MotorCommissioning_MaxonECi30.mc

 
#include <SysDef.mh>
 
#include "..\..\..\..\SDK\SDK_ApossC.mc"
 
// Axis module number
#define C_AXIS1                     0                       // Axis module number
#define C_AXIS1_ENCPORT             0                       // Encoder port number
 
// Definition of the methods
#define C_METHODE_ENCODER_CHECK     0
#define C_METHODE_HALL_CHECK        1
#define C_METHODE_CURRENT_STEP      2
#define C_METHODE_VELOCITY_STEP     3
#define C_METHODE_POSITION_RAMP     4
 
// Set methode and endable/ disable recording
#define C_COMM_METHODE              C_METHODE_ENCODER_CHECK
#define C_RECORD_ENABLE             1
 
// Settings for the current step
#define C_TIME_CURRENT_STEP         50          // [ms]
#define C_CURRENT_STEP              2000        // [mA]
 
// Settings for the velocity step
#define C_TIME_VELOCITY_STEP        2500        // [ms]
#define C_VELOCITY_STEP             0X2000      // scaled to the maximum speed with -0x4000 to 0x4000 internal units
 
// Settings for the position ramp
#define C_POSITION_RAMP             10*360                  // [uu] → 5 turns
#define C_CONTROLLER_CASCADING      HWAMP_MODE_POS_VEL_CUR  // SDO Dictionary: HWAMP_MODE
 
// Axis setup
#define AXIS_VELRES             100                     // Velocity resolution, Scaling used for the velocity and acceleration/deceleration commands
#define AXIS_RAMPTYPE           RAMPTYPE_JERKLIMITED    // Defines the ramptype
#define AXIS_RAMPMIN            1000                    // Maximum acceleration
#define AXIS_JERKMIN            500                     // Minimum time (ms) required before reaching the maximum acceleration
#define AXIS_MAX_RPM            4000                    // Maximum velocity in RPM
#define AXIS_POSERR             0                       // Maximal track/ position error allowed in qc → disable for testing
 
#define AXIS_POSENCREV          1                       // Number of revolutions of the motor
#define AXIS_POSENCQC           ECi30_621403_ENCRES     // Number of quadcounts in POSENCREV revolutions
#define AXIS_POSFACT_Z          1                       // Number of revolutions of the input shaft
#define AXIS_POSFACT_N          1                       // Number of revolutions of the output shaft in POSFACT_Z revolutions of the input shaft
#define AXIS_FEEDREV            1                       // Number of revolutions of the gear box output shaft
#define AXIS_FEEDDIST           360                     // Distance travelled (in user units) in FEEDREV revolutions of the gear box output shaft
 
// Encoder settings
#define ECi30_621403_ENCRES             4*4096              // Resolution of the encoder for position feed back in increments (quadcounts)
#define ECi30_621403_ENC_LATCHTYPE      0                   // Defines the latch type: Index Line
#define ECi30_621403_ENC_LATCHPARAM     0                   // -
#define ECi30_621403_ENC_LATCHSLOPE     HWLATCH_SLOPE_RISING// Defines the slope of the trigger signal (Default 1)
 
// Motor settings
#define ECi30_621403_CONTROLMODE    HWAMP_MODE_POS_VEL_CUR      // Define control typ
#define ECi30_621403_POLEPAIRS      4                           // Number of pole pairs
#define ECi30_621403_CONTCUR        2280                        // Nomial continious current allowed in mA
#define ECi30_621403_MAXCUR         ECi30_621403_CONTCUR*1.25   // Maximal current allowed in mA
#define ECi30_621403_THERMAL_TIME   27600                       // Thermal time constant of the winding
#define ECi30_621403_MAX_RPM        AXIS_MAX_RPM                // Maximum velocity in RPM
#define ECi30_621403_DIRECTION      1                           // Direction of the drive
 
// Parameter for the current controller
// The values were calculated with the Current Calculator Tool
#define ECi30_621403_CURKPROP       1500                    // Proportional factor of current controller
#define ECi30_621403_CURKINT        150                     // Integral factor of current controller
#define ECi30_621403_CURKILIM       32767                   // Integral limit of current controller
 
// Parameter for the velocity controller
#define ECi30_621403_VELKPROP       2000                    // Proportional factor of velocity controller
#define ECi30_621403_VELKINT        1000                        // Integral factor of velocity controller
#define ECi30_621403_VELKILIM       0                       // Integral limit of velocity controller
 
// Parameter for the position controller
#define ECi30_621403_KPROP          500                     // Proportional value for PID position control loop
#define ECi30_621403_KINT           0                       // Integral value for PID position control loop
#define ECi30_621403_KDER           1000                        // Derivative value for PID position control loop
#define ECi30_621403_KILIM          1000                    // Limit value for the integral sum of the PID position control loop
#define ECi30_621403_KILIMTIME      0                       // Time used to increase or decrease the integral limit
#define ECi30_621403_BANDWIDTH      1000                    // Bandwidth within which the PID filter is active. 1000 equals to 100% velocity setpoint
#define ECi30_621403_FFVEL          1000                    // Velocity Feed forward
#define ECi30_621403_KFFACC         0                       // Acceleration Feed forward
#define ECi30_621403_KFFDEC         0                       // Deceleration Feed Forward
 
long setupECi30_621403(long axisNo);
 
long main(void)
{
    long waitingTime = 5000;
    long direction  = 1;
 
    setupECi30_621403(C_AXIS1);
    DefOrigin(C_AXIS1);
 
    while(1)
    {
        #if C_COMM_METHODE == C_METHODE_ENCODER_CHECK
            waitingTime=250;
            sdkMotorCommEncoderUserUnitCheck(C_AXIS1);
        #elif C_COMM_METHODE == C_METHODE_HALL_CHECK
            waitingTime=250;
            sdkMotorCommHallSignalCheck(C_AXIS1);
        #elif C_COMM_METHODE == C_METHODE_CURRENT_STEP
            sdkMotorCommCurrentStep(    C_AXIS1,
                                        C_CURRENT_STEP,
                                        C_TIME_CURRENT_STEP,
                                        C_RECORD_ENABLE);
        #elif C_COMM_METHODE == C_METHODE_VELOCITY_STEP
            sdkMotorCommVelStep(    C_AXIS1,
                                    direction*C_VELOCITY_STEP,
                                    C_TIME_VELOCITY_STEP,
                                    C_RECORD_ENABLE);
            direction = direction*-1;
        #elif C_COMM_METHODE == C_METHODE_POSITION_RAMP
            sdkMotorCommPositionRamp(   C_AXIS1,
                                        direction*C_POSITION_RAMP,
                                        C_CONTROLLER_CASCADING,
                                        C_RECORD_ENABLE);
            direction = direction*-1;
        #endif
 
        if(waitingTime>1000)
            print("Wait for ", waitingTime, " ms");
        Delay(waitingTime);
    }
 
    return(0);
}
// Axis, motor and encoder setup
long setupECi30_621403(long axisNo)
{
    print("ECi30 MiniMACS6");
 
    // Encoder setup
    sdkSetupIncEncoder(         axisNo,
                                axisNo,
                                ECi30_621403_ENCRES,
                                ECi30_621403_ENC_LATCHTYPE,
                                ECi30_621403_ENC_LATCHPARAM,
                                ECi30_621403_ENC_LATCHSLOPE
                                );
    // Amplifier setup
    #if 1
        sdkSetupAmpHallPmsmMotor(   axisNo,
                                    ECi30_621403_CONTROLMODE,
                                    ECi30_621403_POLEPAIRS,
                                    ECi30_621403_MAXCUR,
                                    ECi30_621403_ENCRES,
                                    ECi30_621403_MAX_RPM,
                                    -1
                                    );
    #else
        sdkSetupAmpBldcMotor(       axisNo,
                                    ECi30_621403_CONTROLMODE,
                                    ECi30_621403_POLEPAIRS,
                                    ECi30_621403_MAXCUR,
                                    ECi30_621403_ENCRES,
                                    ECi30_621403_MAX_RPM
                                    );
    #endif
 
 
    // Current control setup
    sdkSetupCurrentPIControl(   axisNo,
                                ECi30_621403_CURKPROP,
                                ECi30_621403_CURKINT,
                                ECi30_621403_CURKILIM
                                );
    // Velocity control setup
    sdkSetupVelocityPIControl(  axisNo,
                                ECi30_621403_VELKPROP,
                                ECi30_621403_VELKINT,
                                ECi30_621403_VELKILIM
                                );
 
    // Set the direction of the axis
    sdkSetupAxisDirection(      axisNo,
                                ECi30_621403_DIRECTION);
    // Position control setup
    sdkSetupPositionPIDControlExt(  axisNo,
                                    ECi30_621403_KPROP,
                                    ECi30_621403_KINT,
                                    ECi30_621403_KDER,
                                    ECi30_621403_KILIM,
                                    ECi30_621403_KILIMTIME,
                                    ECi30_621403_BANDWIDTH,
                                    ECi30_621403_FFVEL,
                                    ECi30_621403_KFFACC,
                                    ECi30_621403_KFFDEC);
 
    // Set the virtual I2T
    sdkSetupVirtualI2T(axisNo, ECi30_621403_CONTCUR, ECi30_621403_THERMAL_TIME);
 
    // Movement parameters for the axis
    sdkSetupAxisMovementParam(  axisNo,
                                AXIS_VELRES,
                                AXIS_MAX_RPM,
                                AXIS_RAMPTYPE,
                                AXIS_RAMPMIN,
                                AXIS_JERKMIN,
                                AXIS_POSERR
                                );
 
    // Definition of the user units
    sdkSetupAxisUserUnits(      axisNo,
                                AXIS_POSENCREV,
                                AXIS_POSENCQC,
                                AXIS_POSFACT_Z,
                                AXIS_POSFACT_N,
                                AXIS_FEEDREV,
                                AXIS_FEEDDIST
                                );
 
 
    return(1);
}