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IDE - cirular coordinate system


vanandel
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Is there anyway to configure the IDE so it knows a particular axis wraps? We're using the Power PMAC to drive an antenna. On the azimuth axis, we have a 16 bit synchro-to-digital converter that represents 0-360 degrees. As our motion control program continuously rotates the antenna clockwise, the IDE displays a constantly increasing azimuth. This is inconvenient, but if we try to move the antenna using an absolute 'jog' command, the Power PMAC "unwinds" the position. Rather than traveling the shortest distance to 0, the Power PMAC will move the antenna counter-clockwise, multiple rotations, until it reaches the desired position.
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At the moment the position display in the IDE does not have any settings for displaying the position in a "wrapped" or what we call "rollover" mode. In PPmac you can command rotary axes from a motion program in a rollover mode. See Coord[x].PosRollOver[i] in the saved data structures reference for details. This feature does not extend to jog moves so you have to accomplish this in another way. The easieast way is to use the CPX on-line command which essentially allows you to use a motion program rapid mode axis command in an on-line mode. The other way is to use the J=* or J:* command and first you need to properly calculate the value for Motor[x].ProgJogPos. When using J:* this would be something like Motor[x].ProgJogPos = {absolute desired position in revolution} - (Motor[x].DesPos - Motor[x].HomePos)%{motor units per rev} This would fit well into a subroutine or HMI calculation. It would not be so nice to enter each time on-line.
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