main()
{
int i,k;
double T0,*p=gather_buffer;
while (CS0_TimeExecuted==0.0) ; // wait till we Start
t0 = Time_sec();
// Capture Data
for (i=0; i<N; i++)
{
for (k=0; k<4; k++) WaitNextTimeSlice();
*p++ = Time_sec() - T0;
*p++ = ch0->Dest;
*p++ = ch0->Position;
*p++ = ch1->Dest;
*p++ = ch1->Position;
}
for (i=0; i<N; i++)
{
for (k=0; k<4; k++) WaitNextTimeSlice();
*p++ = Time_sec() - T0;
*p++ = ch0->Dest;
*p++ = ch0->Position;
*p++ = ch1->Dest;
*p++ = ch1->Position;
}
}
main()
{
int i=0;
double t0,t1,t2,t3;
for (;;)
{
t0=WaitNextTimeSlice();
t1=WaitNextTimeSlice();
t3=Time_sec();
do
{
t2=t3;
t3=Time_sec();
}
while (t3-t2 < 10e-6) ;
if (i==0)
{
printf("Time Slice = %8.2f us\n",(t1-t0)*0.5e6);
printf("Thread Execution time = %8.2f us\n",(t2-t1)*1e6);
i++;
}
printf("IRQ time = %8.2f us\n",((t1-t0)*0.5-(t2-t1))*1e6);
Delay_sec(1);
}
}
main()
{
double Pot,LastSpeed_X=0.0,LastSpeed_Y=0.0,LastSpeed_Z=0.0;
printf("%f\n",KANALOG_CONVERT_ADC_TO_VOLTS(ADC(0)));
for (;;)
{
T1=WaitNextTimeSlice();
if (T1-T0 > 0.05) // only change speed every so often
{
// convert 0-10V input to -1.0 to 1.0 range
// Pot mid range of 5V will be zero
Pot=KANALOG_CONVERT_ADC_TO_VOLTS(ADC(0)) * (1.0/5.0) - 1.0;
// force small values to exactly zero (stopped)
if (Pot < MIN_THRESHOLD && Pot > -MIN_THRESHOLD) Pot=0;
DoSpeedAxis(XAXIS, XSELECT, &LastSpeed_X, Pot*MAX_SPEED_X);
DoSpeedAxis(YAXIS, YSELECT, &LastSpeed_Y, Pot*MAX_SPEED_Y);
DoSpeedAxis(ZAXIS, ZSELECT, &LastSpeed_Z, Pot*MAX_SPEED_Z);
}
}
}
main()
{
InitAux();
AddKonnect_Aux0(0,&VirtualBits,VirtualBitsEx);
for(;;)
{
T=WaitNextTimeSlice();
ServiceKonnectPWM();
// Fixed
// Vout = 0.1;
//Generate a 5 Hz 3V Sine Wave
Vout = 3.0f*sin(T * TWO_PI * 5.0) + 5.0;
//Generate a Saw Tooth wave
// Vout = 2 + 6.0* (5.0*T - ((int)(5.0*T)));
//Generate a 5 Hz Square wave
// Vout = (5.0*T - ((int)(5.0*T))) > 0.5 ? 8 : 2;
}
}
main()
{
SetBitDirection(26,1); // Set bit 26 (PWM 0 as an output)
SetBitDirection(29,1); // Set bit 29 (DIR 0 as an output)
FPGA(IO_PWMS_PRESCALE) = 1; // set pwm period to 30 KHz
FPGA(IO_PWMS+1) = 1; // enable the PWM0
for (;;) //loop forever
{
WaitNextTimeSlice();
if (ch0->Enable)
{
if (ch0->Output >= 0.0f)
{
SetBit(29); // Direction
FPGA(IO_PWMS+0) = ch0->Output; // Magnitude
}
else
{
ClearBit(29); // Direction
FPGA(IO_PWMS+0) = -ch0->Output; // Magnitude
}
}
else
{
FPGA(IO_PWMS+0) = 0; // whenever not enabled put 0% duty cycle
}
}
}
main()
{
for(;;)
{
WaitNextTimeSlice();
ServiceKonnectPWM();
}
}
main()
{
for (;;)
{
WaitNextTimeSlice();
ServiceMaxOutput();
}
}
// Loop servicing things
main()
{
for (;;) // loop forever
{
WaitNextTimeSlice();
ServiceToolChange();
ServiceToolButtons();
}
}
main()
{
for (;;) // loop forever
{
WaitNextTimeSlice();
if (ReadBit(46)) // Watch an external input switch
{
StopCoordinatedMotion(); //feedhold
}
}
}
main()
{
double vx,vy,speed;
for (;;)
{
Delay_sec(0.5);
WaitNextTimeSlice(); // ensure we don't get interrupted
vx = (ch0->Dest - ch0->last_dest) * (1.0f/TIMEBASE);
vy = (ch1->Dest - ch1->last_dest) * (1.0f/TIMEBASE);
speed = sqrtf(vx*vx+vy*vy);
printf("speed = %f steps/sec\n",speed);
}
}
// Pass a command to the PC and wait for it to handshake
// that it was received by either clearing the command
// or changing it to a negative error code
int DoPC(int cmd)
{
int result;
persist.UserData[PC_COMM_PERSIST]=cmd;
do
{
WaitNextTimeSlice();
}while (result=persist.UserData[PC_COMM_PERSIST]>0);
printf("Result = %d\n",result);
return result;
}
main()
{
double vx,vy,speed;
for (;;)
{
Delay_sec(0.5);
WaitNextTimeSlice(); // ensure we don't get interrupted
vx = (ch0->Dest - ch0->last_dest) * (1.0f/TIMEBASE);
vy = (ch1->Dest - ch1->last_dest) * (1.0f/TIMEBASE);
printf("speed = %f %f cnts/sec Err = %12.0f %12.0f %12.0f cnts\n",
vx,vy,
ch0->LastFollowingError,
ch1->LastFollowingError,
ch2->LastFollowingError);
}
}
main()
{
int *ChangerState = &persist.UserData[TOOL_STATE_VAR];
int Tool = persist.UserData[TOOL_VAR]; // value stored is an integer
if (*ChangerState == T_IDLE)
{
*ChangerState = T_START; // Go!
printf("Tool %d Change Initiated\n",Tool);
// wait till finished
while (*ChangerState != T_IDLE)
WaitNextTimeSlice();
}
else
{
printf("Error Tool Changer not idle");
}
}
main()
{
int i,k;
double T0,*p=gather_buffer;
// I just have it go, launched by an M code. It records roughly 4 seconds from launch and
// doesn't appear to saturate the USB line. This lets me really target where I want it to
// log data such that I'm seeing the exact problem area. It displays axis position and
// following error!
T0 = Time_sec();
// Capture Data
for (i=0; i<N-1; i++)
{
for (k=0; k<4; k++) WaitNextTimeSlice();
*p++ = Time_sec() - T0;
*p++ = ch0->Position;
*p++ = ch1->Position;
*p++ = ch2->Position;
*p++ = ch0->Dest;
*p++ = ch1->Dest;
*p++ = ch2->Dest;
}
p=gather_buffer;
for (i=0; i<N; i++)
{
printf("%12.6f,%12.3f,%12.3f,%12.3f,%12.3f,%12.3f,%12.3f\n",p[0],p[1],p[2],p[3],p[4],p[5],p[6]);
p += 7;
}
}
void DoSlave(void)
{
MoveExp(ZAXIS,(chan[SPINDLE_AXIS].Dest-S0)*SlaveGain+Z0, TAU);
WaitNextTimeSlice();
}
void main()
{
float mid,k=0,dk=0.2,A=AMPLITUDE; // set coil current amplitude
int i,ignore=300,kpos[Ncycles],zmark,m=0;
double cnts_per_cycle,p0[Ncycles];
CHAN *ch = &chan[AXIS_CHAN];
// rotate until we find the index mark
ch->Enable=FALSE;
ch->InputMode=ENCODER_MODE;
ch->InputChan0=ENCODER_CHAN;
ch->OutputChan0=DAC_CHAN;
ch->OutputChan1=DAC_CHAN+1;
ch->OutputMode=NO_OUTPUT_MODE;
ch->InputGain0=ENCODER_GAIN;
for (;;)
{
WaitNextTimeSlice();
k+= dk;
Write3PH_DACs(ch,A, k/10000.0); // move the pole
zmark = ReadBit(Z_BIT_NUMBER);
if (!zmark && ignore>0) ignore--;
if (ignore==0 && zmark) // check for index mark
{
p0[m]=ch->Position; // save position
kpos[m]=k; // save phase angle
if (++m == Ncycles)
{
ch->Position=0; // set current position to Zero
break;
}
if (m==2) dk = -dk;
ignore=300;
}
}
Write3PH_DACs(ch,0,0); // turn off the coil
printf("\nREPORT\n------\n");
for (i=0; i<Ncycles; i++)
printf("%d Position = %6.0f PhaseAngle = %f\n",i,p0[i],kpos[i]/10000.0);
printf("Counts per rev = %6.0f\n",p0[1]-p0[0]);
cnts_per_cycle = (p0[1]-p0[0])/(kpos[1]-kpos[0])*10000.0;
printf("Counts per cycle = %6.0f\n",cnts_per_cycle);
// round to 16
if (cnts_per_cycle>0)
cnts_per_cycle = ((int)(cnts_per_cycle/16.0 + 0.5))*16.0;
else
cnts_per_cycle = ((int)(cnts_per_cycle/16.0 - 0.5))*16.0;
printf("Counts per cycle (rounded to 16)= %6.0f\n",cnts_per_cycle);
ch->invDistPerCycle = 1.0/cnts_per_cycle;
printf("invDistPerCycle (rounded)= %15.12f\n",ch->invDistPerCycle);
mid = (kpos[2]+kpos[1])/20000.0;
mid = mid - (int)mid;
ch->CommutationOffset = mid*cnts_per_cycle + 0.25*fast_fabs(cnts_per_cycle);
printf("Commutation offset = %6.0f\n",ch->CommutationOffset);
printf("Input Gain Specified = %6.3f\n",ch->InputGain0);
}
int main()
{
double T0, LastX=0, LastY=0, LastZ=0, Tau;
KStepPresent=TRUE; // enable KSTEP input multiplexing
FPGA(KAN_TRIG_REG)=4; // Mux PWM0 to JP7 Pin5 IO 44 for KSTEP
FPGA(STEP_PULSE_LENGTH_ADD) = 63 + 0x80; // set polarity and pulse length to 4us
ch0->InputMode=NO_INPUT_MODE;
ch0->OutputMode=STEP_DIR_MODE;
ch0->Vel=40000;
ch0->Accel=200000;
ch0->Jerk=4e+006;
ch0->P=0;
ch0->I=0.01;
ch0->D=0;
ch0->FFAccel=0;
ch0->FFVel=0;
ch0->MaxI=200;
ch0->MaxErr=1e+006;
ch0->MaxOutput=200;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=8;
ch0->OutputChan1=0;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x0;
ch0->SoftLimitPos=1e+030;
ch0->SoftLimitNeg=-1e+030;
ch0->InputGain0=1;
ch0->InputGain1=1;
ch0->InputOffset0=0;
ch0->InputOffset1=0;
ch0->OutputGain=1;
ch0->OutputOffset=0;
ch0->SlaveGain=1;
ch0->BacklashMode=BACKLASH_OFF;
ch0->BacklashAmount=0;
ch0->BacklashRate=0;
ch0->invDistPerCycle=1;
ch0->Lead=0;
ch0->MaxFollowingError=1000000000;
ch0->StepperAmplitude=20;
ch0->iir[0].B0=1;
ch0->iir[0].B1=0;
ch0->iir[0].B2=0;
ch0->iir[0].A1=0;
ch0->iir[0].A2=0;
ch0->iir[1].B0=1;
ch0->iir[1].B1=0;
ch0->iir[1].B2=0;
ch0->iir[1].A1=0;
ch0->iir[1].A2=0;
ch0->iir[2].B0=0.000769;
ch0->iir[2].B1=0.001538;
ch0->iir[2].B2=0.000769;
ch0->iir[2].A1=1.92076;
ch0->iir[2].A2=-0.923833;
EnableAxisDest(0,0);
ch1->InputMode=NO_INPUT_MODE;
ch1->OutputMode=STEP_DIR_MODE;
ch1->Vel=40000;
ch1->Accel=200000;
ch1->Jerk=4e+006;
ch1->P=0;
ch1->I=0.01;
ch1->D=0;
ch1->FFAccel=0;
ch1->FFVel=0;
ch1->MaxI=200;
ch1->MaxErr=1e+006;
ch1->MaxOutput=200;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=0;
ch1->InputChan1=0;
ch1->OutputChan0=9;
ch1->OutputChan1=0;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x0;
ch1->SoftLimitPos=1e+030;
ch1->SoftLimitNeg=-1e+030;
ch1->InputGain0=1;
ch1->InputGain1=1;
ch1->InputOffset0=0;
ch1->InputOffset1=0;
ch1->OutputGain=1;
ch1->OutputOffset=0;
ch1->SlaveGain=1;
ch1->BacklashMode=BACKLASH_OFF;
ch1->BacklashAmount=0;
ch1->BacklashRate=0;
ch1->invDistPerCycle=1;
ch1->Lead=0;
ch1->MaxFollowingError=1000000000;
ch1->StepperAmplitude=20;
ch1->iir[0].B0=1;
ch1->iir[0].B1=0;
ch1->iir[0].B2=0;
ch1->iir[0].A1=0;
ch1->iir[0].A2=0;
ch1->iir[1].B0=1;
ch1->iir[1].B1=0;
ch1->iir[1].B2=0;
ch1->iir[1].A1=0;
ch1->iir[1].A2=0;
ch1->iir[2].B0=0.000769;
ch1->iir[2].B1=0.001538;
ch1->iir[2].B2=0.000769;
ch1->iir[2].A1=1.92076;
ch1->iir[2].A2=-0.923833;
EnableAxisDest(1,0);
ch2->InputMode=NO_INPUT_MODE;
ch2->OutputMode=STEP_DIR_MODE;
ch2->Vel=40000;
ch2->Accel=200000;
ch2->Jerk=4e+006;
ch2->P=0;
ch2->I=0.01;
ch2->D=0;
ch2->FFAccel=0;
ch2->FFVel=0;
ch2->MaxI=200;
ch2->MaxErr=1e+006;
ch2->MaxOutput=200;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=0;
ch2->InputChan1=0;
ch2->OutputChan0=10;
ch2->OutputChan1=0;
ch2->MasterAxis=-1;
ch2->LimitSwitchOptions=0x0;
ch2->SoftLimitPos=1e+009;
ch2->SoftLimitNeg=-1e+009;
ch2->InputGain0=1;
ch2->InputGain1=1;
ch2->InputOffset0=0;
ch2->InputOffset1=0;
ch2->OutputGain=-1;
ch2->OutputOffset=0;
ch2->SlaveGain=1;
ch2->BacklashMode=BACKLASH_OFF;
ch2->BacklashAmount=0;
ch2->BacklashRate=0;
ch2->invDistPerCycle=1;
ch2->Lead=0;
ch2->MaxFollowingError=1000000000;
ch2->StepperAmplitude=20;
ch2->iir[0].B0=1;
ch2->iir[0].B1=0;
ch2->iir[0].B2=0;
ch2->iir[0].A1=0;
ch2->iir[0].A2=0;
ch2->iir[1].B0=1;
ch2->iir[1].B1=0;
ch2->iir[1].B2=0;
ch2->iir[1].A1=0;
ch2->iir[1].A2=0;
ch2->iir[2].B0=1;
ch2->iir[2].B1=0;
ch2->iir[2].B2=0;
ch2->iir[2].A1=0;
ch2->iir[2].A2=0;
EnableAxisDest(2,0);
DefineCoordSystem(0,1,2,-1);
SetBitDirection(45,1); // set Enable Signal as Output
SetBit(45); // Enable the amplifiers
// Add a small amount of Coordinated Motion Path smoothing if desired
// Tau = 0.001; // seconds for Low Pass Filter Time Constant
// KLP = exp(-TIMEBASE/Tau);
KLP=0; // force to 0 to disable
// printf("Tau=%f KLP=%f\n",Tau,KLP);
for (;;) // loop forever
{
WaitNextTimeSlice();
// Service Amplifier disable after no activity for a while
if (ch0->Dest != LastX || ch1->Dest != LastY || ch2->Dest != LastZ)
{
// we moved - enable KStep Amplifers
SetBit(45);
T0 = Time_sec(); // record the time and position of last motion
LastX=ch0->Dest;
LastY=ch1->Dest;
LastZ=ch2->Dest;
}
else
{
if (Time_sec() > T0 + 10.0) ClearBit(45);
}
}
return 0;
}
