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84
The actuator position is calculated by:
30
counts
65535
160
%
position
For the actuator voltage range, -5%..105% is sufficient, where 0% corresponds to a voltage of -20V
and 100% corresponds to +130V. Hence, the maximum representable voltage range is given to -
27.5V..+137.5V.
75
counts
65535
165
ltage
acuator vo
V
A res
ponse to command m, for example, might look like: „m,b63a“. The value b63a
hex
represents
46650
decimal
, this corresponds to a position of 83,89%, based on the closed-loop-range.
89
.
83
30
46650
65535
160
%
position
Example 1:
A jump (in open loop mode), with a record duration of t=200ms and a sample rate of
∆t=100µs
shall be recorded. From this follows a sample count of 2000 (you can always sample more, but
minimum the desired readout length). Afterwards the position values are read out, followed by the
voltage values. Thus, the minimum sample count is 2000 based on the calculation
2000
100
200
rectlen
min
µs
ms
t
t
Command history for the issue described above:
cl,0
// open loop
set,-10
// set initial voltage to -10V
// wait a bit, until the initial position is reached (e.g. 0.5s)
recstride,5
// 5x20µs=100µs
reclen,2000
// 200ms/100µs=2000 samples
set,110
// jump in open loop to 110V, record starts automatically
// wait a bit, until the record is done
recrdptr,0
// rec_read_pointer (readout start address set to 0)
m
// read out 1st sample (position)
m
// read out 2nd sample (position)
…
recrdptr,0
// rec_read_pointer (readout start address set to 0)
u
// read out 1st sample (voltage)
u
// read out 2nd sample (voltage)
…
Example 2:readout modes: