Repository navigation
Expand file tree
/
Copy pathmachine.xml
More file actions
60 lines (53 loc) · 4.69 KB
/
Copy pathmachine.xml
File metadata and controls
60 lines (53 loc) · 4.69 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
<?xml version="1.0" ?>
<Machine name="Control Designer" debugstr="'" getparam="g" setparam="s">
<Commands>
<Command name="Idle Mode" cmd="i" ></Command>
<Command name="Ctrl History Dump" cmd="" >scripts.plotter.readCtrlHistory()</Command>
<Command name="Start Streaming Hist" cmd="">scripts.plotter.startStreaming()</Command>
<Command name="Stop Streaming Hist" cmd="" >scripts.plotter.stopStreaming()</Command>
<Command name="Motor: Fixed Mode" cmd="f" ></Command>
<Command name="Motor: Step Mode" cmd="m 0"></Command>
<Command name="IMC Mode" cmd="n" ></Command>
<Command name="Ctrl: PID Mode" cmd="cp" ></Command>
<Command name="Ctrl: Unity Mode" cmd="cu" ></Command>
<Command name="Ctrl: Bang Mode" cmd="cb" ></Command>
<Command name="Ctrl: DARMA Mode" cmd="cd" ></Command>
<Command name="Ctrl: Comp Mode" cmd="cc" ></Command>
<Command name="Path: Step Mode" cmd="ps" ></Command>
<Command name="Path: Load Custom" cmd="" >scripts.uploadCustomPath()</Command>
<Command name="Path: Start Custom" cmd="pcs"></Command>
<Command name="Path: Sines" cmd="pq" ></Command>
<Command name="Path: Rand" cmd="pr" ></Command>
<Command name="Path: Ramps Move" cmd="pm" ></Command>
</Commands>
<Parameters>
<Parameter name="Encoder tics/step" cmd="q" readonly="0" type="Float" tab="Main">21.7343</Parameter>
<Parameter name="Fixed Frequency (steps/min)" cmd="f" readonly="0" type="Int" tab="Main">-1</Parameter>
<Parameter name="Encoder Ticks" cmd="t" readonly="0" type="Int" tab="Main">0</Parameter>
<Parameter name="Motor Steps" cmd="mp" readonly="0" type="Int" tab="Main">0</Parameter>
<Parameter name="ShowPos Freq (ms)" cmd="o" readonly="0" type="UInt" tab="Main">0</Parameter>
<Parameter name="Force pit0 timing reset" cmd="mf" readonly="0" type="UInt" tab="Main">1</Parameter>
<Parameter name="Ctrl Update Period (ms)" cmd="ku" readonly="0" type="Float" tab="Control">1.0</Parameter>
<Parameter name="Last Ctrl Update Time (ms)" cmd="u" readonly="1" type="Float" tab="Control">0</Parameter>
<Parameter name="Ctrl Min Vel (tics/min)" cmd="i" readonly="0" type="Float" tab="Control">0.0</Parameter>
<Parameter name="Ctrl Max Vel (tics/min)" cmd="a" readonly="0" type="Float" tab="Control">21000000</Parameter>
<Parameter name="Ctrl To Position" cmd="km" readonly="0" type="UInt" tab="Control">1</Parameter>
<Parameter name="Feedforward advance (steps)" cmd="kf" readonly="0" type="UInt" tab="Control">0</Parameter>
<Parameter name="Fault Threshold (tics)" cmd="kt" readonly="0" type="Float" tab="Control">10.0</Parameter>
<Parameter name="PID P" cmd="kpp" readonly="0" type="Float" tab="Ctrl Loop">0</Parameter>
<Parameter name="PID I" cmd="kpi" readonly="0" type="Float" tab="Ctrl Loop">0</Parameter>
<Parameter name="PID D" cmd="kpd" readonly="0" type="Float" tab="Ctrl Loop">0</Parameter>
<Parameter name="DARMA R" cmd="kdr" readonly="0" type="String" tab="Ctrl Loop">1</Parameter>
<Parameter name="DARMA S" cmd="kds" readonly="0" type="String" tab="Ctrl Loop"> -17.3637 37.8686 -28.9367 7.4355</Parameter>
<Parameter name="DARMA T" cmd="kdt" readonly="0" type="String" tab="Ctrl Loop">0.0932 -0.0956 -0.0813 0.0838</Parameter>
<Parameter name="Comp C_Num" cmd="kcn" readonly="0" type="String" tab="Ctrl Loop">4.2963e-006 -9.7052e-006 9.0209e-006 -4.0100e-006 1.4887e-006 4.8140e-012</Parameter>
<Parameter name="Comp C_Den" cmd="kcd" readonly="0" type="String" tab="Ctrl Loop">-1.3001e+000 427.6166e-003 -127.5204e-003 20.3309e-006 -3.6518e-006</Parameter>
<Parameter name="Comp F_num" cmd="kco" readonly="0" type="String" tab="Ctrl Loop">0.0000e+000 66.8461e-003 -7.6873e-003</Parameter>
<Parameter name="Comp F_Den" cmd="kcf" readonly="0" type="String" tab="Ctrl Loop">-1.5135e+000 572.7072e-003</Parameter>
<Parameter name="Sine Count" cmd="pc" readonly="0" type="UInt" tab="Path">5</Parameter>
<Parameter name="Sine Amp" cmd="pa" readonly="0" type="Float" tab="Path">2000</Parameter>
<Parameter name="Sine Freq" cmd="pf" readonly="0" type="Float" tab="Path">1</Parameter>
<Parameter name="Random Scale" cmd="pr" readonly="0" type="Float" tab="Path">1.0</Parameter>
<Parameter name="Ramps Params" cmd="pm" readonly="0" type="String" tab="Path">100 100 800 4000 800 128000</Parameter>
</Parameters>
</Machine>