328 lines
11 KiB
Plaintext
328 lines
11 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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# 堆栈S
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Motor0.Config.MicroStep=16
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Motor0.Config.ProtectByBus=0
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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=1
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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=0
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Motor0.Config.Coordinate.Zero=630
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Motor0.Config.Coordinate.Limit=76535
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Motor0.Config.LostStepLimit.Forward=100
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Motor0.Config.LostStepLimit.Reverse=100
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Motor0.DistPerRound=10.16
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Motor0.Direction=5
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Motor0.Default.Move.SpeedMax=13333
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Motor0.Default.Move.Acceleration=33333
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Motor0.Default.Reset.SpeedMax=13333
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Motor0.Default.Reset.Acceleration=33333
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# 取板架G
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Motor1.Config.MicroStep=16
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Motor1.Config.ProtectByBus=0
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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=1
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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=1
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Motor1.Config.Coordinate.Zero=175
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Motor1.Config.Coordinate.Limit=19948
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Motor1.Config.LostStepLimit.Forward=40
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Motor1.Config.LostStepLimit.Reverse=40
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Motor1.DistPerRound=36.576
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Motor1.Direction=1
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Motor1.Default.Move.SpeedMax=12800
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Motor1.Default.Move.Acceleration=51200
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Motor1.Default.Reset.SpeedMax=25600
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Motor1.Default.Reset.Acceleration=51200
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# 推杆L1
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Motor2.Config.MicroStep=16
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Motor2.Config.ProtectByBus=0
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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=1
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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=1
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Motor2.Config.Coordinate.Zero=175
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Motor2.Config.Coordinate.Limit=10149
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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=3
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Motor2.Default.Move.SpeedMax=25600
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Motor2.Default.Move.Acceleration=51200
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Motor2.Default.Reset.SpeedMax=25600
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Motor2.Default.Reset.Acceleration=51200
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# 推杆L2
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Motor3.Config.MicroStep=16
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Motor3.Config.ProtectByBus=0
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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=0
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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=0
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Motor3.Config.Coordinate.Zero=175
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Motor3.Config.Coordinate.Limit=13036
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Motor3.Config.LostStepLimit.Forward=40
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Motor3.Config.LostStepLimit.Reverse=40
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Motor3.DistPerRound=36.576
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Motor3.Direction=2
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Motor3.Default.Move.SpeedMax=25600
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Motor3.Default.Move.Acceleration=51200
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Motor3.Default.Reset.SpeedMax=25600
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Motor3.Default.Reset.Acceleration=51200
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# 推杆L3
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Motor4.Config.MicroStep=16
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Motor4.Config.ProtectByBus=0
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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=0
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Motor4.Config.ZeroTriggerLevel=1
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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=175
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Motor4.Config.Coordinate.Limit=21260
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Motor4.Config.LostStepLimit.Forward=40
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Motor4.Config.LostStepLimit.Reverse=40
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Motor4.DistPerRound=36.576
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Motor4.Direction=2
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Motor4.Default.Move.SpeedMax=25600
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Motor4.Default.Move.Acceleration=51200
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Motor4.Default.Reset.SpeedMax=25600
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Motor4.Default.Reset.Acceleration=51200
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# 转盘R
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Motor5.Config.MicroStep=16
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Motor5.Config.ProtectByBus=0
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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=1
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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=107
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Motor5.Config.Coordinate.Limit=51200
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Motor5.Config.LostStepLimit.Forward=40
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Motor5.Config.LostStepLimit.Reverse=40
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Motor5.DistPerRound=60
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Motor5.Direction=9
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Motor5.Default.Move.SpeedMax=20000
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Motor5.Default.Move.Acceleration=80000
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Motor5.Default.Reset.SpeedMax=10000
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Motor5.Default.Reset.Acceleration=80000
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# 温育T1
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Motor6.Config.MicroStep=16
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Motor6.Config.ProtectByBus=0
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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=1
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Motor6.Config.Coordinate.Zero=142
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Motor6.Config.Coordinate.Limit=28871
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Motor6.Config.LostStepLimit.Forward=20
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Motor6.Config.LostStepLimit.Reverse=20
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Motor6.DistPerRound=45
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Motor6.Direction=4
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Motor6.Default.Move.SpeedMax=25600
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Motor6.Default.Move.Acceleration=51200
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Motor6.Default.Reset.SpeedMax=25600
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Motor6.Default.Reset.Acceleration=51200
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# 温育T2
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Motor7.Config.MicroStep=16
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Motor7.Config.ProtectByBus=0
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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=142
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Motor7.Config.Coordinate.Limit=28871
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Motor7.Config.LostStepLimit.Forward=20
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Motor7.Config.LostStepLimit.Reverse=20
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Motor7.DistPerRound=45
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Motor7.Direction=4
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Motor7.Default.Move.SpeedMax=25600
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Motor7.Default.Move.Acceleration=51200
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Motor7.Default.Reset.SpeedMax=25600
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Motor7.Default.Reset.Acceleration=51200
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# 推杆LX
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Motor8.Config.MicroStep=16
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Motor8.Config.ProtectByBus=0
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Motor8.Config.StopKeyEnabled=1
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Motor8.Config.EmmrEnabled=0
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Motor8.Config.EmmrTriggerLevel=0
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Motor8.Config.Rotate=0
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Motor8.Config.ZeroSwitch=0
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Motor8.Config.ZeroEna=0
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Motor8.Config.ZeroTriggerLevel=1
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Motor8.Config.MotorEnableLevel=1
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Motor8.Config.MotorCurrent=0
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Motor8.Config.MotorClockEdge=0
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Motor8.Config.MotorForwardLevel=0
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Motor8.Config.Coordinate.Zero=175
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Motor8.Config.Coordinate.Limit=9449
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Motor8.Config.LostStepLimit.Forward=40
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Motor8.Config.LostStepLimit.Reverse=40
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Motor8.DistPerRound=36.576
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Motor8.Direction=2
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Motor8.Default.Move.SpeedMax=25600
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Motor8.Default.Move.Acceleration=51200
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Motor8.Default.Reset.SpeedMax=25600
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Motor8.Default.Reset.Acceleration=51200
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# 推杆LY
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Motor9.Config.MicroStep=16
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Motor9.Config.ProtectByBus=0
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Motor9.Config.StopKeyEnabled=1
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Motor9.Config.EmmrEnabled=0
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Motor9.Config.EmmrTriggerLevel=0
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Motor9.Config.Rotate=0
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Motor9.Config.ZeroSwitch=0
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Motor9.Config.ZeroEna=0
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Motor9.Config.ZeroTriggerLevel=1
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Motor9.Config.MotorEnableLevel=1
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Motor9.Config.MotorCurrent=0
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Motor9.Config.MotorClockEdge=0
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Motor9.Config.MotorForwardLevel=1
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Motor9.Config.Coordinate.Zero=175
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Motor9.Config.Coordinate.Limit=8749
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Motor9.Config.LostStepLimit.Forward=40
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Motor9.Config.LostStepLimit.Reverse=40
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Motor9.DistPerRound=36.576
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Motor9.Direction=4
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Motor9.Default.Move.SpeedMax=25600
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Motor9.Default.Move.Acceleration=51200
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Motor9.Default.Reset.SpeedMax=25600
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Motor9.Default.Reset.Acceleration=51200
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# 通用液母液P1
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Motor10.Config.MicroStep=16
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Motor10.Config.ProtectByBus=0
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Motor10.Config.StopKeyEnabled=1
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Motor10.Config.EmmrEnabled=0
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Motor10.Config.EmmrTriggerLevel=0
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Motor10.Config.Rotate=0
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Motor10.Config.ZeroSwitch=0
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Motor10.Config.ZeroEna=0
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Motor10.Config.ZeroTriggerLevel=1
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Motor10.Config.MotorEnableLevel=1
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Motor10.Config.MotorCurrent=0
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Motor10.Config.MotorClockEdge=0
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Motor10.Config.MotorForwardLevel=1
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Motor10.Config.Coordinate.Zero=300
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Motor10.Config.Coordinate.Limit=40960
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Motor10.Config.LostStepLimit.Forward=160
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Motor10.Config.LostStepLimit.Reverse=160
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Motor10.DistPerRound=1.27
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Motor10.Direction=6
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Motor10.Default.Move.SpeedMax=20000
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Motor10.Default.Move.Acceleration=200000
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Motor10.Default.Reset.SpeedMax=20000
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Motor10.Default.Reset.Acceleration=200000
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# 推杆L4
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Motor12.Config.MicroStep=16
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Motor12.Config.ProtectByBus=0
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Motor12.Config.StopKeyEnabled=1
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Motor12.Config.EmmrEnabled=0
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Motor12.Config.EmmrTriggerLevel=0
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Motor12.Config.Rotate=0
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Motor12.Config.ZeroSwitch=0
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Motor12.Config.ZeroEna=0
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Motor12.Config.ZeroTriggerLevel=0
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Motor12.Config.MotorEnableLevel=1
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Motor12.Config.MotorCurrent=0
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Motor12.Config.MotorClockEdge=0
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Motor12.Config.MotorForwardLevel=1
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Motor12.Config.Coordinate.Zero=131
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Motor12.Config.Coordinate.Limit=20997
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Motor12.Config.LostStepLimit.Forward=40
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Motor12.Config.LostStepLimit.Reverse=40
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Motor12.DistPerRound=36.576
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Motor12.Direction=2
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Motor12.Default.Move.SpeedMax=25600
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Motor12.Default.Move.Acceleration=51200
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Motor12.Default.Reset.SpeedMax=25600
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Motor12.Default.Reset.Acceleration=51200 |