Programa Baldor
Enviado por antoniohdz1980 • 25 de Octubre de 2014 • 399 Palabras (2 Páginas) • 159 Visitas
Startup
' Friday, January 08, 2010
Define ALL = 0
Define SELECTED = 0
Define SERVOS = 0
Define DINBANKS = 0
Define DOUTBANKS = 0
Define ADCS = 0
Define ENCODERS = 0
Define AUXENCODERS = 0
' Abort any motion currently in progress
ABORT:Wait = 10
' Define loop times
LOOPTIME = 1000
' Define config modes for all axes
CONFIG[SELECTED] = _cfSERVO
' Initialize the axes
CANCELALL
DRIVEENABLE[SELECTED] = 0;
' Digital input configuration
INPUTMODE[DINBANKS] = 0 ' 0x0
INPUTACTIVELEVEL[DINBANKS] = 011111111 ' 0xff
INPUTPOSTRIGGER[DINBANKS] = 0 ' 0x0
INPUTNEGTRIGGER[DINBANKS] = 0 ' 0x0
' Analog input configuration
ADCMODE[ADCS] = 0
' Digital output configuration
GLOBALERROROUTPUT = 1000
OUTPUTACTIVELEVEL[DOUTBANKS] = 0111 ' 0x7
' Axis scaling
SCALE[SELECTED] = 6257.00
' Axis Error parameters
ERRORINPUTMODE[SELECTED] = _emCRASH_STOP_DISABLE
ABORTMODE[SELECTED] = _emCRASH_STOP_DISABLE
LIMITMODE[SELECTED] = _emCRASH_STOP_DISABLE
SOFTLIMITMODE[SELECTED] = _emIGNORE
STOPINPUTMODE[SELECTED] = 1
SOFTLIMITFORWARD[SELECTED] = 1340.68
SOFTLIMITREVERSE[SELECTED] = -1340.68
FOLERRORMODE[SERVOS] = _emCRASH_STOP_DISABLE
FOLERRORFATAL[SERVOS] = 5.00
' Axis Digital input events
ERRORINPUT[SELECTED] = -1
HOMEINPUT[SELECTED] = 0
STOPINPUT[SELECTED] = -1
LIMITFORWARDINPUT[SELECTED] = -1
LIMITREVERSEINPUT[SELECTED] = -1
RESETINPUT[SELECTED] = 1
' Axis Drive Output Enables
DRIVEENABLEOUTPUT[SELECTED] = -1
' Axis Tuning Parameters
KDERIV[SERVOS] = 0.00
KINT[SERVOS] = 0.00
KINTLIMIT[SERVOS] = 100.00
KINTMODE[SERVOS] = 0
KPROP[SERVOS] = 7.86
KVEL[SERVOS] = 0.00
KVELFF[SERVOS] = 6.25
KACCEL[SERVOS] = 0.00
' Axis Parameters
SPEED[SELECTED] = 3.20
ACCEL[SELECTED] = 47.45
DECEL[SELECTED] = 47.45
ERRORDECEL[SELECTED] = 47.45
SRAMP[SELECTED] = 0.00
MOVEBUFFERSIZE[SELECTED] = 2
HOMEBACKOFF[SELECTED] = 10.00
HOMESPEED[SELECTED] = 0.16
IDLEPOS[SERVOS] = 0.16
IDLEVEL[SERVOS] = 0.80
' Encoder configuration
ENCODERSCALE[ENCODERS] = 1.00
ENCODERWRAP[ENCODERS] = 0.00
ENCODERMODE[ENCODERS]
...