running cnc without g code

[irmad]

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#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 advise if something is missing or wrong.
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 ?

[TomKerekes]

Hi irmad,

You have axis 0 set to No Output

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ch0->OutputMode=NO_OUTPUT_MODE;

should be:

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	ch0->OutputMode=DAC_SERVO_MODE;

You have axis 1 slaved to itself

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	ch1->MasterAxis=1;

should be:

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	ch1->MasterAxis=0;

Don't write to a DAC which an axis is already continuously writing to.

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	DAC(0,1024); // voltage for Axis Y1 amplifier

The Servo will command whatever output (DAC) is necessary to try to follow axis 0. If the axes are identical, have the same friction, same load, same valves, etc then the DACs to each axis will be the same.




'if' statement is uneccesary. You already waited for the axis to be done.

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	if ( CheckDone(0))

[irmad]

how to move axes without having to write down positions or goals. like moving up or down.
because if I write MOVE it must include a goal. because manual mode does not require the target position.

You have axis 1 slaved to itself

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	ch1->MasterAxis=1;

should be:

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	ch1->MasterAxis=0;

sorry, i mean ch1->MasterAxis=0;

[TomKerekes]

To move forever use

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Jog(axis, speed);