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Kernel: Python 3 (ipykernel)
import numpy as np
import matplotlib.pyplot as plt

from datetime import date

today_str = date.today().strftime("%b-%d-%Y")

Define some constant values

  • gg - gravity (determines units)

  • hh - still water depth

  • aa - target wave amplitude

  • P997 - timestep between paddle moves in ms (typically 20)

g = 9810
h = 80
a = 24
P997 = 10

print(h,a)
80 24

Define functions for solitary wave form (3rd order following Grimshaw)

starting from physical quantites (denoted with tilde), we can define some useful paramaters: a=a~0h~0 a = \frac{\tilde{a}_0}{\tilde{h}_0} ξ=x~h~0 \xi = \frac{\tilde{x}}{\tilde{h}_0} and τ=t~g~0h~0h~0 \tau = \frac{\tilde{t} \sqrt{\tilde{g}_0 \tilde{h}_0}}{\tilde{h}_0} where the subscript naught indicates a constant value. Then, for convienence, we define:

F=1+12a−320a2+356a3F = 1 + \frac{1}{2} a - \frac{3}{20} a^2 + \frac{3}{56} a^3α=34a(1−58a+71128a2)\alpha = \sqrt{\frac{3}{4} a} \left( 1 - \frac{5}{8} a + \frac{71}{128} a^2 \right)

and take ξ0\xi_0 and τ0\tau_0 as some spatial and temporal offset, if needed, to write

s=sech(α((ξ−ξ0)−F(τ−τ0)))s = sech \left( \alpha \left( (\xi - \xi_0) - F (\tau - \tau_0) \right) \right)

then finally retrieve the free surface elevation

η~=h~0(as2−34a2(s2−s4)+a3(58s2−15180s4+10180s6))\tilde{\eta} = \tilde{h}_0 \left( a s^2 - \frac{3}{4} a^2 (s^2 - s^4) + a^3 \left( \frac{5}{8} s^2 - \frac{151}{80} s^4 + \frac{101}{80} s^6 \right) \right)

and the depth averaged flow velocity

u~=Fg~0h~0(η~h~0+η~)\tilde{u} = F \sqrt{\tilde{g}_0 \tilde{h}_0} \left( \frac{\tilde{\eta}}{\tilde{h}_0 + \tilde{\eta}} \right)
def solitary_amp(a0,h0,x,t,xoff=0,toff=0,g=9.81):
    '''Returns the amplitude of a 3rd order solitary wave on a meshgrid or as scalar'''
    assert isinstance(a0, (int, float)) and  isinstance(h0, (int, float)) \
        and isinstance(x, (int, float, np.ndarray)) and isinstance(t, (int, float, np.ndarray)) \
        and isinstance(toff, (int, float)) and isinstance(g, (int, float))
    
    from numpy import sqrt
    from numpy import cosh
    
    a = a0/h0
    c0 = sqrt(g*h0)
    F = 1 + (1/2)*a - (3/20)*(a**2) + (3/56)*(a**3)
    c = c0*F
    alpha = sqrt(3*a/4) * (1 - (5/8)*a + (71/128)*(a**2))
    xi = x/h0
    xioff = xoff/h0
    tau = c0*t/h0
    tauoff = c0*toff/h0
    X, T = np.meshgrid(xi,tau,indexing='ij')
    if X.size == 1 and T.size == 1:
        X = X.ravel()[0]
        T = T.ravel()[0]
    s = 1/(cosh(alpha*((X-xioff) - F*(T - tauoff))))
    return h0*(a*(s**2) - (3/4)*(a**2)*(s**2 - s**4) + (a**3)*( (5/8)*(s**2) - (151/80)*(s**4) + (101/80)*(s**6) ))


def solitary_vel(a0,h0,x,t,xoff=0,toff=0,g=9.81):
    '''Returns the flow velocity of a 3rd order solitary wave on a meshgrid or as scalar'''
    assert isinstance(a0, (int, float)) and  isinstance(h0, (int, float)) \
        and isinstance(x, (int, float, np.ndarray)) and isinstance(t, (int, float, np.ndarray)) \
        and isinstance(toff, (int, float)) and isinstance(g, (int, float))
    from math import sqrt
    eta = solitary_amp(a0,h0,x,t,xoff,toff,g)
    a = a0/h0
    F = 1 + (1/2)*a - (3/20)*(a**2) + (3/56)*(a**3)
    c = sqrt(g*h0)*F
    return (c*eta)/(h0+eta)

Determine the total time for the paddle movement

also determine offset the arrival time of the soliton so that the paddle velocity is initially zero

from math import sqrt

alpha = sqrt((3*a)/(4*h) * (1 - (5/8)*(a/h) + (71/128)*((a/h)**2)))
timescale = h/(alpha*sqrt(g*h))

# pmac usually starts at x=0
x0 = 0
# pmac usually starts at t=0
tmin = 0
# tmax depends on waveform
tmax = 12 * timescale

#time, dt = np.linspace(tmin,tmax,nsteps,retstep=True)
dt = P997/1000
nsteps = int((tmax-tmin)/dt)
time = np.linspace(tmin,nsteps*dt,nsteps)

xoff = 0
toff = 6 * timescale

n_substeps = 100

Check the wave form

eta = solitary_amp(a,h,0,time,xoff,toff,g)
u = solitary_vel(a,h,0,time,xoff,toff,g)

fig, axes = plt.subplots(1,2,figsize=(18,6))

ax = axes[0]
ax.plot(time,eta.ravel())
ax.set_xlabel('time (s)')
ax.set_ylabel('free surface elevation (mm)')
ax.set_title(r'shape of solitary surface eleveation at $x=0$')

ax = axes[1]
ax.plot(time,u.ravel())
ax.set_xlabel('time (s)')
ax.set_ylabel('depth averaged flow velocity (mm/s)')
ax.set_title(r'shape of solitary flow velocity at $x=0$')
Text(0.5, 1.0, 'shape of solitary flow velocity at $x=0$')
Image in a Jupyter notebook

Prepare subroutine for integrating paddle motion

def integrate_solitary_between_pvt_moves(a0,h0,x0,t0,xoff,toff,g,n_substeps,dt):
    ''' returns the paddle position and velocity at the next pvt move '''
    assert isinstance(a0, (int, float)) and isinstance(h0, (int, float)) \
        and isinstance(x0, (int, float)) and isinstance(t0, (int, float)) \
        and isinstance(xoff, (int, float)) and isinstance(toff, (int, float)) \
        and isinstance(g, (int, float)) and isinstance(n_substeps, int)
    
    sub_time, sub_dt = np.linspace(t0,t0+dt,n_substeps,retstep=True)
    
    # initialize values
    x = x0
    u = solitary_vel(a0,h0,x0,t0,xoff,toff,g)
    
    # integrate solitary_vel by Forward-Euler
    for t in sub_time:
        x = x + u*sub_dt
        u = solitary_vel(a0,h0,x,t,xoff,toff,g)
        
    return x, u

Integrate paddle motion

ppmac = np.empty(time.shape)
vpmac = np.empty(time.shape)

x = x0
t0 = time[0]
u = solitary_vel(a,h,x0,t0,xoff,toff,g)

for idx,t in enumerate(time):
    ppmac[idx] = x
    vpmac[idx] = u
    
    x, u = integrate_solitary_between_pvt_moves(a,h,x,t,xoff,toff,g,n_substeps,dt)

Check the paddle motion

fig, axes = plt.subplots(1,3,figsize=(18,6))

ax = axes[0]
ax.plot(time,ppmac.ravel(),'.')
ax.set_xlabel('time (s)')
ax.set_ylabel('paddle position (mm)')
ax.set_title('paddle position vs time')

ax = axes[1]
ax.plot(time,vpmac.ravel(),'.')
ax.set_xlabel('time (s)')
ax.set_ylabel('paddle velocity (mm/s)')
ax.set_title('paddle velocity vs time')

ax = axes[2]
ax.plot(ppmac.ravel(),vpmac.ravel(),'.')
ax.set_xlabel('paddle position (mm)')
ax.set_ylabel('paddle velocity (mm/s)')
ax.set_title('paddle velocity vs paddle position')
Text(0.5, 1.0, 'paddle velocity vs paddle position')
Image in a Jupyter notebook

Check some paddle motion properties

print('the total paddle stroke is:',ppmac[-1],'mm')
print('the max paddle velocity is:',vpmac.max(),'mm/s')
print('the initial paddle velocity is:',vpmac[0],'mm/s')
print('the final paddle velocity is:',vpmac[-1],'mm/s')
the total paddle stroke is: 109.73896415028867 mm the max paddle velocity is: 232.63514676409073 mm/s the initial paddle velocity is: 0.0031260970988302907 mm/s the final paddle velocity is: 0.009610118265296796 mm/s 
#np.savetxt('tpmac.txt',time.ravel())
#np.savetxt('ppmac.txt',ppmac.ravel())
#np.savetxt('vpmac.txt',vpmac.ravel())

Finally, write out the motion control programs

the motion control program for paddles 1 through 8

with open(f"sol3rd_h{h}_a{a:02d}_A.pmc", "w") as text_file:
    print("; WAVE TYPE - 3rd Order Solitary Wave", file=text_file)
    print(f"; GRAVITATION CONSTANT - {g}", file=text_file)
    print(f"; WATER DEPTH - {h}", file=text_file)
    print(f"; TARGET AMPLITUDE - {a}", file=text_file)
    print("; FILE A", file=text_file)
    print("; GENERATION DATE - " + today_str, file=text_file)
    print(";", file=text_file)
    print("CLOSE", file=text_file)
    print("DELETE GATHER", file=text_file)
    print("DELETE TRACE", file=text_file)
    print("; M7024 = 1 turns off the TTL from output 1", file=text_file)
    print("M7024=1", file=text_file)
    print("; assign motors and scaling to coordinate system", file=text_file)
    print("&1 A", file=text_file)
    print("; in this case, all motors have the same motion, assign all to X", file=text_file)
    print("; to prevent motor motion, simply comment out the assigment", file=text_file)
    print("; 1 inch is 50,000 counts therefore 1mm is 1968.50393700787 counts", file=text_file)
    print("; the units of X,Y,Z,U,V,W,A,B depend on the scaling defined here", file=text_file)
    print(f"#1->{50000/25.4:.6f}X", file=text_file)
    print(f"#2->{50000/25.4:.6f}X", file=text_file)
    print(f"#3->{50000/25.4:.6f}X", file=text_file)
    print(f"#4->{50000/25.4:.6f}X", file=text_file)
    print(f"#5->{50000/25.4:.6f}X", file=text_file)
    print(f"#6->{50000/25.4:.6f}X", file=text_file)
    print(f"#7->{50000/25.4:.6f}X", file=text_file)
    print(f"#8->{50000/25.4:.6f}X", file=text_file)
    print("; redefine motion program 2 ", file=text_file)
    print("OPEN PROG 2 CLEAR", file=text_file)
    print("P997={}".format(P997), file=text_file)
    print("HOMEZ1..8", file=text_file)
    print("ABS", file=text_file)
    print("LINEAR", file=text_file)
    print("TS0", file=text_file)
    print("TA1000", file=text_file)
    print("TM5000", file=text_file)
    print("DWELL5000", file=text_file)
    print("PVT(P997)", file=text_file)
    print("; M7024=0 will turn on the TTL signal from output 1", file=text_file)
    print("M7024=0", file=text_file)
    print("; define motion like X(position):(velocity)", file=text_file)
    for pos, vel in zip(ppmac,vpmac):
        print(f"X({pos:.6f}):({vel:.6f})", file=text_file)
        
    print("DWELL15000 ; dwell time in ms", file=text_file)
    print("; M7024 = 1 turns off the TTL from output 1", file=text_file)
    print("M7024=1", file=text_file)
    print("LINEAR", file=text_file)
    print("TA100", file=text_file)
    print("TS0", file=text_file)
    print("TM1000", file=text_file)
    print("; Comment below to prevent paddles moving back to zero after dwelling", file=text_file)
    print("X0", file=text_file)
    print("CLOSE", file=text_file)
    print("CLOSE", file=text_file)

the motion control program for paddles 9 through 16

with open(f"sol3rd_h{h}_a{a:02d}_B.pmc", "w") as text_file:
    print("; WAVE TYPE - 3rd Order Solitary Wave", file=text_file)
    print(f"; GRAVITATION CONSTANT - {g}", file=text_file)
    print(f"; WATER DEPTH - {h}", file=text_file)
    print(f"; TARGET AMPLITUDE - {a}", file=text_file)
    print("; FILE B", file=text_file)
    print("; GENERATION DATE - " + today_str, file=text_file)
    print(";", file=text_file)
    print("CLOSE", file=text_file)
    print("DELETE GATHER", file=text_file)
    print("DELETE TRACE", file=text_file)
    print("; assign motors and scaling to coordinate system", file=text_file)
    print("&2 A", file=text_file)
    print("; in this case, all motors have the same motion, assign all to X", file=text_file)
    print("; to prevent motor motion, simply comment out the assigment", file=text_file)
    print("; 1 inch is 50,000 counts therefore 1mm is 1968.50393700787 counts", file=text_file)
    print("; the units of X,Y,Z,U,V,W,A,B depend on the scaling defined here", file=text_file)
    print(f"#9->{50000/25.4:.6f}X", file=text_file)
    print(f"#10->{50000/25.4:.6f}X", file=text_file)
    print(f"#11->{50000/25.4:.6f}X", file=text_file)
    print(f"#12->{50000/25.4:.6f}X", file=text_file)
    print(f"#13->{50000/25.4:.6f}X", file=text_file)
    print(f"#14->{50000/25.4:.6f}X", file=text_file)
    print(f"#15->{50000/25.4:.6f}X", file=text_file)
    print(f"#16->{50000/25.4:.6f}X", file=text_file)
    print("; redefine motion program 3 ", file=text_file)
    print("OPEN PROG 3 CLEAR", file=text_file)
    print("P997={}".format(P997), file=text_file)
    print("HOMEZ9..16", file=text_file)
    print("ABS", file=text_file)
    print("LINEAR", file=text_file)
    print("TS0", file=text_file)
    print("TA1000", file=text_file)
    print("TM5000", file=text_file)
    print("DWELL5000", file=text_file)
    print("PVT(P997)", file=text_file)
    print("; define motion like X(position):(velocity)", file=text_file)
    for pos, vel in zip(ppmac,vpmac):
        print(f"X({pos:.6f}):({vel:.6f})", file=text_file)
        
    print("DWELL15000 ; dwell time in ms", file=text_file)
    print("LINEAR", file=text_file)
    print("TA100", file=text_file)
    print("TS0", file=text_file)
    print("TM1000", file=text_file)
    print("; Comment below to prevent paddles moving back to zero after dwelling", file=text_file)
    print("X0", file=text_file)
    print("CLOSE", file=text_file)
    print("CLOSE", file=text_file)

Verify file output

tryA_contents = open(f"sol3rd_h{h}_a{a:02d}_A.pmc", 'r').read()
print(tryA_contents)
; WAVE TYPE - 3rd Order Solitary Wave ; GRAVITATION CONSTANT - 9810 ; WATER DEPTH - 80 ; TARGET AMPLITUDE - 24 ; FILE A ; GENERATION DATE - Jul-31-2023 ; CLOSE DELETE GATHER DELETE TRACE ; M7024 = 1 turns off the TTL from output 1 M7024=1 ; assign motors and scaling to coordinate system &1 A ; in this case, all motors have the same motion, assign all to X ; to prevent motor motion, simply comment out the assigment ; 1 inch is 50,000 counts therefore 1mm is 1968.50393700787 counts ; the units of X,Y,Z,U,V,W,A,B depend on the scaling defined here #1->1968.503937X #2->1968.503937X #3->1968.503937X #4->1968.503937X #5->1968.503937X #6->1968.503937X #7->1968.503937X #8->1968.503937X ; redefine motion program 2 OPEN PROG 2 CLEAR P997=10 HOMEZ1..8 ABS LINEAR TS0 TA1000 TM5000 DWELL5000 PVT(P997) ; M7024=0 will turn on the TTL signal from output 1 M7024=0 ; define motion like X(position):(velocity) X(0.000000):(0.003126) X(0.000033):(0.003466) X(0.000070):(0.003844) X(0.000111):(0.004263) X(0.000156):(0.004728) X(0.000207):(0.005243) X(0.000262):(0.005815) X(0.000324):(0.006449) X(0.000393):(0.007153) X(0.000469):(0.007933) X(0.000553):(0.008798) X(0.000647):(0.009758) X(0.000750):(0.010822) X(0.000866):(0.012002) X(0.000993):(0.013311) X(0.001135):(0.014763) X(0.001292):(0.016373) X(0.001466):(0.018158) X(0.001659):(0.020139) X(0.001873):(0.022335) X(0.002111):(0.024771) X(0.002374):(0.027472) X(0.002666):(0.030468) X(0.002990):(0.033791) X(0.003349):(0.037476) X(0.003748):(0.041563) X(0.004190):(0.046095) X(0.004680):(0.051122) X(0.005224):(0.056696) X(0.005826):(0.062878) X(0.006495):(0.069735) X(0.007237):(0.077338) X(0.008059):(0.085771) X(0.008971):(0.095122) X(0.009983):(0.105493) X(0.011104):(0.116993) X(0.012348):(0.129747) X(0.013728):(0.143891) X(0.015258):(0.159575) X(0.016955):(0.176968) X(0.018837):(0.196256) X(0.020923):(0.217644) X(0.023238):(0.241360) X(0.025804):(0.267659) X(0.028650):(0.296819) X(0.031806):(0.329153) X(0.035306):(0.365004) X(0.039187):(0.404754) X(0.043491):(0.448826) X(0.048263):(0.497688) X(0.053555):(0.551858) X(0.059422):(0.611911) X(0.065928):(0.678482) X(0.073142):(0.752276) X(0.081141):(0.834070) X(0.090008):(0.924728) X(0.099840):(1.025202) X(0.110739):(1.136547) X(0.122822):(1.259927) X(0.136216):(1.396633) X(0.151064):(1.548085) X(0.167520):(1.715857) X(0.185760):(1.901682) X(0.205974):(2.107474) X(0.228375):(2.335342) X(0.253197):(2.587611) X(0.280698):(2.866841) X(0.311166):(3.175845) X(0.344916):(3.517720) X(0.382296):(3.895863) X(0.423691):(4.314002) X(0.469526):(4.776221) X(0.520266):(5.286988) X(0.576428):(5.851185) X(0.638575):(6.474135) X(0.707331):(7.161635) X(0.783378):(7.919982) X(0.867465):(8.756004) X(0.960413):(9.677080) X(1.063120):(10.691172) X(1.176568):(11.806833) X(1.301827):(13.033227) X(1.440065):(14.380130) X(1.592550):(15.857930) X(1.760657):(17.477604) X(1.945877):(19.250696) X(2.149819):(21.189263) X(2.374217):(23.305814) X(2.620931):(25.613221) X(2.891955):(28.124606) X(3.189414):(30.853202) X(3.515569):(33.812185) X(3.872811):(37.014474) X(4.263660):(40.472501) X(4.690757):(44.197950) X(5.156858):(48.201461) X(5.664818):(52.492314) X(6.217580):(57.078078) X(6.818150):(61.964248) X(7.469582):(67.153865) X(8.174943):(72.647128) X(8.937287):(78.441009) X(9.759622):(84.528879) X(10.644868):(90.900157) X(11.595818):(97.539994) X(12.615090):(104.429003) X(13.705087):(111.543052) X(14.867941):(118.853139) X(16.105467):(126.325357) X(17.419116):(133.920968) X(18.809921):(141.596601) X(20.278458):(149.304587) X(21.824800):(156.993418) X(23.448485):(164.608359) X(25.148484):(172.092169) X(26.923180):(179.385934) X(28.770359):(186.429976) X(30.687203):(193.164813) X(32.670296):(199.532121) X(34.715647):(205.475676) X(36.818708):(210.942240) X(38.974413):(215.882357) X(41.177216):(220.251055) X(43.421145):(224.008429) X(45.699849):(227.120121) X(48.006659):(229.557688) X(50.334652):(231.298876) X(52.676710):(232.327815) X(55.025585):(232.635147) X(57.373971):(232.218089) X(59.714562):(231.080459) X(62.040127):(229.232642) X(64.343571):(226.691515) X(66.617999):(223.480308) X(68.856784):(219.628399) X(71.053624):(215.171024) X(73.202601):(210.148891) X(75.298231):(204.607686) X(77.335518):(198.597473) X(79.309986):(192.171975) X(81.217719):(185.387766) X(83.055383):(178.303376) X(84.820242):(170.978346) X(86.510159):(163.472262) X(88.123599):(155.843809) X(89.659610):(148.149867) X(91.117802):(140.444700) X(92.498317):(132.779242) X(93.801795):(125.200522) X(95.029327):(117.751214) X(96.182412):(110.469323) X(97.262912):(103.388015) X(98.272997):(96.535551) X(99.215099):(89.935339) X(100.091862):(83.606072) X(100.906099):(77.561948) X(101.660742):(71.812942) X(102.358806):(66.365128) X(103.003348):(61.221037) X(103.597437):(56.380032) X(104.144120):(51.838689) X(104.646395):(47.591191) X(105.107194):(43.629699) X(105.529360):(39.944719) X(105.915633):(36.525443) X(106.268640):(33.360066) X(106.590883):(30.436074) X(106.884737):(27.740502) X(107.152443):(25.260159) X(107.396110):(22.981822) X(107.617713):(20.892403) X(107.819096):(18.979080) X(108.001977):(17.229409) X(108.167947):(15.631408) X(108.318482):(14.173615) X(108.454944):(12.845141) X(108.578586):(11.635690) X(108.690563):(10.535577) X(108.791933):(9.535729) X(108.883667):(8.627682) X(108.966652):(7.803564) X(109.041700):(7.056077) X(109.109550):(6.378475) X(109.170877):(5.764537) X(109.226294):(5.208537) X(109.276362):(4.705220) X(109.321588):(4.249766) X(109.362432):(3.837766) X(109.399315):(3.465191) X(109.432614):(3.128364) X(109.462675):(2.823932) X(109.489808):(2.548843) X(109.514298):(2.300322) X(109.536399):(2.075845) X(109.556342):(1.873121) X(109.574337):(1.690070) X(109.590573):(1.524806) X(109.605220):(1.375619) X(109.618435):(1.240961) X(109.630355):(1.119430) X(109.641108):(1.009757) X(109.650807):(0.910791) X(109.659556):(0.821496) X(109.667446):(0.740931) X(109.674563):(0.668248) X(109.680981):(0.602678) X(109.686770):(0.543530) X(109.691990):(0.490176) X(109.696698):(0.442050) X(109.700944):(0.398643) X(109.704772):(0.359492) X(109.708225):(0.324182) X(109.711339):(0.292336) X(109.714146):(0.263615) X(109.716678):(0.237714) X(109.718961):(0.214355) X(109.721020):(0.193290) X(109.722876):(0.174294) X(109.724550):(0.157164) X(109.726059):(0.141716) X(109.727421):(0.127786) X(109.728648):(0.115225) X(109.729754):(0.103898) X(109.730752):(0.093684) X(109.731652):(0.084474) X(109.732463):(0.076169) X(109.733195):(0.068680) X(109.733854):(0.061928) X(109.734449):(0.055839) X(109.734985):(0.050349) X(109.735469):(0.045398) X(109.735905):(0.040934) X(109.736298):(0.036909) X(109.736652):(0.033280) X(109.736972):(0.030008) X(109.737260):(0.027057) X(109.737520):(0.024396) X(109.737754):(0.021997) X(109.737966):(0.019834) X(109.738156):(0.017884) X(109.738328):(0.016125) X(109.738483):(0.014540) X(109.738622):(0.013110) X(109.738748):(0.011821) X(109.738862):(0.010658) X(109.738964):(0.009610) DWELL15000 ; dwell time in ms ; M7024 = 1 turns off the TTL from output 1 M7024=1 LINEAR TA100 TS0 TM1000 ; Comment below to prevent paddles moving back to zero after dwelling X0 CLOSE CLOSE 
tryB_contents = open(f"sol3rd_h{h}_a{a:02d}_B.pmc", 'r').read()
print(tryB_contents)
; WAVE TYPE - 3rd Order Solitary Wave ; GRAVITATION CONSTANT - 9810 ; WATER DEPTH - 80 ; TARGET AMPLITUDE - 24 ; FILE B ; GENERATION DATE - Jul-31-2023 ; CLOSE DELETE GATHER DELETE TRACE ; assign motors and scaling to coordinate system &2 A ; in this case, all motors have the same motion, assign all to X ; to prevent motor motion, simply comment out the assigment ; 1 inch is 50,000 counts therefore 1mm is 1968.50393700787 counts ; the units of X,Y,Z,U,V,W,A,B depend on the scaling defined here #9->1968.503937X #10->1968.503937X #11->1968.503937X #12->1968.503937X #13->1968.503937X #14->1968.503937X #15->1968.503937X #16->1968.503937X ; redefine motion program 3 OPEN PROG 3 CLEAR P997=10 HOMEZ9..16 ABS LINEAR TS0 TA1000 TM5000 DWELL5000 PVT(P997) ; define motion like X(position):(velocity) X(0.000000):(0.003126) X(0.000033):(0.003466) X(0.000070):(0.003844) X(0.000111):(0.004263) X(0.000156):(0.004728) X(0.000207):(0.005243) X(0.000262):(0.005815) X(0.000324):(0.006449) X(0.000393):(0.007153) X(0.000469):(0.007933) X(0.000553):(0.008798) X(0.000647):(0.009758) X(0.000750):(0.010822) X(0.000866):(0.012002) X(0.000993):(0.013311) X(0.001135):(0.014763) X(0.001292):(0.016373) X(0.001466):(0.018158) X(0.001659):(0.020139) X(0.001873):(0.022335) X(0.002111):(0.024771) X(0.002374):(0.027472) X(0.002666):(0.030468) X(0.002990):(0.033791) X(0.003349):(0.037476) X(0.003748):(0.041563) X(0.004190):(0.046095) X(0.004680):(0.051122) X(0.005224):(0.056696) X(0.005826):(0.062878) X(0.006495):(0.069735) X(0.007237):(0.077338) X(0.008059):(0.085771) X(0.008971):(0.095122) X(0.009983):(0.105493) X(0.011104):(0.116993) X(0.012348):(0.129747) X(0.013728):(0.143891) X(0.015258):(0.159575) X(0.016955):(0.176968) X(0.018837):(0.196256) X(0.020923):(0.217644) X(0.023238):(0.241360) X(0.025804):(0.267659) X(0.028650):(0.296819) X(0.031806):(0.329153) X(0.035306):(0.365004) X(0.039187):(0.404754) X(0.043491):(0.448826) X(0.048263):(0.497688) X(0.053555):(0.551858) X(0.059422):(0.611911) X(0.065928):(0.678482) X(0.073142):(0.752276) X(0.081141):(0.834070) X(0.090008):(0.924728) X(0.099840):(1.025202) X(0.110739):(1.136547) X(0.122822):(1.259927) X(0.136216):(1.396633) X(0.151064):(1.548085) X(0.167520):(1.715857) X(0.185760):(1.901682) X(0.205974):(2.107474) X(0.228375):(2.335342) X(0.253197):(2.587611) X(0.280698):(2.866841) X(0.311166):(3.175845) X(0.344916):(3.517720) X(0.382296):(3.895863) X(0.423691):(4.314002) X(0.469526):(4.776221) X(0.520266):(5.286988) X(0.576428):(5.851185) X(0.638575):(6.474135) X(0.707331):(7.161635) X(0.783378):(7.919982) X(0.867465):(8.756004) X(0.960413):(9.677080) X(1.063120):(10.691172) X(1.176568):(11.806833) X(1.301827):(13.033227) X(1.440065):(14.380130) X(1.592550):(15.857930) X(1.760657):(17.477604) X(1.945877):(19.250696) X(2.149819):(21.189263) X(2.374217):(23.305814) X(2.620931):(25.613221) X(2.891955):(28.124606) X(3.189414):(30.853202) X(3.515569):(33.812185) X(3.872811):(37.014474) X(4.263660):(40.472501) X(4.690757):(44.197950) X(5.156858):(48.201461) X(5.664818):(52.492314) X(6.217580):(57.078078) X(6.818150):(61.964248) X(7.469582):(67.153865) X(8.174943):(72.647128) X(8.937287):(78.441009) X(9.759622):(84.528879) X(10.644868):(90.900157) X(11.595818):(97.539994) X(12.615090):(104.429003) X(13.705087):(111.543052) X(14.867941):(118.853139) X(16.105467):(126.325357) X(17.419116):(133.920968) X(18.809921):(141.596601) X(20.278458):(149.304587) X(21.824800):(156.993418) X(23.448485):(164.608359) X(25.148484):(172.092169) X(26.923180):(179.385934) X(28.770359):(186.429976) X(30.687203):(193.164813) X(32.670296):(199.532121) X(34.715647):(205.475676) X(36.818708):(210.942240) X(38.974413):(215.882357) X(41.177216):(220.251055) X(43.421145):(224.008429) X(45.699849):(227.120121) X(48.006659):(229.557688) X(50.334652):(231.298876) X(52.676710):(232.327815) X(55.025585):(232.635147) X(57.373971):(232.218089) X(59.714562):(231.080459) X(62.040127):(229.232642) X(64.343571):(226.691515) X(66.617999):(223.480308) X(68.856784):(219.628399) X(71.053624):(215.171024) X(73.202601):(210.148891) X(75.298231):(204.607686) X(77.335518):(198.597473) X(79.309986):(192.171975) X(81.217719):(185.387766) X(83.055383):(178.303376) X(84.820242):(170.978346) X(86.510159):(163.472262) X(88.123599):(155.843809) X(89.659610):(148.149867) X(91.117802):(140.444700) X(92.498317):(132.779242) X(93.801795):(125.200522) X(95.029327):(117.751214) X(96.182412):(110.469323) X(97.262912):(103.388015) X(98.272997):(96.535551) X(99.215099):(89.935339) X(100.091862):(83.606072) X(100.906099):(77.561948) X(101.660742):(71.812942) X(102.358806):(66.365128) X(103.003348):(61.221037) X(103.597437):(56.380032) X(104.144120):(51.838689) X(104.646395):(47.591191) X(105.107194):(43.629699) X(105.529360):(39.944719) X(105.915633):(36.525443) X(106.268640):(33.360066) X(106.590883):(30.436074) X(106.884737):(27.740502) X(107.152443):(25.260159) X(107.396110):(22.981822) X(107.617713):(20.892403) X(107.819096):(18.979080) X(108.001977):(17.229409) X(108.167947):(15.631408) X(108.318482):(14.173615) X(108.454944):(12.845141) X(108.578586):(11.635690) X(108.690563):(10.535577) X(108.791933):(9.535729) X(108.883667):(8.627682) X(108.966652):(7.803564) X(109.041700):(7.056077) X(109.109550):(6.378475) X(109.170877):(5.764537) X(109.226294):(5.208537) X(109.276362):(4.705220) X(109.321588):(4.249766) X(109.362432):(3.837766) X(109.399315):(3.465191) X(109.432614):(3.128364) X(109.462675):(2.823932) X(109.489808):(2.548843) X(109.514298):(2.300322) X(109.536399):(2.075845) X(109.556342):(1.873121) X(109.574337):(1.690070) X(109.590573):(1.524806) X(109.605220):(1.375619) X(109.618435):(1.240961) X(109.630355):(1.119430) X(109.641108):(1.009757) X(109.650807):(0.910791) X(109.659556):(0.821496) X(109.667446):(0.740931) X(109.674563):(0.668248) X(109.680981):(0.602678) X(109.686770):(0.543530) X(109.691990):(0.490176) X(109.696698):(0.442050) X(109.700944):(0.398643) X(109.704772):(0.359492) X(109.708225):(0.324182) X(109.711339):(0.292336) X(109.714146):(0.263615) X(109.716678):(0.237714) X(109.718961):(0.214355) X(109.721020):(0.193290) X(109.722876):(0.174294) X(109.724550):(0.157164) X(109.726059):(0.141716) X(109.727421):(0.127786) X(109.728648):(0.115225) X(109.729754):(0.103898) X(109.730752):(0.093684) X(109.731652):(0.084474) X(109.732463):(0.076169) X(109.733195):(0.068680) X(109.733854):(0.061928) X(109.734449):(0.055839) X(109.734985):(0.050349) X(109.735469):(0.045398) X(109.735905):(0.040934) X(109.736298):(0.036909) X(109.736652):(0.033280) X(109.736972):(0.030008) X(109.737260):(0.027057) X(109.737520):(0.024396) X(109.737754):(0.021997) X(109.737966):(0.019834) X(109.738156):(0.017884) X(109.738328):(0.016125) X(109.738483):(0.014540) X(109.738622):(0.013110) X(109.738748):(0.011821) X(109.738862):(0.010658) X(109.738964):(0.009610) DWELL15000 ; dwell time in ms LINEAR TA100 TS0 TM1000 ; Comment below to prevent paddles moving back to zero after dwelling X0 CLOSE CLOSE