Publicité
9-12
Edition 04.91
; Demo programm for the motion control module PCD4.H3..
; =====================================================
; Name
: BSP02.SRC
; U. Jäggi 27.08.90
$ include H3DEF.SRC
;*********************** Cold-Start (Initialisation)
XOB
;----------------------- Cold-Start Definitions
;----------------------- loading of the initialisation registers
Ld
Ld
Ld
Ld
Ld
Ld
Ld
Ld
Ld
Ld
;----------------------
CFB
;----------------------
EXOB
16
R
MCW+RA1
; Motion Control Word
41BH
; Stop smothly, Position mode
; only statusflag (Pos.error)
R
PosEr+RA1
; Position Error
2000
; 4 * 500 pulses
R
KProp+RA1
;Proportional factor
150
R
KInt+RA1
; Integral factor
50
R
KDer+RA1
; Derivative factor
50
R
IntL+RA1
; Integration Limit
500
R
SampI+RA1
; Sampling Interval
15
; 5.46ms
R
MCFac+RA1
; Motion Control Factor
100.0
; 100 Imp./1/10mm
R
Veloc+RA1
; Velocity
500
; 0.05m/s
R
Accel+RA1
; Acceleration
100
; 0.01m/s
AxInit
; Axis Initialisation
1
; X axis
RA1
FA1
IMode
; Initialisation mode: Analog/PWM
End XOB 16
© SAIA-Burgess Electronics SA
Exemples didactiques d'application
2
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