279 lines
9.5 KiB
Python
279 lines
9.5 KiB
Python
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import streamlit as st
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from math import gcd
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# ----------------------------
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# Helpers
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# ----------------------------
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def simplify_fraction(n: int, d: int) -> tuple[int, int]:
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if d == 0:
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raise ValueError("Denominator cannot be 0.")
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if n == 0:
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return 0, 1
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g = gcd(abs(n), abs(d))
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n //= g
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d //= g
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# Keep denominator positive
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if d < 0:
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n *= -1
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d *= -1
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return n, d
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def scale_down_to_limit(n: int, d: int, limit: int) -> tuple[int, int]:
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"""
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If numerator/denominator exceed 'limit', scale them down proportionally.
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Keeps ratio approximately the same (exact if divisible), then re-simplifies.
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"""
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if n == 0:
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return 0, 1
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n_abs, d_abs = abs(n), abs(d)
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if n_abs <= limit and d_abs <= limit:
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return n, d
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# Scale by the maximum overflow factor
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factor = max((n_abs + limit - 1) // limit, (d_abs + limit - 1) // limit)
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n2 = n // factor
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d2 = d // factor
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# Avoid zeroing out
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if n2 == 0:
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n2 = 1 if n > 0 else -1
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if d2 == 0:
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d2 = 1
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return simplify_fraction(n2, d2)
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# ----------------------------
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# Page config + nav
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# ----------------------------
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st.set_page_config(page_title="Delta ASDA-A2 Engineering Tool", layout="wide")
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st.sidebar.title("Configuration")
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page = st.sidebar.radio(
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"Go to",
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["Theory & Architecture", "PUU Calculator", "Parameter Guide", "ASDA-Soft Guide"],
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)
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# ----------------------------
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# Pages
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# ----------------------------
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if page == "Theory & Architecture":
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st.title("📚 Theory & Architecture")
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st.markdown(
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"""
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This tool helps you set up **electronic gearing (PUU / P1-44 & P1-45)** and the **core safety/tuning parameters**
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for a system with a gearbox (e.g., **50:1**).
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### Concept (simple)
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Most motion controllers output **position command pulses**.
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The servo drive converts those pulses into **motor encoder counts** using an **electronic gear ratio**:
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\[
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\\text{Motor encoder counts} = \\text{Command pulses} \\times \\frac{P1-44}{P1-45}
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\]
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So you choose **P1-44 / P1-45** to match *your desired “user unit”* (degrees, mm, etc.) at the **load side**.
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### With a gearbox
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- Motor counts per **load revolution** = *(motor encoder counts per motor rev)* × *(gear ratio)*
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- If you want e.g. **360 units per load rev** (degrees), then:
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\[
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\\frac{P1-44}{P1-45} = \\frac{\\text{motor counts per load rev}}{\\text{units per load rev} \\times \\text{controller pulses per unit}}
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\]
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Use the **PUU Calculator** page to get clean integers.
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"""
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)
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elif page == "PUU Calculator":
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st.title("🔢 Universal PUU Calculator (P1-44 / P1-45)")
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st.caption(
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"Goal: convert your controller command pulses into the correct motor encoder counts, "
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"including gearbox ratio, and optionally define a meaningful user unit (deg/mm/etc.)."
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)
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col1, col2 = st.columns(2)
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with col1:
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st.subheader("Input")
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motor_counts_per_rev = st.number_input(
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"Motor encoder counts per motor revolution",
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min_value=1,
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value=128000,
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step=1000,
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help="Common values: 128000, 131072, 1048576 ... depends on encoder/resolution & drive setting.",
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)
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gear_ratio = st.number_input(
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"Gear ratio (motor rev per load rev)",
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min_value=1.0,
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value=50.0,
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step=1.0,
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help="For 50:1 reduction, motor turns 50 rev while load turns 1 rev => enter 50.",
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)
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units_per_load_rev = st.number_input(
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"User units per load revolution",
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min_value=1,
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value=360,
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step=1,
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help="Examples: degrees=360, turns=1, mm per rev for a leadscrew (e.g. 5 mm/rev => 5).",
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)
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controller_pulses_per_unit = st.number_input(
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"Controller command pulses per user unit",
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min_value=1.0,
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value=1.0,
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step=1.0,
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help="If your controller outputs 1 pulse = 1 user unit, keep 1. "
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"If it outputs e.g. 10 pulses per degree, enter 10.",
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)
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ratio_limit = st.number_input(
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"Max integer limit for P1-44 / P1-45 (safety)",
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min_value=1000,
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value=2_147_483_647,
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step=1000,
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help="Keeps numbers within typical 32-bit signed range. "
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"If you know the drive's tighter limit, set it here.",
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)
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# Calculate
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# motor_counts_per_load_rev = motor_counts_per_rev * gear_ratio
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# Desired motor counts per controller pulse = motor_counts_per_load_rev / (units_per_load_rev * controller_pulses_per_unit)
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motor_counts_per_load_rev = motor_counts_per_rev * gear_ratio
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denom_units = units_per_load_rev * controller_pulses_per_unit
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st.divider()
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# Convert to integer fraction:
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# We want P1-44/P1-45 = motor_counts_per_load_rev / denom_units
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# If denom_units isn't integer, scale to preserve precision.
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# Use 1e6 scaling for decimals, then simplify.
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SCALE = 1_000_000
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n_raw = int(round(motor_counts_per_load_rev * SCALE))
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d_raw = int(round(denom_units * SCALE))
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n_s, d_s = simplify_fraction(n_raw, d_raw)
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n_final, d_final = scale_down_to_limit(n_s, d_s, int(ratio_limit))
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with col2:
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st.subheader("Result")
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st.success("Recommended electronic gear ratio for PUU:")
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st.markdown(
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f"""
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- **P1-44 (Numerator / N):** **{n_final}**
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- **P1-45 (Denominator / M):** **{d_final}**
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"""
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)
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# Show what it means
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pulses_to_motor_counts = n_final / d_final
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st.write(f"✅ This means: **1 controller pulse → {pulses_to_motor_counts:.6f} motor encoder counts**")
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# Derived helpful values
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motor_counts_per_user_unit = motor_counts_per_load_rev / units_per_load_rev
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controller_pulses_per_load_rev = units_per_load_rev * controller_pulses_per_unit
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motor_counts_per_controller_rev = controller_pulses_per_load_rev * pulses_to_motor_counts
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st.markdown("### Sanity checks")
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st.write(f"- Motor counts per **load rev**: **{motor_counts_per_load_rev:.3f}**")
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st.write(f"- User units per **load rev**: **{units_per_load_rev:.3f}**")
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st.write(f"- Motor counts per **user unit** (load side): **{motor_counts_per_user_unit:.3f}**")
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st.write(f"- Controller pulses per **load rev**: **{controller_pulses_per_load_rev:.3f}**")
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st.write(f"- Motor counts generated by **controller pulses per load rev**: **{motor_counts_per_controller_rev:.3f}**")
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st.info(
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"Tip: The last line should match (or be very close to) motor counts per load rev. "
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"If it's far off, check encoder counts, gear ratio, and pulses-per-unit."
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)
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st.info(
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"Recommended Minimum: It is generally recommended to keep the PUU per motor revolution above 5000 to avoid 'stepping' or vibration at low speeds."
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)
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st.info(
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f"Electronic Gear Ratio Limit: Delta A2 allows a ratio between $1/50$ and $25600$. "
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f"Your ratio of {motor_counts_per_load_rev}/{units_per_load_rev} ≈ {motor_counts_per_load_rev / units_per_load_rev:.3f} "
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f"is well within this safe range."
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)
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elif page == "Parameter Guide":
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st.title("🛠️ Essential Parameter Setup")
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st.write("Beyond the PUU (P1-44/45), these parameters are critical for a 50:1 gearbox system.")
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st.subheader("1. The 'Big Three' for Gearbox Safety")
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st.markdown(
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"""
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| Parameter | Name | Recommended Value | Why? |
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| :--- | :--- | :--- | :--- |
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| **P1-44** | Numerator (N) | *From Calculator* | Sets electronic gear / user units. |
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| **P1-45** | Denominator (M) | *From Calculator* | Sets electronic gear / user units. |
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| **P1-37** | Load to Motor Inertia | **10.0 ~ 20.0** | A 50:1 gearbox increases reflected inertia significantly. Start here for tuning. |
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"""
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)
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st.subheader("2. Speed & Torque Limits")
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st.info(
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"With 50:1 reduction, output torque is multiplied ~50× while output speed is divided ~50×. "
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"Use limits to protect mechanics during first tests."
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)
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st.markdown(
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"""
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- **P1-02 (Speed Limit):** Set to motor-rated safe speed (e.g., 3000 RPM) to prevent overspeed.
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- **P1-12 / P1-13 (Torque Limit):** Start conservative (e.g., 30–60%) during first motion tests to avoid smashing end-stops.
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"""
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)
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st.divider()
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st.subheader("🔄 Factory Reset (Set to Default)")
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st.warning("Warning: Resetting will erase all PUU and tuning settings!")
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col_a, col_b = st.columns(2)
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with col_a:
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st.markdown("#### Via Drive Keypad")
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st.code(
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"""
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1. Go to Parameter P2-08.
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2. Set value to 10.
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3. Press 'SET'.
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4. Power Cycle (Off/On).
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""".strip(),
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language="markdown",
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)
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with col_b:
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st.markdown("#### Via ASDA-Soft")
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st.markdown(
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"""
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1. Open **Parameter Editor**.
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2. Click **Initial** / **Factory Default**.
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3. Confirm and click **Write**.
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4. Restart the Drive.
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"""
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)
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elif page == "ASDA-Soft Guide":
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st.title("💾 Implementation in ASDA-Soft")
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st.markdown(
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"""
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To apply your **P1-44** and **P1-45** values:
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1. Open **Parameter Editor**
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2. Select **Group 1** (Basic Parameters)
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3. Enter **P1-44** and **P1-45**
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4. Click **Write to Drive**
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5. **Power cycle / restart** the drive if required for the change to take effect
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### Quick workflow
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- Calculate PUU in the **PUU Calculator**
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- Set **P1-44 / P1-45**
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- Set safe limits (**P1-02**, **P1-12**, **P1-13**)
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- Then tune (**P1-37** and auto-tuning if you use it)
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"""
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)
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