Maxon_ECi30_2ax_SC_Hall_Inc.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
#define AXIS1_ENCPORT           0   // Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
#define AXIS2_NO                1   // Axis module number
#define AXIS2_ENCPORT           1   // Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
 
// Axe settings
#define ECi30_ENCRES            4*4096              // Resolution of the encoder for position feed back in increments (quadcounts)
#define ECi30_ENC_LATCHTYPE     0                   // Default latchTyp Encoder Z signal
#define ECi30_ENC_LATCHPARAM    0                   // Not used for Encoder Z Latch
#define ECi30_ENC_LATCHSLOPE    HWLATCH_SLOPE_RISING// Defines the slope of the trigger signal (Default 1)
 
#define ECi30_CONTROLMODE       HWAMP_MODE_POS_CUR              // Define control typ
#define ECi30_HALL_ALIGNMENT    HALL_ALIGNMENT_120DEGREE        // Hall alignment 120° standard
#define ECi30_POLEPAIRS         4                               // Number of pole pairs
#define ECi30_CONTCUR           2280                            // Nomial continious current allowed in mA
#define ECi30_MAXCUR            ECi30_CONTCUR*1.25              // Maximal current allowed in mA
#define ECi30_THERMAL_TIME      27600                           // Thermal time constant of the winding
 
#define ECi30_MAX_RPM       4000                    // Maximum velocity in RPM
#define ECi30_CURKPROP      1500                    // Proportional factor of current controller
#define ECi30_CURKINT       150                     // Integral factor of current controller
#define ECi30_CURKILIM      32767                   // Integral limit of current controller
 
// not used in this example → HWAMP_MODE_POS_CUR
#define ECi30_VELKPROP      0                       // Proportional factor of velocity controller
#define ECi30_VELKINT       0                       // Integral factor of velocity controller
#define ECi30_VELKILIM      0                       // Integral limit of velocity controller
 
#define ECi30_VELRES        100                     // Velocity resolution, Scaling used for the velocity and acceleration/deceleration commands
#define ECi30_RAMPTYPE      RAMPTYPE_JERKLIMITED    // Defines the ramptype
#define ECi30_RAMPMIN       1000                    // Maximum acceleration
#define ECi30_JERKMIN       500                     // Minimum time (ms) required before reaching the maximum acceleration
#define ECi30_POSERR        500                     // Maximal track/ position error allowed in qc
#define ECi30_DIRECTION     1                       // User units have normal orientation. Increasing encoder values result in increasing user positions.
 
#define ECi30_KPROP         80                      // Proportional value for PID position control loop
#define ECi30_KINT          0                       // Integral value for PID position control loop
#define ECi30_KDER          200                 // Derivative value for PID position control loop
#define ECi30_KILIM         1000                    // Limit value for the integral sum of the PID position control loop
#define ECi30_KILIMTIME     0                       // Time used to increase or decrease the integral limit
#define ECi30_BANDWIDTH     1000                    // Bandwidth within which the PID filter is active. 1000 equals to 100% velocity setpoint
#define ECi30_FFVEL         0                       // Velocity Feed forward
#define ECi30_KFFACC        0                       // Acceleration Feed forward
#define ECi30_KFFDEC        0                       // Deceleration Feed Forward
 
#define ECi30_POSENCREV     1                       // Number of revolutions of the motor
#define ECi30_POSENCQC      ECi30_ENCRES            // Number of quadcounts in POSENCREV revolutions
#define ECi30_POSFACT_Z     1                       // Number of revolutions of the input shaft
#define ECi30_POSFACT_N     1                       // Number of revolutions of the output shaft in POSFACT_Z revolutions of the input shaft
#define ECi30_FEEDREV       1                       // Number of revolutions of the gear box output shaft
#define ECi30_FEEDDIST      360                     // Distance travelled (in user units) in FEEDREV revolutions of the gear box output shaft
 
// Function delkratation
long setupECi30_SC_Hall_Inc(long axisNo, long encPort);
 
long main(void)
{
    long direction = 1;
    long turns = 100;
    ErrorClear();
    DefOrigin(AXALL);
 
    // Setup axis & amplifier
    setupECi30_SC_Hall_Inc(AXIS1_NO,AXIS1_ENCPORT);
    setupECi30_SC_Hall_Inc(AXIS2_NO,AXIS2_ENCPORT);
 
    // Activate the axis
    AxisControl(AXIS1_NO, ON, AXIS2_NO, ON);
 
    // Set movements parameter
    Acc(AXIS1_NO,50,AXIS2_NO,50);   // Set acceleration to 50% of VELMAX
    Dec(AXIS1_NO,50,AXIS2_NO,50);   // Set deceleration to 50% of RAMPMIN
    Vel(AXIS1_NO,50,AXIS2_NO,50);   // Set velocity to 50% of RAMPMIN
 
    while(1)
    {
        // Do xx turns: direction * distance travelled per revolution * turns p.e. 1 * 36000 1/100 degree * 100 turns
        AxisPosAbsStart(AXIS1_NO,direction*ECi30_FEEDDIST*turns,AXIS2_NO,direction*ECi30_FEEDDIST*turns);
        AxisWaitReached(AXIS1_NO,AXIS2_NO);
        direction = direction*-1;
    }
 
    return(0);
}
 
 
long setupECi30_SC_Hall_Inc(long axisNo, long encPort)
{
    // Encoder setup
    sdkSetupIncEncoder(         axisNo,
                                encPort,
                                ECi30_ENCRES,
                                ECi30_ENC_LATCHTYPE,
                                ECi30_ENC_LATCHPARAM,
                                ECi30_ENC_LATCHSLOPE
                                );
    // Amplifier setup
    sdkSetupAmpHallPmsmMotor(   axisNo,
                                ECi30_CONTROLMODE,
                                ECi30_POLEPAIRS,
                                ECi30_MAXCUR,
                                ECi30_ENCRES,
                                ECi30_MAX_RPM,
                                -1
                                );
 
    // Current control setup
    sdkSetupCurrentPIControl(   axisNo,
                                ECi30_CURKPROP,
                                ECi30_CURKINT,
                                ECi30_CURKILIM
                                );
    // Velocity control setup - not used at the moment
    sdkSetupVelocityPIControl(  axisNo,
                                ECi30_VELKPROP,
                                ECi30_VELKINT,
                                ECi30_VELKILIM
                                );
    // Movement parameters for the axis
    sdkSetupAxisMovementParam(  axisNo,
                                ECi30_VELRES,
                                ECi30_MAX_RPM,
                                ECi30_RAMPTYPE,
                                ECi30_RAMPMIN,
                                ECi30_JERKMIN,
                                ECi30_POSERR
                                );
    // Set the direction of the axis
    sdkSetupAxisDirection(      axisNo,
                                ECi30_DIRECTION);
    // Position control setup
    sdkSetupPositionPIDControlExt(  axisNo,
                                    ECi30_KPROP,
                                    ECi30_KINT,
                                    ECi30_KDER,
                                    ECi30_KILIM,
                                    ECi30_KILIMTIME,
                                    ECi30_BANDWIDTH,
                                    ECi30_FFVEL,
                                    ECi30_KFFACC,
                                    ECi30_KFFDEC
                                    );
    // Definition of the user units
    sdkSetupAxisUserUnits(      axisNo,
                                ECi30_POSENCREV,
                                ECi30_POSENCQC,
                                ECi30_POSFACT_Z,
                                ECi30_POSFACT_N,
                                ECi30_FEEDREV,
                                ECi30_FEEDDIST
                                );
 
    // Setup virtual I2T
    sdkSetupVirtualI2T(axisNo,ECi30_CONTCUR, ECi30_THERMAL_TIME);
 
    return(1);
}
 
//$X {KPROP,1,1,0,-1,0,-1,0,(-1),-1},0x2300,12,0
//$X {KDER,1,1,0,-1,0,-1,0,(-1),-1},0x2300,13,0
//$X {KINT,1,1,0,-1,0,-1,0,(-1),-1},0x2300,14,0