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 } } }
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; }
main() { ch0->InputMode=NO_INPUT_MODE; ch0->OutputMode=STEP_DIR_MODE; ch0->Vel=STEPS_MM*400; // 400 mm/s; 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=0x100; ch0->LimitSwitchNegBit=0; ch0->LimitSwitchPosBit=0; ch0->SoftLimitPos=1e+009; ch0->SoftLimitNeg=-1e+009; 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=2.5; 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=0.000768788; ch0->iir[2].B1=0.00153758; ch0->iir[2].B2=0.000768788; ch0->iir[2].A1=1.92076; ch0->iir[2].A2=-0.923833; ch1->InputMode=NO_INPUT_MODE; ch1->OutputMode=STEP_DIR_MODE; ch1->Vel=STEPS_MM*400; // 400 mm/s; 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=1; ch1->InputChan1=0; ch1->OutputChan0=9; ch1->OutputChan1=0; ch1->MasterAxis=-1; ch1->LimitSwitchOptions=0x100; ch1->LimitSwitchNegBit=0; ch1->LimitSwitchPosBit=0; ch1->SoftLimitPos=1e+009; ch1->SoftLimitNeg=-1e+009; 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=2.5; 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=1.92081; ch1->iir[2].A2=-0.923885; ch2->InputMode=NO_INPUT_MODE; ch2->OutputMode=STEP_DIR_MODE; ch2->Vel=STEPS_MM*9; // 9 mm/s; ch2->Accel=80000; 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=2; ch2->InputChan1=0; ch2->OutputChan0=10; ch2->OutputChan1=0; ch2->MasterAxis=-1; ch2->LimitSwitchOptions=0x100; ch2->LimitSwitchNegBit=0; ch2->LimitSwitchPosBit=0; 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=1.25; 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=0.000769; ch2->iir[2].B1=0.001538; ch2->iir[2].B2=0.000769; ch2->iir[2].A1=1.92081; ch2->iir[2].A2=-0.923885; EnableAxisDest(0,0); EnableAxisDest(1,0); EnableAxisDest(2,0); DefineCoordSystem(0,1,2,-1); //SetBitDirection(int bit, int dir); SetBitDirection(2, 1); SetBitDirection(4, 1); SetBitDirection(3, 1); return; }