Move GPHI

Wiki > Galils Under SECI

Move for GPHI on CRISP

This is based on a theoretical move from 0 to 2.4, it is assumed that the encoder and motor are 'equal'.

This was based on the settings for GPHI on CRISP, which are as follows:

Setting	Value
Axis	G
Acceleration	4096
Deceleration	4096
Speed	2048
Motor steps per unit	1600
Used	True
Motor Type	2
De-energise	False
Encoder Present	True
Encoder Steps per Unit	1000
Forward Backlash	0
Backward Backlash	-0.2
Correct Motion	True
Set-point Deadband	0.000625
Dual Position Stage	False
Move Call
Positional Accuracy	0.000625
After Move
Before Move

State	Commands sent to Galil	Values
Init		Corrections = 0 Setpoint = 2.4 Position = 0
Send Setup	g_spG = -3840 <br><br> PRG = 0 <br><br> DPG = 0 <br><br> MTG = -2 <br><br> ACG = 4096 <br><br> DCG = 4096 <br><br> SPG = 2048 <br><br> CEG = 0
Setpoint	PT = 1 PAG = -3840
Begin Motion 3	SHG BGG
Wait for Stop 3		Position = 2.4
Setpoint + Correction	PRG = 0 DPG = -3840 PAG = -3840 ACG = 409 DCG = 409 SPG = 204	Corrections = 1
Begin Motion 4	SHG BGG
Wait for Stop 4		Position = 2.4
Check for accuracy
Stop	STG
Wait until Stop
Delay before Power Off Wait 0.05s
Power Off	SHG
End