Le 10/04/2016 15:02, Andy Pugh a écrit : > I would use "lincurve" with velocity as input and jog scale as output. > > @Andy: thanks, lincurve is doing the job. Easier than scale/limit1 combination.
# Jog wheels section net jog-enable halui.mode.is-manual newinst lincurve lincurve.0 pincount=2 newinst lincurve lincurve.1 pincount=2 addf lincurve.0 servo-thread addf lincurve.1 servo-thread # Acceleration curve for MPG # 0-30 : 0.01 # 30-130 : linear ramp 0.01 -> 0.1 # 130- : 0.1 setp lincurve.0.x-val-00 30 setp lincurve.0.y-val-00 0.01 setp lincurve.0.x-val-01 130 setp lincurve.0.y-val-01 0.1 setp lincurve.1.x-val-00 30 setp lincurve.1.y-val-00 0.01 setp lincurve.1.x-val-01 130 setp lincurve.1.y-val-01 0.1 # MPG X PRU encoder setp hpg.encoder.00.chan.00.A-pin 2 #930 ENCyI setp hpg.encoder.00.chan.00.B-pin 5 #927 eQ0B setp hpg.encoder.00.chan.00.counter-mode 3 #Quadrature x1 count mode (HAL encoder x1 mode) net jog-counts-x hpg.encoder.00.chan.00.rawcounts => axis.0.jog-counts net jog-enable => axis.0.jog-enable setp axis.0.jog-vel-mode 1 net jx1 hpg.encoder.00.chan.00.velocity-abs => lincurve.0.in net jx2 lincurve.0.out => axis.0.jog-scale # MPG Z PRU encoder setp hpg.encoder.00.chan.01.A-pin 0 #931 ENCyA setp hpg.encoder.00.chan.01.B-pin 1 #929 ENCyB setp hpg.encoder.00.chan.01.counter-mode 3 #Quadrature x1 count mode (HAL encoder x1 mode) net jog-counts-z hpg.encoder.00.chan.01.rawcounts => axis.2.jog-counts net jog-enable => axis.2.jog-enable setp axis.2.jog-vel-mode 1 net jz1 hpg.encoder.00.chan.01.velocity-abs => lincurve.1.in net jz2 lincurve.1.out => axis.2.jog-scale ------------------------------------------------------------------------------ Find and fix application performance issues faster with Applications Manager Applications Manager provides deep performance insights into multiple tiers of your business applications. It resolves application problems quickly and reduces your MTTR. Get your free trial! https://ad.doubleclick.net/ddm/clk/302982198;130105516;z _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
