SDK_Amplifier_MiniMACS6_DS402_Slave.mc File Reference

This file provides all the function used to setup a MiniMACS6 DS402 slave. More...

#include <SysDef.mh>
#include "SDK_Amplifier_MiniMACS6_DS402_Slave.mh"

Go to the source code of this file.

Functions
long	sdkMiniMACS6_SetupCanBusModule (long axis, long busId, long pdoNumber, long operationMode)
	Setup the Can bus module for an MiniMACS6 DS402 slave. More...
long	sdkMiniMACS6_SetupCanVirtAmp (long axis, long maxRpm, long operationMode)
	Setup the virtual amplifier for an MiniMACS6 DS402 slave with Can bus. More...
long	sdkMiniMACS6_SetupCanVirtCntin (long axis, long operationMode)
	Setup the virtual counter input for an MiniMACS6 DS402 slave with Can bus. More...
long	sdkMiniMACS6_SetupCanSdoParam (long busId, long pdonumber, long slaveAxisNo, long operationMode)
	Setup the Sdo parameter for an MiniMACS6 DS402 slave. More...
long	sdkMiniMACS6_AxisHomingStart (long axis, long busId, long operationMode, long &homingState)
	State machine function for performing a homing on an MiniMACS6 DS402 slave. More...

Detailed Description

This file provides all the function used to setup a MiniMACS6 DS402 slave.

The MiniMACS DS402 Slave can be operated in the different modes csp, csv and cst The amplifiers can be controlled via CAN bus. The motor, encoder and controller parameters are set directly on the MiniMACS6 DS402 Application.

Revision

225

Definition in file SDK_Amplifier_MiniMACS6_DS402_Slave.mc.

Function Documentation

sdkMiniMACS6_AxisHomingStart()

long sdkMiniMACS6_AxisHomingStart	(	long	axis,
		long	busId,
		long	operationMode,
		long &	homingState
	)

State machine function for performing a homing on an MiniMACS6 DS402 slave.

This function sets the MiniMACS6 DS402 slave in homing mode and starts the homing defined on the MiniMACS6 DS402 slave. Before calling this function, all homing parameters must be configured on the MiniMACS6 DS402 slave. The function is not blocking. The return parameter must be checked.

Parameters

axis	Axis module number
busId	Bus ID of the connected slave
operationMode	Operation mod which should be set after homing.
homingState	Call-by-reference variable for the iteration of the different homing states. Must be initialized with 0.

Returns

value: Process value
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Examples

CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, and CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 318 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mc.

{
    long time, displayMode;
    long axOffset = 0x800;
    time= Time()%1000;
 
    switch (homingState) {
        case 0:
            print("sdkMiniMACS6_AxisHomingStart: " ,axis);
            homingState = 1;
            break;
        case 1:
            // x6060 Change operation mode to ”6: Homing mode.”
            SdoWriten( busId, MINIMACS6_MODES_OF_OPERATION+axOffset*axis, 0, 1, MINIMACS6_OP_HMM);
            print("...: DS402 Homing AxisNo: ",axis," - Set mode of OP: 0x06");
 
            Delay(1);
            print("...: DS402 Homing AxisNo: ",axis," - Enable Drive");
            AxisControl(axis, ON);
 
            homingState = 2;
 
        case 2:
            displayMode = SdoRead(busId, MINIMACS6_MODES_OF_OPERATION_DISPLAY+axOffset*axis, 0);
            if(displayMode== MINIMACS6_OP_HMM)
            {
                print("...: DS402 Homing AxisNo: ",axis," - Display mode of OP: ",displayMode);
                homingState = 3;
            }
            else if(time==0)
            {
                printf("...: DS402 Homing AxisNo: %ld - Waiting for OP mode display:   %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
                // This section  must be called in a 1 ms loop because of the print function.
                Delay(1);
            }
            break;
 
        case 3:
            // Bit 10 Target reached - Homing procedure is interrupted or not started
            if(VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS).i[10]==1)
            {
                printf("...: DS402 Homing AxisNo: %ld - Homing start signal Status:   %lx\n",axis,VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
                VIRTAMP_PARAM(axis, VIRTAMP_CNTRLW_PWRONENP) = 0x1F;
                VIRTAMP_PARAM(axis, VIRTAMP_CNTRLW_PWRONENN) = 0x1F;
                homingState = 4;
            }
            // Bit 13 Homingerror - Homing error occurred
            else if(VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS).i[13]==1)
            {
                printf("...: DS402 Homing AxisNo: %ld - Homing Error - Status:   %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
                return(-1);
            }
            else if(time==0)
            {
                printf("...: DS402 Homing AxisNo: %ld - Waiting for ready bit:   %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
                // This section  must be called in a 1 ms loop because of the print function.
                Delay(1);
            }
            break;
 
        case 4:
                // Homing procedure is completed successfully
                if (VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS).i[12]==1)
                {
                    printf("...: DS402 Homing AxisNo: %ld - Homing done - Status:   %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
 
                    VIRTAMP_PARAM(axis, VIRTAMP_CNTRLW_PWRONENP) = 0x0F;
                    VIRTAMP_PARAM(axis, VIRTAMP_CNTRLW_PWRONENN) = 0x0F;
 
                    print("...: DS402 Homing AxisNo: ",axis," - Disable Drive");
                    AxisControl(axis, OFF);
 
                    SdoWriten(busId, MINIMACS6_MODES_OF_OPERATION+axOffset*axis, 0, 1, operationMode );        // 0x6060 Change operation mode to ”8: CSP mode.”
 
                    homingState = 5;
                    break;
                }
                // Bit 13 Homingerror - Homing error occurred
                else if(VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS).i[13]==1)
                {
                    printf("...: DS402 Homing AxisNo: %ld - Homing Error - Status:   %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
                    return(-1);
                }
                // Homing procedure is in progress
                else if(time==0)
                {
                    printf("...: DS402 Homing AxisNo: %ld - Homing in progress - Status:   %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
                    // This section  must be called in a 1 ms loop because of the print function.
                    Delay(1);
                }
                break;
 
        case 5:
            displayMode = SdoRead(busId, MINIMACS6_MODES_OF_OPERATION_DISPLAY+axOffset*axis, 0);
            if(displayMode== operationMode)
            {
                print("...: DS402 Homing AxisNo: ",axis," - Display mode of OP: ",displayMode);
                homingState = 6;
            }
            else if(time==0)
            {
                printf("...: DS402 Homing AxisNo: %ld - Waiting for OP mode display:   %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
                // This section  must be called in a 1 ms loop because of the print function.
                Delay(1);
            }
        case 6:
            print("...: DS402 Homing AxisNo: ",axis," - Finished");
            homingState = 7;
            return(1);
        case 7:
            return(1);
        default :
            print("...: DS402 Homing AxisNo: ",axis," - Incorrect hominState init value: ", homingState);
            return(-1);
    }
 
    return(0);
}

sdkMiniMACS6_SetupCanBusModule()

long sdkMiniMACS6_SetupCanBusModule	(	long	axis,
		long	busId,
		long	pdoNumber,
		long	operationMode
	)

Setup the Can bus module for an MiniMACS6 DS402 slave.

This function sets up the Can bus module for an MiniMACS6 DS402 slave. It can be defined with which operation mode is used. Currently there are no differences in the different operation modes regarding the Bus Module setup.

Parameters

axis	Axis module number
busId	Bus ID of the connected slave
pdoNumber	Used PDO number
operationMode	Definition of the operation mode 0x08: Cyclic synchronous position (csp) mode 0x09: Cyclic synchronous velocity (csv) mode n 0x0A: Cyclic synchronous torque (cst) mode

Note

The value passed from "BUSMOD_RXMAP_POVALUE3" is the current torque. The value is given in per thousand of “Motor rated torque”.

Returns

value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Examples

CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, and CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 37 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mc.

{
    long busmod, signedFlag;
    signedFlag = 0x10000000;
    busmod = axis;
 
    print("sdkMiniMACS6_SetupCanBusModule: ", busmod);
 
    BUSMOD_PARAM(busmod, BUSMOD_MODE) =  BUSMOD_MODE_DEACTIVATE;            // Deactivate (objects will be deleted)
    BUSMOD_PARAM(busmod, BUSMOD_BUSTYPE) =  BUSMOD_BUSTYPE_CAN;             // Can bus
 
 
    BUSMOD_PARAM(busmod, BUSMOD_BUSNO) =  busId / 100000;                   // Bus number (0 = master, 1 = slave CAN bus)
    BUSMOD_PARAM(busmod, BUSMOD_ID)   =  busId % 1000;                      // CAN Id for this bus module
    BUSMOD_PARAM(busmod, BUSMOD_SYNC) =  1;                                 // Sync active
    BUSMOD_PARAM(busmod, BUSMOD_GUARDTIME) =  0;                            // no guarding
    BUSMOD_PARAM(busmod, BUSMOD_MODE) =  BUSMOD_MODE_ACTIVATE;              // Create bus module
 
    BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT1) =  VIRTAMP_PROCESS_SRCINDEX(axis,PO_VIRTAMP_CMDWORD);     // Select the input value sources object (send to bus): CMD Word
 
    if (operationMode == MINIMACS6_OP_CSP)  // cycle synchronous position (csp) mode
    {
        BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT2) =  VIRTAMP_PROCESS_SRCINDEX(axis,PO_VIRTAMP_REFPOS);  // Select the input value sources object (send to bus): position setpoint
        print("...: cycle synchronous position (csp) mode");
    }
    else if (operationMode == MINIMACS6_OP_CSV) // cycle synchronous velocity (csv) mode
    {
        BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT2) =  VIRTAMP_PROCESS_SRCINDEX(axis,PO_VIRTAMP_REFVEL);  // Select the input value sources object (send to bus): velocity setvel
        print("...: cycle synchronous velocity (csv) mode");
    }
    else if (operationMode == MINIMACS6_OP_CST) // cycle synchronous torque (cst) mode
    {
        BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT2) =  AXE_PROCESS_SRCINDEX(axis,REG_USERREFCUR); // Select the input value sources object (send to bus): target torque
        print("...: cycle synchronous torque (cst) mode");
    }
    else// Error
    {
        print("...: not supported operation mode");
        return(-1);
    }
 
    BUSMOD_PARAM(busmod, BUSMOD_TXMAP_INPUT1) =  pdoNumber*0x01000000 + 2*0x00010000 + 0;   // pdo ; length in bytes; bytes offset  control word
 
    if (operationMode != MINIMACS6_OP_CST)
        BUSMOD_PARAM(busmod, BUSMOD_TXMAP_INPUT2) =  pdoNumber*0x01000000 + 4*0x00010000 + 2;   // pdo ; length in bytes; bytes offset  target position/ velocity
    else // cycle synchronous torque (cst) mode
        BUSMOD_PARAM(busmod, BUSMOD_TXMAP_INPUT2) =  pdoNumber*0x01000000 + 2*0x00010000 + 2;   // pdo ; length in bytes; bytes offset  target torque
 
    BUSMOD_PARAM(busmod, BUSMOD_RXMAP_POVALUE1) =  pdoNumber*0x01000000 + 2*0x00010000 + 0; // pdo ; length in bytes; bytes offset   status word
    BUSMOD_PARAM(busmod, BUSMOD_RXMAP_POVALUE2) =  pdoNumber*0x01000000 + 4*0x00010000 + 2; // pdo ; length in bytes; bytes offset   position actual value
    BUSMOD_PARAM(busmod, BUSMOD_RXMAP_POVALUE3) =  signedFlag + pdoNumber*0x01000000 + 2*0x00010000 + 6; // pdo ; length in bytes; bytes offset   torque actual value
 
    BUSMOD_PARAM(busmod, BUSMOD_MODE) = BUSMOD_MODE_ACTIVATE_NOSTOP;                        // Start bus module
 
    return(1);
}

sdkMiniMACS6_SetupCanSdoParam()

long sdkMiniMACS6_SetupCanSdoParam	(	long	busId,
		long	pdonumber,
		long	slaveAxisNo,
		long	operationMode
	)

Setup the Sdo parameter for an MiniMACS6 DS402 slave.

This function sets up the Sdo parameter for an MiniMACS6 DS402 slave. It can be defined with which operation mode is used. Each axis is controlled via its own PDO. A maximum of 4 axes can be controlled.

Parameters

busId	Bus ID of the connected slave
pdoNumber	Used PDO number
slaveAxisNo	Axis module number of the slave (0-5)
operationMode	Definition of the operation mode 0x08: Cyclic synchronous position (csp) mode 0x09: Cyclic synchronous velocity (csv) mode n 0x0A: Cyclic synchronous torque (cst) mode

Returns

value: Process value
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Examples

CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, and CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 230 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mc.

{
    long nodeid, last_value;
    long axOffset = 0x8000000;
    nodeid = busId % 100000;
 
    print("sdkMiniMACS6_SetupCanSdoParam: " ,nodeid);
 
    // Set ms loop sync source to CAN PDO, This feature will sync the controllers loop to a bus signal.
    SdoWrite(busId, 0x2203, 0x13, 1);
 
    // reset Transmittype
    SdoWrite(busId, MINIMACS6_TRANSMIT_PDO_1_PARAMETER+ pdonumber-1, 2, 255);    // TxPDO1 Transmittype
 
    // the pdos have to be disabled for configuring
    last_value = (SdoRead(busId, MINIMACS6_TRANSMIT_PDO_1_PARAMETER+ pdonumber-1, 1));
    SdoWrite(busId, MINIMACS6_TRANSMIT_PDO_1_PARAMETER+ pdonumber-1, 1, (last_value | 0x80000000)); // disable pdo x
 
    //the pdos have to be disabled for configuring
    last_value = (SdoRead(busId, MINIMACS6_RECEIVE_PDO_1_PARAMETER+pdonumber-1, 1));
    SdoWrite(busId, MINIMACS6_RECEIVE_PDO_1_PARAMETER+ pdonumber-1, 1, (last_value | 0x80000000)); // disable pdo 1
 
    // Now we setup the correct PDO transmission for Tx and Rx
    SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_PARAMETER + pdonumber-1), 2,  1);         // TxPDO Transmittype SYNC
    SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_PARAMETER + pdonumber-1), 2,  1);          // RxPDO Transmittype SYNC
 
    // config RX PDO
    SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_MAPPING + pdonumber-1), 0x00, 0);          // disable
    SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_MAPPING + pdonumber-1), 0x01, 0x60400010+axOffset*slaveAxisNo);    // controlword
 
    if (operationMode == MINIMACS6_OP_CSP) {
        SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_MAPPING + pdonumber-1), 2, 0x607A0020+axOffset*slaveAxisNo);   // download pdo 0x1600 entry:   position set point
        SdoWrite(busId, MINIMACS6_MODES_OF_OPERATION, 0, MINIMACS6_OP_CSP);                                     // mode of operation CSP
        print("...: cycle synchronous position (csp) mode");
    }
    else if (operationMode == MINIMACS6_OP_CSV ) {
        SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_MAPPING + pdonumber-1), 2, 0x60FF0020+axOffset*slaveAxisNo);   // download pdo 0x1600 entry: target velocity 32bit
        SdoWrite(busId, MINIMACS6_MODES_OF_OPERATION, 0, MINIMACS6_OP_CSV);                                     // mode of operation CSV
        print("...: cycle synchronous velocity (csv) mode");
    }
   else if (operationMode == MINIMACS6_OP_CST) {
        SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_MAPPING + pdonumber-1), 2, 0x60710010+axOffset*slaveAxisNo);   // download pdo 0x1600 entry: Target torque 16bit
        SdoWrite(busId, MINIMACS6_MODES_OF_OPERATION, 0, MINIMACS6_OP_CST);                                     // mode of operation CST
        print("...: cycle synchronous torque (cst) mode");
    }
    else {  // Error
        print("...: not supported operation mode");
        return(-1);
    }
 
    SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_MAPPING + pdonumber - 1), 0x00, 2);            // enable
 
    // config TX PDO
    SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x00, 0);           // disable
    SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x01, 0x60410010+axOffset*slaveAxisNo); // statusword
    SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x02, 0x60640020+axOffset*slaveAxisNo); // actpos
    SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x03, 0x60770010+axOffset*slaveAxisNo); // Torque actual
    SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x00, 3 );          // enable
 
    // fill in the wanted pdo
    SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_PARAMETER + pdonumber - 1), 1, (0x80000180 + (pdonumber - 1)*0x100 + nodeid) );// fill in pdo
    SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_PARAMETER + pdonumber - 1), 1, (0x80000200 + (pdonumber - 1)*0x100 + nodeid) );// fill in pdo
 
    // enable
    SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_PARAMETER + pdonumber - 1), 1, (0x00000180 + (pdonumber - 1)*0x100 + nodeid) );// enable pdo
    SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_PARAMETER + pdonumber - 1), 1, (0x00000200 + (pdonumber - 1)*0x100 + nodeid) );// enable pdo
 
    return(1);
}

sdkMiniMACS6_SetupCanVirtAmp()

long sdkMiniMACS6_SetupCanVirtAmp	(	long	axis,
		long	maxRpm,
		long	operationMode
	)

Setup the virtual amplifier for an MiniMACS6 DS402 slave with Can bus.

This function sets up the virtual amplifier with Can bus for an MiniMACS6 DS402 slave. It can be defined with which operation mode is used.

Parameters

axis	Axis module number
maxRpm	Definition of the maximum motor speed [rpm]
operationMode	Definition of the operation mode 0x08: Cyclic synchronous position (csp) mode 0x09: Cyclic synchronous velocity (csv) mode n 0x0A: Cyclic synchronous torque (cst) mode

Note

The value passed from "PO_BUSMOD_VALUE3" to "VIRTAMP_PISRC_CURRENT" is the current torque. The value is given in per thousand of “Motor rated torque”.

Returns

value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Examples

CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, and CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 112 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mc.

{
    print("sdkMiniMACS6_SetupCanVirtAmp: ",axis );
 
    // virtual amplifiers have a fixed connection to axes number, axes 0 uses amplifier 0.
    VIRTAMP_PARAM(axis,VIRTAMP_PISRC_CMDWORD)    = AXE_PROCESS_SRCINDEX(axis,REG_CNTRLWORD);
    VIRTAMP_PARAM(axis,VIRTAMP_PISRC_REFPOS)     = AXE_PROCESS_SRCINDEX(axis,REG_COMPOS);
    VIRTAMP_PARAM(axis,VIRTAMP_PISRC_REFVEL)     = AXE_PROCESS_SRCINDEX(axis,REG_REFERENCE);
    VIRTAMP_PARAM(axis,VIRTAMP_PISRC_REFACC)     = AXE_PROCESS_SRCINDEX(axis,PID_FFACCPART);
    VIRTAMP_PARAM(axis,VIRTAMP_PISRC_STATUS)     = BUSMOD_PROCESS_SRCINDEX(axis,PO_BUSMOD_VALUE1);  //statusword
    VIRTAMP_PARAM(axis,VIRTAMP_PISRC_CURRENT)    = BUSMOD_PROCESS_SRCINDEX(axis, PO_BUSMOD_VALUE3); //torque
 
    VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWROFF)    = 0x06;
    VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWRONDIS)  = 0x06;
    VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWRONENP)  = 0x0F;
    VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWRONENN)  = 0x0F;
    VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_QUICKSTOP) = 0x02;
    VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_RESET)     = 0x80;
 
    VIRTAMP_PARAM(axis,VIRTAMP_STOPDELAY)        = 0x00;
    VIRTAMP_PARAM(axis,VIRTAMP_ERROR_BITMASK)    = 0x08;
    VIRTAMP_PARAM(axis,VIRTAMP_ERROR_POLARITY)   = 1;
 
    // Ready bit: Ready to switch on, Switched on, Operation enabled, Voltage enabled
    VIRTAMP_PARAM(axis,VIRTAMP_READY_BITMASK)   = 0x17;
    VIRTAMP_PARAM(axis,VIRTAMP_READY_POLARITY)  = 1;
 
    if (operationMode == MINIMACS6_OP_CSP)  // cycle synchronous position (csp) mode
    {
        VIRTAMP_PARAM(axis,VIRTAMP_REF100PERC)       = 0;  // not used in csp
        VIRTAMP_PARAM(axis,VIRTAMP_REFLIMIT)         = 0;  // not used in csp
        print("...: cycle synchronous position (csp) mode");
    }
    else if (operationMode == MINIMACS6_OP_CSV) // cycle synchronous velocity (csv) mode
    {
        VIRTAMP_PARAM(axis,VIRTAMP_REF100PERC)       = maxRpm;
        VIRTAMP_PARAM(axis,VIRTAMP_REFLIMIT)         = 2* maxRpm;
        print("...: cycle synchronous velocity (csv) mode");
    }
    else if (operationMode == MINIMACS6_OP_CST) // cycle synchronous torque (cst) mode
    {
        VIRTAMP_PARAM(axis,VIRTAMP_REF100PERC)       = 0;  // not used in cst
        VIRTAMP_PARAM(axis,VIRTAMP_REFLIMIT)         = 0;  // not used in cst
        print("...: cycle synchronous torque (cst) mode");
    }
    else    // Error
    {
        print("...: not supported operation mode");
        return(-1);
    }
 
    VIRTAMP_PARAM(axis,VIRTAMP_MODE) = VIRTAMP_MODE_ENABLE;     // has to be the last one because it activates all
 
    return(1);
}

sdkMiniMACS6_SetupCanVirtCntin()

long sdkMiniMACS6_SetupCanVirtCntin	(	long	axis,
		long	operationMode
	)

Setup the virtual counter input for an MiniMACS6 DS402 slave with Can bus.

This function sets up the virtual counter input for an MiniMACS6 DS402 slave. It can be defined with which operation mode is used.

Parameters

axis	Axis module number
operationMode	Definition of the operation mode 0x08: Cyclic synchronous position (csp) mode 0x09: Cyclic synchronous velocity (csv) mode n 0x0A: Cyclic synchronous torque (cst) mode

Returns

value: Process value
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Examples

CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, and CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 183 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mc.

{
    print("sdkMiniMACS6_SetupCanVirtCntin: ",axis);
 
    VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_PISRC_COUNTER) = BUSMOD_PROCESS_SRCINDEX(axis, PO_BUSMOD_VALUE2);
 
    if (operationMode == MINIMACS6_OP_CSP)  // cycle synchronous position (csp) mode
    {
        VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE_DIRECT;   // Source is absolute and is taken as it is
        print("...: cycle synchronous position (csp) mode");
    }
    else if (operationMode == MINIMACS6_OP_CSV) // cycle synchronous velocity (csv) mode
    {
        VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE;           // Source is a position value and difference to last value is added
        print("...: cycle synchronous velocity (csv) mode");
    }
    else if (operationMode == MINIMACS6_OP_CSP) // cycle synchronous torque (cst) mode
    {
        VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE_DIRECT;   // Source is absolute and is taken as it is
        print("...: cycle synchronous torque (cst) mode");
    }
    else                                            // Error
    {
        print("...: not supported operation mode");
        return(-1);
    }
 
    return(1);
}