This Tama program example can be used to run step moves in positive or negative direction, by configuring a few parameters. Common applications for this are:
- Measuring axis compensation tables
- Move and settle analysis
The following screenshot shows a step moves procedure, with a start position at -365°, 4 subsequent steps of 10°, waiting 500ms after each move.
The following parameters are configurable in Register.Application.Parameters:
| Register | Description |
|---|---|
Integers[0] |
Wait time between steps in 10kHz counts, 10000 = 1s |
Integers[1] |
Step count |
Floats[0] |
Step size in axis units |
Floats[1] |
Step velocity in axis units |
Floats[2] |
Start position for positive steps procedure |
Floats[3] |
Start position for negative steps procedure |
The following commands are implemented and can be set in Register.Application.TamaControl.IsochronousMainCommand. The command resets to None automatically, after finishing a commanded procedure.
| Command | Value | Description |
|---|---|---|
| None | 0 | No action |
| MeasurePositive | 1 | Run steps procedure in positive direction |
| MeasureNegative | 2 | Run steps procedure in negative direction |
| MeasurePositiveAndNegative | 3 | Run steps procedure in both directions (positive first) |
Register.Application.Variables.Integers[0] indicates the current step index.
Register.Application.TamaControl.IsochronousMainState indicates the current procedure state.
| State | Value | Description |
|---|---|---|
| Idle | 0 | No action |
| WorkingPositive | 1 | Running steps procedure in positive direction |
| WorkingNegative | 2 | Running steps procedure in negative direction |
A Scope template Template_TamScope_StepMoves.TAMsco is available in this repository, to plot and debug the procedure. The image above is recorded with this template.