Maxon_ECi40_1ax_SC_OL_Inc.mc

 
#include <SysDef.mh>
 
// Relative path to the main folder ApossC_SDK_Vxx.xx
#include "..\..\..\..\..\..\SDK\SDK_ApossC.mc"
 
#define C_AXIS1                 0                       // Axis module number
#define C_AXIS1_ENCPORT         0                       // Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
#define C_AXIS1_ENCRES          1024                    // Resolution of the encoder for position feed back in increments (quadcounts)
#define C_AXIS1_ENC_LATCHTYPE   1                       // Defines the latch type: Digital input
#define C_AXIS1_ENC_LATCHPARAM  1                       // Latch on digital input 1
#define C_AXIS1_ENC_LATCHSLOPE  HWLATCH_SLOPE_RISING    // Defines the slope of the trigger signal (Default 1)
 
#define C_MOTOR1_CONTROLMODE    HWAMP_MODE_POS_VEL_CUR  // Define control typ
#define C_MOTOR1_POLEPAIRS      8                       // Number of pole pairs
#define C_MOTOR1_MAXCUR         8670                    // Maximal current allowed in mA
#define C_MOTOR1_MAX_RPM        7740                    // Maximum velocity in RPM
#define C_MOTOR1_CURKPROP       320                     // Proportional factor of current controller
#define C_MOTOR1_CURKINT        90                      // Integral factor of current controller
#define C_MOTOR1_CURKILIM       32767                   // Integral limit of current controller
#define C_MOTOR1_VELKPROP       2000                    // Proportional factor of velocity controller
#define C_MOTOR1_VELKINT        250                     // Integral factor of velocity controller
#define C_MOTOR1_VELKILIM       1000                    // Integral limit of velocity controller
 
#define C_MOTOR1_BRUSHLESS      1                       // Mode of aligment: For brushless motors
#define C_MOTOR1_ALIGN_CUR      2000                    // Current for the alignment function in mA
 
#define C_AXIS1_VELRES          1000                    // Velocity resolution, Scaling used for the velocity and acceleration/deceleration commands
#define C_AXIS1_RAMPTYPE        RAMPTYPE_JERKLIMITED    // Defines the ramptype
#define C_AXIS1_RAMPMIN         1000                    // Maximum acceleration
#define C_AXIS1_JERKMIN         100                     // Minimum time (ms) required before reaching the maximum acceleration
#define C_AXIS1_TRACKERR        C_AXIS1_ENCRES          // Maximal track/ position error allowed in qc
 
#define C_AXIS1_DIRECTION       1                       // User units have normal orientation. Increasing encoder values result in increasing user positions.
 
#define C_AXIS1_KPROP           80                      // Proportional value for PID position control loop
#define C_AXIS1_KINT            0                       // Integral value for PID position control loop
#define C_AXIS1_KDER            600                     // Derivative value for PID position control loop
#define C_AXIS1_KILIM           1000                    // Limit value for the integral sum of the PID position control loop
#define C_AXIS1_KILIMTIME       0                       // Time used to increase or decrease the integral limit
#define C_AXIS1_BANDWIDTH       1000                    // Bandwidth within which the PID filter is active. 1000 equals to 100% velocity setpoint
#define C_AXIS1_FFVEL           1000                    // Velocity Feed forward
#define C_AXIS1_KFFAC           0                       // Acceleration Feed forward
#define C_AXIS1_KFFDEC          0                       // Deceleration Feed Forward
 
#define C_AXIS1_POSENCREV       1                       // Number of revolutions of the motor
#define C_AXIS1_POSENCQC        C_AXIS1_ENCRES          // Number of quadcounts in POSENCREV revolutions
#define C_AXIS1_POSFACT_Z       1                       // Number of revolutions of the input shaft
#define C_AXIS1_POSFACT_N       1                       // Number of revolutions of the output shaft in POSFACT_Z revolutions of the input shaft
#define C_AXIS1_FEEDREV         1                       // Number of revolutions of the gear box output shaft
#define C_AXIS1_FEEDDIST        C_AXIS1_ENCRES          // Distance travelled (in user units) in FEEDREV revolutions of the gear box output shaft
 
long main(void)
{
    long checkMotorAlignment;
 
    // Encoder setup
    sdkSetupIncEncoder(         C_AXIS1,
                                C_AXIS1_ENCPORT,
                                C_AXIS1_ENCRES,
                                C_AXIS1_ENC_LATCHTYPE,
                                C_AXIS1_ENC_LATCHPARAM,
                                C_AXIS1_ENC_LATCHSLOPE
                                );
    // Amplifier setup
    sdkSetupAmpPmsmMotor(       C_AXIS1,
                                C_MOTOR1_CONTROLMODE,
                                C_MOTOR1_POLEPAIRS,
                                C_MOTOR1_MAXCUR,
                                C_AXIS1_ENCRES,
                                C_MOTOR1_MAX_RPM
                                );
    // Current control setup
    sdkSetupCurrentPIControl(   C_AXIS1,
                                C_MOTOR1_CURKPROP,
                                C_MOTOR1_CURKINT,
                                C_MOTOR1_CURKILIM
                                );
    // Velocity control setup
    sdkSetupVelocityPIControl(  C_AXIS1,
                                C_MOTOR1_VELKPROP,
                                C_MOTOR1_VELKINT,
                                C_MOTOR1_VELKILIM
                                );
    // Movement parameters for the axis
    sdkSetupAxisMovementParam(  C_AXIS1,
                                C_AXIS1_VELRES,
                                C_MOTOR1_MAX_RPM,
                                C_AXIS1_RAMPTYPE,
                                C_AXIS1_RAMPMIN,
                                C_AXIS1_JERKMIN,
                                C_AXIS1_TRACKERR
                                );
    // Set the direction of the axis
    sdkSetupAxisDirection(      C_AXIS1,
                                C_AXIS1_DIRECTION);
    // Position control setup
    sdkSetupPositionPIDControlExt(  C_AXIS1,
                                    C_AXIS1_KPROP,
                                    C_AXIS1_KINT,
                                    C_AXIS1_KDER,
                                    C_AXIS1_KILIM,
                                    C_AXIS1_KILIMTIME,
                                    C_AXIS1_BANDWIDTH,
                                    C_AXIS1_FFVEL,
                                    C_AXIS1_KFFAC,
                                    C_AXIS1_KFFDEC
                                    );
    // Definition of the user units
    sdkSetupAxisUserUnits(      C_AXIS1,
                                C_AXIS1_POSENCREV,
                                C_AXIS1_POSENCQC,
                                C_AXIS1_POSFACT_Z,
                                C_AXIS1_POSFACT_N,
                                C_AXIS1_FEEDREV,
                                C_AXIS1_FEEDDIST
                                );
    // Motor Alignment
    checkMotorAlignment =   sdkMotorAlignment(
                            C_AXIS1,
                            C_MOTOR1_BRUSHLESS,
                            C_MOTOR1_MAXCUR,
                            C_MOTOR1_ALIGN_CUR);
 
    if(checkMotorAlignment<0)
    {
        print("Sorry alignement didn't work we exit");
        Exit(0);
    }
 
    // Activate the axis
    AxisControl(C_AXIS1, ON);
 
    // Start an endless movement with continuous move control
    sdkStartContinuousMove(C_AXIS1, 1000, 100);
 
while(1)
    {
        // Print axis information all 500 ms
        sdkInfoPrintAxesPos();
        Delay(500);
    }
    return(0);
}