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| cy.mac | ||||||
| [ source code | installed at | configured at ] | ||||||
| See other macros in category: Positioning | ||||||
Description:
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Documentation:
The stepping parameters, i.e. the steady state rate, the base rate and the acceleration time are either read from the config file if a motor mnemonic is given as argument to the macro, or input by the user. From these values, the macro calculates and displays the allowed acceleration time range and dynamic range to operate the CY550 chip. This is to check if the values you have chosen are correct or not. The set of values is correct when "OK" is mentionned 5 times. The corresponding parameters for command S (Slope) of the os9 program "vpaptst" is issued as well. Refer to the CY550 step rate tables to deal which others commands (F and R) accordingly to your velocity and base rate. ATTENTION Be aware that due to the complex nature of the CY550 stepping algorithm, it is difficult to provide an exact formula concerning its acceleration behaviour. The formula used in this macro is an aproximate formula. This should be used as a general guide only, with actual timing and acceleration values best determined experimentally. EXAMPLE
cy m0
base_rate in Hz (200)?
velocity in Hz (600)?
acceleration time in msec (1000)? 755
actual value min max
BASE_RATE : 200 Hz ( 15 4950) => OK
VELOCITY : 600 Hz ( 15 14925) => OK
DYNAMIC RANGE : 400 Hz (399.706 101925) => OK
ACCEL. TIME : 755 msec ( 2 755) => OK
vpaptst SLOPE : 1 ( 1 255) => OK
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Macros:
Usage: cy [<motor>] | ||||||
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