functions. This was done for speed, as we gain a significant fraction of a millisecond for each CL/RT pair eliminated.
- Eliminated a few Sd states that are no longer being used (for speed purposes).
- Burst mode now drift checks the open position, to allow it to be used ad infinitum without risk of it drifting in the positive direction.
- Drift limit violation counters are now reset upon homing as well as upon power cycle.
- Eliminated no-longer-used subroutines.
- Wishlist for next revision:
- Test realignment subroutine (X7) and add it to every mode change (especially fast open/close modes)
- Further velocity tuning? We could possibly go faster.
Overview
Content Tools