Delta Tau GEO BRICK LV Manuel D’Utilisation
Turbo PMAC User Manual
Motor Compensation Tables and Constants
167
Setup Example
In this example, Motors 1, 2, and 3 are the X, Y, and Z-axes, respectively, in Coordinate System 1 of a
Cartesian stage. Each uses quadrature feedback with 0.1-micron resolution, and is programmed in
millimeters. Motor 4 is used to control the gap height of the vertical tool over the surface. It uses a capacitive
gap sensor through an Acc-28 16-bit A/D converter, with the LSB of the ADC measuring 0.25 microns. It is
assigned to the W-axis in the same coordinate system, also programmed in millimeters (of gap).
Cartesian stage. Each uses quadrature feedback with 0.1-micron resolution, and is programmed in
millimeters. Motor 4 is used to control the gap height of the vertical tool over the surface. It uses a capacitive
gap sensor through an Acc-28 16-bit A/D converter, with the LSB of the ADC measuring 0.25 microns. It is
assigned to the W-axis in the same coordinate system, also programmed in millimeters (of gap).
I8003=$1F8E00
; ECT 4th entry: unsigned A/D from Y:$78E00
Gap virtual motor basic setup
I400=1
; Activate Motor 4
I401=2
; Output to an X register
I402=$10F0
; Output to open register X:$10F0
I403=@I8003
; Use result from ECT 4th entry for position
I404=@I8003
; Use result from ECT 4th entry for velocity
Vertical positioning motor link to virtual motor
I305=$10F0
; Use #4 output as master input
I307=1
; Set lowest possible master scale factor
Coordinate system setup
&1
#1->10000X
; X-axis positioning in millimeters
#2->10000Y
; Y-axis positioning in millimeters
#3->10000Z
; Z-axis positioning in millimeters
#4->4000W
; Vertical gap in millimeters
Changing the Mode of Control
Whenever the following mode control bit is changed, re-align the relationship between the corresponding
motor and axis positions for the inner loop. While this is done automatically any time a program is
started with an R or S command, if this bit is changed in the middle of a motion program, command this
re-alignment explicitly by issuing a PMATCH command. This is an on-line command; from a motion
program, it must be issued with the CMD"PMATCH" syntax.
This command generally must be bracketed before and after with DWELL commands; the first to stop any
lookahead and blending (this can be a DWELL 0), and the second to give the on-line command time to
execute in background from the command queue before the next programmed move is calculated.
motor and axis positions for the inner loop. While this is done automatically any time a program is
started with an R or S command, if this bit is changed in the middle of a motion program, command this
re-alignment explicitly by issuing a PMATCH command. This is an on-line command; from a motion
program, it must be issued with the CMD"PMATCH" syntax.
This command generally must be bracketed before and after with DWELL commands; the first to stop any
lookahead and blending (this can be a DWELL 0), and the second to give the on-line command time to
execute in background from the command queue before the next programmed move is calculated.
Mode Changing Example
The following code segment shows how the transition to engaging the outer loop can be accomplished.
This example continues the one above, in which the Z-axis has been assigned to the inner loop’s motor, so
it is a position axis, and the W-axis has been assigned to the outer loop’s virtual motor.
This example continues the one above, in which the Z-axis has been assigned to the inner loop’s motor, so
it is a position axis, and the W-axis has been assigned to the outer loop’s virtual motor.
Z10
; Pure position move on inner loop
DWELL0
; Stop lookahead
I306=3
; Engage following, put in offset mode
CMD"&1PMATCH"
; Re-align motor and axis position
DWELL10
; Give PMATCH command time to execute
W5
; Outer loop command
The following code segment shows how the transition to disengaging the outer loop can be accomplished.
W5
; Outer loop command
DWELL0
; Stop lookahead
I306=0
; Disengage following, put in normal mode
CMD"&1PMATCH"
; Re-align motor and axis position
DWELL10
; Give PMATCH command time to execute
Z0
; Pure position move on inner loop