Hello,
Just a quick question about the function below, I try to divide the resolution of the encoder by 360 degrees to get the angular resolution per degree but I can't get any relevant results:
Bit#1046 G0=1
Bit#1047 G1=0
Bit#1048 G2=1
Bit#1049 G3=0
Bit#1050 G4=1
Bit#1051 G5=0
Bit#1052 G6=1
Bit#1053 G7=0
Bit#1054 G8=0
Bit#1055 G9=1
B9=1 p9=512
B8=1 p8=256
B7=1 p7=128
B6=0 p6=0
B5=0 p5=0
B4=1 p4=16
B3=1 p3=8
B2=0 p2=0
B1=0 p1=0
B0=1 p0=1
D=921 alphaRes=0.000000 alpha=0.000000
Decimal=921
ERes=1024
The problem lies within the division and multiplication operations (alphaRes,alpha)
I think I'm missing something but can't figure what...
The full test program is also included below for reference and is intended to be included within the tool change program.
Thanks for your attention,
Jerome
float AngularPosition(D){
/*This function converts the decimal value from the absolute encoder to the actual positioning angle*/
float alphaRes;
float alpha;
alphaRes=1024/360;//2.844444
alpha=D*alphaRes;
printf("D=%d\talphaRes=%f\talpha=%f\n\n",D,alphaRes,alpha);
return alpha, alphaRes;
}
/*Full conversion test program*/
#include "KMotionDef.h"
#define QA 40 // define to which IO bits the AB signals are connected
#define QB 41
#define TAU 0.05 // smoothness factor (Low Pass Time constant seconds)
#define FINAL_TIME .5 // Set final dest after this amount of time with no change
#define ERes 1024 //Encoder Resolution, 10bits
/*INPUTS and OUTPUTS*/
/*INPUTS*/
#define AirCylHomePos 138 //Carousel air cylinder is at home position
#define AirCylToolPos 139 //Carousel air cylinder is at tool change position
#define ToolClamped 140 //Tool is clamped into the spindle
#define ToolUnClamped 141 //Tool is released from spindle
#define Index 137 //Indexing sensor to index the carousel position at each motor turn, CW or CCW
#define CarRef 25 //When active carousel is at reference position corresponding to pocket #1
#define J 1031// Indexing sensor to control the indexing motor CW/CCW
#define K 1030// Indexing sensor to control the indexing motor CW/CCW
#define G1 1046// Konnect: 10bits for the gray code G1=>G10
#define G2 1047
#define G3 1048
#define G4 1049
#define G5 1050
#define G6 1051
#define G7 1052
#define G8 1053
#define G9 1054
#define G10 1055
/*OUTPUTS*/
#define SpindleRef 144 // Performs a Spindle Referencing for tool alignment with Pocket
#define SCW 146 //Spindle CW
#define SCCW 145 //Spindle CCW
#define Coolant 158 //Activate Flood Coolant Pump
#define AirCyl 156 // Activate Air Cylinder for tool change
#define SpinToolRel 157 //Release tool from spindle when high
#define CarCW 154 //Carousel ++Pocket index
#define CarCCW 155 //Carousel --Pocket index
#define TMP 13 // which spare persist to use to transfer data
#include "KflopToKMotionCNCFunctions.c"
#define Zaxis 2
/*------------------------------
--Global variables declaration--
------------------------------*/
int x;
int index,CWPos,CCWPos,NSlot,Z_TcPos,ZUp_TcPos;
int *OldTool,*ActTool,*NewTool,*PrevSlot,*ActSlot,*ReqSlot;
unsigned short G,B,D;
unsigned short GRAY[10], BIN[10];
int c,d,p,T,*ptr;
int i,j,k;
int NSlot=10;// highest number tool slot in carousel
int CW();
int CCW();
int Compare();
int LeastTravel();
int Decimal();
int main()
{
InitAux();
AddKonnect(0,&VirtualBits,VirtualBitsEx);
int FixtureIndex,Units, TWORD, HWORD, DWORD,ID;
double NewToolLength,Length,OriginOffsetZ,AxisOffsetZ,XRes,YRes,ZRes;
double Machinex,Machiney,Machinez,Machinea,Machineb,Machinec;
double DROx,DROy,DROz,DROa,DROb,DROc;
GrayToBinary16();
AngularPosition();
printf("\nDecimal=%d\n\n",D);
printf("ERes=%d\n\n",ERes);
}
unsigned int GrayToBinary16(){
for(x=0;x<10;x++)
{
GRAY[x]=ReadBit(G1+x);
printf("Bit#%d ",(G1+x));
printf("G%d=%d\n",x,GRAY[x]);
}
printf("\n");
BIN[9]=*ptr=GRAY[9];
for(x=8;x>=0;x--)
{
BIN[x]=GRAY[x]^BIN[x+1];
}
D=0;
for(x=9;x>=0;x--)
{
printf("B%d=%d ",x,BIN[x]);
p=BIN[x]*(1<<x);
printf("p%d=%d \n",x,p);
D=D+p;
}
return D;
}
float AngularPosition(D){
/*This function converts the decimal value from the absolute encoder to the actual positioning angle*/
float alphaRes;
float alpha;
alphaRes=360/1024;//0.3515625;
alpha=D*alphaRes;
printf("D=%d\talphaRes=%f\talpha=%f\n\n",D,alphaRes,alpha);
return alpha, alphaRes;
}
