A personal repository of random information in compensation for a fatigued biological computer
Backup 20120530
<pre>#include "KMotionDef.h"main()
{
printf("Hello World!\n"); // send message to console
//FPGA(STEP_PULSE_LENGTH_ADD)=63;
FPGA(STEP_PULSE_LENGTH_ADD)=48 + 0X80; ch0->InputMode=NO_INPUT_MODE;
ch0->InputMode=ENCODER_MODE;
ch0->OutputMode=CL_STEP_DIR_MODE;
ch0->Vel=20000;
ch0->Accel=40000;
ch0->Jerk=4e+006;
ch0->P=0.1;
ch0->I=0.002;
ch0->D=0.1;
ch0->FFAccel=5e-005;
ch0->FFVel=5e-005;
ch0->MaxI=1e+009;
ch0->MaxErr=1e+012;
ch0->MaxOutput=1e+009;
ch0->DeadBandGain=0;
ch0->DeadBandRange=0.65;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=8;
ch0->OutputChan1=1;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0xc;
ch0->InputGain0=1;
ch0->InputGain1=1;
ch0->InputOffset0=0;
ch0->InputOffset1=0;
ch0->OutputGain=-1.5;
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=1;
ch0->iir[2].B1=0;
ch0->iir[2].B2=0;
ch0->iir[2].A1=0;
ch0->iir[2].A2=0;
ch1->InputMode=ENCODER_MODE;
ch1->OutputMode=CL_STEP_DIR_MODE;
ch1->Vel=26668;
ch1->Accel=60000;
ch1->Jerk=600000;
ch1->P=0.1;
ch1->I=0.0035;
ch1->D=0.1;
ch1->FFAccel=1e-005;
ch1->FFVel=1e-005;
ch1->MaxI=1e+009;
ch1->MaxErr=1e+012;
ch1->MaxOutput=1e+009;
ch1->DeadBandGain=0;
ch1->DeadBandRange=0.6;
ch1->InputChan0=1;
ch1->InputChan1=1;
ch1->OutputChan0=9;
ch1->OutputChan1=3;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x0;
ch1->InputGain0=1;
ch1->InputGain1=1;
ch1->InputOffset0=0;
ch1->InputOffset1=0;
ch1->OutputGain=2.4;
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=1;
ch1->iir[2].B1=0;
ch1->iir[2].B2=0;
ch1->iir[2].A1=0;
ch1->iir[2].A2=0;
ch3->InputMode=NO_INPUT_MODE;
ch3->OutputMode=STEP_DIR_MODE;
ch3->Vel=4000;
ch3->Accel=40000;
ch3->Jerk=400000;
ch3->P=1;
ch3->I=0;
ch3->D=0;
ch3->FFAccel=0;
ch3->FFVel=0;
ch3->MaxI=200;
ch3->MaxErr=1e+006;
ch3->MaxOutput=200;
ch3->DeadBandGain=1;
ch3->DeadBandRange=0;
ch3->InputChan0=11;
ch3->InputChan1=3;
ch3->OutputChan0=11;
ch3->OutputChan1=7;
ch3->MasterAxis=-1;
ch3->LimitSwitchOptions=0x0;
ch3->InputGain0=1;
ch3->InputGain1=1;
ch3->InputOffset0=0;
ch3->InputOffset1=0;
ch3->OutputGain=1;
ch3->OutputOffset=0;
ch3->SlaveGain=1;
ch3->BacklashMode=BACKLASH_OFF;
ch3->BacklashAmount=0;
ch3->BacklashRate=0;
ch3->invDistPerCycle=1;
ch3->Lead=0;
ch3->MaxFollowingError=1000000000;
ch3->StepperAmplitude=20; ch3->iir[0].B0=1;
ch3->iir[0].B1=0;
ch3->iir[0].B2=0;
ch3->iir[0].A1=0;
ch3->iir[0].A2=0; ch3->iir[1].B0=1;
ch3->iir[1].B1=0;
ch3->iir[1].B2=0;
ch3->iir[1].A1=0;
ch3->iir[1].A2=0; ch3->iir[2].B0=1;
ch3->iir[2].B1=0;
ch3->iir[2].B2=0;
ch3->iir[2].A1=0;
ch3->iir[2].A2=0;
}</pre>
#include "KMotionDef.h"main()
{
printf("Hello World!\n"); // send message to console
//FPGA(STEP_PULSE_LENGTH_ADD)=63;
FPGA(STEP_PULSE_LENGTH_ADD)=48 + 0X80; ch0->InputMode=NO_INPUT_MODE;
ch0->InputMode=ENCODER_MODE;
ch0->OutputMode=CL_STEP_DIR_MODE;
ch0->Vel=20000;
ch0->Accel=40000;
ch0->Jerk=4e+006;
ch0->P=0.1;
ch0->I=0.002;
ch0->D=0.1;
ch0->FFAccel=5e-005;
ch0->FFVel=5e-005;
ch0->MaxI=1e+009;
ch0->MaxErr=1e+012;
ch0->MaxOutput=1e+009;
ch0->DeadBandGain=0;
ch0->DeadBandRange=0.65;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=8;
ch0->OutputChan1=1;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0xc;
ch0->InputGain0=1;
ch0->InputGain1=1;
ch0->InputOffset0=0;
ch0->InputOffset1=0;
ch0->OutputGain=-1.5;
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=1;
ch0->iir[2].B1=0;
ch0->iir[2].B2=0;
ch0->iir[2].A1=0;
ch0->iir[2].A2=0;
ch1->InputMode=ENCODER_MODE;
ch1->OutputMode=CL_STEP_DIR_MODE;
ch1->Vel=26668;
ch1->Accel=60000;
ch1->Jerk=600000;
ch1->P=0.1;
ch1->I=0.0035;
ch1->D=0.1;
ch1->FFAccel=1e-005;
ch1->FFVel=1e-005;
ch1->MaxI=1e+009;
ch1->MaxErr=1e+012;
ch1->MaxOutput=1e+009;
ch1->DeadBandGain=0;
ch1->DeadBandRange=0.6;
ch1->InputChan0=1;
ch1->InputChan1=1;
ch1->OutputChan0=9;
ch1->OutputChan1=3;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x0;
ch1->InputGain0=1;
ch1->InputGain1=1;
ch1->InputOffset0=0;
ch1->InputOffset1=0;
ch1->OutputGain=2.4;
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=1;
ch1->iir[2].B1=0;
ch1->iir[2].B2=0;
ch1->iir[2].A1=0;
ch1->iir[2].A2=0;
ch3->InputMode=NO_INPUT_MODE;
ch3->OutputMode=STEP_DIR_MODE;
ch3->Vel=4000;
ch3->Accel=40000;
ch3->Jerk=400000;
ch3->P=1;
ch3->I=0;
ch3->D=0;
ch3->FFAccel=0;
ch3->FFVel=0;
ch3->MaxI=200;
ch3->MaxErr=1e+006;
ch3->MaxOutput=200;
ch3->DeadBandGain=1;
ch3->DeadBandRange=0;
ch3->InputChan0=11;
ch3->InputChan1=3;
ch3->OutputChan0=11;
ch3->OutputChan1=7;
ch3->MasterAxis=-1;
ch3->LimitSwitchOptions=0x0;
ch3->InputGain0=1;
ch3->InputGain1=1;
ch3->InputOffset0=0;
ch3->InputOffset1=0;
ch3->OutputGain=1;
ch3->OutputOffset=0;
ch3->SlaveGain=1;
ch3->BacklashMode=BACKLASH_OFF;
ch3->BacklashAmount=0;
ch3->BacklashRate=0;
ch3->invDistPerCycle=1;
ch3->Lead=0;
ch3->MaxFollowingError=1000000000;
ch3->StepperAmplitude=20; ch3->iir[0].B0=1;
ch3->iir[0].B1=0;
ch3->iir[0].B2=0;
ch3->iir[0].A1=0;
ch3->iir[0].A2=0; ch3->iir[1].B0=1;
ch3->iir[1].B1=0;
ch3->iir[1].B2=0;
ch3->iir[1].A1=0;
ch3->iir[1].A2=0; ch3->iir[2].B0=1;
ch3->iir[2].B1=0;
ch3->iir[2].B2=0;
ch3->iir[2].A1=0;
ch3->iir[2].A2=0;
}
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