KFLOP to VFD 0-10V

Good day, I would like to connect KFLOP to VFD of the 18000rpm ATC spindle.
I used JP6 pin7 IO28 on KFLOP as PWM output and connected it to (PWM to Analog (0-10V) Converter Module) (example link: https://opencircuit.shop/product/pwm...nverter-module)
When I use the Digital IO screen screen and set the bit HIGH I get the max RPM on my spindle about 600HZ
How should I set the Tool Setup Screen for S on Kmotion so I can use S1000 for 1000rpm, does it need to be in C program or can I do it with DAC option?
If the only option is with C program, can you help me with C program example?
Thank you very much.
Best regards.

Attachment 492810

Yes a C Program is required.

See the SpindlePWM.c and SpindlePWMoff.c examples

Since you are using PWM #2 instead of #0 and each PWM has 2 control registers add 2x2=4 to the FPGA Addresses like this:

Code:

---

        FPGA(IO_PWMS+2*2+1) = 1;    // enable the PWM
        FPGA(IO_PWMS+2*2)  = pwm;  // set the PWM

---

You might also read this Thread. Although it relates to Mach3 the technique is the similar.

Can Kflop PWM spindle control go down to a freq of 20Hz?

Hi Al,

Quote:

---

Can Kflop PWM spindle control go down to a freq of 20Hz?

---

254Hz is the minimum for the 8-bit hardware PWMs.

But Software (User Call Back) can switch an IO with resolution of 90us. At 20Hz that provides a resolution of 0.18%

Our new Kogna Controller has Hi-Resolution PWMs clocking at 228MHz with 32-bit Period and Pulse registers so can do most any frequency.

Good day Tom, and thank you for fast reply.
I did try with C program but it doesn`t work.

CODE:
#include "KMotionDef.h"

#define MAX_RPM 18000.0f

// drive PWM 2 as spindle
//

// PWM 2 is KFLOP IO bit #28
// JP6 Aux#1 Pin 7

main()
{
int pwm;
float speed = *(float *)&persist.UserData[0]; // value stored is actually a float

pwm = speed/MAX_RPM * 255.0f;

if (pwm > 255) pwm=255; // limit to max pwm value

printf("Spindle Set to %f pwm %d\n",speed, pwm); // print the desired speed

FPGA(IO_PWMS+2*2+1) = 1; // enable the PWM
FPGA(IO_PWMS+2*2) = pwm; // set the PWM

}
Attachment 492825

Also I have another question. I believe since I set pins 26, 27, 28 as outputs my machine has gone mad.
In the middle of the program one of the slaved axis doesn`t follow the other. I tried couple of time with VFD ON, with VFD unplugged and the machine always did the same.

Then I unchecked the 26,27,28 outputs in DIGITAL I/O screen and it seems to work now.
Do I need to install filters capacitors on outputs also? Or any other suggestion?

Thank you.

Today I tested machine some more and the gantry Y axis is acting weird.
In the middle of program they started to move sporadically.
Could there be something wrong with the INIT file?

INIT:
#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()
{
DefineCoordSystem(0,1,3,-1);
//Define XYZ coordinated motion axes

//place to save limit switch settings
//int SaveXLimits;
//int SaveY1Limits;
//int SaveY2Limits;
//int SaveZLimits;
//int SaveALimits;
//int SaveCLimits;

//DisableAxis(0); //X
//DisableAxis(1); //Y1
//DisableAxis(2); //Y2
//DisableAxis(3); //Z
//DisableAxis(4); //A
//DisableAxis(5); //C

// 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


//X - POPRECNO
ch0->InputMode=NO_INPUT_MODE;
ch0->OutputMode=STEP_DIR_MODE;
ch0->Vel=192000;
ch0->Accel=1e+07;
ch0->Jerk=1e+07;
ch0->P=0;
ch0->I=0;
ch0->D=0;
ch0->FFAccel=0;
ch0->FFVel=0;
ch0->MaxI=100;
ch0->MaxErr=100;
ch0->MaxOutput=100;
ch0->DeadBandGain=0;
ch0->DeadBandRange=0;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=8;
ch0->OutputChan1=0;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x115;
ch0->LimitSwitchNegBit=0;
ch0->LimitSwitchPosBit=0;
ch0->SoftLimitPos=1e+09;
ch0->SoftLimitNeg=-1e+09;
ch0->InputGain0=0;
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=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=0.000769;
ch0->iir[2].B1=0.001538;
ch0->iir[2].B2=0.000769;
ch0->iir[2].A1=1.92081;
ch0->iir[2].A2=-0.923885;
//EnableAxisDest(0,0);

//Y1 - LIJEVO
ch1->InputMode=NO_INPUT_MODE;
ch1->OutputMode=STEP_DIR_MODE;
ch1->Vel=192000;
ch1->Accel=1e+07;
ch1->Jerk=1e+07;
ch1->P=0;
ch1->I=0;
ch1->D=0;
ch1->FFAccel=0;
ch1->FFVel=0;
ch1->MaxI=100;
ch1->MaxErr=100;
ch1->MaxOutput=100;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=0;
ch1->InputChan1=0;
ch1->OutputChan0=9;
ch1->OutputChan1=0;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x115;
ch1->LimitSwitchNegBit=1;
ch1->LimitSwitchPosBit=0;
ch1->SoftLimitPos=1e+09;
ch1->SoftLimitNeg=-1e+09;
ch1->InputGain0=0;
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=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=0.000769;
ch1->iir[2].B1=0.001538;
ch1->iir[2].B2=0.000769;
ch1->iir[2].A1=1.92081;
ch1->iir[2].A2=-0.923885;
//EnableAxisDest(1,0);

//Y2 - DESNO
ch2->InputMode=NO_INPUT_MODE;
ch2->OutputMode=STEP_DIR_MODE;
ch2->Vel=192000;
ch2->Accel=1e+07;
ch2->Jerk=1e+07;
ch2->P=0;
ch2->I=0;
ch2->D=0;
ch2->FFAccel=0;
ch2->FFVel=0;
ch2->MaxI=100;
ch2->MaxErr=100;
ch2->MaxOutput=100;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=0;
ch2->InputChan1=2;
ch2->OutputChan0=10;
ch2->OutputChan1=5;
ch2->MasterAxis=1;
ch2->LimitSwitchOptions=0x115;
ch2->LimitSwitchNegBit=2;
ch2->LimitSwitchPosBit=0;
ch2->SoftLimitPos=1e+09;
ch2->SoftLimitNeg=-1e+09;
ch2->InputGain0=0;
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=1000000000;
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=1;
ch2->iir[2].B1=0;
ch2->iir[2].B2=0;
ch2->iir[2].A1=0;
ch2->iir[2].A2=0;
//EnableAxisDest(2,0);

//Z
ch3->InputMode=NO_INPUT_MODE;
ch3->OutputMode=STEP_DIR_MODE;
ch3->Vel=128000;
ch3->Accel=1e+07;
ch3->Jerk=1e+07;
ch3->P=0;
ch3->I=0;
ch3->D=0;
ch3->FFAccel=0;
ch3->FFVel=0;
ch3->MaxI=100;
ch3->MaxErr=100;
ch3->MaxOutput=100;
ch3->DeadBandGain=0;
ch3->DeadBandRange=0;
ch3->InputChan0=0;
ch3->InputChan1=3;
ch3->OutputChan0=11;
ch3->OutputChan1=7;
ch3->MasterAxis=-1;
ch3->LimitSwitchOptions=0x11a;
ch3->LimitSwitchNegBit=0;
ch3->LimitSwitchPosBit=3;
ch3->SoftLimitPos=1e+09;
ch3->SoftLimitNeg=-1e+09;
ch3->InputGain0=0;
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;
//EnableAxis(3,0);


// enable all 3 axes and begin servoing where we are
EnableAxis(0); //X
EnableAxis(1); //Y1
EnableAxis(2); //Y2
EnableAxis(3); //Z
//EnableAxis(4);
//EnableAxis(5);

//SetBitDirection (26,1); // set bit as output SPINDLE CW
//SetBitDirection (27,1); // set bit as output SPINDLE CCW
//SetBitDirection (28,1); // set bit as output SPINDLE RPM

}

HOMING:
#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()
{
DefineCoordSystem(0,1,3,-1);
//Define XYZ coordinated motion axes

//place to save limit switch settings
int SaveXLimits;
int SaveY1Limits;
int SaveY2Limits;
int SaveZLimits;
//int SaveALimits;
//int SaveCLimits;

//DisableAxis(0); //X
//DisableAxis(1); //Y1
//DisableAxis(2); //Y2
//DisableAxis(3); //Z
//DisableAxis(4); //A
//DisableAxis(5); //C

// 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


//X - POPRECNO
ch0->InputMode=NO_INPUT_MODE;
ch0->OutputMode=STEP_DIR_MODE;
ch0->Vel=192000;
ch0->Accel=1e+07;
ch0->Jerk=1e+07;
ch0->P=0;
ch0->I=0;
ch0->D=0;
ch0->FFAccel=0;
ch0->FFVel=0;
ch0->MaxI=100;
ch0->MaxErr=100;
ch0->MaxOutput=100;
ch0->DeadBandGain=0;
ch0->DeadBandRange=0;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=8;
ch0->OutputChan1=0;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x115;
ch0->LimitSwitchNegBit=0;
ch0->LimitSwitchPosBit=0;
ch0->SoftLimitPos=1e+09;
ch0->SoftLimitNeg=-1e+09;
ch0->InputGain0=0;
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=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=0.000769;
ch0->iir[2].B1=0.001538;
ch0->iir[2].B2=0.000769;
ch0->iir[2].A1=1.92081;
ch0->iir[2].A2=-0.923885;
//EnableAxisDest(0,0);

//Y1 - LIJEVO
ch1->InputMode=NO_INPUT_MODE;
ch1->OutputMode=STEP_DIR_MODE;
ch1->Vel=192000;
ch1->Accel=1e+07;
ch1->Jerk=1e+07;
ch1->P=0;
ch1->I=0;
ch1->D=0;
ch1->FFAccel=0;
ch1->FFVel=0;
ch1->MaxI=100;
ch1->MaxErr=100;
ch1->MaxOutput=100;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=0;
ch1->InputChan1=0;
ch1->OutputChan0=9;
ch1->OutputChan1=0;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x115;
ch1->LimitSwitchNegBit=1;
ch1->LimitSwitchPosBit=0;
ch1->SoftLimitPos=1e+09;
ch1->SoftLimitNeg=-1e+09;
ch1->InputGain0=0;
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=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=0.000769;
ch1->iir[2].B1=0.001538;
ch1->iir[2].B2=0.000769;
ch1->iir[2].A1=1.92081;
ch1->iir[2].A2=-0.923885;
//EnableAxisDest(1,0);

//Y2 - DESNO
ch2->InputMode=NO_INPUT_MODE;
ch2->OutputMode=STEP_DIR_MODE;
ch2->Vel=192000;
ch2->Accel=1e+07;
ch2->Jerk=1e+07;
ch2->P=0;
ch2->I=0;
ch2->D=0;
ch2->FFAccel=0;
ch2->FFVel=0;
ch2->MaxI=100;
ch2->MaxErr=100;
ch2->MaxOutput=100;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=0;
ch2->InputChan1=2;
ch2->OutputChan0=10;
ch2->OutputChan1=5;
ch2->MasterAxis=1;
ch2->LimitSwitchOptions=0x115;
ch2->LimitSwitchNegBit=2;
ch2->LimitSwitchPosBit=0;
ch2->SoftLimitPos=1e+09;
ch2->SoftLimitNeg=-1e+09;
ch2->InputGain0=0;
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=1000000000;
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=1;
ch2->iir[2].B1=0;
ch2->iir[2].B2=0;
ch2->iir[2].A1=0;
ch2->iir[2].A2=0;
//EnableAxisDest(2,0);

//Z
ch3->InputMode=NO_INPUT_MODE;
ch3->OutputMode=STEP_DIR_MODE;
ch3->Vel=128000;
ch3->Accel=1e+07;
ch3->Jerk=1e+07;
ch3->P=0;
ch3->I=0;
ch3->D=0;
ch3->FFAccel=0;
ch3->FFVel=0;
ch3->MaxI=100;
ch3->MaxErr=100;
ch3->MaxOutput=100;
ch3->DeadBandGain=0;
ch3->DeadBandRange=0;
ch3->InputChan0=0;
ch3->InputChan1=3;
ch3->OutputChan0=11;
ch3->OutputChan1=7;
ch3->MasterAxis=-1;
ch3->LimitSwitchOptions=0x11a;
ch3->LimitSwitchNegBit=0;
ch3->LimitSwitchPosBit=3;
ch3->SoftLimitPos=1e+09;
ch3->SoftLimitNeg=-1e+09;
ch3->InputGain0=0;
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;
//EnableAxis(3,0);


// disable the limits (first save how they were set)
SaveXLimits = ch0->LimitSwitchOptions;
SaveY1Limits = ch1->LimitSwitchOptions;
SaveY2Limits = ch2->LimitSwitchOptions;
SaveZLimits = ch3->LimitSwitchOptions;

ch0->LimitSwitchOptions = 0; //X
ch1->LimitSwitchOptions = 0; //Y1
ch2->LimitSwitchOptions = 0; //Y2
ch3->LimitSwitchOptions = 0; //Z

// enable all 3 axes and begin servoing where we are


EnableAxis(0); //X
EnableAxis(1); //Y1
EnableAxis(2); //Y2
EnableAxis(3); //Z
//EnableAxis(4);
//EnableAxis(5);

//Z-AXIS
//HOME Z-AXIS FAST
Jog(3,20000); // jog FAST POSITIV
while (ReadBit(3)) ; // loop until IO bit goes high
Jog(3,0); // stop
while (!CheckDone(3)) ; // loop until motion completes
DisableAxis(3); // disable the axis
Zero(3); // Zero the position
EnableAxis(3); // re-enable the ServoTick
Move(3,-3200); // move 2.5mm inside the limits
while (!CheckDone(3)) ; // loop until motion completes
//ch3->LimitSwitchOptions = SaveZLimits;

//HOME Z-AXIS 2nd TIME SLOWER
Jog(3,3200); // jog slowly POSITIV
while (ReadBit(3)) ; // loop until IO bit goes high
Jog(3,0); // stop
while (!CheckDone(3)) ; // loop until motion completes
DisableAxis(3); // disable the axis
Zero(3); // Zero the position
EnableAxis(3); // re-enable the ServoTick
Move(3,-6400); // (Steps/mm = 642.5803842) move 5mm inside the limits
while (!CheckDone(3)) ; // loop until motion completes

ch3->LimitSwitchOptions = SaveZLimits; // restore limit settings
//Z-AXIS END


//HOME X-AXIS FAST
Jog(0,-20000); // jog FAST NEGATIVE
while (ReadBit(0)) ; // 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(0,3200); // move 2.5mm inside the limits
while (!CheckDone(0)) ; // loop until motion completes
//ch0->LimitSwitchOptions = SaveXLimits;

//HOME X-AXIS 2nd TIME SLOWER
Jog(0,-3200); // jog slowly NEGATIVE
while (ReadBit(0)) ; // 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(0,6400); // (Steps/mm = 646.2833146) move some amount inside the limits
while (!CheckDone(0)) ; // loop until motion completes

ch0->LimitSwitchOptions = SaveXLimits; // restore limit settings
//X-AXIS END


//Y-SQUARE START
//HOME Y-AXIS FAST
Jog(1,-20000); // jog FAST NEGATIVE Y1
while (ReadBit(1) && ReadBit(2)) ; // 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(1,3200); // move 5mm inside the limits
while (!CheckDone(1)) ; // loop until motion completes
//ch1->LimitSwitchOptions = SaveY1Limits;

//HOME Y-AXIS 2nd TIME SLOWER
ch1->MasterAxis=-1; //DESLAVE AXIS

//SQUARING Y1
Jog(1,-3200); // jog Y1 slow NEGATIVE
while (ReadBit(1)) ; // loop until IO bit goes high
Jog(1,0); // stop
while (!CheckDone(1)) ; // loop until motion completes
DisableAxis(1); // disable the axis

//SQUARING Y2
Jog(2,-3200); // jog X1 slow NEGATIVE
while (ReadBit(2)) ; // loop until IO bit goes high
Jog(2,0); // stop
while (!CheckDone(2)) ; // loop until motion completes
DisableAxis(2); // disable the axis
//
//
//
ch1->MasterAxis=1; //SLAVE AXIS
Zero(1); // Zero the position of axis 1
EnableAxis(1); // re-enable the ServoTick
EnableAxis(2); // re-enable the ServoTick
Move(1,6400); // (Steps/mm = 646.3438727) x 5 = 5mm - move 5mm inside the limits
while (!CheckDone(1)) ; // loop until motion completes

ch1->LimitSwitchOptions = SaveY1Limits; // restore limit settings
//X-SQUARE END

DefineCoordSystem(0,1,3,-1);//Define XYZ coordinated motion axes

}