CAN_4Ax_MiniMACS6_csp.mc

 
#include "..\..\..\SDK\SDK_ApossC.mc"
 
// Parameters for the SDK function
#define M_AX_0          0               // Axis module number - DS402 Master
#define M_AX_1          1               // Axis module number - DS402 Master
#define M_AX_2          2               // Axis module number - DS402 Master
#define M_AX_3          3               // Axis module number - DS402 Master
 
#define S_AX_0          0               // Axis module number - DS402 Slave
#define S_AX_1          1               // Axis module number - DS402 Slave
#define S_AX_2          2               // Axis module number - DS402 Slave
#define S_AX_3          3               // Axis module number - DS402 Slave
 
#define DRIVE_BUSID1    3               // The CAN drive busId of the MiniMACS6
 
#define PDO_S_AX_0      1               // Used PDO number
#define PDO_S_AX_1      2               // Used PDO number
#define PDO_S_AX_2      3               // Used PDO number
#define PDO_S_AX_3      4               // Used PDO number
 
// Encoder settings & axis user units (Master)
#define AXIS_ENCRES         4*256                   // Resolution of the encoder for position feed back in increments (quadcounts)
#define AXIS_POSENCREV      1                       // Number of revolutions of the motor
#define AXIS_POSENCQC       AXIS_ENCRES             // Number of quadcounts in POSENCREV revolutions
#define AXIS_POSFACT_Z      1                       // Number of revolutions of the input shaft
#define AXIS_POSFACT_N      1                       // Number of revolutions of the output shaft in POSFACT_Z revolutions of the input shaft
#define AXIS_FEEDREV        1                       // Number of revolutions of the gear box output shaft
#define AXIS_FEEDDIST       360                     // Distance travelled (in user units) in FEEDREV revolutions of the gear box output shaft [°]
 
// Axis Movement Parameter (Master)
#define AXIS_MAX_RPM        5500                    // Maximum velocity in RPM
#define AXIS_VELRES         100                     // Velocity resolution, Scaling used for the velocity and acceleration/deceleration commands, default
#define AXIS_RAMPTYPE       RAMPTYPE_JERKLIMITED    // Defines the ramptype
#define AXIS_RAMPMIN        20000                   // Maximum acceleration
#define AXIS_JERKMIN        1000                    // Minimum time (ms) required before reaching the maximum acceleration
#define AXIS_TRACKERR       200000                  // There is also a following error on DS402 Slave, could be very high ond the MACS
 
// Motor settings for actual torque feedback → VIRTAMP_PROCESS(0,PO_VIRTAMP_CURRENT)
#define SLAVE_TORQUE_CONST      15700               // Represents the motor’s torque constant uNm/A
#define SLAVE_MOT_RATED_TORQUE  135                 // Motor rated torque mNm
 
// Axis MACS control loop settings, Master position control is not used
#define AXIS_KPROP          0
#define AXIS_KINT           0
#define AXIS_KDER           0
#define AXIS_KILIM          0
#define AXIS_KILIMTIME      0
#define AXIS_BANDWIDTH      1000
#define AXIS_FFVEL          1000
#define AXIS_KFFAC          0
#define AXIS_KFFDEC         0
 
// Define Cia402 Objects
#define DS402_AXESOFFSET    0x800
 
long main(void) {
 
    // local variables
    long i, retval;
    long homingStateAx_0=0,homingStateAx_1=0,homingStateAx_2=0,homingStateAx_3=0;
 
    print("-------------------------------------------------------------------------");
    print(" Test application CANopen Master - MiniMACS6 DS402 Slave");
    print("-------------------------------------------------------------------------");
 
    ErrorClear();
    AmpErrorClear(AXALL);
 
    InterruptSetup(ERROR, ErrorHandler);
 
    //----------------------------------------------------------------
    //  Device Setup
    //
    //  For the operation of 4 axes via Can the baud rate must be set
    //  to 1 MBaud. In addition, the CANSYNCTIME must be set to 2 ms.
    //  As a rule of thumb 3 axis synchronization via CAN must happen
    //  with 1Mbaud and synctime 1 ms.
    //----------------------------------------------------------------
 
    if(GLB_PARAM(CANBAUD)!=88 || GLB_PARAM(CANSYNCTIMER)!=2)
    {
        print("New Baudrate: 1MBaud");
        GLB_PARAM(CANBAUD)=88;
        GLB_PARAM(CANSYNCTIMER)=2;
        CanOpenRestart();
        Delay(500);
    }
 
    //----------------------------------------------------------------
    // Application Setup
    //----------------------------------------------------------------
 
    // set all slaves to PREOPERATIONAL by sending an NMT.
    SYS_PROCESS(SYS_CANOM_MASTERSTATE) = 0;
 
    // initialising maxon drives
    sdkMiniMACS6_SetupCanSdoParam(DRIVE_BUSID1, PDO_S_AX_0, S_AX_0, MINIMACS6_OP_CSP);
    sdkMiniMACS6_SetupCanSdoParam(DRIVE_BUSID1, PDO_S_AX_1, S_AX_1, MINIMACS6_OP_CSP);
    sdkMiniMACS6_SetupCanSdoParam(DRIVE_BUSID1, PDO_S_AX_2, S_AX_2, MINIMACS6_OP_CSP);
    sdkMiniMACS6_SetupCanSdoParam(DRIVE_BUSID1, PDO_S_AX_3, S_AX_3, MINIMACS6_OP_CSP);
 
    // setup CANopen bus module for csp mode
    sdkMiniMACS6_SetupCanBusModule(M_AX_0, DRIVE_BUSID1, PDO_S_AX_0, MINIMACS6_OP_CSP);
    sdkMiniMACS6_SetupCanBusModule(M_AX_1, DRIVE_BUSID1, PDO_S_AX_1, MINIMACS6_OP_CSP);
    sdkMiniMACS6_SetupCanBusModule(M_AX_2, DRIVE_BUSID1, PDO_S_AX_2, MINIMACS6_OP_CSP);
    sdkMiniMACS6_SetupCanBusModule(M_AX_3, DRIVE_BUSID1, PDO_S_AX_3, MINIMACS6_OP_CSP);
 
    // setup virtual amplifier for csp mode
    sdkMiniMACS6_SetupCanVirtAmp(M_AX_0, AXIS_MAX_RPM, MINIMACS6_OP_CSP);
    sdkMiniMACS6_SetupCanVirtAmp(M_AX_1, AXIS_MAX_RPM, MINIMACS6_OP_CSP);
    sdkMiniMACS6_SetupCanVirtAmp(M_AX_2, AXIS_MAX_RPM, MINIMACS6_OP_CSP);
    sdkMiniMACS6_SetupCanVirtAmp(M_AX_3, AXIS_MAX_RPM, MINIMACS6_OP_CSP);
 
    // setup irtual counter for csp mode
    sdkMiniMACS6_SetupCanVirtCntin(M_AX_0, MINIMACS6_OP_CSP);
    sdkMiniMACS6_SetupCanVirtCntin(M_AX_1, MINIMACS6_OP_CSP);
    sdkMiniMACS6_SetupCanVirtCntin(M_AX_2, MINIMACS6_OP_CSP);
    sdkMiniMACS6_SetupCanVirtCntin(M_AX_3, MINIMACS6_OP_CSP);
 
    // start all slaves commanding them into OPERATIONAL.
    SYS_PROCESS(SYS_CANOM_MASTERSTATE) = 1;
 
    // Setup axsi parameter (Master)
    for (i = M_AX_0; i <= M_AX_3; i++)
    {
        // Movement parameters for the axis
        sdkSetupAxisMovementParam(  i,
                                    AXIS_VELRES,
                                    AXIS_MAX_RPM,
                                    AXIS_RAMPTYPE,
                                    AXIS_RAMPMIN,
                                    AXIS_JERKMIN,
                                    AXIS_TRACKERR
                                    );
 
        // Definition of the user units
        sdkSetupAxisUserUnits(      i,
                                    AXIS_POSENCREV,
                                    AXIS_POSENCQC,
                                    AXIS_POSFACT_Z,
                                    AXIS_POSFACT_N,
                                    AXIS_FEEDREV,
                                    AXIS_FEEDDIST
                                    );
        // Position control setup
        sdkSetupPositionPIDControlExt(  i,
                                        AXIS_KPROP,
                                        AXIS_KINT,
                                        AXIS_KDER,
                                        AXIS_KILIM,
                                        AXIS_KILIMTIME,
                                        AXIS_BANDWIDTH,
                                        AXIS_FFVEL,
                                        AXIS_KFFAC,
                                        AXIS_KFFDEC
                                        );
 
        // Slave information for correct display of current torque
        SdoWrite( DRIVE_BUSID1, 0x6076 + DS402_AXESOFFSET*i,    00,     SLAVE_MOT_RATED_TORQUE);    // Set Motor rated torque
        SdoWrite( DRIVE_BUSID1, 0x28C0 + i, VIRTAMP_TORQUE_CONST,       SLAVE_TORQUE_CONST);        // Set the motor’s torque constant
 
        print("Setup axis parameter: ", i);
 
    }
    //----------------------------------------------------------------
    // End of Application Setup
    //----------------------------------------------------------------
 
    // Homing setup
    print("\nDS402 MiniMACS6 Homing:");
 
    // The homing setup can also be configured on the DS402 slave.
    for (i = M_AX_0; i <= M_AX_3; i++)
    {
        SdoWrite( DRIVE_BUSID1, 0x6098 + DS402_AXESOFFSET*i,    0,   37);   // Select "Home at actual position"
        SdoWrite( DRIVE_BUSID1, 0x607C + DS402_AXESOFFSET*i,    0,   0);    // Set homing offset to [uu]
    }
 
    // Homing statemachine
    retval=0;
    while(retval!=0x0F)
    {
        retval.i[0] =   sdkMiniMACS6_AxisHomingStart(M_AX_0, DRIVE_BUSID1, MINIMACS6_OP_CSP, homingStateAx_0);
        retval.i[1] =   sdkMiniMACS6_AxisHomingStart(M_AX_1, DRIVE_BUSID1, MINIMACS6_OP_CSP, homingStateAx_1);
        retval.i[2] =   sdkMiniMACS6_AxisHomingStart(M_AX_2, DRIVE_BUSID1, MINIMACS6_OP_CSP, homingStateAx_2);
        retval.i[3] =   sdkMiniMACS6_AxisHomingStart(M_AX_3, DRIVE_BUSID1, MINIMACS6_OP_CSP, homingStateAx_3);
    }
 
    print("");
    print("-----------------------------------------------------------");
    print("                Movement in CSP Mode                       ");
    print("----------------------------------------------------------- \n");
 
    // Movement settings
    Vel(AXALL, 100);
    Acc(AXALL, 100);
    Dec(AXALL, 100);
 
    // Enable the axes
    AxisControl(M_AX_0, ON,M_AX_1, ON,M_AX_2, ON,M_AX_3, ON);
 
    while(1)
    {
        print("Start, move to target position - 10 revolutions");
        AxisPosAbsStart(    M_AX_0, 10*AXIS_FEEDDIST,
                            M_AX_1, 10*AXIS_FEEDDIST,
                            M_AX_2, 10*AXIS_FEEDDIST,
                            M_AX_3, 10*AXIS_FEEDDIST);
        AxisWaitReached(M_AX_0,M_AX_1,M_AX_2,M_AX_3);
 
        print("Target position is reached \n");
        print("Start, back to start position");
 
        AxisPosAbsStart(    M_AX_0, 0,
                            M_AX_1, 0,
                            M_AX_2, 0,
                            M_AX_3, 0);
        AxisWaitReached(M_AX_0,M_AX_1,M_AX_2,M_AX_3);
        print("Start position is reached");
        print(i-1, " repetitions to go \n");
    }
 
    print("Program done, Axis OFF ");
    AxisControl(AXALL, OFF);
 
    return(0);
}
 
void ErrorHandler(void)
{
    long axeNbr     = ErrorAxis();
    long errNbr     = ErrorNo();
    long errInfoNbr = ErrorInfo();
 
    AxisControl(AXALL,OFF);
 
    switch(errNbr)
    {
        case F_AMP:     if( axeNbr==M_AX_0 ||axeNbr==M_AX_1 || axeNbr==M_AX_2 || axeNbr==M_AX_3 )
                        {
                            print("DS402 Slave Error");
                            print("Error Axis: ", axeNbr ," ErrorCode: 0x", radixstr(SdoRead(DRIVE_BUSID1,0x603F+DS402_AXESOFFSET*axeNbr,0x00),16));
 
                            // Clear error on Slave Device
 
                            Delay(5000);
                            AmpErrorClear(axeNbr);
                        }
                        else
                        {
                            print("ErrorNo: ",errNbr," info: ",errInfoNbr, " AxisNo: ", axeNbr);
                        }
                        break;
 
        case F_CANIO:   print("ErrorNo: ",errNbr," info: ",errInfoNbr);
                        printf("SDO Abort Code %lX\n", SYS_PROCESS(SYS_CANOM_SDOABORT) );
                        print("Check Can baudrate & Can bus id");
                        break;
 
        default:        print("ErrorNo: ",errNbr," info: ",errInfoNbr, " AxisNo: ", axeNbr);
    }
 
    ErrorClear();
    print("");  print(" There is no error handlig → Exit()");
    Exit(0);
}