Maxon_RE_40_1ax_OL.mc

 
#include <SysDef.mh>
 
// Relative path to the main folder ApossC_SDK_Vxx.xx
#include "..\..\..\..\..\SDK\SDK_ApossC.mc"
 
// Setting the 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 RE_40_CONTROLMODE   HWAMP_MODE_POS_CUR      // Define control typ
#define RE_40_POLEPAIRS     1                       // Number of pole pairs
#define RE_40_CONTCUR       3200                    // Nomial continious current allowed in mA
#define RE_40_MAXCUR        RE_40_CONTCUR*1.25      // Maximal current allowed in mA
#define RE_40_THERMAL_TIME  41500                   // Thermal time constant of the winding
 
#define RE_40_MAX_RPM       3500                    // Maximum velocity in RPM
#define RE_40_CURKPROP      1000                    // Proportional factor of current controller
#define RE_40_CURKINT       100                     // Integral factor of current controller
#define RE_40_CURKILIM      32767                   // Integral limit of current controller
 
// not used in this example → HWAMP_MODE_POS_CUR
#define RE_40_VELKPROP      0                       // Proportional factor of velocity controller
#define RE_40_VELKINT       1                       // Integral factor of velocity controller
#define RE_40_VELKILIM      0                       // Integral limit of velocity controller
 
#define RE_40_VELRES        100                     // Velocity resolution, Scaling used for the velocity and acceleration/deceleration commands
#define RE_40_RAMPTYPE      RAMPTYPE_JERKLIMITED    // Defines the ramptype
#define RE_40_RAMPMIN       100                     // Maximum acceleration
#define RE_40_JERKMIN       100                     // Minimum time (ms) required before reaching the maximum acceleration
#define RE_40_POSERR        0                       // Disable following error
#define RE_40_DIRECTION     1                       // User units have normal orientation. Increasing encoder values result in increasing user positions.
 
#define RE_40_KPROP         500                     // Proportional value for PID position control loop
#define RE_40_KINT          0                       // Integral value for PID position control loop
#define RE_40_KDER          1000                    // Derivative value for PID position control loop
#define RE_40_KILIM         1000                    // Limit value for the integral sum of the PID position control loop
#define RE_40_KILIMTIME     0                       // Time used to increase or decrease the integral limit
#define RE_40_BANDWIDTH     1000                    // Bandwidth within which the PID filter is active. 1000 equals to 100% velocity setpoint
#define RE_40_FFVEL         0                       // Velocity Feed forward
#define RE_40_KFFAC         0                       // Acceleration Feed forward
#define RE_40_KFFDEC        0                       // Deceleration Feed Forward
 
// Function delkratation
long setup_RE_40_OL(long axisNo, long encPort);
 
// Command current in mA, adaption while running possible (watch window)
long current = 1000;
 
long main(void)
{
    ErrorClear();
    DefOrigin(AXIS1_NO);
 
    // Setup axis & amplifier
    setup_RE_40_OL(AXIS1_NO,AXIS1_ENCPORT);
 
    // Activate the axis
    AxisControl(AXIS1_NO, USERREFCUR);
 
    while(1)
    {
        // Set current in mA. If the current is to be regulated to 0, sufficient torque must be applied to the motor shaft.
        // Alternatively, the axis can also be switched off with AxisControl(AXIS1_NO, OFF);
        AXE_PROCESS(AXIS1_NO,REG_USERREFCUR)=current;
    }
 
    return(0);
}
 
 
long setup_RE_40_OL(long axisNo, long encPort)
{
    // Disable following error and set compos to actpos
    VIRTCOUNTIN_PARAM(axisNo, VIRTCNTIN_PISRC_COUNTER) = AXE_PROCESS_SRCINDEX(axisNo, REG_COMPOS);
 
    // Amplifier setup
    sdkSetupAmpDcMotor(         axisNo,
                                RE_40_CONTROLMODE,
                                RE_40_POLEPAIRS,
                                RE_40_MAXCUR,
                                2000,   //Default value
                                RE_40_MAX_RPM);
    // Current control setup
    sdkSetupCurrentPIControl(   axisNo,
                                RE_40_CURKPROP,
                                RE_40_CURKINT,
                                RE_40_CURKILIM
                                );
    // Velocity control setup
    sdkSetupVelocityPIControl(  axisNo,
                                RE_40_VELKPROP,
                                RE_40_VELKINT,
                                RE_40_VELKILIM
                                );
    // Movement parameters for the axis
    sdkSetupAxisMovementParam(  axisNo,
                                RE_40_VELRES,
                                RE_40_MAX_RPM,
                                RE_40_RAMPTYPE,
                                RE_40_RAMPMIN,
                                RE_40_JERKMIN,
                                RE_40_POSERR
                                );
    // Set the direction of the axis
    sdkSetupAxisDirection(      axisNo,
                                RE_40_DIRECTION);
    // Position control setup
    sdkSetupPositionPIDControlExt(  axisNo,
                                    RE_40_KPROP,
                                    RE_40_KINT,
                                    RE_40_KDER,
                                    RE_40_KILIM,
                                    RE_40_KILIMTIME,
                                    RE_40_BANDWIDTH,
                                    RE_40_FFVEL,
                                    RE_40_KFFAC,
                                    RE_40_KFFDEC
                                    );
 
    // Setup virtual I2T
    sdkSetupVirtualI2T(axisNo,RE_40_CONTCUR, RE_40_THERMAL_TIME);
 
    return(1);
}