#include <SysDef.mh>
#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_AXIS2 1 // Axis module number
#define C_AXIS2_ENCPORT 1 // Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
#define C_AXIS3 2 // Axis module number
#define C_AXIS3_ENCPORT 2 // Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
#define C_AXIS1_DIRECTION 1 // User units have normal orientation. Increasing encoder values result in increasing user positions.
#define C_AXIS2_DIRECTION -1 // User units are inverted. Increasing encoder values result in decreasing user positions.
#define C_AXIS3_DIRECTION -1 // User units are inverted. Increasing encoder values result in decreasing user positions.
#define C_AXIS_ENCRES 1024 // Resolution of the encoder for position feed back in increments (quadcounts)
#define C_AXIS_ENC_LATCHTYPE 1 // Defines the latch type: Digital input
#define C_AXIS_ENC_LATCHPARAM 1 // Latch on digital input 1
#define C_AXIS_ENC_LATCHSLOPE HWLATCH_SLOPE_RISING // Defines the slope of the trigger signal (Default 1)
#define C_MOTOR_CONTROLMODE HWAMP_MODE_POS_VEL_CUR // Define control typ
#define C_MOTOR_POLEPAIRS 8 // Number of pole pairs
#define C_MOTOR_MAXCUR 8670 // Maximal current allowed in mA
#define C_MOTOR_MAX_RPM 7740 // Maximum velocity in RPM
#define C_MOTOR_CURKPROP 320 // Proportional factor of current controller
#define C_MOTOR_CURKINT 90 // Integral factor of current controller
#define C_MOTOR_CURKILIM 32767 // Integral limit of current controller
#define C_MOTOR_VELKPROP 2000 // Proportional factor of velocity controller
#define C_MOTOR_VELKINT 250 // Integral factor of velocity controller
#define C_MOTOR_VELKILIM 1000 // Integral limit of velocity controller
#define C_MOTOR_BRUSHLESS 1 // Mode of aligment: For brushless motors
#define C_MOTOR_ALIGN_CUR 2000 // Current for the alignment function in mA
#define C_AXIS_VELRES 1000 // Velocity resolution, Scaling used for the velocity and acceleration/deceleration commands
#define C_AXIS_RAMPTYPE RAMPTYPE_JERKLIMITED // Defines the ramptype
#define C_AXIS_RAMPMIN 1000 // Maximum acceleration
#define C_AXIS_JERKMIN 100 // Minimum time (ms) required before reaching the maximum acceleration
#define C_AXIS_TRACKERR C_AXIS_ENCRES // Maximal track/ position error allowed in qc
#define C_AXIS_KPROP 80 // Proportional value for PID position control loop
#define C_AXIS_KINT 0 // Integral value for PID position control loop
#define C_AXIS_KDER 600 // Derivative value for PID position control loop
#define C_AXIS_KILIM 1000 // Limit value for the integral sum of the PID position control loop
#define C_AXIS_KILIMTIME 0 // Time used to increase or decrease the integral limit
#define C_AXIS_BANDWIDTH 1000 // Bandwidth within which the PID filter is active. 1000 equals to 100% velocity setpoint
#define C_AXIS_FFVEL 1000 // Velocity Feed forward
#define C_AXIS_KFFAC 0 // Acceleration Feed forward
#define C_AXIS_KFFDEC 0 // Deceleration Feed Forward
#define C_AXIS_POSENCREV 1 // Number of revolutions of the motor
#define C_AXIS_POSENCQC C_AXIS_ENCRES // Number of quadcounts in POSENCREV revolutions
#define C_AXIS_POSFACT_Z 1 // Number of revolutions of the input shaft
#define C_AXIS_POSFACT_N 1 // Number of revolutions of the output shaft in POSFACT_Z revolutions of the input shaft
#define C_AXIS_FEEDREV 1 // Number of revolutions of the gear box output shaft
#define C_AXIS_FEEDDIST C_AXIS_ENCRES // Distance travelled (in user units) in FEEDREV revolutions of the gear box output shaft
long main(void)
{
long i, checkMotorAlignment;
C_AXIS1_ENCPORT,
C_AXIS_ENCRES,
C_AXIS_ENC_LATCHTYPE,
C_AXIS_ENC_LATCHPARAM,
C_AXIS_ENC_LATCHSLOPE
);
C_AXIS2_ENCPORT,
C_AXIS_ENCRES,
C_AXIS_ENC_LATCHTYPE,
C_AXIS_ENC_LATCHPARAM,
C_AXIS_ENC_LATCHSLOPE
);
C_AXIS3_ENCPORT,
C_AXIS_ENCRES,
C_AXIS_ENC_LATCHTYPE,
C_AXIS_ENC_LATCHPARAM,
C_AXIS_ENC_LATCHSLOPE
);
C_AXIS1_DIRECTION);
C_AXIS2_DIRECTION);
C_AXIS3_DIRECTION);
for(i=C_AXIS1;i<=C_AXIS3;i++)
{
C_MOTOR_CONTROLMODE,
C_MOTOR_POLEPAIRS,
C_MOTOR_MAXCUR,
C_AXIS_ENCRES,
C_MOTOR_MAX_RPM
);
C_MOTOR_CURKPROP,
C_MOTOR_CURKINT,
C_MOTOR_CURKILIM
);
C_MOTOR_VELKPROP,
C_MOTOR_VELKINT,
C_MOTOR_VELKILIM
);
C_AXIS_VELRES,
C_MOTOR_MAX_RPM,
C_AXIS_RAMPTYPE,
C_AXIS_RAMPMIN,
C_AXIS_JERKMIN,
C_AXIS_TRACKERR
);
C_AXIS_KPROP,
C_AXIS_KINT,
C_AXIS_KDER,
C_AXIS_KILIM,
C_AXIS_KILIMTIME,
C_AXIS_BANDWIDTH,
C_AXIS_FFVEL,
C_AXIS_KFFAC,
C_AXIS_KFFDEC
);
C_AXIS_POSENCREV,
C_AXIS_POSENCQC,
C_AXIS_POSFACT_Z,
C_AXIS_POSFACT_N,
C_AXIS_FEEDREV,
C_AXIS_FEEDDIST
);
}
C_AXIS1,
3,
C_MOTOR_BRUSHLESS,
C_MOTOR_MAXCUR,
C_MOTOR_ALIGN_CUR);
if(checkMotorAlignment<0)
{
print("Sorry alignement didn't work we exit");
Exit(0);
}
for(i=C_AXIS1;i<=C_AXIS3;i++)
{
AxisControl(i, ON);
}
while(1)
{
Delay(2000);
}
return(0);
}
