ApossC SDK  V01.15
Functions
SDK_Amplifier_MACS.mc File Reference

Functions for the integrated amplifier setup. More...

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

Go to the source code of this file.

Functions

long sdkSetupAmpDcMotor (long axis, long controlMode, long polePairs, long maxCur, long encQc, long maxRpm)
 Sets the amplifier parameters for a DC motor. More...
 
long sdkSetupAmpBldc120Motor (long axis, long controlMode, long polePairs, long maxCur, long encQc, long maxRpm)
 Sets the amplifier parameters for a BLDC 120° motor
Deprecated: Use sdkSetupAmpBldcMotor() and HWAMP_HALL_ALIGNMENT. More...
 
long sdkSetupAmpBldcMotor (long axis, long hallAligment, long controlMode, long polePairs, long maxCur, long encQc, long maxRpm)
 Sets the amplifier parameters for a BLDC motor. More...
 
long sdkSetupAmpStepMotor_CL (long axis, long controlMode, long steps, long maxCur, long encQc, long maxRpm)
 Sets the amplifier parameters for a stepper motor (closed loop) More...
 
long sdkSetupAmpStepMotor_OL (long axis, long steps, long maxCur, long maxRpm)
 Sets the amplifier parameters for a stepper motor (closed loop) More...
 
long sdkSetupAmpPmsmMotor (long axis, long controlMode, long polePairs, long maxCur, long encQc, long maxRpm)
 Sets the amplifier parameters for a brushless, PMSM commuted motor (no Hall sensors are used) More...
 
long sdkSetupAmpHallPmsmMotor (long axis, long controlMode, long polePairs, long maxCur, long encQc, long maxRpm, long elPol)
 Sets the amplifier parameters for a brushless, PMSM commuted motor (Hall sensors are used) More...
 
long sdkSetupCurrentPIControl (long axis, long curkprop, long curkint, long curkilim)
 Set parameters for PI current control loop. More...
 
long sdkSetupVelocityPIControl (long axis, long velkprop, long velkint, long velkilim)
 Set parameters for PI velocity control loop. More...
 
long sdkSetupVirtualI2T (long axis, long nominalCur, long thermalTime)
 Function to generate a virtual I2T protection. More...
 

Detailed Description

Functions for the integrated amplifier setup.

Revision
243

Definition in file SDK_Amplifier_MACS.mc.

Function Documentation

◆ sdkSetupAmpBldc120Motor()

long sdkSetupAmpBldc120Motor ( long  axis,
long  controlMode,
long  polePairs,
long  maxCur,
long  encQc,
long  maxRpm 
)

Sets the amplifier parameters for a BLDC 120° motor
Deprecated: Use sdkSetupAmpBldcMotor() and HWAMP_HALL_ALIGNMENT.

The function sets the amplifier parameters for a BLDC 120° motor. Additionally the controller mode can be selected. Depending on the mode, the controllers must then be parameterized.
The following functions are available: sdkSetupPositionPIDControl() / sdkSetupPositionPIDControlExt(), sdkSetupCurrentPIControl(), sdkSetupVelocityPIControl()

Parameters
axisAxis module number
controlModeDefine control typ (default 3)
0 HWAMP_MODE_POS_VEL_CUR: Pos -> Vel -> Cur -> PWM
1 HWAMP_MODE_POS_VEL: Pos -> Vel -> PWM
2 HWAMP_MODE_POS_CUR: Pos -> Cur -> PWM
3 HWAMP_MODE_POS: Pos -> PWM
polePairsNumber of pole pairs (default 1)
maxCurMaximal current allowed in mA (default 2000)
encQcResolution of the encoder for position feed back in increments qc (default 2000)
maxRpmMaximum velocity in RPM, Use for scale the parameters for the velocity controller (default 1500)
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 85 of file SDK_Amplifier_MACS.mc.

86 {
87  HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_BLDC_120; // Set motor type
88  HWAMP_PARAM(axis, HWAMP_MODE) = controlMode; // Set controller priciple
89  HWAMP_PARAM(axis, HWAMP_POLES) = polePairs; // Number of pole pairs
90  HWAMP_PARAM(axis, HWAMP_MAXCUR) = maxCur; // Max current in mA
91  HWAMP_PARAM(axis, HWAMP_ENCRES) = encQc; // Given in qc
92  HWAMP_PARAM(axis, HWAMP_MAXRPM) = maxRpm; // Given in RPM
93 
94  return(1);
95 }

◆ sdkSetupAmpBldcMotor()

long sdkSetupAmpBldcMotor ( long  axis,
long  hallAligment,
long  controlMode,
long  polePairs,
long  maxCur,
long  encQc,
long  maxRpm 
)

Sets the amplifier parameters for a BLDC motor.

The function sets the amplifier parameters for a BLDC motor. Additionally the controller mode can be selected. Depending on the mode, the controllers must then be parameterized.
The following functions are available: sdkSetupPositionPIDControl() / sdkSetupPositionPIDControlExt(), sdkSetupCurrentPIControl(), sdkSetupVelocityPIControl()

Parameters
axisAxis module number
hallAligmentHall aligment. See SDO Dictionary Index: 4000, SubIndex: 88 (default 5)
controlModeDefine control typ (default 3)
0 HWAMP_MODE_POS_VEL_CUR: Pos -> Vel -> Cur -> PWM
1 HWAMP_MODE_POS_VEL: Pos -> Vel -> PWM
2 HWAMP_MODE_POS_CUR: Pos -> Cur -> PWM
3 HWAMP_MODE_POS: Pos -> PWM
polePairsNumber of pole pairs (default 1)
maxCurMaximal current allowed in mA (default 2000)
encQcResolution of the encoder for position feed back in increments qc (default 2000)
maxRpmMaximum velocity in RPM, Use for scale the parameters for the velocity controller (default 1500)
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
Maxon_EC45_flat_1ax_BC_Enc.mc, and MotorCommissioning_MaxonECi30.mc.

Definition at line 122 of file SDK_Amplifier_MACS.mc.

123 {
124  HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_BLDC; // Set motor type
125  HWAMP_PARAM(axis, HWAMP_HALL_ALIGNMENT) = hallAligment; // set hall alignment
126  HWAMP_PARAM(axis, HWAMP_MODE) = controlMode; // Set controller priciple
127  HWAMP_PARAM(axis, HWAMP_POLES) = polePairs; // Number of pole pairs
128  HWAMP_PARAM(axis, HWAMP_MAXCUR) = maxCur; // Max current in mA
129  HWAMP_PARAM(axis, HWAMP_ENCRES) = encQc; // Given in qc
130  HWAMP_PARAM(axis, HWAMP_MAXRPM) = maxRpm; // Given in RPM
131 
132  return(1);
133 }

◆ sdkSetupAmpDcMotor()

long sdkSetupAmpDcMotor ( long  axis,
long  controlMode,
long  polePairs,
long  maxCur,
long  encQc,
long  maxRpm 
)

Sets the amplifier parameters for a DC motor.

The function sets the amplifier parameters for a DC motor. Additionally the controller mode can be selected. Depending on the mode, the controllers must then be parameterized.
The following functions are available: sdkSetupPositionPIDControl() / sdkSetupPositionPIDControlExt(), sdkSetupCurrentPIControl(), sdkSetupVelocityPIControl()

Parameters
axisAxis module number
controlModeDefine control typ (default 3)
0 HWAMP_MODE_POS_VEL_CUR: Pos -> Vel -> Cur -> PWM
1 HWAMP_MODE_POS_VEL: Pos -> Vel -> PWM
2 HWAMP_MODE_POS_CUR: Pos -> Cur -> PWM
3 HWAMP_MODE_POS: Pos -> PWM
polePairsNumber of pole pairs (default 1)
maxCurMaximal current allowed in mA (default 2000)
encQcResolution of the encoder for position feed back in increments qc (default 2000)
maxRpmMaximum velocity in RPM, Use for scale the parameters for the velocity controller (default 1500)
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
Maxon_RE_40_1ax_Inc.mc, and Maxon_RE_40_1ax_OL.mc.

Definition at line 48 of file SDK_Amplifier_MACS.mc.

49 {
50  HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_DC; // Set motor type
51  HWAMP_PARAM(axis, HWAMP_MODE) = controlMode; // Set controller priciple
52  HWAMP_PARAM(axis, HWAMP_POLES) = polePairs; // Number of pole pairs
53  HWAMP_PARAM(axis, HWAMP_MAXCUR) = maxCur; // Max current in mA
54  HWAMP_PARAM(axis, HWAMP_ENCRES) = encQc; // Given in qc
55  HWAMP_PARAM(axis, HWAMP_MAXRPM) = maxRpm; // Given in RPM
56 
57  return(1);
58 }

◆ sdkSetupAmpHallPmsmMotor()

long sdkSetupAmpHallPmsmMotor ( long  axis,
long  controlMode,
long  polePairs,
long  maxCur,
long  encQc,
long  maxRpm,
long  elPol 
)

Sets the amplifier parameters for a brushless, PMSM commuted motor (Hall sensors are used)

The function sets the amplifier parameters for a brushless, PMSM commuted motor. Additionally the controller mode can be selected. Depending on the mode, the controllers must then be parameterized.
The following functions are available: sdkSetupPositionPIDControl() / sdkSetupPositionPIDControlExt(), sdkSetupCurrentPIControl(), sdkSetupVelocityPIControl()

Parameters
axisAxis module number
controlModeDefine control typ (default 3)
0 HWAMP_MODE_POS_VEL_CUR: Pos -> Vel -> Cur -> PWM
1 HWAMP_MODE_POS_VEL: Pos -> Vel -> PWM
2 HWAMP_MODE_POS_CUR: Pos -> Cur -> PWM
3 HWAMP_MODE_POS: Pos -> PWM
polePairsNumber of pole pairs (default 1)
maxCurMaximal current allowed in mA (default 2000)
encQcResolution of the encoder for position feed back in increments qc (default 2000)
maxRpmMaximum velocity in RPM, Use for scale the parameters for the velocity controller (default 1500)
elPolEncoder polarity vs. electrical polarity (default -1)
1 HWAMP_ELPOL_REGULAR: Electrical polarity is equal encoder's polarity
-1 HWAMP_ELPOL_INVERS: Electrical polarity is inverse to encoder's polarity
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
Maxon_EC45_flat_1ax_SC_Hall_Inc.mc, Maxon_ECi30_2ax_SC_Hall_Inc.mc, Maxon_ECi52_1ax_SC_SSI.mc, and MotorCommissioning_MaxonECi30.mc.

Definition at line 268 of file SDK_Amplifier_MACS.mc.

269 {
270  HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_HALL_PMSM; // Set motor type
271  HWAMP_PARAM(axis, HWAMP_ELPOL) = elPol; // encoder polarity vs. electrical polarity:
272  HWAMP_PARAM(axis, HWAMP_MODE) = controlMode; // Set controller priciple
273  HWAMP_PARAM(axis, HWAMP_POLES) = polePairs; // Number of pole pairs
274  HWAMP_PARAM(axis, HWAMP_MAXCUR) = maxCur; // Max current in mA
275  HWAMP_PARAM(axis, HWAMP_ENCRES) = encQc; // Given in qc
276  HWAMP_PARAM(axis, HWAMP_MAXRPM) = maxRpm; // Given in RPM
277 
278  return(1);
279 }

◆ sdkSetupAmpPmsmMotor()

long sdkSetupAmpPmsmMotor ( long  axis,
long  controlMode,
long  polePairs,
long  maxCur,
long  encQc,
long  maxRpm 
)

Sets the amplifier parameters for a brushless, PMSM commuted motor (no Hall sensors are used)

The function sets the amplifier parameters for a brushless, PMSM commuted motor. Additionally the controller mode can be selected. Depending on the mode, the controllers must then be parameterized.
The following functions are available: sdkMotorAlignment() sdkSetupPositionPIDControl() / sdkSetupPositionPIDControlExt(), sdkSetupCurrentPIControl(), sdkSetupVelocityPIControl()

Parameters
axisAxis module number
controlModeDefine control typ (default 3)
0 HWAMP_MODE_POS_VEL_CUR: Pos -> Vel -> Cur -> PWM
1 HWAMP_MODE_POS_VEL: Pos -> Vel -> PWM
2 HWAMP_MODE_POS_CUR: Pos -> Cur -> PWM
3 HWAMP_MODE_POS: Pos -> PWM
polePairsNumber of pole pairs (default 1)
maxCurMaximal current allowed in mA (default 2000)
encQcResolution of the encoder for position feed back in increments qc (default 2000)
maxRpmMaximum velocity in RPM, Use for scale the parameters for the velocity controller (default 1500)
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
Maxon_ECi40_1ax_SC_OL_Inc.mc, and Maxon_ECi40_3ax_SC_OL_Inc.mc.

Definition at line 230 of file SDK_Amplifier_MACS.mc.

231 {
232  HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_PMSM; // Set motor type
233  HWAMP_PARAM(axis, HWAMP_MODE) = controlMode; // Set controller priciple
234  HWAMP_PARAM(axis, HWAMP_POLES) = polePairs; // Number of pole pairs
235  HWAMP_PARAM(axis, HWAMP_MAXCUR) = maxCur; // Max current in mA
236  HWAMP_PARAM(axis, HWAMP_ENCRES) = encQc; // Given in qc
237  HWAMP_PARAM(axis, HWAMP_MAXRPM) = maxRpm; // Given in RPM
238 
239  return(1);
240 }

◆ sdkSetupAmpStepMotor_CL()

long sdkSetupAmpStepMotor_CL ( long  axis,
long  controlMode,
long  steps,
long  maxCur,
long  encQc,
long  maxRpm 
)

Sets the amplifier parameters for a stepper motor (closed loop)

The function sets the amplifier parameters for a stepper motor in closed loop. Additionally the controller mode can be selected. Depending on the mode, the controllers must then be parameterized.
The following functions are available: sdkSetupPositionPIDControl() / sdkSetupPositionPIDControlExt(), sdkSetupCurrentPIControl(), sdkSetupVelocityPIControl()

Parameters
axisAxis module number
controlModeDefine control typ (default 3)
0 HWAMP_MODE_POS_VEL_CUR: Pos -> Vel -> Cur -> PWM
1 HWAMP_MODE_POS_VEL: Pos -> Vel -> PWM
2 HWAMP_MODE_POS_CUR: Pos -> Cur -> PWM
3 HWAMP_MODE_POS: Pos -> PWM
stepsSteps per revolution
maxCurMaximal current allowed in mA (default 2000)
encQcResolution of the encoder for position feed back in increments qc (default 2000)
maxRpmMaximum velocity in RPM, Use for scale the parameters for the velocity controller (default 1500)
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
Stepper_XY_CL.mc.

Definition at line 159 of file SDK_Amplifier_MACS.mc.

160 {
161  HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_STEP; // Set motor type
162  HWAMP_PARAM(axis, HWAMP_MODE) = controlMode; // Set controller priciple
163  HWAMP_PARAM(axis, HWAMP_POLES) = steps/4; // For 2-phase stepper: Poles = Steps per revolution / 4
164  HWAMP_PARAM(axis, HWAMP_MAXCUR) = maxCur; // Max current in mA
165  HWAMP_PARAM(axis, HWAMP_ENCRES) = encQc; // Given in qc
166  HWAMP_PARAM(axis, HWAMP_MAXRPM) = maxRpm; // Given in RPM
167 
168  return(1);
169 }

◆ sdkSetupAmpStepMotor_OL()

long sdkSetupAmpStepMotor_OL ( long  axis,
long  steps,
long  maxCur,
long  maxRpm 
)

Sets the amplifier parameters for a stepper motor (closed loop)

The function sets the amplifier parameters for a stepper motor in closed loop. Additionally the controller mode can be selected. Depending on the mode, the controllers must then be parameterized.
The following functions are available: sdkSetupPositionPIDControl() / sdkSetupPositionPIDControlExt(), sdkSetupCurrentPIControl(), sdkSetupVelocityPIControl()

Parameters
axisAxis module number
controlModeDefine control typ (default 3)
0 HWAMP_MODE_POS_VEL_CUR: Pos -> Vel -> Cur -> PWM
1 HWAMP_MODE_POS_VEL: Pos -> Vel -> PWM
2 HWAMP_MODE_POS_CUR: Pos -> Cur -> PWM
3 HWAMP_MODE_POS: Pos -> PWM
stepsSteps per revolution
maxCurMaximal current allowed in mA (default 2000)
maxRpmMaximum velocity in RPM, Use for scale the parameters for the velocity controller (default 1500)
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
Stepper_XY_OL.mc.

Definition at line 193 of file SDK_Amplifier_MACS.mc.

194 {
195  HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_STEP; // Set motor type
196  HWAMP_PARAM(axis, HWAMP_MODE) = HWAMP_MODE_PFG_CUR_PWM; // Set controller priciple
197  HWAMP_PARAM(axis, HWAMP_POLES) = steps/4; // For 2-phase stepper: Poles = Steps per revolution / 4
198  HWAMP_PARAM(axis, HWAMP_MAXCUR) = maxCur; // Max current in mA
199  HWAMP_PARAM(axis, HWAMP_ENCRES) = HWAMP_PARAM(axis, HWAMP_POLES) * HWAMP_ENCRES_MICROSTEP_RES;// Given in qc
200  HWAMP_PARAM(axis, HWAMP_MAXRPM) = maxRpm; // Given in RPM
201 
202  return(1);
203 }

◆ sdkSetupCurrentPIControl()

long sdkSetupCurrentPIControl ( long  axis,
long  curkprop,
long  curkint,
long  curkilim 
)

Set parameters for PI current control loop.

The function sets the factors of the current PI controller. More information are available in the Help of ApossIDE.

Parameters
axisAxis module number
curkpropProportional factor of current controller (default 200)
curkintIntegral factor of current controller (default 100)
curkilimIntegral limit of current controller (default 1000)
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
Maxon_EC45_flat_1ax_BC_Enc.mc, Maxon_EC45_flat_1ax_BC_Hall.mc, Maxon_EC45_flat_1ax_SC_Hall_Inc.mc, Maxon_ECi30_2ax_SC_Hall_Inc.mc, Maxon_ECi40_1ax_SC_OL_Inc.mc, Maxon_ECi40_3ax_SC_OL_Inc.mc, Maxon_ECi52_1ax_SC_SSI.mc, Maxon_RE_40_1ax_Inc.mc, Maxon_RE_40_1ax_OL.mc, MotorCommissioning_MaxonECi30.mc, Stepper_XY_CL.mc, and Stepper_XY_OL.mc.

Definition at line 293 of file SDK_Amplifier_MACS.mc.

294 {
295  // parameters for current controller
296  HWAMP_PARAM((axis), HWAMP_CURKPROP) = curkprop; // current-controller proportional factor: +/-32767 (CURKPROP)
297  HWAMP_PARAM((axis), HWAMP_CURKINT) = curkint; // current-controller integral factor: +/-32767 (CURKINT)
298  HWAMP_PARAM((axis), HWAMP_CURKILIM) = curkilim; // current-controller Integral limit: 0 … 32767 (CURKILIM)
299 
300  return(1);
301 }

◆ sdkSetupVelocityPIControl()

long sdkSetupVelocityPIControl ( long  axis,
long  velkprop,
long  velkint,
long  velkilim 
)

Set parameters for PI velocity control loop.

The function sets the factors of the velocity PI controller. More information are available in the Help of ApossIDE.

Parameters
axisAxis module number
velkpropProportional factor of velocity controller (default 200)
velkintIntegral factor of velocity controller (default 5)
velkilimIntegral limit of velocity controller (default 1000)
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
Maxon_EC45_flat_1ax_BC_Enc.mc, Maxon_EC45_flat_1ax_BC_Hall.mc, Maxon_EC45_flat_1ax_SC_Hall_Inc.mc, Maxon_ECi30_2ax_SC_Hall_Inc.mc, Maxon_ECi40_1ax_SC_OL_Inc.mc, Maxon_ECi40_3ax_SC_OL_Inc.mc, Maxon_ECi52_1ax_SC_SSI.mc, Maxon_RE_40_1ax_Inc.mc, Maxon_RE_40_1ax_OL.mc, and MotorCommissioning_MaxonECi30.mc.

Definition at line 315 of file SDK_Amplifier_MACS.mc.

316 {
317  // parameters for velocity controller
318  HWAMP_PARAM(axis, HWAMP_VELKPROP) = velkprop; // velocity-controller proportional factor: +/-32767 (VELKPROP)
319  HWAMP_PARAM(axis, HWAMP_VELKINT) = velkint; // velocity-controller integral factor: +/-32767 (VELKINT)
320  HWAMP_PARAM(axis, HWAMP_VELKILIM) = velkilim; // velocity-controller Integral limit: 0 … 32767 (VELKILIM)
321 
322  return(1);
323 }

◆ sdkSetupVirtualI2T()

long sdkSetupVirtualI2T ( long  axis,
long  nominalCur,
long  thermalTime 
)

Function to generate a virtual I2T protection.

This function activates a virtual I2T protection. More information about this can be found in the ApossIDE help.

Parameters
axisAxis module number
nominalCurNominal current (max. continuous load current) in mA
thermalTimeTherm. Winding time constant in ms
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
Maxon_EC45_flat_1ax_BC_Enc.mc, Maxon_EC45_flat_1ax_BC_Hall.mc, Maxon_EC45_flat_1ax_SC_Hall_Inc.mc, Maxon_ECi30_2ax_SC_Hall_Inc.mc, Maxon_ECi52_1ax_SC_SSI.mc, Maxon_RE_40_1ax_Inc.mc, Maxon_RE_40_1ax_OL.mc, MotorCommissioning_MaxonECi30.mc, Stepper_XY_CL.mc, and Stepper_XY_OL.mc.

Definition at line 336 of file SDK_Amplifier_MACS.mc.

337 {
338  // parameters for I2T protection
339  VIRTAMP_PARAM(axis,VIRTAMP_I2TLIMIT) = (nominalCur*nominalCur/1000); // I*I*1000
340  VIRTAMP_PARAM(axis,VIRTAMP_I2TTIME) = thermalTime;
341 
342  return(1);
343 }
HWAMP_MODE
#define HWAMP_MODE
Mode of operation.
Definition: SdoDictionary.mh:7639
HWAMP_COMMTYPE
#define HWAMP_COMMTYPE
Commutation type in use.
Definition: SdoDictionary.mh:7749
HWAMP_ELPOL
#define HWAMP_ELPOL
encoder polarity vs.
Definition: SdoDictionary.mh:7917
HWAMP_VELKINT
#define HWAMP_VELKINT
Integral factor of velocity controller.
Definition: SdoDictionary.mh:7707
HWAMP_COMMTYPE_BLDC_120
#define HWAMP_COMMTYPE_BLDC_120
Definition: SdoDictionary.mh:8284
HWAMP_VELKILIM
#define HWAMP_VELKILIM
Integral limit of velocity controller.
Definition: SdoDictionary.mh:7716
HWAMP_MAXCUR
#define HWAMP_MAXCUR
Maximal current allowed.
Definition: SdoDictionary.mh:7815
HWAMP_POLES
#define HWAMP_POLES
Number of pole pairs.
Definition: SdoDictionary.mh:7765
HWAMP_VELKPROP
#define HWAMP_VELKPROP
Proportional factor of velocity controller.
Definition: SdoDictionary.mh:7698
HWAMP_COMMTYPE_STEP
#define HWAMP_COMMTYPE_STEP
Definition: SdoDictionary.mh:8286
VIRTAMP_PARAM
#define VIRTAMP_PARAM(modno, parno)
Virtual Amplifier Parameters: Setter.
Definition: SdoDictionary.mh:5280
VIRTAMP_I2TLIMIT
#define VIRTAMP_I2TLIMIT
I2T Limit value.
Definition: SdoDictionary.mh:5533
HWAMP_CURKILIM
#define HWAMP_CURKILIM
Integral limit of current controller.
Definition: SdoDictionary.mh:7743
HWAMP_COMMTYPE_PMSM
#define HWAMP_COMMTYPE_PMSM
Definition: SdoDictionary.mh:8289
VIRTAMP_I2TTIME
#define VIRTAMP_I2TTIME
I2T Time interval for filtering.
Definition: SdoDictionary.mh:5479
HWAMP_MODE_PFG_CUR_PWM
#define HWAMP_MODE_PFG_CUR_PWM
Definition: SdoDictionary.mh:8275
HWAMP_CURKINT
#define HWAMP_CURKINT
Integral factor of current controller.
Definition: SdoDictionary.mh:7734
HWAMP_PARAM
#define HWAMP_PARAM(modno, parno)
HW Amplifier Parameters: Setter.
Definition: SdoDictionary.mh:7627
HWAMP_MAXRPM
#define HWAMP_MAXRPM
Maximum velocity in RPM.
Definition: SdoDictionary.mh:7833
HWAMP_COMMTYPE_DC
#define HWAMP_COMMTYPE_DC
Definition: SdoDictionary.mh:8282
HWAMP_COMMTYPE_HALL_PMSM
#define HWAMP_COMMTYPE_HALL_PMSM
Definition: SdoDictionary.mh:8287
HWAMP_ENCRES
#define HWAMP_ENCRES
Resolution of the encoder for position feed back in increments (quadcounts)
Definition: SdoDictionary.mh:7802
HWAMP_HALL_ALIGNMENT
#define HWAMP_HALL_ALIGNMENT
Hall Alignment.
Definition: SdoDictionary.mh:8228
HWAMP_CURKPROP
#define HWAMP_CURKPROP
Proportional factor of current controller.
Definition: SdoDictionary.mh:7725
HWAMP_ENCRES_MICROSTEP_RES
#define HWAMP_ENCRES_MICROSTEP_RES
Definition: SdoDictionary.mh:8301
HWAMP_COMMTYPE_BLDC
#define HWAMP_COMMTYPE_BLDC
Definition: SdoDictionary.mh:8283
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