running cnc without g code
Posted: Sun Nov 01, 2020 1:16 pm
Code: Select all
#include "KMotionDef.h"
void main()
{
ch0->InputMode=ENCODER_MODE;
ch0->OutputMode=NO_OUTPUT_MODE;
ch0->Vel=5000;
ch0->Accel=50000;
ch0->Jerk=500000;
ch0->P=12;
ch0->I=0;
ch0->D=0;
ch0->FFAccel=0;
ch0->FFVel=0;
ch0->MaxI=200;
ch0->MaxErr=1e+06;
ch0->MaxOutput=1024;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=0;
ch0->OutputChan1=0;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x100;
ch0->LimitSwitchNegBit=0;
ch0->LimitSwitchPosBit=0;
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=1;
ch0->BacklashMode=BACKLASH_OFF;
ch0->BacklashAmount=0;
ch0->BacklashRate=0;
ch0->invDistPerCycle=1;
ch0->Lead=0;
ch0->MaxFollowingError=75000;
ch0->StepperAmplitude=20;
ch0->iir[0].B0=1;
ch0->iir[0].B1=0;
ch0->iir[0].B2=0;
ch0->iir[0].A1=0;
ch0->iir[0].A2=0;
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=5000;
ch1->Accel=50000;
ch1->Jerk=500000;
ch1->P=12;
ch1->I=0;
ch1->D=0;
ch1->FFAccel=0;
ch1->FFVel=0;
ch1->MaxI=200;
ch1->MaxErr=1e+06;
ch1->MaxOutput=1024;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=1;
ch1->InputChan1=0;
ch1->OutputChan0=1;
ch1->OutputChan1=0;
ch1->MasterAxis=1;
ch1->LimitSwitchOptions=0x100;
ch1->LimitSwitchNegBit=0;
ch1->LimitSwitchPosBit=0;
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=1;
ch1->BacklashMode=BACKLASH_OFF;
ch1->BacklashAmount=0;
ch1->BacklashRate=0;
ch1->invDistPerCycle=1;
ch1->Lead=0;
ch1->MaxFollowingError=75000;
ch1->StepperAmplitude=20;
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;
EnableAxis(0);
EnableAxis(1);
Move(0,1000);
DAC(0,1024); // voltage for Axis Y1 amplifier
DAC(2,1000); // voltage for pressure amplifier
while (!CheckDone(0));
while (!CheckDone(1));
if ( CheckDone(0))
{
DAC(2,0); // after reaching the destination, i want the DAC to be 0 volts.
}
}
please correct the c program that I made, whether the above code can move together.
will the voltage of DAC 1 follow or equal to the voltage of DAC 0 ?