Power Brick Controller User Manual
Special Functions & Troubleshooting
182
Using this PLC, and implementing the Sine and Cosine offsets:
Delete bias corrections for channels which are not of interest.
Enable the PLC (
ENABLE PLC SineCalPLC
).
This PLC does not actively write to any structure element(s) or move any motor(s).
Insert
EncXSineOffset
and
EncXCosineOffset
(for a given channel X) in the watch window.
Move the motor (preferably slowly) along the full travel, back and forth, jogging or by hand.
The
EncXSineOffset
and
EncXCosineOffset
will stop changing when the maximum and
minimum values are reached indicating that the offsets have been computed.
Disable the PLC (
DISABLE PLC SineCalPLC
).
// ================== ENCODER 7 BIAS CORRECTIONS =================== //
IF
(SineCycles == 0)
{
MaxEnc7Sine = Enc7Sine
MinEnc7Sine = Enc7Sine
MaxEnc7Cosine = Enc7Cosine
MinEnc7Cosine = Enc7Cosine
}
IF
(Enc7Sine > MaxEnc7Sine){MaxEnc7Sine = Enc7Sine}
IF
(Enc7Sine < MinEnc7Sine){MinEnc7Sine = Enc7Sine}
IF
(Enc7Cosine > MaxEnc7Cosine){MaxEnc7Cosine = Enc7Cosine}
IF
(Enc7Cosine < MinEnc7Cosine){MinEnc7Cosine = Enc7Cosine}
Enc7SineOffset = - (MaxEn MinEnc7Sine) / (2 * 65536)
Enc7CosineOffset = - (MaxEnc7 MinEnc7Cosine) / (2 * 65536)
// ================================================================= //
// ================== ENCODER 8 BIAS CORRECTIONS =================== //
IF
(SineCycles == 0)
{
MaxEnc8Sine = Enc8Sine
MinEnc8Sine = Enc8Sine
MaxEnc8Cosine = Enc8Cosine
MinEnc8Cosine = Enc8Cosine
}
IF
(Enc8Sine > MaxEnc8Sine){MaxEnc8Sine = Enc8Sine}
IF
(Enc8Sine < MinEnc8Sine){MinEnc8Sine = Enc8Sine}
IF
(Enc8Cosine > MaxEnc8Cosine){MaxEnc8Cosine = Enc8Cosine}
IF
(Enc8Cosine < MinEnc8Cosine){MinEnc8Cosine = Enc8Cosine}
Enc8SineOffset = - (MaxEn MinEnc8Sine) / (2 * 65536)
Enc8CosineOffset = - (MaxEnc8 MinEnc8Cosine) / (2 * 65536)
// ================================================================= //
Sin+
}
CLOSE
