272 lines
9.7 KiB
Plaintext
272 lines
9.7 KiB
Plaintext
#-----------------------------------------------------------------------------------------------------------------------
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# 属性名 权限 作用 默认值
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#-----------------------------------------------------------------------------------------------------------------------
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# Motor%d.Config.MicroStep 只读 细分数: 1, 2, 4, 8, 16 8
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# Motor%d.Config.ProtectByBus 只读 是否处理来自数据总线的防撞保护信号(0不处理/1处理) 0
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# Motor%d.Config.StopKeyEnabled 只读 是否启用紧停按钮信号(0不启用/1启用) 0
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# Motor%d.Config.EmmrEnabled 只读 是否启用防撞保护传感器(0不启用/1启用) 0
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# Motor%d.Config.EmmrTriggerLevel 只读 防撞保护传感器触发电平, 0低触发/1高触发 0
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# Motor%d.Config.Rotate 只读 是否旋转自由度(越过最大坐标可回到零点)(0否/1是) 0
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# Motor%d.Config.ZeroSwitch 只读 零位传感器是否具备开关 0
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# Motor%d.Config.ZeroEna 只读 零位传感器使能电平 0
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# Motor%d.Config.ZeroTriggerLevel 只读 零位传感器触发电平, 0低触发/1高触发 0
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# Motor%d.Config.MotorEnableLevel 只读 电机使能电平, 0低使能/1高使能 0
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# Motor%d.Config.MotorCurrent 只读 电机全电流电平 0
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# Motor%d.Config.MotorClockEdge 只读 电机时钟驱动的边沿, 0负边沿/1正边沿 0
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# Motor%d.Config.MotorForwardLevel 只读 电机正方向电平, 0低电平/1高电平 0
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# Motor%d.DistPerRound 只读 电机每圈行程(毫米) 0
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# Motor%d.Direction 只读 电机正方向的运动方向: North/South/West/East/Up/Down
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# Motor%d.Config.Coordinate.Zero 只读 电机零位逻辑坐标(p, 1圈=3200p) 40
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# Motor%d.Config.Coordinate.Limit 读写 电机最大行程(p, 1圈=3200p) 24000
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# Motor%d.Config.LostStepLimit.Forward 读写 电机正向最大允许失步(p, 1圈=3200p) 16
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# Motor%d.Config.LostStepLimit.Reverse 读写 电机反向最大允许失步(p, 1圈=3200p) 16
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# Motor%d.Default.Move.SpeedMax 读写 电机运动默认速度(p/sec, 1圈=3200p) 3200
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# Motor%d.Default.Move.Acceleration 读写 电机运动默认加速度(p/sec^2, 1圈=3200p) 3200
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# Motor%d.Default.Reset.SpeedMax 读写 电机复位默认速度(p/sec, 1圈=3200p) 3200
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# Motor%d.Default.Reset.Acceleration 读写 电机复位默认加速度(p/sec^2, 1圈=3200p) 3200
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#-----------------------------------------------------------------------------------------------------------------------
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# left - X
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Motor0.DesId=0x0201
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Motor0.Config.MicroStep=16
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Motor0.Config.ProtectByBus=1
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Motor0.Config.StopKeyEnabled=1
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Motor0.Config.EmmrEnabled=0
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Motor0.Config.EmmrTriggerLevel=0
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Motor0.Config.Rotate=0
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Motor0.Config.ZeroSwitch=0
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Motor0.Config.ZeroEna=0
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Motor0.Config.ZeroTriggerLevel=0
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Motor0.Config.MotorEnableLevel=1
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Motor0.Config.MotorCurrent=0
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Motor0.Config.MotorClockEdge=0
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Motor0.Config.MotorForwardLevel=1
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Motor0.Config.Coordinate.Zero=107
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Motor0.Config.Coordinate.Limit=18904
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Motor0.Config.LostStepLimit.Forward=16
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Motor0.Config.LostStepLimit.Reverse=16
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Motor0.DistPerRound=135
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Motor0.Direction=West
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Motor0.Default.Move.SpeedMax=25600
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Motor0.Default.Move.Acceleration=25600
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Motor0.Default.Reset.SpeedMax=20000
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Motor0.Default.Reset.Acceleration=20000
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# left - Y
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Motor1.DesId=0x0204
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Motor1.Config.MicroStep=16
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Motor1.Config.ProtectByBus=1
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Motor1.Config.StopKeyEnabled=1
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Motor1.Config.EmmrEnabled=0
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Motor1.Config.EmmrTriggerLevel=0
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Motor1.Config.Rotate=0
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Motor1.Config.ZeroSwitch=0
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Motor1.Config.ZeroEna=0
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Motor1.Config.ZeroTriggerLevel=1
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Motor1.Config.MotorEnableLevel=1
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Motor1.Config.MotorCurrent=0
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Motor1.Config.MotorClockEdge=0
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Motor1.Config.MotorForwardLevel=0
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Motor1.Config.Coordinate.Zero=142
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Motor1.Config.Coordinate.Limit=22542
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Motor1.Config.LostStepLimit.Forward=32
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Motor1.Config.LostStepLimit.Reverse=32
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Motor1.DistPerRound=45
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Motor1.Direction=South
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Motor1.Default.Move.SpeedMax=25600
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Motor1.Default.Move.Acceleration=192000
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Motor1.Default.Reset.SpeedMax=26667
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Motor1.Default.Reset.Acceleration=70000
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# left - Z
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Motor2.DesId=0x0208
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Motor2.Config.MicroStep=16
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Motor2.Config.ProtectByBus=1
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Motor2.Config.StopKeyEnabled=1
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Motor2.Config.EmmrEnabled=0
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Motor2.Config.EmmrTriggerLevel=0
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Motor2.Config.Rotate=0
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Motor2.Config.ZeroSwitch=0
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Motor2.Config.ZeroEna=0
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Motor2.Config.ZeroTriggerLevel=1
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Motor2.Config.MotorEnableLevel=1
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Motor2.Config.MotorCurrent=0
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Motor2.Config.MotorClockEdge=0
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Motor2.Config.MotorForwardLevel=0
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Motor2.Config.Coordinate.Zero=131
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Motor2.Config.Coordinate.Limit=11836
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Motor2.Config.LostStepLimit.Forward=40
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Motor2.Config.LostStepLimit.Reverse=40
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Motor2.DistPerRound=36.576
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Motor2.Direction=Down
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Motor2.Default.Move.SpeedMax=25600
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Motor2.Default.Move.Acceleration=256000
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Motor2.Default.Reset.SpeedMax=26667
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Motor2.Default.Reset.Acceleration=100000
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# left - P
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Motor3.DesId=0x0202
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Motor3.Config.MicroStep=16
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Motor3.Config.ProtectByBus=1
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Motor3.Config.StopKeyEnabled=1
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Motor3.Config.EmmrEnabled=0
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Motor3.Config.EmmrTriggerLevel=0
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Motor3.Config.Rotate=0
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Motor3.Config.ZeroSwitch=0
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Motor3.Config.ZeroEna=1
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Motor3.Config.ZeroTriggerLevel=1
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Motor3.Config.MotorEnableLevel=1
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Motor3.Config.MotorCurrent=0
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Motor3.Config.MotorClockEdge=0
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Motor3.Config.MotorForwardLevel=1
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Motor3.Config.Coordinate.Zero=300
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Motor3.Config.Coordinate.Limit=32640
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Motor3.Config.LostStepLimit.Forward=300
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Motor3.Config.LostStepLimit.Reverse=300
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Motor3.DistPerRound=1.27
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Motor3.Direction=Down
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Motor3.Default.Move.SpeedMax=25600
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Motor3.Default.Move.Acceleration=102400
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Motor3.Default.Reset.SpeedMax=12800
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Motor3.Default.Reset.Acceleration=51200
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# right - X
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Motor4.DesId=0x0210
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Motor4.Config.MicroStep=16
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Motor4.Config.ProtectByBus=1
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Motor4.Config.StopKeyEnabled=1
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Motor4.Config.EmmrEnabled=0
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Motor4.Config.EmmrTriggerLevel=0
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Motor4.Config.Rotate=0
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Motor4.Config.ZeroSwitch=0
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Motor4.Config.ZeroEna=1
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Motor4.Config.ZeroTriggerLevel=0
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Motor4.Config.MotorEnableLevel=1
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Motor4.Config.MotorCurrent=0
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Motor4.Config.MotorClockEdge=0
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Motor4.Config.MotorForwardLevel=0
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Motor4.Config.Coordinate.Zero=107
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Motor4.Config.Coordinate.Limit=21700
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Motor4.Config.LostStepLimit.Forward=16
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Motor4.Config.LostStepLimit.Reverse=16
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Motor4.DistPerRound=135
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Motor4.Direction=West
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Motor4.Default.Move.SpeedMax=25600
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Motor4.Default.Move.Acceleration=25600
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Motor4.Default.Reset.SpeedMax=20000
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Motor4.Default.Reset.Acceleration=20000
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# right - Y
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Motor5.DesId=0x0220
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Motor5.Config.MicroStep=16
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Motor5.Config.ProtectByBus=1
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Motor5.Config.StopKeyEnabled=1
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Motor5.Config.EmmrEnabled=0
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Motor5.Config.EmmrTriggerLevel=0
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Motor5.Config.Rotate=0
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Motor5.Config.ZeroSwitch=0
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Motor5.Config.ZeroEna=0
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Motor5.Config.ZeroTriggerLevel=1
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Motor5.Config.MotorEnableLevel=1
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Motor5.Config.MotorCurrent=0
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Motor5.Config.MotorClockEdge=0
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Motor5.Config.MotorForwardLevel=0
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Motor5.Config.Coordinate.Zero=142
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Motor5.Config.Coordinate.Limit=22542
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Motor5.Config.LostStepLimit.Forward=32
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Motor5.Config.LostStepLimit.Reverse=32
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Motor5.DistPerRound=45
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Motor5.Direction=South
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Motor5.Default.Move.SpeedMax=25600
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Motor5.Default.Move.Acceleration=192000
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Motor5.Default.Reset.SpeedMax=26667
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Motor5.Default.Reset.Acceleration=70000
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# right - Z
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Motor6.DesId=0x0240
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Motor6.Config.MicroStep=16
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Motor6.Config.ProtectByBus=1
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Motor6.Config.StopKeyEnabled=1
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Motor6.Config.EmmrEnabled=0
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Motor6.Config.EmmrTriggerLevel=0
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Motor6.Config.Rotate=0
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Motor6.Config.ZeroSwitch=0
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Motor6.Config.ZeroEna=0
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Motor6.Config.ZeroTriggerLevel=1
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Motor6.Config.MotorEnableLevel=1
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Motor6.Config.MotorCurrent=0
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Motor6.Config.MotorClockEdge=0
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Motor6.Config.MotorForwardLevel=0
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Motor6.Config.Coordinate.Zero=131
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Motor6.Config.Coordinate.Limit=11297
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Motor6.Config.LostStepLimit.Forward=40
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Motor6.Config.LostStepLimit.Reverse=40
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Motor6.DistPerRound=36.576
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Motor6.Direction=Down
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Motor6.Default.Move.SpeedMax=25600
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Motor6.Default.Move.Acceleration=256000
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Motor6.Default.Reset.SpeedMax=26667
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Motor6.Default.Reset.Acceleration=100000
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# right - P
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Motor7.DesId=0x0240
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Motor7.Config.MicroStep=16
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Motor7.Config.ProtectByBus=1
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Motor7.Config.StopKeyEnabled=1
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Motor7.Config.EmmrEnabled=0
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Motor7.Config.EmmrTriggerLevel=0
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Motor7.Config.Rotate=0
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Motor7.Config.ZeroSwitch=0
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Motor7.Config.ZeroEna=0
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Motor7.Config.ZeroTriggerLevel=1
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Motor7.Config.MotorEnableLevel=1
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Motor7.Config.MotorCurrent=0
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Motor7.Config.MotorClockEdge=0
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Motor7.Config.MotorForwardLevel=1
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Motor7.Config.Coordinate.Zero=300
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Motor7.Config.Coordinate.Limit=32640
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Motor7.Config.LostStepLimit.Forward=300
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Motor7.Config.LostStepLimit.Reverse=300
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Motor7.DistPerRound=1.27
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Motor7.Direction=Down
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Motor7.Default.Move.SpeedMax=25600
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Motor7.Default.Move.Acceleration=102400
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Motor7.Default.Reset.SpeedMax=12800
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Motor7.Default.Reset.Acceleration=51200
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#liquid
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Motor8.Config.PressureChCnt=0
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#left capacity liquid level detecter
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Motor9.Config.PressureChCnt=1
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Motor9.Config.CapEnabled=1
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#right capacity liquid level detecter
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Motor10.Config.PressureChCnt=1
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Motor10.Config.CapEnabled=1
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# right - 试剂盘R
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Motor11.DesId=0x0240
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Motor11.Config.MicroStep=16
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Motor11.Config.ProtectByBus=0
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Motor11.Config.StopKeyEnabled=1
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Motor11.Config.EmmrEnabled=0
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Motor11.Config.EmmrTriggerLevel=0
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Motor11.Config.Rotate=1
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Motor11.Config.ZeroSwitch=0
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Motor11.Config.ZeroEna=0
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Motor11.Config.ZeroTriggerLevel=1
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Motor11.Config.MotorEnableLevel=1
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Motor11.Config.MotorCurrent=0
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Motor11.Config.MotorClockEdge=0
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Motor11.Config.MotorForwardLevel=1
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Motor11.Config.Coordinate.Zero=300
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Motor11.Config.Coordinate.Limit=57600
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Motor11.Config.LostStepLimit.Forward=135
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Motor11.Config.LostStepLimit.Reverse=135
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Motor11.DistPerRound=1.27
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Motor11.Direction=Down
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Motor11.Default.Move.SpeedMax=20000
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Motor11.Default.Move.Acceleration=80000
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Motor11.Default.Reset.SpeedMax=20000
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Motor11.Default.Reset.Acceleration=80000 |