This file provides all the function used for DS402 PPM and PVM. More...

#include <SysDef.mh>
#include "SDK_Amplifier_DS402_StateMachine.mh"

Macros
#define	DS402_PPM_IMMEDIATELY 1

Functions
long	sdkDS402_ReadStatusWord (long busId)
	DS 402 State-Machine functions. More...

long	sdkDS402_ReadControlWord (long busId)
	Read control word. More...

void	sdkDS402_WriteControlWord (long busId, long value)
	Write control word. More...

long	sdkDS402_GetActDriveState (long busId)
	Get the actual drive state. More...

void	sdkDS402_PrintState (long state)
	Print the name of certain drive state. More...

long	helperDS402_ExecuteTransition (long busId, long transition)
	Execute a state transition. More...

long	sdkDS402_TransitionToState (long busId, long newState)
	Transition to another state. More...

long	sdkDS402_WaitTransitionToState (long busId, long targetState, long timeout)
	Wait transition to another state. More...

void	sdkDS402_SetProfileAcceleration (long busId, long acc)
	Profile Mode settings. More...

void	sdkDS402_SetProfileDeceleration (long busId, long dec)
	Set the profile deceleration DS402_PROFILE_DECELERATION(0x6084) More...

void	sdkDS402_SetProfileVelocity (long busId, long vel)
	Set the profile velocity DS402_PROFILE_VELOCITY(0x6081) More...

void	sdkDS402_SetMotionProfileType (long busId, long type)
	Set the motion profile type DS402_MOTION_PROFILE_TYPE(0x6086) More...

void	sdkDS402_SetMaxProfileVelocity (long busId, long vel)
	Set the max profile velocity DS402_MAX_PROFILE_VELOCITY(0x607F) More...

void	sdkDS402_SetMaxMotorSpeed (long busId, long vel)
	Set the max profile velocity DS402_MAX_MOTOR_SPEED(0x6080) More...

void	sdkDS402_SetMaxAcceleration (long busId, long acc)
	Set the max acceleration DS402_MAX_ACCELERATION(0x60C5) More...

void	sdkDS402_SetQuickStopDeceleration (long busId, long dec)
	Set quick stop deceleration DS402_QUICK_STOP_DECELERATION(0x6085) More...

void	sdkDS402_SetProfileMovementParameter (long busId, long acc, long dec, long velocity)
	Set quick stop deceleration DS402_QUICK_STOP_DECELERATION(0x6085) More...

void	sdkDS402_SetOpartionMode (long busId, long operationMode)
	Profile Mode functions. More...

long	sdkDS402_GetOpartionMode (long busId)
	Get the mode of operation DS402_MODES_OF_OPERATION(0x6060) More...

void	sdkDS402_QuickStop (long busId)
	Execute quick stop. More...

void	sdkDS402_Halt (long busId)
	Stop the motor. More...

void	sdkDS402_ResetFault (long busId)
	Reset fault. More...

void	sdkDS402_Print_StatusWord (long busId)
	Print the status word. More...

void	sdkDS402_Print_ControlWord (long busId)
	Print the control word. More...

long	helperDS402_PPM_PosStart (long busId, long pos, long relative, long startImmediately)
	Profile Position Mode functions. More...

long	sdkDS402_PPM_PosAbsStart (long busId, long pos, long startImmediately)
	Start absolute positioning. More...

long	sdkDS402_PPM_PosRelStart (long busId, long pos, long startImmediately)
	Start relative positioning. More...

long	sdkDS402_PPM_TargetReached (long busId)
	Checks whether the target was reached. More...

long	sdkDS402_PPM_WaitTargetReached (long busId, long timeout)
	Wait until target is reachd. More...

void	sdkDS402_PVM_SetTargetVelocity (long busId, long targetVelocity)
	Profile Velocity Mode functions. More...

long	sdkDS402_PVM_CvelStart (long busId)
	Start continuous velocity (PVM) More...

long	sdkDS402_PVM_CvelStop (long busId)
	Stop continuous velocity (PVM) More...

long	sdkDS402_PVM_TargetReached (long busId)
	Checks whether the target velocity has reached. More...

long	sdkDS402_PVM_WaitTargetReached (long busId, long timeout)
	Wait until target is reachd. More...

Detailed Description

This file provides all the function used for DS402 PPM and PVM.

A DS402 slave can be operated in the different modes PPM and PVM The amplifiers can be controlled via EtherCAT or CAN bus.

Definition in file SDK_Amplifier_DS402_StateMachine.mc.

Macro Definition Documentation

◆ DS402_PPM_IMMEDIATELY

#define DS402_PPM_IMMEDIATELY 1

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 192 of file SDK_Amplifier_DS402_StateMachine.mh.

Function Documentation

◆ helperDS402_ExecuteTransition()

long helperDS402_ExecuteTransition	(	long	busId,
		long	transition
	)

Execute a state transition.

This function executes a state transition within the DS402 state machine. DO NOT USE this function for state changes. It is just a helper function for the function sdkDS402_TransitionToState(). If you want to execute a state transition, use the function sdkDS402_TransitionToState().

The function writes value to the control word, to set the bits for state changes.

Bit 0: Switched on
Bit 1: Enable voltage
Bit 2: Quick stop
Bit 3: Enable operation
..
Bit 7: Fault reset
T

sdkDS402_TransitionToState()

Parameters

busId	Bus ID of the connected slave
transition	Value of the transition to execute

Returns: value: Process value
value > 0 Transition successful
value < 0 Invalid transition

Definition at line 152 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     long controlWord = sdkDS402_ReadControlWord(busId);
     long retVal = 1;
  
     switch(transition) {
         case DS402_TRANSITION_SHUTDOWN:
             //Transition Shutdown: CW 0xxx x110
             printf("...: execute Transition: DS402_TRANSITION_SHUTDOWN\n", busId);
             controlWord = (controlWord & 0xFF78) | 0x06;
             sdkDS402_WriteControlWord(busId, controlWord);
             break;
         case DS402_TRANSITION_SWITCH_ON:
             printf("...: execute Transition: DS402_TRANSITION_SWITCH_ON\n", busId);
             //Transition Switch On: CW 0xxx x111
             controlWord = (controlWord & 0xFF78) | 0x07;
             sdkDS402_WriteControlWord(busId, controlWord);
             break;
         case DS402_TRANSITION_ENABLE_OPERATION:
             printf("...: execute Transition: DS402_TRANSITION_ENABLE_OPERATION\n", busId);
             //Transition Enable Operation: CW 0xxx 1111
             controlWord = (controlWord & 0xFF70) | 0x0F;
             sdkDS402_WriteControlWord(busId, controlWord);
             break;
         case DS402_TRANSITION_DISABLE_VOLTAGE:
             printf("...: execute Transition: DS402_TRANSITION_DISABLE_VOLTAGE\n", busId);
             //Transition Disable Voltage: CW 0xxx xx0x
             controlWord = (controlWord & 0xFF7D);
             sdkDS402_WriteControlWord(busId, controlWord);
             break;
         case DS402_TRANSITION_QUICK_STOP:
             printf("...: execute Transition: DS402_TRANSITION_QUICK_STOP\n", busId);
             //Transition Quick Stop: CW 0xxx x01x
             controlWord = (controlWord & 0xFF79) | 0x02;
             sdkDS402_WriteControlWord(busId, controlWord);
             break;
         case DS402_TRANSITION_DISABLE_OPERATION:
             printf("...: execute Transition: DS402_TRANSITION_DISABLE_OPERATION\n", busId);
             //Transition Disable Voltage: CW 0xxx 0111
             controlWord = (controlWord & 0xFF70) | 0x07;
             sdkDS402_WriteControlWord(busId, controlWord);
             break;
         case DS402_TRANSITION_FAULT_RESET:
             printf("...: execute Transition: DS402_TRANSITION_FAULT_RESET\n", busId);
             //Transition Fault Resest: CW 0xxx xxxx -> 1xxx xxxx
             controlWord = (controlWord & 0xFF7F);
             sdkDS402_WriteControlWord(busId, controlWord);
             //Delay(1);
             controlWord = controlWord | 0x80;
             sdkDS402_WriteControlWord(busId, controlWord);
             //Transition switch on disable
             controlWord = controlWord & 0xFF7F;
             sdkDS402_WriteControlWord(busId, controlWord);
             break;
         default:
             printf("Invalid state transition\n");
             retVal = -1;
             break;
     }
  
     return(retVal);
 }

◆ helperDS402_PPM_PosStart()

long helperDS402_PPM_PosStart	(	long	busId,
		long	pos,
		long	relative,
		long	startImmediately
	)

Profile Position Mode functions.

Start positioning relative or absolute

This function starts positioning of an axis relative or absolute. Do not use this funtion. Use sdkDS402_PPM_PosAbsStart() or sdkDS402_PPM_PosRelStart() instead. This funtion is blocking until the setpoint acknowledge is received (max 2ms)

Parameters

busId	Bus ID of the connected slave
pos	target position
relative	excute the positioning relative or absolute 0: absolute 1: relative
startImmediately	start the movement immediately 0: Finish actual positioning 1: Abort actual positioning and start next positioning

Returns: value: Process value
value = 1 successful, new setpoint acknowlegded
value = -1 failed, new setpoint not acknowlegded
value = -2 failed, previous setpoint has been assumed and no additional setpoint may be accepted

Definition at line 721 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     long retVal = 1;
     long controlWord = 0;
     long setpointAcknowlege=1;
     long time = 0;
     long actState = -1;
  
     printf("...: new setpoint: %d\n", pos);
  
     if(sdkDS402_ReadStatusWord(busId).i[DS402_SW_PPM_BIT_SETPOINT_ACK]==1)
     {
         print("...: the previous setpoint has been assumed and no additional setpoint may be accepted");
         return(-2);
     }
  
     actState = sdkDS402_GetActDriveState(busId);
     if(actState != DS402_DRIVE_STATE_OPERATION_ENABLED)
     {
         print("...: drive state is not in operation enabled");
         return(-1);
     }
  
     SdoWrite(busId, DS402_TARGET_POSITION, 0 ,pos);
  
     controlWord = sdkDS402_ReadControlWord(busId);
     controlWord.i[DS402_CW_PPM_BIT_NEW_SETPOINT] = 1;
     controlWord.i[DS402_CW_PPM_BIT_CHANGE_IMMEDIATELY] = startImmediately;
     controlWord.i[DS402_CW_PPM_BIT_RELATIVE_MOVEMENT] = relative;
     controlWord.i[DS402_CW_PPM_BIT_ENDLESS_MOVEMENT] = 0;
  
     sdkDS402_WriteControlWord(busId, controlWord);
  
     time = Time();
     while(sdkDS402_ReadStatusWord(busId).i[DS402_SW_PPM_BIT_SETPOINT_ACK]!=1)
     {
         if((Time()-time) > 2) //is blocking until the new setpoint has been acknowledged
         {
             print("...: no setpoint acknowledge received");
             setpointAcknowlege = 0;
             retVal = -1;
             break;
         }
     }
     controlWord = sdkDS402_ReadControlWord(busId);
     controlWord.i[DS402_CW_PPM_BIT_NEW_SETPOINT] = 0;
     controlWord.i[DS402_CW_PPM_BIT_CHANGE_IMMEDIATELY] = 0;
     controlWord.i[DS402_CW_PPM_BIT_RELATIVE_MOVEMENT] = 0;
     controlWord.i[DS402_CW_PPM_BIT_ENDLESS_MOVEMENT] = 0;
  
     sdkDS402_WriteControlWord(busId, controlWord);
  
     if(setpointAcknowlege)
     {
         print("...: setpoint acknowleged");
     }
  
     return(retVal);
 }

◆ sdkDS402_GetActDriveState()

long sdkDS402_GetActDriveState ( long busId )

Get the actual drive state.

This function gets the actual state in DS402 state machine The state is depending on the folloeing bits in the status word.

Bit0: Ready to switch on
Bit1: Switched on
Bit2: Operation enabled
Bit3: Fault
Bit4: *(don't care)
Bit5: Quick stop (low active)
Bit6: switch on disabled

Parameters

busId Bus ID of the connected slave

Returns: value: drive state (value mapping: in SDK_Amplifier_DS402_StateMachine.mh)

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 83 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     long status = sdkDS402_ReadStatusWord(busId);
  
     switch(status & 0x006F) //mask bits xxxx xxxx x11x 1111
     {
  
         case 0x0000:    return(DS402_DRIVE_STATE_NOT_READY_TO_SWITCH_ON);   //xxxx xxxx x00x 0000
         case 0x0040:    return(DS402_DRIVE_STATE_SWITCH_ON_DISABLED);       //xxxx xxxx x10x 0000
         case 0x0021:    return(DS402_DRIVE_STATE_READY_TO_SWITCH_ON);       //xxxx xxxx x01x 0001
         case 0x0023:    return(DS402_DRIVE_STATE_SWITCHED_ON);              //xxxx xxxx x01x 0011
         case 0x0027:    return(DS402_DRIVE_STATE_OPERATION_ENABLED);        //xxxx xxxx x01x 0111
         case 0x0007:    return(DS402_DRIVE_STATE_QUICK_STOP_ACTIVE);        //xxxx xxxx x01x 0001
         case 0x000F:    return(DS402_DRIVE_STATE_FAULT_REACTION_ACTIVE);    //xxxx xxxx x00x 1111
         case 0x0008:    return(DS402_DRIVE_STATE_FAULT);                    //xxxx xxxx x00x 1000
         default:        return(-1);;
     }
 }

◆ sdkDS402_GetOpartionMode()

long sdkDS402_GetOpartionMode ( long busId )

Get the mode of operation DS402_MODES_OF_OPERATION(0x6060)

Get the mode of operation.

Parameters

busId Bus ID of the connected slave

Returns: operationMode Definition of the operation mode
DS402_OP_PPM (1): Profile Position Mode (PPM)
DS402_OP_PVM (3): Profile Velocity Mode (PVM)

Definition at line 531 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     long operationMode = SdoRead( busId, DS402_MODES_OF_OPERATION, 0);
     return(operationMode);
 }

◆ sdkDS402_Halt()

void sdkDS402_Halt ( long busId )

Stop the motor.

This function stops the motor with the defined profile deceleration. The deceleration can be set with method sdkDS402_SetProfileDeceleration

Parameters

busId Bus ID of the connected slave

Examples: CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc.

Definition at line 557 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     long controlWord;
     printf("Bus Id %d, Halt\n", busId);
  
     controlWord = sdkDS402_ReadControlWord(busId);
     controlWord.i[DS402_CW_BIT_HALT] = 1;
  
     sdkDS402_WriteControlWord(busId, controlWord);
 }

◆ sdkDS402_PPM_PosAbsStart()

long sdkDS402_PPM_PosAbsStart	(	long	busId,
		long	pos,
		long	startImmediately
	)

Start absolute positioning.

This function starts absolute positioning This funtion is blocking until the setpoint acknowledge is received (max 2ms)

Parameters

busId	Bus ID of the connected slave
pos	target position
startImmediately	start the movement immediately 0: Finish actual positioning 1: Abort actual positioning and start next positioning

Returns: value: Process value
value = 1 successful, new setpoint acknowlegded
value = -1 failed, new setpoint not acknowlegded
value = -2 failed, previous setpoint has been assumed and no additional setpoint may be accepted

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 797 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
  
     printf("Bus Id %d, sdkDS402_PPM_PosAbsStart:\n", busId);
     return helperDS402_PPM_PosStart(busId, pos, DS402_PPM_ABSOLUTE, startImmediately);
 }

◆ sdkDS402_PPM_PosRelStart()

long sdkDS402_PPM_PosRelStart	(	long	busId,
		long	pos,
		long	startImmediately
	)

Start relative positioning.

This function starts relative positioning This funtion is blocking until the setpoint acknowledge is received (max 2ms)

Parameters

busId	Bus ID of the connected slave
pos	relative movement value
startImmediately	start the movement immediately 0: Finish actual positioning 1: Abort actual positioning and start next positioning

Returns: value: Process value
value = 1 successful, new setpoint acknowlegded
value = -1 failed, new setpoint not acknowlegded
value = -2 failed, previous setpoint has been assumed and no additional setpoint may be accepted

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 819 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     printf("Bus Id %d, sdkDS402_PPM_PosRelStart:\n", busId);
     return helperDS402_PPM_PosStart(busId, pos, DS402_PPM_RELATIVE, startImmediately);
 }

◆ sdkDS402_PPM_TargetReached()

long sdkDS402_PPM_TargetReached ( long busId )

Checks whether the target was reached.

This function verifies whether the axis reached the target position This function is not blocking until the axis reaches the target.

Parameters

busId Bus ID of the connected slave

Returns: value: Process value
value = 1 Target reached
value = 0 Target NOT reached

Examples: CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 836 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     return(sdkDS402_ReadStatusWord(busId).i[DS402_SW_BIT_TARGET_REACHED]);
 }

◆ sdkDS402_PPM_WaitTargetReached()

long sdkDS402_PPM_WaitTargetReached	(	long	busId,
		long	timeout
	)

Wait until target is reachd.

This function waits (blocks) until the axis has reached the target position whthin the defined timeout.

Parameters

busId	Bus ID of the connected slave
timeout	Timeout until the function is aborted >=0: timeout in [ms] < 0: infinite timeout

Returns: value: Process value
value > 0 Target reached
value < 0 Timeout expired

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 853 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     long time = Time();
     long targetReached = 1;
  
     printf("Bus Id %d, sdkDS402_PPM_WaitTargetReached:\n", busId);
  
     while(sdkDS402_PPM_TargetReached(busId) == 0 && targetReached)
     {
         if(timeout >= 0 &&  (Time() - time) > timeout)
         {
             targetReached = -1;
             printf("...: target position not reached within timeout (%d ms)\n", timeout);
         }
     }
     if(targetReached)
     {
         print("...: target position reached");
     }
  
     return(targetReached);
 }

◆ sdkDS402_Print_ControlWord()

void sdkDS402_Print_ControlWord ( long busId )

Print the control word.

This function writes the control word split into individual bits with their description. It is depending on the actual modes of operation (PPM/PVM). This function can be used for debugging purposes.

Parameters

busId Bus ID of the connected slave

Definition at line 656 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     long value;
     long controlWord;
     long operationMode;
  
     operationMode = SdoRead(busId, DS402_MODES_OF_OPERATION, 0);
     controlWord = sdkDS402_ReadControlWord(busId);
  
     print("CONTROL WORD");
     value = controlWord.i[DS402_CW_BIT_SWITCH_ON];
     printf("\tSWITCH_ON:\t\t%d\n", value);
  
     value = controlWord.i[DS402_CW_BIT_ENABLE_VOLTAGE];
     printf("\tENABLE_VOLTAGE:\t\t%d\n", value);
  
     value = controlWord.i[DS402_CW_BIT_QUICK_STOP];
     printf("\tQUICK_STOP:\t\t%d\n", value);
  
     value = controlWord.i[DS402_CW_BIT_ENABLE_OPERATION];
     printf("\tENABLE_OPERATION:\t%d\n", value);
  
     value = controlWord.i[DS402_CW_BIT_HALT];
     printf("\tHALT:\t\t\t%d\n", value);
  
     if(operationMode == DS402_OP_PPM)
     {
         value = controlWord.i[DS402_CW_PPM_BIT_NEW_SETPOINT];
         printf("\tNEW_SETPOINT:\t%d\n", value);
  
         value = controlWord.i[DS402_CW_PPM_BIT_CHANGE_IMMEDIATELY];
         printf("\tCHANGE_IMMEDIATELY:\t%d\n", value);
  
         value = controlWord.i[DS402_CW_PPM_BIT_RELATIVE_MOVEMENT];
         printf("\tRELATIVE_MOVEMENT:\t%d\n", value);
  
         value = controlWord.i[DS402_CW_PPM_BIT_ENDLESS_MOVEMENT];
         printf("\tENDLESS_MOVEMENT:\t%d\n", value);
     }
 }

◆ sdkDS402_Print_StatusWord()

void sdkDS402_Print_StatusWord ( long busId )

Print the status word.

This function print the status word split into individual bits with their description. It is depending on the actual modes of operation (PPM/PVM). This function can be used for debugging purposes.

Parameters

busId Bus ID of the connected slave

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, and CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc.

Definition at line 588 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     long value;
     long status;
     long operationMode;
     operationMode = SdoRead(busId, DS402_MODES_OF_OPERATION, 0);
     status = sdkDS402_ReadStatusWord(busId);
  
  
     print("STATUS WORD");
  
     value = status.i[DS402_SW_BIT_READY_TO_SWITCH_ON];
     printf("\tREADY_TO_SWITCH_ON:\t%d\n", value);
  
     value = status.i[DS402_SW_BIT_SWITCHED_ON];
     printf("\tSWITCHED_ON:\t\t%d\n", value);
  
     value = status.i[DS402_SW_BIT_OPERATION_ENABLED];
     printf("\tOPERATION_ENABLED:\t%d\n", value);
  
     value = status.i[DS402_SW_BIT_FAULT];
     printf("\tFAULT:\t\t\t%d\n", value);
  
     value = status.i[DS402_SW_BIT_VOLTAGE_ENABLED];
     printf("\tVOLTAGE_ENABLED:\t%d\n", value);
  
     value = status.i[DS402_SW_BIT_QUICK_STOP];
     printf("\tQUICK_STOP:\t\t%d\n", value);
  
     value = status.i[DS402_SW_BIT_SWITCH_ON_DISABLED];
     printf("\tSWITCH_ON_DISABLED:\t%d\n", value);
  
     value = status.i[DS402_SW_BIT_WARNING];
     printf("\tWARNING:\t\t%d\n", value);
  
     value = status.i[DS402_SW_BIT_REMOTE];
     printf("\tREMOTE:\t\t\t%d\n", value);
  
     value = status.i[DS402_SW_BIT_TARGET_REACHED];
     printf("\tTARGET_REACHED:\t\t%d\n", value);
  
     value = status.i[DS402_SW_BIT_INTERNAL_LIMIT];
     printf("\tINTERNAL_LIMIT:\t\t%d\n", value);
  
     if(operationMode == DS402_OP_PPM)
     {
         value = status.i[DS402_SW_PPM_BIT_SETPOINT_ACK];
         printf("\tSETPOINT_ACK:\t\t%d\n", value);
  
         value = status.i[DS402_SW_PPM_BIT_FOLLWING_ERROR];
         printf("\tFOLLWING_ERROR:\t\t%d\n", value);
     }
  
     if(operationMode == DS402_OP_PVM)
     {
         value = status.i[DS402_SW_PVM_BIT_SPEED];
         printf("\tSPEED:\t\t\t%d\n", value);
     }
 }

◆ sdkDS402_PrintState()

void sdkDS402_PrintState ( long state )

Print the name of certain drive state.

This function prints the state name from a state vlaue. It can be used to create human readable print outputs for debugging reason.

Parameters

state value of the state to print (value mapping: in SDK_Amplifier_DS402_StateMachine.mh)

Definition at line 111 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     switch(state)
     {
         case DS402_DRIVE_STATE_NOT_READY_TO_SWITCH_ON:  printf("DRIVE_STATE_NOT_READY_TO_SWITCH_ON"); break;
         case DS402_DRIVE_STATE_SWITCH_ON_DISABLED:      printf("DRIVE_STATE_SWITCH_ON_DISABLED"); break;
         case DS402_DRIVE_STATE_READY_TO_SWITCH_ON:      printf("DRIVE_STATE_READY_TO_SWITCH_ON"); break;
         case DS402_DRIVE_STATE_SWITCHED_ON:             printf("DRIVE_STATE_SWITCHED_ON"); break;
         case DS402_DRIVE_STATE_OPERATION_ENABLED:       printf("DRIVE_STATE_OPERATION_ENABLED"); break;
         case DS402_DRIVE_STATE_QUICK_STOP_ACTIVE:       printf("DRIVE_STATE_QUICK_STOP_ACTIVE"); break;
         case DS402_DRIVE_STATE_FAULT_REACTION_ACTIVE:   printf("DRIVE_STATE_FAULT_REACTION_ACTIVE"); break;
         case DS402_DRIVE_STATE_FAULT:                   printf("DRIVE_STATE_FAULT"); break;
         default:                                    printf("%d", state);
     }
 }

◆ sdkDS402_PVM_CvelStart()

long sdkDS402_PVM_CvelStart ( long busId )

Start continuous velocity (PVM)

This function start to run the axis in continuous velocity The velocity can be defined with the method sdkDS402_PVM_SetTargetVelocity.

Parameters

busId Bus ID of the connected slave

Returns: value: Process value
value 1 Successful
value -1 Failed, drive is not in 'Operation enabled' state

Examples: CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc.

Definition at line 904 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     long actState;
     long controlWord;
  
     printf("Bus Id %d, sdkDS402_PPM_CvelStart: \n", busId);
  
     actState = sdkDS402_GetActDriveState(busId);
     if(actState != DS402_DRIVE_STATE_OPERATION_ENABLED)
     {
         printf("...: drive state is not in operation enabled\n");
         return(-1);
     }
  
     //Reset the Halt bit to start the execution
     controlWord = sdkDS402_ReadControlWord(busId);
     controlWord.i[DS402_CW_BIT_HALT] = 0;
     sdkDS402_WriteControlWord(busId, controlWord);
  
     printf("...: started\n");
  
     return(1);
 }

◆ sdkDS402_PVM_CvelStop()

long sdkDS402_PVM_CvelStop ( long busId )

Stop continuous velocity (PVM)

This function stops the axis.

Parameters

busId Bus ID of the connected slave

Returns: value: Process value
value 1 Successful

Examples: CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc.

Definition at line 935 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     long controlWord;
     printf("Bus Id %d, sdkDS402_PPM_CvelStop:\n", busId);
  
     //Set the Halt bit, to stop the execution
     controlWord = sdkDS402_ReadControlWord(busId);
     controlWord.i[DS402_CW_BIT_HALT] = 1;
  
     sdkDS402_WriteControlWord(busId, controlWord);
     printf("...: stopped\n");
  
     return(1);
 }

◆ sdkDS402_PVM_SetTargetVelocity()

void sdkDS402_PVM_SetTargetVelocity	(	long	busId,
		long	targetVelocity
	)

Profile Velocity Mode functions.

Set target velocity for PVM

This function sets the target velocity for the Profile Position Mode (PVM)

Parameters

busId	Bus ID of the connected slave
targetVelocity	Target velocity

Examples: CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc.

Definition at line 888 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     printf("Bus Id %d, PVM: Set target velocity to %d\n", busId, targetVelocity);
     SdoWrite(busId, DS402_TARGET_VELOCITY, 0, targetVelocity);
 }

◆ sdkDS402_PVM_TargetReached()

long sdkDS402_PVM_TargetReached ( long busId )

Checks whether the target velocity has reached.

This function verifies whether the axis reached the target velocity

Parameters

busId Bus ID of the connected slave

Returns: value: Process value
value = 1 Target reached
value = 0 Target NOT reached

Definition at line 959 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     return sdkDS402_ReadStatusWord(busId).i[DS402_SW_BIT_TARGET_REACHED];
 }

◆ sdkDS402_PVM_WaitTargetReached()

long sdkDS402_PVM_WaitTargetReached	(	long	busId,
		long	timeout
	)

Wait until target is reachd.

This function waits (blocks) until the axis has reached the target velocity whthin the defined timeout.

Parameters

busId	Bus ID of the connected slave
timeout	Timeout until the funcition returns >=0: timeout in [ms] < 0: infinite timeout

Returns: value: Process value
value > 0 Target reached
value < 0 Timeout expired

Examples: CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc.

Definition at line 976 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     long time = Time();
     long targetReached = 1;
  
     printf("Bus Id %d, sdkDS402_PVM_WaitTargetReached:\n", busId);
  
     while(sdkDS402_PPM_TargetReached(busId) == 0 && targetReached)
     {
         if(timeout >= 0 &&  (Time() - time) > timeout)
         {
             targetReached = -1;
             printf("...: target velocity not reached within timeout (%d ms)\n", timeout);
         }
     }
     if(targetReached)
     {
         print("...: target velocity reached");
     }
  
     return(targetReached);
 }

◆ sdkDS402_QuickStop()

void sdkDS402_QuickStop ( long busId )

Execute quick stop.

This function executes a quick stop with the defined deceleration. The deceleration can be set with method sdkDS402_SetQuickStopDeceleration()

Parameters

busId Bus ID of the connected slave

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 544 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     printf("Bus Id %d, Quick Stop\n", busId);
     sdkDS402_TransitionToState(busId, DS402_DRIVE_STATE_QUICK_STOP_ACTIVE);
 }

◆ sdkDS402_ReadControlWord()

long sdkDS402_ReadControlWord ( long busId )

Read control word.

This function reads the control word form index DS402_CONTROLWORD(0x6040) and subindex 0 The bits have different meaning for Profile Position Mode and Profile Velocity Mode

Parameters

busId Bus ID of the connected slave

Returns: value: control word

Definition at line 46 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     return SdoRead(busId, DS402_CONTROLWORD, 0);
 }

◆ sdkDS402_ReadStatusWord()

long sdkDS402_ReadStatusWord ( long busId )

DS 402 State-Machine functions.

Declaration of functions.

Read status word

This function reads the status word form index DS402_STATUSWORD(0x6041) and subindex 0 The bits have different meaning for Profile Position Mode and Profile Velocity Mode

Parameters

busId Bus ID of the connected slave

Returns: value: status word

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 33 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     return SdoRead(busId, DS402_STATUSWORD, 0);
 }

◆ sdkDS402_ResetFault()

void sdkDS402_ResetFault ( long busId )

Reset fault.

This function resets the fault execute a state transition to 'Switch On disabled'

Parameters

busId Bus ID of the connected slave

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 574 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     printf("Bus Id %d, Reset Fault\n", busId);
     sdkDS402_TransitionToState(busId, DS402_DRIVE_STATE_SWITCH_ON_DISABLED);
 }

◆ sdkDS402_SetMaxAcceleration()

void sdkDS402_SetMaxAcceleration	(	long	busId,
		long	acc
	)

Set the max acceleration DS402_MAX_ACCELERATION(0x60C5)

Set the maximum allowed acceleration to prevent mechanical damage.

Parameters

busId	Bus ID of the connected slave
acc	acceleration value

Definition at line 464 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     SdoWrite(busId, DS402_MAX_ACCELERATION, 0, acc);
 }

◆ sdkDS402_SetMaxMotorSpeed()

void sdkDS402_SetMaxMotorSpeed	(	long	busId,
		long	vel
	)

Set the max profile velocity DS402_MAX_MOTOR_SPEED(0x6080)

Set the maximum allowed speed for the motor. It serves as protection for the motor. The value is given in [rpm].

Parameters

busId	Bus ID of the connected slave
vel	speed value [velocity unit]

Definition at line 452 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     SdoWrite(busId, DS402_MAX_MOTOR_SPEED, 0, vel);
 }

◆ sdkDS402_SetMaxProfileVelocity()

void sdkDS402_SetMaxProfileVelocity	(	long	busId,
		long	vel
	)

Set the max profile velocity DS402_MAX_PROFILE_VELOCITY(0x607F)

Set the velocity limit in a PPM or PVM move.

Parameters

busId	Bus ID of the connected slave
vel	velocity value [velocity unit]

Definition at line 439 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     SdoWrite(busId, DS402_MAX_PROFILE_VELOCITY, 0, vel);
 }

◆ sdkDS402_SetMotionProfileType()

void sdkDS402_SetMotionProfileType	(	long	busId,
		long	type
	)

Set the motion profile type DS402_MOTION_PROFILE_TYPE(0x6086)

Set the type of motion profile trajectory

Parameters

busId	Bus ID of the connected slave
type	motion profile type value 0: linear ramp (trapezoidal profile)

Definition at line 427 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     SdoWrite(busId, DS402_MOTION_PROFILE_TYPE, 0, type);
 }

◆ sdkDS402_SetOpartionMode()

void sdkDS402_SetOpartionMode	(	long	busId,
		long	operationMode
	)

Profile Mode functions.

Set the mode of operation DS402_MODES_OF_OPERATION(0x6060)

Set the mode of operation.

Parameters

busId	Bus ID of the connected slave
operationMode	Definition of the operation mode DS402_OP_PPM (1): Profile Position Mode (PPM) DS402_OP_PVM (3): Profile Velocity Mode (PVM)

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 508 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     if( operationMode == DS402_OP_PPM)
     {
         printf("Bus Id %d, setup profile position mode\n" ,busId);
         SdoWrite( busId, DS402_MODES_OF_OPERATION, 0, DS402_OP_PPM);
     }
     else if(operationMode == DS402_OP_PVM)
     {
         printf("Bus Id %d, setup profile velocity mode\n" ,busId);
         SdoWrite( busId, DS402_MODES_OF_OPERATION, 0, DS402_OP_PVM);
     }
 }

◆ sdkDS402_SetProfileAcceleration()

void sdkDS402_SetProfileAcceleration	(	long	busId,
		long	acc
	)

Profile Mode settings.

Set the profile acceleration DS402_PROFILE_ACCELERATION(0x6083)

Set the acceleration for PPM (Profile Position Mode) and PVM (Profile Velocity Mode)

Parameters

busId	Bus ID of the connected slave
acc	acceleration value [acceleration unit]

Examples: CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc.

Definition at line 389 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     SdoWrite(busId, DS402_PROFILE_ACCELERATION, 0, acc);
 }

◆ sdkDS402_SetProfileDeceleration()

void sdkDS402_SetProfileDeceleration	(	long	busId,
		long	dec
	)

Set the profile deceleration DS402_PROFILE_DECELERATION(0x6084)

Set the deceleration for PPM (Profile Position Mode) and PVM (Profile Velocity Mode)

Parameters

busId	Bus ID of the connected slave
acc	deceleration value [acceleration unit]

Examples: CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc.

Definition at line 401 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     SdoWrite(busId, DS402_PROFILE_DECELERATION, 0, dec);
 }

◆ sdkDS402_SetProfileMovementParameter()

void sdkDS402_SetProfileMovementParameter	(	long	busId,
		long	acc,
		long	dec,
		long	velocity
	)

Set quick stop deceleration DS402_QUICK_STOP_DECELERATION(0x6085)

Set the deceleration of the quick stop profile.

Parameters

busId	Bus ID of the connected slave
dec	deceleration value

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 488 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     sdkDS402_SetProfileAcceleration(busId, acc);
     sdkDS402_SetProfileDeceleration(busId, dec);
     sdkDS402_SetProfileVelocity(busId, velocity);
 }

◆ sdkDS402_SetProfileVelocity()

void sdkDS402_SetProfileVelocity	(	long	busId,
		long	vel
	)

Set the profile velocity DS402_PROFILE_VELOCITY(0x6081)

Set the deceleration for PPM (Profile Position Mode) The target velocity for PVM has to be set with the function sdkDS402_PVM_TargetReached()

Parameters

busId	Bus ID of the connected slave
vel	velocity value [velocity unit]

Definition at line 414 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     SdoWrite(busId, DS402_PROFILE_VELOCITY, 0, vel);
 }

◆ sdkDS402_SetQuickStopDeceleration()

void sdkDS402_SetQuickStopDeceleration	(	long	busId,
		long	dec
	)

Set quick stop deceleration DS402_QUICK_STOP_DECELERATION(0x6085)

Set the deceleration of the quick stop profile.

Parameters

busId	Bus ID of the connected slave
dec	deceleration value

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 476 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     SdoWrite(busId, DS402_QUICK_STOP_DECELERATION, 0, dec);
 }

◆ sdkDS402_TransitionToState()

long sdkDS402_TransitionToState	(	long	busId,
		long	newState
	)

Transition to another state.

This function executes a state transition within the DS402 state machine. It gets the actual state and performs a transition to a new state, if the transition between those two states is allowed. It is not checked whether the target state has been achieved.

Parameters

busId	Bus ID of the connected slave
newState	target state

Returns: value: Process value
value > 0 Transition executed
value < 0 Invalid transition

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 230 of file SDK_Amplifier_DS402_StateMachine.mc.

                                                            {
  
     long transition = -1;
     long actState = sdkDS402_GetActDriveState(busId);
  
     printf("Bus Id %d, Transition from ", busId);
     sdkDS402_PrintState(actState);
     printf(" to ");
     sdkDS402_PrintState(newState);
     print();
  
     switch(actState) {
         case DS402_DRIVE_STATE_NOT_READY_TO_SWITCH_ON:
             if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
                // Automatic transition
             }
             break;
         case DS402_DRIVE_STATE_SWITCH_ON_DISABLED:
             if (newState == DS402_DRIVE_STATE_READY_TO_SWITCH_ON) {
                 transition = DS402_TRANSITION_SHUTDOWN;
             }
             break;
         case DS402_DRIVE_STATE_READY_TO_SWITCH_ON:
             if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
                 transition = DS402_TRANSITION_DISABLE_VOLTAGE;
             }
             else if (newState == DS402_DRIVE_STATE_SWITCHED_ON) {
                 transition = DS402_TRANSITION_SWITCH_ON;
             }
             else if (newState == DS402_DRIVE_STATE_OPERATION_ENABLED) {
                 transition = DS402_TRANSITION_ENABLE_OPERATION;
             }
             break;
         case DS402_DRIVE_STATE_SWITCHED_ON:
             if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
                 transition = DS402_TRANSITION_DISABLE_VOLTAGE;
             }
             else if (newState == DS402_DRIVE_STATE_READY_TO_SWITCH_ON) {
                 transition = DS402_TRANSITION_SHUTDOWN;
             }
             else if (newState == DS402_DRIVE_STATE_OPERATION_ENABLED) {
                 transition = DS402_TRANSITION_ENABLE_OPERATION;
             }
             break;
         case DS402_DRIVE_STATE_OPERATION_ENABLED:
             if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
                 transition = DS402_TRANSITION_DISABLE_VOLTAGE;
             }
             else if (newState == DS402_DRIVE_STATE_READY_TO_SWITCH_ON) {
                 transition = DS402_TRANSITION_SHUTDOWN;
             }
             else if (newState == DS402_DRIVE_STATE_SWITCHED_ON) {
                 transition = DS402_TRANSITION_DISABLE_OPERATION;
             }
             else if (newState == DS402_DRIVE_STATE_QUICK_STOP_ACTIVE) {
                 transition = DS402_TRANSITION_QUICK_STOP;
             }
             break;
         case DS402_DRIVE_STATE_QUICK_STOP_ACTIVE:
             if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
                 transition = DS402_TRANSITION_SHUTDOWN;
             }
             else if (newState == DS402_DRIVE_STATE_OPERATION_ENABLED) {
                 transition = DS402_TRANSITION_ENABLE_OPERATION;
             }
             break;
         case DS402_DRIVE_STATE_FAULT_REACTION_ACTIVE:
             if (newState == DS402_DRIVE_STATE_FAULT) {
                 // Automatic transition
             }
             else if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
                 transition = DS402_TRANSITION_FAULT_RESET;
             }
             break;
         case DS402_DRIVE_STATE_FAULT:
             if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
                 transition = DS402_TRANSITION_FAULT_RESET;
             }
             break;
         default:
             printf("...: invalid actual drive state: %d\n", busId, actState);
             break;
     }
  
     if(transition != -1)
     {
         helperDS402_ExecuteTransition(busId, transition);
     }
     else
     {
         printf("...: invalid state transition\n", busId);
     }
  
     return(transition);
 }

◆ sdkDS402_WaitTransitionToState()

long sdkDS402_WaitTransitionToState	(	long	busId,
		long	targetState,
		long	timeout
	)

Wait transition to another state.

This function waits (block) until a target state in DS402 state machine has been reached or the timeout expierd. It gets the actual state and performs a transition to a new state, if the transition between those two states is allowed. Because this function is blocking, just use it for a single axis. If you would like to change the state of several axis use sdkDS402_TransitionToState() funciton and verify the transition in the application.

sdkDS402_TransitionToState

Parameters

busId	Bus ID of the connected slave
newState	target state
Timeout	until the function is aborted >=0: timeout in [ms] < 0: infinite timeout

Returns: value: Process value
value > 0 Transition executed (number of transition)
value -1 Invalid transition
value -2 Timeout expired
value -3 Invalid actual state

Examples: CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, and CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc.

Definition at line 347 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     long actState, transition;
     long time = Time();
  
     printf("Bus Id %d, sdkDS402_WaitTransitionToState\n" ,busId);
  
     transition = sdkDS402_TransitionToState(busId, targetState);
     if(transition < 0)
     {
         //Invalid transition
         return(-1);
     }
  
     actState = sdkDS402_GetActDriveState(busId);
     while(actState != targetState)
     {
         if(timeout >= 0 &&  (Time() - time) > timeout)
         {
             //Timeout elapsed
             printf("...: target state not reached within timeout (%d ms)\n", timeout);
             return(-2);
         }
         actState = sdkDS402_GetActDriveState(busId);
     }
  
     return(transition);
 }

◆ sdkDS402_WriteControlWord()

void sdkDS402_WriteControlWord	(	long	busId,
		long	value
	)

Write control word.

This function writes the control word to index DS402_CONTROLWORD(0x6040) and subindex 0 The bits have different meaning for Profile Position Mode and Profile Velocity Mode

Parameters

busId	Bus ID of the connected slave
value	Value of the control word

Returns: value: control word

Definition at line 60 of file SDK_Amplifier_DS402_StateMachine.mc.

 {
     SdoWrite(busId, DS402_CONTROLWORD, 0, value);
 }

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ DS402_PPM_IMMEDIATELY

Function Documentation

◆ helperDS402_ExecuteTransition()

◆ helperDS402_PPM_PosStart()

◆ sdkDS402_GetActDriveState()

◆ sdkDS402_GetOpartionMode()

◆ sdkDS402_Halt()

◆ sdkDS402_PPM_PosAbsStart()

◆ sdkDS402_PPM_PosRelStart()

◆ sdkDS402_PPM_TargetReached()

◆ sdkDS402_PPM_WaitTargetReached()

◆ sdkDS402_Print_ControlWord()

◆ sdkDS402_Print_StatusWord()

◆ sdkDS402_PrintState()

◆ sdkDS402_PVM_CvelStart()

◆ sdkDS402_PVM_CvelStop()

◆ sdkDS402_PVM_SetTargetVelocity()

◆ sdkDS402_PVM_TargetReached()

◆ sdkDS402_PVM_WaitTargetReached()

◆ sdkDS402_QuickStop()

◆ sdkDS402_ReadControlWord()

◆ sdkDS402_ReadStatusWord()

◆ sdkDS402_ResetFault()

◆ sdkDS402_SetMaxAcceleration()

◆ sdkDS402_SetMaxMotorSpeed()

◆ sdkDS402_SetMaxProfileVelocity()

◆ sdkDS402_SetMotionProfileType()

◆ sdkDS402_SetOpartionMode()

◆ sdkDS402_SetProfileAcceleration()

◆ sdkDS402_SetProfileDeceleration()

◆ sdkDS402_SetProfileMovementParameter()

◆ sdkDS402_SetProfileVelocity()

◆ sdkDS402_SetQuickStopDeceleration()

◆ sdkDS402_TransitionToState()

◆ sdkDS402_WaitTransitionToState()

◆ sdkDS402_WriteControlWord()