Difference between revisions of "Program Examples:Single Axis Blending"

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(Created page with "{{Languages|Program_Examples:Group_Blending}} here is an example of using blended motion. we have a simulated XY table that moves in a rectangle contour. the motion is done w...")
 
 
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{{Languages|Program_Examples:Group_Blending}}  
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{{Languages|Program_Examples:Single_Axis_Blending}}  
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here is an example of using blended motion. we have a simulated XY table that moves in a rectangle contour. the motion is done with different blendingFactor: 0 / 1 / 2
+
here is an example of using blended motion for a single axis. the motion is done with different blendingFactor: 0 / 1 / 2
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config.prg:
 
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<syntaxhighlight lang="vb">
 
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'------------------------------------------------------------------------------
 
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' File:        CONFIG.PRG
 
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' Purpose:    simulated XY configuration file
 
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' Version:    1.00
 
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' Author:      Eran Korkidi
 
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' Description:
 
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'------------------------------------------------------------------------------
 
−
 
 
−
 
 
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Sys.NumberAxes = 14
 
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common shared XYtable as group Axnm=a1 Axnm=a2 Model=1 'of xy
 
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common shared xSimulatedSystem as long = 1
 
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common shared xRealSystem as long = 0
 
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common shared xActualSystem as long = 0 ' 1 = simulated  ,  0 = real
 
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common shared dVelocityLimit as double
 
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common shared dDrivePeMax as double
 
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common shared dSec2msec as double = 1000
 
−
 
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common shared num_Of_Motion_Drives as long =0
 
−
 
 
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program
 
−
 
 
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Load ETHERCAT.LIB
 
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Load EC_USER.LIB
 
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Load EC_CDHD.LIB
 
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Load ECX_DIO8.LIB
 
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Load EC_AI8ME.LIB
 
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Load CPX_FB38.LIB
 
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Load EC_HCNC.LIB
 
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Load EK1100.LIB
 
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Load TP_PARAM.LIB
 
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Load TP_SIM.LIB
 
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Load TP.LIB
 
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A7.AxisName = CONV
 
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sys.DoubleFormat = 1
 
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sys.NoMotion = 1
 
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Sys.Name = "Train_2_XY"
 
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Print "MC is running: " Sys.Name
 
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end program
 
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</syntaxhighlight>
 
  
 
&nbsp;
 
&nbsp;
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autoexec.prg:
 
 
<syntaxhighlight lang="vb">
 
<syntaxhighlight lang="vb">
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'------------------------------------------------------------------------------
 
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' File: AUTOEXEC.PRG
 
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' Purpose: autoexec for XYportal
 
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' Version: 1.00
 
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' Author: Eran Korkidi
 
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' Description:
 
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' History: Created:  30.NOV.2015
 
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'------------------------------------------------------------------------------
 
  
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common shared xDoneAxSetupPrg as long = 0
 
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common shared xDoneGroupPrg as long = 0
 
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common shared xDoneConvPrg as long = 0
 
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program continue
 
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if xActualSystem = xRealSystem then
 
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Load EC_SETUP.PRG
 
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Stas EC_SETUP.PRG
 
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while EC_SETUP.PRG.State <> 10
 
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Sleep 10
 
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end while
 
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Unload EC_SETUP.PRG
 
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end if
 
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Load XY_setup.PRG
 
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Stas XY_setup.PRG
 
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while (NOT xDoneGroupPrg)
 
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Sleep 1
 
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end while
 
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call TP_INIT
 
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terminate program
 
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</syntaxhighlight>
 
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&nbsp;
 
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XY_SETUP.PRG:
 
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<syntaxhighlight lang="vb">
 
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'-----------------------------------------------------------------------
 
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' Program: SetupGantry.prg
 
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' Author: Eran Korkidi
 
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' Description: system setup  - GANTRY XYZ
 
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' History: 14.APR.2015 Eran Korkidi created
 
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'-----------------------------------------------------------------------
 
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'
 
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dim shared myprf as long = -1
 
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dim shared gearRat_X as double = 1.0
 
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dim shared gearRat_Y as double = 1.0
 
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dim shared dAccCurrnetFactor as double
 
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dim shared dJointVelFactor as double
 
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dim shared dRobotVelFactor as double
 
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dim shared lElementID as double
 
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dim shared Jvmax as double = 360.0
 
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dim shared AccVratio as double = 30.0
 
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dim shared axisPitch[2] as double
 
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program
 
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dim omega as double = 10.0
 
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dim i as long
 
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dim k as long
 
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call setupInit
 
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if xActualSystem = xSimulatedSystem then
 
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for i = 1 to 2
 
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systemAxis(i).Simulated = TRUE
 
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systemAxis(i).Dadd = i
 
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Pos_Units[i] = 360000
 
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next
 
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else
 
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for i = 1 to 2
 
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if NOT systemAxis(i).Dadd then
 
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systemAxis(i).Simulated = TRUE
 
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systemAxis(i).Dadd = i
 
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end if
 
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Pos_Units[i] = 360000/axisPitch[i]/360
 
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next
 
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end if
 
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with XYtable
 
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En = FALSE
 
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while En
 
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Sleep 10
 
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end while
 
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Attach
 
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Vord = 100
 
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Print "STX Gantry - geometric setup"
 
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J1.MotionBusVelocityScale = 0
 
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J1.MotionBusVelocityBase = 1000 ' counts per sec matches CDHD
 
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J2.MotionBusVelocityScale = 0
 
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J2.MotionBusVelocityBase = 1000 ' counts per sec matches CDHD
 
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J1.Abs = TRUE
 
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J2.Abs = TRUE
 
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J1.axisType = 1
 
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J2.axisType = 1
 
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J1.Pfac = gearRat_X * Pos_Units[J1.Dadd]
 
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J2.Pfac = gearRat_Y * Pos_Units[J2.Dadd]
 
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J1.Vfac = J1.Pfac/1000
 
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J2.Vfac = J2.Pfac/1000
 
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J1.Afac = J1.Vfac/1000
 
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J2.Afac = J2.Vfac/1000
 
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J1.Jfac = J1.Afac/1000
 
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J2.Jfac = J2.Afac/1000
 
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J1.Direction = 1
 
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J2.Direction = 1
 
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J1.Disp = 0.0
 
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J2.Disp = 0.0
 
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J1.Vmax = Jvmax 'mm/sec ' TBD
 
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J2.Vmax = Jvmax 'mm/sec ' TBD
 
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J1.Vospd = 1.2 * J1.Vmax
 
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J2.Vospd = 1.2 * J2.Vmax
 
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J1.Vcruise = 0.5 * J1.Vmax
 
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J2.Vcruise = 0.5 * J2.Vmax
 
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J1.Amax = J1.Vmax * AccVratio
 
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J2.Amax = J2.Vmax * AccVratio
 
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J1.Dmax = J1.Amax
 
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J2.Dmax = J2.Amax
 
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J1.Acc = J1.Amax
 
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J2.Acc = J2.Amax
 
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J1.Dec = J1.Dmax
 
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J2.Dec = J2.Dmax
 
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J1.Jmax = omega * J1.Amax
 
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J2.Jmax = omega * J2.Amax
 
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J1.Jerk = J1.Jmax
 
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J2.Jerk = J2.Jmax
 
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J1.Smooth = -1
 
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J2.Smooth = -1
 
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J1.prftype = myprf
 
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J2.prftype = myprf
 
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A1.PMin = -1.0
 
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A1.PMax =  400.0
 
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J1.PMin = -1.0
 
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J1.PMax =  400.0
 
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A2.PMin = -1.0
 
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A2.PMax =  400.0
 
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J2.PMin = -1.0
 
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J2.PMax =  400.0
 
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J1.PmaxEn = TRUE
 
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J2.PmaxEn = TRUE
 
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J1.PminEn = TRUE
 
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J2.PminEn = TRUE
 
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J1.positionerrorsettle = 0.1
 
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J2.positionerrorsettle = 0.1
 
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J1.PeMax = 20  'mm
 
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J2.PeMax = 20  'mm
 
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PeMax = Sqrt(J1.PeMax^2 + J2.PeMax^2 )  ' follwing error in mm (envelope)
 
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J1.PositionRollOverEnable=0
 
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J2.PositionRollOverEnable=0
 
−
 
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Smooth = -1
 
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prftype = myprf
 
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Vfac = 1/1000
 
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Afac = Vfac/1000
 
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Jfac = Afac/1000
 
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Vmax = Jvmax
 
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Amax = max(J1.Amax,J2.Amax)
 
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Dmax = max(J1.Dmax,J2.Dmax)
 
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Jmax = max(J1.Jmax,J2.Jmax)
 
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J1.PositionErrorDelay = 5.07
 
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J2.PositionErrorDelay = 5.07
 
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for i = 1 to 2
 
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  for k = 1 to 2
 
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if i = k then
 
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  cplg[i][k] = 1
 
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else
 
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  cplg[i][k] = 0
 
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end if
 
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  next
 
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next
 
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Coupled = 1
 
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Abs = 1
 
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ConfigGroup
 
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Vcruise = 0.5 * Vmax
 
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Acc = Amax
 
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Dec = Dmax
 
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Jmax = Omega * Amax
 
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Jerk= Jmax
 
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PositionErrorSettle = 0.025 ' 25um
 
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Detach
 
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end with
 
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Print ""
 
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Print "-------------------------"
 
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Print "XY portal - setup is done"
 
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Print "-------------------------"
 
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Print ""
 
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end program
 
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function max(byval a as double, byval b as double ) as double
 
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  if a > b then
 
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    max = a
 
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  else
 
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    max = b
 
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  end if
 
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end function
 
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function min(byval a as double, byval b as double ) as double
 
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  if a < b then
 
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    min = a
 
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  else
 
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    min = b
 
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  end if
 
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end function
 
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sub setupInit
 
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axisPitch[1] = 1
 
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axisPitch[2] = 1
 
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end sub
 
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</syntaxhighlight>
 
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&nbsp;
 
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XY_Blend.PRG:
 
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<syntaxhighlight lang="vb">
 
 
'------------------------------------------------------------------------------
 
'------------------------------------------------------------------------------
−
' File:        <MyTask>.prg
+
' File:        BLEND.prg
−
' Purpose:    Just an example of a module header
+
' Purpose:    MC training for blending motion of a single axis
 
' Version:    1.00
 
' Version:    1.00
−
' Author:      <MyFullName>
+
' Author:      Eran Korkidi
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' Description:
+
' History:    2021-08-04 Created 
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' History:    YYYY-MM-DD  <MyShortCut> V1.00
 
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'              Created
 
 
'------------------------------------------------------------------------------
 
'------------------------------------------------------------------------------
  
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' module global "constants"
 
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−
 
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' module global variables
 
  
  
 
program
 
program
  
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dim i as long
+
Attach X
−
 
+
X.En = 1
−
Attach XYTABLE
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Sleep 100
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XYTABLE.En = 1
+
X.Abs = 1
−
while NOT XYTABLE.En
+
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Sleep 1
+
X.CP = 20
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end while
+
X.BlendingFactor = 80
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call move1
+
Record X_MOT2.rec 10000 Gap=1 RecData = X.pcmd, X.VCMD, X.ismoving
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call move2
+
X.BlendingMethod = 0
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Detach XYTABLE
+
call executeMot
 +
X.BlendingMethod = 1
 +
call executeMot
 +
X.BlendingMethod = 2
 +
call executeMot
 +
RecordClose
 +
 +
Detach X
  
 
end program ' <MyTask>.prg
 
end program ' <MyTask>.prg
  
  
−
sub move1
+
sub executeMot
−
 
+
Move X 0 Vcruise=100
−
dim i as long
+
waitForMotion X
−
for i = 1 to 3
+
RecordOn
−
Move XYTABLE {300,300}
+
Sleep 100
−
Move XYTABLE {0,0}
+
Move X 50 Vcruise=20
−
next
+
Sleep 500
−
while XYTABLE.IsMoving
+
Move X 100 Vcruise=20
−
Sleep 1
+
waitForMotion X
−
end while
+
Sleep 100
−
+
RecordOff
 
end sub
 
end sub
  
 +
</syntaxhighlight>
  
−
sub move2
+
result:
  
−
XYTABLE.BlendingFactor = 80
+
[[File:singleAxisBlend.JPG|RTENOTITLE]]
−
XYTABLE.Cp = 20
 
−
 
 
−
Move XYTABLE {0,0}
 
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while XYTABLE.IsMoving
 
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Sleep 1
 
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end while
 
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XYTABLE.BlendingMethod = 0
 
−
Record blend_0.rec 10000 Gap = 1 RecData = A1.Pcmd, A2.Pcmd, A1.Vcmd, A2.Vcmd
 
−
RecordOn
 
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Move XYTABLE {0,100}
 
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Move XYTABLE {100,100}
 
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Move XYTABLE {100,0}
 
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Move XYTABLE {0,0}
 
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while XYTABLE.IsMoving
 
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Sleep 1
 
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end while
 
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RecordClose
 
−
 
 
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XYTABLE.BlendingMethod = 1
 
−
Record blend_1.rec 10000 Gap = 1 RecData = A1.Pcmd, A2.Pcmd, A1.Vcmd, A2.Vcmd
 
−
RecordOn
 
−
Move XYTABLE {0,100}
 
−
Move XYTABLE {100,100}
 
−
Move XYTABLE {100,0}
 
−
Move XYTABLE {0,0}
 
−
while XYTABLE.IsMoving
 
−
Sleep 1
 
−
end while
 
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RecordClose
 
−
 
 
−
XYTABLE.BlendingMethod = 2
 
−
Record blend_2.rec 10000 Gap = 1 RecData = A1.Pcmd, A2.Pcmd, A1.Vcmd, A2.Vcmd
 
−
RecordOn
 
−
Move XYTABLE {0,100}
 
−
Move XYTABLE {100,100}
 
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Move XYTABLE {100,0}
 
−
Move XYTABLE {0,0}
 
−
while XYTABLE.IsMoving
 
−
Sleep 1
 
−
end while
 
−
RecordClose
 
−
 
 
−
end sub
 
−
 
 
−
</syntaxhighlight>
 

Latest revision as of 10:30, 4 August 2021

Language: English

here is an example of using blended motion for a single axis. the motion is done with different blendingFactor: 0 / 1 / 2

  

'------------------------------------------------------------------------------
' File:        BLEND.prg
' Purpose:     MC training for blending motion of a single axis
' Version:     1.00
' Author:      Eran Korkidi
' History:     2021-08-04  Created 
'------------------------------------------------------------------------------



program

	Attach X
	X.En = 1
	Sleep 100
	X.Abs = 1
	
	X.CP = 20
	X.BlendingFactor = 80
	Record X_MOT2.rec 10000 Gap=1 RecData = X.pcmd, X.VCMD, X.ismoving
		X.BlendingMethod = 0
		call executeMot
		X.BlendingMethod = 1
		call executeMot
		X.BlendingMethod = 2
		call executeMot
	RecordClose
	
	Detach X

end program ' <MyTask>.prg


sub executeMot
	Move X 0 Vcruise=100
	waitForMotion X
	RecordOn
		Sleep 100
		Move X 50 Vcruise=20
		Sleep 500
		Move X 100 Vcruise=20
		waitForMotion X
		Sleep 100
	RecordOff
end sub

result:

RTENOTITLE

Retrieved from "http://softmc.servotronix.com/index.php?title=Program_Examples:Single_Axis_Blending&oldid=133799"