PWM_1Ax_ESCON.mc

 
#include "..\..\..\SDK\SDK_ApossC.mc"
 
// Application settings to change the mode
#define PWM_AXIS_MODE   0
#define PWM_USER_MODE   1
 
#define PWM_MODE    PWM_AXIS_MODE
//#define PWM_MODE  PWM_USER_MODE
 
// ESCON control settings
#define ESCON_AXIS_NO               0           // Axis number (zero based) → PWM_AXIS_MODE
#define ESCON_PWM_USER_PARAM        1           // User parameter number → PWM_USER_MODE
 
#define ESCON_PWM_DIGOUTPUT_NO      0           // Digital output for PWM cmd value (zero based)
#define ESCON_ENABLE_DIGOUTPUT_NO   1           // Digital output for ESCON enable (zero based)
 
#define ESCON_PWM_FREQUENCY         50          // PWM frequency [Hz]
#define ESCON_PWM_CYCLE_RANGE       80          // PWM cycle range 10-90%
#define ESCON_PWM_POLARITY          HWPWMGEN_POLARITY_POSITIVE
 
// Analog feedback defines
#define ESCON_AI_FEEDBACK_NO        0           // Analog input number (zero based)
#define ESCON_AI_SPEED_MIN_VOLTAGE  0           // 0 voltage → -5000 rpm
#define ESCON_AI_SPEED_OFF_VOLTAGE  2000        // offset: 2 voltage → 0 rpm
#define ESCON_AI_SPEED_MAX_VOLTAGE  4000        // 4 voltage → 5000 rpm
 
#define ESCON_AI_SPEED_MIN_RPM      -5000       // 0 voltage → -5000 rpm
#define ESCON_AI_SPEED_MAX_RPM      5000        // 4 voltage → 5000 rpm
 
// Set velocity for pwm axis mode (0 → +/- 100)
long cvel       =   0;
 
// Set duty cycle for pwm user parameter mode (10 → 90%)
long dutyCycle  = 0x7FFF;  // 50%
 
 
long main(void)
{
    #if PWM_MODE == PWM_USER_MODE
        sdkSetupPwmGenerator_UserParamMode( ESCON_PWM_USER_PARAM,
                                            ESCON_PWM_DIGOUTPUT_NO,
                                            ESCON_PWM_FREQUENCY,
                                            ESCON_PWM_CYCLE_RANGE,
                                            ESCON_PWM_POLARITY);
 
    #else
        sdkSetupPwmGenerator_AxisModeVel(   ESCON_AXIS_NO,
                                            ESCON_ENABLE_DIGOUTPUT_NO,
                                            ESCON_PWM_DIGOUTPUT_NO,
                                            ESCON_PWM_FREQUENCY,
                                            ESCON_PWM_CYCLE_RANGE,
                                            ESCON_PWM_POLARITY);
    #endif
 
    sdkScaleAnalogInput(    ESCON_AI_FEEDBACK_NO,
                            ESCON_AI_SPEED_MIN_VOLTAGE,
                            ESCON_AI_SPEED_MAX_VOLTAGE,
                            ESCON_AI_SPEED_OFF_VOLTAGE,
                            ESCON_AI_SPEED_MIN_RPM,
                            ESCON_AI_SPEED_MAX_RPM);
 
 
    #if PWM_MODE == PWM_USER_MODE
        // Automatic disable if there is an error
        GLB_PARAM(ESCCONDGLB)=GLB_PARAM_ESCCONDGLB_OUT_OFF;
 
        // Reset enable output if there was an error
        DigOutput(ESCON_ENABLE_DIGOUTPUT_NO+1,0);
        Delay(50);
 
        // Enable ESCON Controller
        DigOutput(ESCON_ENABLE_DIGOUTPUT_NO+1,1);
 
    #else
        // Enable axis
        AxisControl(ESCON_AXIS_NO, ON);
 
        // Set profil
        Acc(ESCON_AXIS_NO,100);
        Dec(ESCON_AXIS_NO,100);
 
        // Set constant velocity and start axis
        Cvel(ESCON_AXIS_NO,cvel);
        AxisCvelStart(ESCON_AXIS_NO);
    #endif
 
    while(1)
    {
        #if PWM_MODE == PWM_USER_MODE
            // reset dutycycle
            USER_PARAM(ESCON_PWM_USER_PARAM)=dutyCycle;
            print("HWPWMGEN_MODE_UNSIGNED, PWM DuryCycle: ",HWPWMGEN_PROCESS(ESCON_PWM_DIGOUTPUT_NO,PO_HWPWMGEN_VALUE));
        #else
            // Set constant velocity and restart axis
            Cvel(ESCON_AXIS_NO,cvel);
            AxisCvelStart(ESCON_AXIS_NO);
            print("HWPWMGEN_MODE_SIGNED, PWM DuryCycle: ",HWPWMGEN_PROCESS(ESCON_PWM_DIGOUTPUT_NO,PO_HWPWMGEN_VALUE));
        #endif
        print("ESCON Feedback: ",AnalogInput(ESCON_AI_FEEDBACK_NO + 1)," Rpm");
        print("");
        Delay(2000);
    }
}