Simple home 3 axis
Code: Select all
#include "KMotionDef.h"
// Configuration and Homing program for a 3 axis System
// Limit switches are disabled and used as a home switch
// then they are re-enabled
main()
{
int SaveXLimits,SaveYLimits,SaveZLimits; //place to save limit switch settings
DisableAxis(0); // Disable all axes
DisableAxis(1);
DisableAxis(2);
// Set the axis parameters here
// after everything is configured in the KMotion Screens
// use copy C Code to clipboard on the configuration screen
// then paste here. Repeat for each axis
ch0->InputMode=ENCODER_MODE;
ch0->OutputMode=DAC_SERVO_MODE;
ch0->Vel=800000;
ch0->Accel=1e+06;
ch0->Jerk=3e+06;
ch0->P=5;
ch0->I=0.0005;
ch0->D=1;
ch0->FFAccel=0;
ch0->FFVel=0;
ch0->MaxI=1000;
ch0->MaxErr=1000;
ch0->MaxOutput=2047;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=0;
ch0->InputChan1=1;
ch0->OutputChan0=0;
ch0->OutputChan1=1;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x11f;
ch0->LimitSwitchNegBit=140;
ch0->LimitSwitchPosBit=140;
ch0->SoftLimitPos=1e+09;
ch0->SoftLimitNeg=-1e+09;
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=2000;
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=0.0166094;
ch0->iir[2].B1=0.0332189;
ch0->iir[2].B2=0.0166094;
ch0->iir[2].A1=1.60679;
ch0->iir[2].A2=-0.673229;
ch1->InputMode=ENCODER_MODE;
ch1->OutputMode=DAC_SERVO_MODE;
ch1->Vel=600000;
ch1->Accel=1e+06;
ch1->Jerk=1.5e+06;
ch1->P=5;
ch1->I=0.0003;
ch1->D=0.5;
ch1->FFAccel=0;
ch1->FFVel=0;
ch1->MaxI=1000;
ch1->MaxErr=1000;
ch1->MaxOutput=2047;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=1;
ch1->InputChan1=1;
ch1->OutputChan0=1;
ch1->OutputChan1=3;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x11f;
ch1->LimitSwitchNegBit=141;
ch1->LimitSwitchPosBit=141;
ch1->SoftLimitPos=1e+30;
ch1->SoftLimitNeg=-1e+30;
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=2000;
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=0.016609;
ch1->iir[2].B1=0.033219;
ch1->iir[2].B2=0.016609;
ch1->iir[2].A1=1.60679;
ch1->iir[2].A2=-0.673229;
ch2->InputMode=ENCODER_MODE;
ch2->OutputMode=DAC_SERVO_MODE;
ch2->Vel=50000;
ch2->Accel=100000;
ch2->Jerk=1e+06;
ch2->P=5;
ch2->I=0.001;
ch2->D=1;
ch2->FFAccel=0;
ch2->FFVel=0;
ch2->MaxI=1000;
ch2->MaxErr=1000;
ch2->MaxOutput=2047;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=2;
ch2->InputChan1=0;
ch2->OutputChan0=2;
ch2->OutputChan1=0;
ch2->MasterAxis=-1;
ch2->LimitSwitchOptions=0x11f;
ch2->LimitSwitchNegBit=142;
ch2->LimitSwitchPosBit=142;
ch2->SoftLimitPos=1e+09;
ch2->SoftLimitNeg=-1e+09;
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=2000;
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=0.0166094;
ch2->iir[2].B1=0.0332189;
ch2->iir[2].B2=0.0166094;
ch2->iir[2].A1=1.60679;
ch2->iir[2].A2=-0.673229;
// disable the limits (first save how they were set)
SaveXLimits = ch0->LimitSwitchOptions;
SaveYLimits = ch1->LimitSwitchOptions;
SaveZLimits = ch2->LimitSwitchOptions;
ch0->LimitSwitchOptions = 0;
ch1->LimitSwitchOptions = 0;
ch2->LimitSwitchOptions = 0;
// enable all 3 axes and begin servoing where we are
EnableAxis(0);
EnableAxis(1);
EnableAxis(2);
// Home Z up first - jog until it sees the limit
Jog(2,7500); // jog slowly positive
while (ReadBit(142)) ; // loop until IO bit goes high
Jog(2,0); // stop
while (!CheckDone(2)) ; // loop until motion completes
DisableAxis(2); // disable the axis
Zero(2); // Zero the position
EnableAxis(2); // re-enable the ServoTick
Move(2,-1200.0); // move some amount inside the limits
while (!CheckDone(2)) ; // loop until motion completes
ch2->LimitSwitchOptions = SaveZLimits; // restore limit settings
// Home X next - jog until it sees the limit
Jog(0,15000); // jog slowly positive
while (ReadBit(140)) ; // loop until IO bit goes high
Jog(0,0); // stop
while (!CheckDone(0)) ; // loop until motion completes
DisableAxis(0); // disable the axis
Zero(0); // Zero the position
EnableAxis(0); // re-enable the ServoTick
Move(0,-2000.0); // move some amount inside the limits
while (!CheckDone(0)) ; // loop until motion completes
ch0->LimitSwitchOptions = SaveXLimits; // restore limit settings
// Home Y next - jog until it sees the limit
Jog(1,15000); // jog slowly positive
while (ReadBit(141)) ; // loop until IO bit goes high
Jog(1,0); // stop
while (!CheckDone(1)) ; // loop until motion completes
DisableAxis(1); // disable the axis
Zero(1); // Zero the position
EnableAxis(1); // re-enable the ServoTick
Move(1,-3000.0); // move some amount inside the limits
while (!CheckDone(1)) ; // loop until motion completes
ch1->LimitSwitchOptions = SaveYLimits; // restore limit settings
DefineCoordSystem(0,1,2,-1); //Define XYZ coordinated motion axes
}
