SDK_Amplifier_MACS.mc

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#pragma once
 
#include <SysDef.mh>
#include "SDK_Amplifier_MACS.mh"
 
long sdkSetupAmpDcMotor(long axis, long controlMode,long polePairs, long maxCur, long encQc, long maxRpm)
{
    HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_DC;      // Set motor type
    HWAMP_PARAM(axis, HWAMP_MODE)     = controlMode;            // Set controller priciple
    HWAMP_PARAM(axis, HWAMP_POLES)    = polePairs;              // Number of pole pairs
    HWAMP_PARAM(axis, HWAMP_MAXCUR)   = maxCur;                 // Max current in mA
    HWAMP_PARAM(axis, HWAMP_ENCRES)   = encQc;                  // Given in qc
    HWAMP_PARAM(axis, HWAMP_MAXRPM)   = maxRpm;                 // Given in RPM
 
    return(1);
}
 
long sdkSetupAmpBldc120Motor(long axis, long controlMode,long polePairs, long maxCur, long encQc, long maxRpm)
{
    HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_BLDC_120;    // Set motor type
    HWAMP_PARAM(axis, HWAMP_MODE)     = controlMode;                // Set controller priciple
    HWAMP_PARAM(axis, HWAMP_POLES)    = polePairs;                  // Number of pole pairs
    HWAMP_PARAM(axis, HWAMP_MAXCUR)   = maxCur;                     // Max current in mA
    HWAMP_PARAM(axis, HWAMP_ENCRES)   = encQc;                      // Given in qc
    HWAMP_PARAM(axis, HWAMP_MAXRPM)   = maxRpm;                     // Given in RPM
 
    return(1);
}
 
long sdkSetupAmpBldcMotor(long axis, long hallAligment, long controlMode,long polePairs, long maxCur, long encQc, long maxRpm)
{
    HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_BLDC;        // Set motor type
    HWAMP_PARAM(axis, HWAMP_HALL_ALIGNMENT) =  hallAligment;        // set hall alignment
    HWAMP_PARAM(axis, HWAMP_MODE)     = controlMode;                // Set controller priciple
    HWAMP_PARAM(axis, HWAMP_POLES)    = polePairs;                  // Number of pole pairs
    HWAMP_PARAM(axis, HWAMP_MAXCUR)   = maxCur;                     // Max current in mA
    HWAMP_PARAM(axis, HWAMP_ENCRES)   = encQc;                      // Given in qc
    HWAMP_PARAM(axis, HWAMP_MAXRPM)   = maxRpm;                     // Given in RPM
 
    return(1);
}
 
long sdkSetupAmpStepMotor_CL(long axis, long controlMode,long steps, long maxCur, long encQc, long maxRpm)
{
    HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_STEP;        // Set motor type
    HWAMP_PARAM(axis, HWAMP_MODE)     = controlMode;                // Set controller priciple
    HWAMP_PARAM(axis, HWAMP_POLES)    = steps/4;                    // For 2-phase stepper: Poles = Steps per revolution / 4
    HWAMP_PARAM(axis, HWAMP_MAXCUR)   = maxCur;                     // Max current in mA
    HWAMP_PARAM(axis, HWAMP_ENCRES)   = encQc;                      // Given in qc
    HWAMP_PARAM(axis, HWAMP_MAXRPM)   = maxRpm;                     // Given in RPM
 
    return(1);
}
long sdkSetupAmpStepMotor_OL(long axis, long steps, long maxCur,long maxRpm)
{
    HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_STEP;        // Set motor type
    HWAMP_PARAM(axis, HWAMP_MODE)     = HWAMP_MODE_PFG_CUR_PWM;         // Set controller priciple
    HWAMP_PARAM(axis, HWAMP_POLES)    = steps/4;                    // For 2-phase stepper: Poles = Steps per revolution / 4
    HWAMP_PARAM(axis, HWAMP_MAXCUR)   = maxCur;                     // Max current in mA
    HWAMP_PARAM(axis, HWAMP_ENCRES)   = HWAMP_PARAM(axis, HWAMP_POLES) * HWAMP_ENCRES_MICROSTEP_RES;// Given in qc
    HWAMP_PARAM(axis, HWAMP_MAXRPM)   = maxRpm;                     // Given in RPM
 
    return(1);
}
 
long sdkSetupAmpPmsmMotor(long axis, long controlMode,long polePairs, long maxCur, long encQc, long maxRpm) //$B
{
    HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_PMSM;        // Set motor type
    HWAMP_PARAM(axis, HWAMP_MODE)     = controlMode;                // Set controller priciple
    HWAMP_PARAM(axis, HWAMP_POLES)    = polePairs;                  // Number of pole pairs
    HWAMP_PARAM(axis, HWAMP_MAXCUR)   = maxCur;                     // Max current in mA
    HWAMP_PARAM(axis, HWAMP_ENCRES)   = encQc;                      // Given in qc
    HWAMP_PARAM(axis, HWAMP_MAXRPM)   = maxRpm;                     // Given in RPM
 
    return(1);
}
long sdkSetupAmpHallPmsmMotor(long axis, long controlMode,long polePairs, long maxCur, long encQc, long maxRpm, long elPol)
{
    HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_HALL_PMSM;   // Set motor type
    HWAMP_PARAM(axis, HWAMP_ELPOL)    = elPol;                      // encoder polarity vs. electrical polarity:
    HWAMP_PARAM(axis, HWAMP_MODE)     = controlMode;                // Set controller priciple
    HWAMP_PARAM(axis, HWAMP_POLES)    = polePairs;                  // Number of pole pairs
    HWAMP_PARAM(axis, HWAMP_MAXCUR)   = maxCur;                     // Max current in mA
    HWAMP_PARAM(axis, HWAMP_ENCRES)   = encQc;                      // Given in qc
    HWAMP_PARAM(axis, HWAMP_MAXRPM)   = maxRpm;                     // Given in RPM
 
    return(1);
}
 
long sdkSetupCurrentPIControl(long axis, long curkprop, long curkint, long curkilim)
{
    // parameters for current controller
    HWAMP_PARAM((axis), HWAMP_CURKPROP) = curkprop; // current-controller  proportional factor:   +/-32767   (CURKPROP)
    HWAMP_PARAM((axis), HWAMP_CURKINT)  = curkint;  // current-controller  integral factor:       +/-32767   (CURKINT)
    HWAMP_PARAM((axis), HWAMP_CURKILIM) = curkilim; // current-controller Integral limit:         0 … 32767  (CURKILIM)
 
    return(1);
}
 
long sdkSetupVelocityPIControl(long axis, long velkprop, long velkint, long velkilim)
{
    // parameters for velocity controller
    HWAMP_PARAM(axis, HWAMP_VELKPROP) = velkprop;   // velocity-controller  proportional factor:   +/-32767   (VELKPROP)
    HWAMP_PARAM(axis, HWAMP_VELKINT)  = velkint;    // velocity-controller  integral factor:       +/-32767   (VELKINT)
    HWAMP_PARAM(axis, HWAMP_VELKILIM) = velkilim;   // velocity-controller Integral limit:         0 … 32767  (VELKILIM)
 
    return(1);
}
 
long sdkSetupVirtualI2T(long axis, long nominalCur, long thermalTime)
{
    // parameters for I2T protection
    VIRTAMP_PARAM(axis,VIRTAMP_I2TLIMIT)    =   (nominalCur*nominalCur/1000);   // I*I*1000
    VIRTAMP_PARAM(axis,VIRTAMP_I2TTIME) =   thermalTime;
 
    return(1);
}