Maxon_EC45_flat_1ax_BC_Hall.mc

 
#include <SysDef.mh>
 
// Relative path to the main folder ApossC_SDK_Vxx.xx
#include "..\..\..\..\..\..\SDK\SDK_ApossC.mc"
 
// Setting the axis number. Hall ports are always bound to the respective axis number.
#define AXIS1_NO                0   // Axis module number
 
// Axe settings
#define EC45FLAT_CONTROLMODE    HWAMP_MODE_POS_CUR              // Define control typ
#define EC45FLAT_HALL_ALIGNMENT HALL_ALIGNMENT_120DEGREE        // Hall alignment 120° standard
#define EC45FLAT_HALL_DIRECT    -1                              // Hall direction is inverted when using maxon motors
#define EC45FLAT_POLEPAIRS      8                               // Number of pole pairs
#define EC45FLAT_CONTCUR        2970                            // Nomial continious current allowed in mA
#define EC45FLAT_MAXCUR         EC45FLAT_CONTCUR*1.25   // Maximal current allowed in mA
#define EC45FLAT_THERMAL_TIME   13400                           // Thermal time constant of the winding
 
#define EC45FLAT_MAX_RPM        5500                    // Maximum velocity in RPM
#define EC45FLAT_CURKPROP       2200                    // Proportional factor of current controller
#define EC45FLAT_CURKINT        300                     // Integral factor of current controller
#define EC45FLAT_CURKILIM       18000                   // Integral limit of current controller
 
// not used in this example → HWAMP_MODE_POS_CUR
#define EC45FLAT_VELKPROP       2000                    // Proportional factor of velocity controller
#define EC45FLAT_VELKINT        250                     // Integral factor of velocity controller
#define EC45FLAT_VELKILIM       1000                    // Integral limit of velocity controller
 
#define EC45FLAT_VELRES     100                     // Velocity resolution, Scaling used for the velocity and acceleration/deceleration commands
#define EC45FLAT_RAMPTYPE   RAMPTYPE_JERKLIMITED    // Defines the ramptype
#define EC45FLAT_RAMPMIN    1000                    // Maximum acceleration
#define EC45FLAT_JERKMIN    500                     // Minimum time (ms) required before reaching the maximum acceleration
#define EC45FLAT_POSERR     500                     // Maximal track/ position error allowed in qc
#define EC45FLAT_DIRECTION  1                       // User units have normal orientation. Increasing encoder values result in increasing user positions.
 
#define EC45FLAT_KPROP      1000                    // Proportional value for PID position control loop
#define EC45FLAT_KINT       0                       // Integral value for PID position control loop
#define EC45FLAT_KDER       2000                    // Derivative value for PID position control loop
#define EC45FLAT_KILIM      1000                    // Limit value for the integral sum of the PID position control loop
#define EC45FLAT_KILIMTIME  0                       // Time used to increase or decrease the integral limit
#define EC45FLAT_BANDWIDTH  1000                    // Bandwidth within which the PID filter is active. 1000 equals to 100% velocity setpoint
#define EC45FLAT_FFVEL      0                       // Velocity Feed forward
#define EC45FLAT_KFFACC     100                     // Acceleration Feed forward
#define EC45FLAT_KFFDEC     100                     // Deceleration Feed Forward
 
#define EC45FLAT_POSENCREV  1                           // Number of revolutions of the motor
#define EC45FLAT_POSENCQC   EC45FLAT_POLEPAIRS*6    // Number of quadcounts in POSENCREV revolutions
#define EC45FLAT_POSFACT_Z  169                         // Number of revolutions of the input shaft
#define EC45FLAT_POSFACT_N  9                           // Number of revolutions of the output shaft in POSFACT_Z revolutions of the input shaft
#define EC45FLAT_FEEDREV    1                           // Number of revolutions of the gear box output shaft
#define EC45FLAT_FEEDDIST   36000                       // Distance travelled (in user units) in FEEDREV revolutions of the gear box output shaft
 
// Function delkratation
long setupEC45Flat_BC_Hall(long axisNo);
 
long main(void)
{
    ErrorClear();
    DefOrigin(AXIS1_NO);
 
    // Setup axis & amplifier
    setupEC45Flat_BC_Hall(AXIS1_NO);
 
    // Activate the axis
    AxisControl(AXIS1_NO, ON);
 
    // Start an endless movement with continuous move control with 50% velocity and 50% acceleration
    sdkStartContinuousMove(AXIS1_NO, 50, 50);
 
while(1)
    {
        // Print axis information all 500 ms
        sdkInfoPrintAxesPos();
        Delay(500);
    }
 
    return(0);
}
 
 
long setupEC45Flat_BC_Hall(long axisNo)
{
    // Hall setup for using it as encoder
    sdkSetupHallEncoder(        axisNo, HALL_ALIGNMENT_120DEGREE, EC45FLAT_HALL_DIRECT);
 
    // Amplifier setup
    HWAMP_PARAM(axisNo, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_BLDC;              // Set motor type
    HWAMP_PARAM(axisNo, HWAMP_MODE)     = EC45FLAT_CONTROLMODE;             // Set controller priciple
    HWAMP_PARAM(axisNo, HWAMP_POLES)    = EC45FLAT_POLEPAIRS;               // Number of pole pairs
    HWAMP_PARAM(axisNo, HWAMP_MAXCUR)   = EC45FLAT_MAXCUR;                  // Max current in mA
    HWAMP_PARAM(axisNo, HWAMP_MAXRPM)   = EC45FLAT_MAX_RPM;                 // Given in RPM
 
    // Current control setup
    sdkSetupCurrentPIControl(   axisNo,
                                EC45FLAT_CURKPROP,
                                EC45FLAT_CURKINT,
                                EC45FLAT_CURKILIM
                                );
    // Velocity control setup - not used at the moment
    sdkSetupVelocityPIControl(  axisNo,
                                EC45FLAT_VELKPROP,
                                EC45FLAT_VELKINT,
                                EC45FLAT_VELKILIM
                                );
    // Movement parameters for the axis
    sdkSetupAxisMovementParam(  axisNo,
                                EC45FLAT_VELRES,
                                EC45FLAT_MAX_RPM,
                                EC45FLAT_RAMPTYPE,
                                EC45FLAT_RAMPMIN,
                                EC45FLAT_JERKMIN,
                                EC45FLAT_POSERR
                                );
    // Set the direction of the axis
    sdkSetupAxisDirection(      axisNo,
                                EC45FLAT_DIRECTION);
    // Position control setup
    sdkSetupPositionPIDControlExt(  axisNo,
                                    EC45FLAT_KPROP,
                                    EC45FLAT_KINT,
                                    EC45FLAT_KDER,
                                    EC45FLAT_KILIM,
                                    EC45FLAT_KILIMTIME,
                                    EC45FLAT_BANDWIDTH,
                                    EC45FLAT_FFVEL,
                                    EC45FLAT_KFFACC,
                                    EC45FLAT_KFFDEC
                                    );
    // Definition of the user units
    sdkSetupAxisUserUnits(      axisNo,
                                EC45FLAT_POSENCREV,
                                EC45FLAT_POSENCQC,
                                EC45FLAT_POSFACT_Z,
                                EC45FLAT_POSFACT_N,
                                EC45FLAT_FEEDREV,
                                EC45FLAT_FEEDDIST
                                );
 
    // Setup virtual I2T
    sdkSetupVirtualI2T(axisNo,EC45FLAT_CONTCUR, EC45FLAT_THERMAL_TIME);
 
    return(1);
}