Maxon_ECi52_1ax_SC_SSI.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
 
// Axis settings
#define ECI52_ENCRES            4096                // Resolution of the encoder for position feed back in increments (quadcounts)
#define ECI52_SSI_CLK_FREQ      2000000                 // Clock frequency of the SSI encoder (Hz)
#define ECI52_FAST_UPDATE       1                       // fastUpdate @b 1: The encoder is updated with the current controller update rate (24 kHz on MiniMACS6)
#define ECI52_DATLEN            12                      // Databit length of endat position
#define ECI52_IS_BINARY         0                       // 1 if data coding is binary otherwise it is gray coded.
#define ECI52_I_POS             0                       // Define an indexposition
 
#define ECI52_BRUSHLESS     1                       // Mode of aligment: For brushless motors
#define ECI52_ALIGN_CUR     3000                    // Current for the alignment function in mA
#define ECI52_ALIGN_POS     463                     // Offset of the encoder position to the electrical position
 
#define ECI52_CONTROLMODE   HWAMP_MODE_POS_CUR      // Define control typ
#define ECI52_POLEPAIRS     8                       // Number of pole pairs
#define ECI52_ELPOL         -1                      // Always -1 with a maxon motor
#define ECI52_CONTCUR       9360                    // Nomial continious current allowed in mA
#define ECI52_MAXCUR        ECI52_CONTCUR*1.25      // Maximal current allowed in mA
#define ECI52_THERMAL_TIME  12800                   // Thermal time constant of the winding
 
#define ECI52_MAX_RPM       2000                    // Maximum velocity in RPM
#define ECI52_CURKPROP      1100                        // Proportional factor of current controller
#define ECI52_CURKINT       150                     // Integral factor of current controller
#define ECI52_CURKILIM      15000                   // Integral limit of current controller
// not used in this example → HWAMP_MODE_POS_CUR
#define ECI52_VELKPROP      0                       // Proportional factor of velocity controller
#define ECI52_VELKINT       0                       // Integral factor of velocity controller
#define ECI52_VELKILIM      0                       // Integral limit of velocity controller
 
#define ECI52_VELRES        100                     // Velocity resolution, Scaling used for the velocity and acceleration/deceleration commands
#define ECI52_RAMPTYPE      RAMPTYPE_JERKLIMITED    // Defines the ramptype
#define ECI52_RAMPMIN       1000                    // Maximum acceleration
#define ECI52_JERKMIN       100                     // Minimum time (ms) required before reaching the maximum acceleration
#define ECI52_POSERR        2000                    // Minimum time (ms) required before reaching the maximum acceleration
#define ECI52_DIRECTION     1                       // User units have normal orientation. Increasing encoder values result in increasing user positions.
 
#define ECI52_KPROP         100                     // Proportional value for PID position control loop
#define ECI52_KINT          0                       // Integral value for PID position control loop
#define ECI52_KDER          300                     // Derivative value for PID position control loop
#define ECI52_KILIM         1000                    // Limit value for the integral sum of the PID position control loop
#define ECI52_KILIMTIME     0                       // Time used to increase or decrease the integral limit
#define ECI52_BANDWIDTH     1000                    // Bandwidth within which the PID filter is active. 1000 equals to 100% velocity setpoint
#define ECI52_FFVEL         0                       // Velocity Feed forward
#define ECI52_KFFAC         0                       // Acceleration Feed forward
#define ECI52_KFFDEC        0                       // Deceleration Feed Forward
 
#define ECI52_POSENCREV     1                       // Number of revolutions of the motor
#define ECI52_POSENCQC      ECI52_ENCRES            // Number of quadcounts in POSENCREV revolutions
#define ECI52_POSFACT_Z     1                       // Number of revolutions of the input shaft
#define ECI52_POSFACT_N     1                       // Number of revolutions of the output shaft in POSFACT_Z revolutions of the input shaft
#define ECI52_FEEDREV       1                       // Number of revolutions of the gear box output shaft
#define ECI52_FEEDDIST      36000                   // Distance travelled (in user units) in FEEDREV revolutions of the gear box output shaft
 
 
// Function delkratation
long setupECi52_SC_SSI(long axisNo, long encPort, long posOffset);
 
 
long main(void)
{
    ErrorClear();
    DefOrigin(AXIS1_NO);
 
    // Setup axis & amplifier
    setupECi52_SC_SSI(AXIS1_NO,AXIS1_ENCPORT,ECI52_ALIGN_POS);
 
    // 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 setupECi52_SC_SSI(long axisNo, long encPort, long posOffset)
{
    long checkMotorAlignment;
 
    // Amplifier setup
    sdkSetupAmpHallPmsmMotor(       axisNo,
                                ECI52_CONTROLMODE,
                                ECI52_POLEPAIRS,
                                ECI52_MAXCUR,
                                ECI52_ENCRES,
                                ECI52_MAX_RPM,
                                -1
                                );
 
    // Encoder setup
    sdkSetupAbsSSIEncoder   (   axisNo,
                                encPort,
                                ECI52_ENCRES,
                                ECI52_SSI_CLK_FREQ,
                                ECI52_FAST_UPDATE,
                                ECI52_DATLEN,
                                ECI52_IS_BINARY,
                                ECI52_I_POS
                                );
    // Current control setup
    sdkSetupCurrentPIControl(   axisNo,
                                ECI52_CURKPROP,
                                ECI52_CURKINT,
                                ECI52_CURKILIM
                                );
    // Velocity control setup
    sdkSetupVelocityPIControl(  axisNo,
                                ECI52_VELKPROP,
                                ECI52_VELKINT,
                                ECI52_VELKILIM
                                );
    // Movement parameters for the axis
    sdkSetupAxisMovementParam(  axisNo,
                                ECI52_VELRES,
                                ECI52_MAX_RPM,
                                ECI52_RAMPTYPE,
                                ECI52_RAMPMIN,
                                ECI52_JERKMIN,
                                ECI52_POSERR
                                );
    // Set the direction of the axis
    sdkSetupAxisDirection(      axisNo,
                                ECI52_DIRECTION);
    // Position control setup
    sdkSetupPositionPIDControlExt(  axisNo,
                                    ECI52_KPROP,
                                    ECI52_KINT,
                                    ECI52_KDER,
                                    ECI52_KILIM,
                                    ECI52_KILIMTIME,
                                    ECI52_BANDWIDTH,
                                    ECI52_FFVEL,
                                    ECI52_KFFAC,
                                    ECI52_KFFDEC
                                    );
    // Definition of the user units
    sdkSetupAxisUserUnits(      axisNo,
                                ECI52_POSENCREV,
                                ECI52_POSENCQC,
                                ECI52_POSFACT_Z,
                                ECI52_POSFACT_N,
                                ECI52_FEEDREV,
                                ECI52_FEEDDIST
                                );
    // Motor Alignment
    if(posOffset==0)
    {
        print("The first alignment is open loop and is used in commissioning to detect the offset of the encoder position to the electrical position.");
        print("");
 
        checkMotorAlignment =   sdkMotorAlignment(
                                axisNo,
                                ECI52_BRUSHLESS,
                                ECI52_MAXCUR,
                                ECI52_ALIGN_CUR);
 
        if(checkMotorAlignment<0)
        {
            print("Sorry alignement didn't work we exit");
            Exit(0);
        }
        else
        {
            print("");
            print("Alignement posiston offset: ", HWAMP_PARAM(axisNo, HWAMP_POSEL_OFFSET));
            print("The determined alingment offset can now be entered.");
            print("The value must be specified in the macro: ");
            print("#define ECI52_ALIGN_POS ", HWAMP_PARAM(axisNo, HWAMP_POSEL_OFFSET));
            Exit(0);
        }
    }
    else
    {
    // Motor Alignment
    sdkSetMotorAlignmentOffset( axisNo,
                                -1,
                                posOffset
                                );
 
    }
 
    // Setup virtual I2T
    sdkSetupVirtualI2T(axisNo,ECI52_CONTCUR, ECI52_THERMAL_TIME);
 
    return(1);
}