[Gunmachinist]

Init File

#include "KMotionDef.h"


// Note Low Gains, Limited Max Limits, No Limit Options, No Soft Limits,
// Large allowed Following Error, No Feed Forward, No Filters, etc

void main()
{	
	ch0->InputMode=ENCODER_MODE;
	ch0->OutputMode=DAC_SERVO_MODE;
	ch0->Vel=30000;
	ch0->Accel=25000;
	ch0->Jerk=100000;
	ch0->P=11.5;
	ch0->I=0.0002;
	ch0->D=1;
	ch0->FFAccel=0.0002;
	ch0->FFVel=0.0001;
	ch0->MaxI=2047;
	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=0x12c;
	ch0->LimitSwitchNegBit=136;
	ch0->LimitSwitchPosBit=136;
	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=0;
	ch0->BacklashMode=BACKLASH_OFF;
	ch0->BacklashAmount=1;
	ch0->BacklashRate=10;
	ch0->invDistPerCycle=1;
	ch0->Lead=5;
	ch0->MaxFollowingError=1000;
	ch0->StepperAmplitude=250;

	ch0->iir[0].B0=0.570375;
	ch0->iir[0].B1=-1.07753;
	ch0->iir[0].B2=0.508907;
	ch0->iir[0].A1=1.91629;
	ch0->iir[0].A2=-0.918042;

	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=DAC_SERVO_MODE;
	ch1->Vel=40000;
	ch1->Accel=70000;
	ch1->Jerk=100000;
	ch1->P=6;
	ch1->I=0.0003;
	ch1->D=1;
	ch1->FFAccel=0.0004;
	ch1->FFVel=0.0054;
	ch1->MaxI=500;
	ch1->MaxErr=100000;
	ch1->MaxOutput=2047;
	ch1->DeadBandGain=1;
	ch1->DeadBandRange=0;
	ch1->InputChan0=1;
	ch1->InputChan1=1;
	ch1->OutputChan0=1;
	ch1->OutputChan1=1;
	ch1->MasterAxis=-1;
	ch1->LimitSwitchOptions=0x110;
	ch1->LimitSwitchNegBit=138;
	ch1->LimitSwitchPosBit=138;
	ch1->SoftLimitPos=1e+09;
	ch1->SoftLimitNeg=-1e+09;
	ch1->InputGain0=1;
	ch1->InputGain1=1;
	ch1->InputOffset0=0;
	ch1->InputOffset1=0;
	ch1->OutputGain=1;
	ch1->OutputOffset=0;
	ch1->SlaveGain=0;
	ch1->BacklashMode=BACKLASH_OFF;
	ch1->BacklashAmount=0;
	ch1->BacklashRate=0;
	ch1->invDistPerCycle=1;
	ch1->Lead=11;
	ch1->MaxFollowingError=100000;
	ch1->StepperAmplitude=250;

	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;

	ch2->InputMode=ENCODER_MODE;
	ch2->OutputMode=DAC_SERVO_MODE;
	ch2->Vel=60000;
	ch2->Accel=40000;
	ch2->Jerk=200000;
	ch2->P=12;
	ch2->I=0.0001;
	ch2->D=1;
	ch2->FFAccel=0.0001;
	ch2->FFVel=0.0009;
	ch2->MaxI=2047;
	ch2->MaxErr=1000;
	ch2->MaxOutput=2047;
	ch2->DeadBandGain=1;
	ch2->DeadBandRange=0;
	ch2->InputChan0=2;
	ch2->InputChan1=1;
	ch2->OutputChan0=2;
	ch2->OutputChan1=1;
	ch2->MasterAxis=-1;
	ch2->LimitSwitchOptions=0x11c;
	ch2->LimitSwitchNegBit=137;
	ch2->LimitSwitchPosBit=137;
	ch2->SoftLimitPos=1e+06;
	ch2->SoftLimitNeg=-1e+06;
	ch2->InputGain0=1;
	ch2->InputGain1=1;
	ch2->InputOffset0=0;
	ch2->InputOffset1=0;
	ch2->OutputGain=-1;
	ch2->OutputOffset=0;
	ch2->SlaveGain=0;
	ch2->BacklashMode=BACKLASH_OFF;
	ch2->BacklashAmount=0;
	ch2->BacklashRate=0;
	ch2->invDistPerCycle=1;
	ch2->Lead=5;
	ch2->MaxFollowingError=10000;
	ch2->StepperAmplitude=250;

	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;
	
	ch7->InputMode=ENCODER_MODE;
	ch7->OutputMode=DAC_SERVO_MODE;
	ch7->Vel=0.5;
	ch7->Accel=1;
	ch7->Jerk=5;
	ch7->P=0;
	ch7->I=0;
	ch7->D=0;
	ch7->FFAccel=0;
	ch7->FFVel=2047;
	ch7->MaxI=2047;
	ch7->MaxErr=1e+10;
	ch7->MaxOutput=2047;
	ch7->DeadBandGain=1;
	ch7->DeadBandRange=0;
	ch7->InputChan0=7;
	ch7->InputChan1=1;
	ch7->OutputChan0=7;
	ch7->OutputChan1=1;
	ch7->MasterAxis=-1;
	ch7->LimitSwitchOptions=0x100;
	ch7->LimitSwitchNegBit=0;
	ch7->LimitSwitchPosBit=0;
	ch7->SoftLimitPos=1e+09;
	ch7->SoftLimitNeg=-1e+09;
	ch7->InputGain0=1;
	ch7->InputGain1=1;
	ch7->InputOffset0=0;
	ch7->InputOffset1=0;
	ch7->OutputGain=-1;
	ch7->OutputOffset=0;
	ch7->SlaveGain=1;
	ch7->BacklashMode=BACKLASH_OFF;
	ch7->BacklashAmount=0;
	ch7->BacklashRate=0;
	ch7->invDistPerCycle=1;
	ch7->Lead=0;
	ch7->MaxFollowingError=10000000000;
	ch7->StepperAmplitude=250;

	ch7->iir[0].B0=1;
	ch7->iir[0].B1=0;
	ch7->iir[0].B2=0;
	ch7->iir[0].A1=0;
	ch7->iir[0].A2=0;

	ch7->iir[1].B0=1;
	ch7->iir[1].B1=0;
	ch7->iir[1].B2=0;
	ch7->iir[1].A1=0;
	ch7->iir[1].A2=0;

	ch7->iir[2].B0=1;
	ch7->iir[2].B1=0;
	ch7->iir[2].B2=0;
	ch7->iir[2].A1=0;
	ch7->iir[2].A2=0;


	EnableAxis(0);
	EnableAxis(1);
	EnableAxis(2);
	EnableAxis(7);
 
	DefineCoordSystem(2,1,0,7);	// define XYZU axes
}