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Old Version 74

changes.mady.by.user Gumerlock, Karl L.

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New Version 75

changes.mady.by.user Gumerlock, Karl L.

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  • This line was added.
  • This line was removed.
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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="2f6aa7e51bc3afca-27628391-4bd14652-b810a26c-f4289051ea5d7c894b180c7a"><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="47f501ea86c2bdf0-e28a8027-4a6e464d-999abaef-b71ba5fa48018e06896f93f4"><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="d4b4c0fb09d91354-6320af33-469540c5-a5e193b3-53bc868b8dc53511440c2b65"><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

...

The magic offsets are normally stored in IMS NVRAM, but in case they are lost, refer to the table above.

Changelog

Version

...

Ns=92 (pcds_motion R2.3.12)

  • Release version of Ns=91
  • Adjusted default drift limit Dl to 46 encoder counts (~1 degree)
  • 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.

Version Ns=91 (Non-Release)

  • Reduced call depth by moving code 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.
  • Removed all unneeded spaces from conditional branch/call statements.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.