ApossC SDK  V01.15
Macros | Functions
SDK_Amplifier_MiniMACS6_DS402_Slave.mh File Reference

Declaration of the MiniMACS6 DS402 slave function. More...

Go to the source code of this file.

Macros

#define MINIMACS6_RECEIVE_PDO_1_PARAMETER   0x1400
 OBJECT DICTIONARY - MiniMACS6 DS402 Slave. More...
 
#define MINIMACS6_RECEIVE_PDO_2_PARAMETER   0x1401
 
#define MINIMACS6_RECEIVE_PDO_3_PARAMETER   0x1402
 
#define MINIMACS6_RECEIVE_PDO_4_PARAMETER   0x1403
 
#define MINIMACS6_RECEIVE_PDO_1_MAPPING   0x1600
 
#define MINIMACS6_RECEIVE_PDO_2_MAPPING   0x1601
 
#define MINIMACS6_RECEIVE_PDO_3_MAPPING   0x1602
 
#define MINIMACS6_RECEIVE_PDO_4_MAPPING   0x1603
 
#define MINIMACS6_TRANSMIT_PDO_1_PARAMETER   0x1800
 
#define MINIMACS6_TRANSMIT_PDO_2_PARAMETER   0x1801
 
#define MINIMACS6_TRANSMIT_PDO_3_PARAMETER   0x1802
 
#define MINIMACS6_TRANSMIT_PDO_4_PARAMETER   0x1803
 
#define MINIMACS6_TRANSMIT_PDO_1_MAPPING   0x1A00
 
#define MINIMACS6_TRANSMIT_PDO_2_MAPPING   0x1A01
 
#define MINIMACS6_TRANSMIT_PDO_3_MAPPING   0x1A02
 
#define MINIMACS6_TRANSMIT_PDO_4_MAPPING   0x1A03
 
#define MINIMACS6_SYNC_MANAGER_2_PDO_ASSIGNMENT   0
 
#define MINIMACS6_SYNC_MANAGER_3_PDO_ASSIGNMENT   0
 
#define MINIMACS6_CONTROLWORD   0x6040
 
#define MINIMACS6_STATUSWORD   0x6041
 
#define MINIMACS6_MODES_OF_OPERATION   0x6060
 
#define MINIMACS6_OP_PPM   0x01
 
#define MINIMACS6_OP_PVM   0x03
 
#define MINIMACS6_OP_HMM   0x06
 
#define MINIMACS6_OP_CSP   0x08
 
#define MINIMACS6_OP_CSV   0x09
 
#define MINIMACS6_OP_CST   0x0A
 
#define MINIMACS6_MODES_OF_OPERATION_DISPLAY   0x6061
 

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

Declaration of the MiniMACS6 DS402 slave function.

Revision
224

Definition in file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

Macro Definition Documentation

◆ MINIMACS6_CONTROLWORD

#define MINIMACS6_CONTROLWORD   0x6040

Definition at line 39 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_MODES_OF_OPERATION

#define MINIMACS6_MODES_OF_OPERATION   0x6060

Definition at line 41 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_MODES_OF_OPERATION_DISPLAY

#define MINIMACS6_MODES_OF_OPERATION_DISPLAY   0x6061

Definition at line 48 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_OP_CSP

#define MINIMACS6_OP_CSP   0x08
Examples
CAN_4Ax_MiniMACS6_csp.mc.

Definition at line 45 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_OP_CST

#define MINIMACS6_OP_CST   0x0A
Examples
CAN_4Ax_MiniMACS6_cst.mc.

Definition at line 47 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_OP_CSV

#define MINIMACS6_OP_CSV   0x09
Examples
CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 46 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_OP_HMM

#define MINIMACS6_OP_HMM   0x06

Definition at line 44 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_OP_PPM

#define MINIMACS6_OP_PPM   0x01

Definition at line 42 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_OP_PVM

#define MINIMACS6_OP_PVM   0x03

Definition at line 43 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_RECEIVE_PDO_1_MAPPING

#define MINIMACS6_RECEIVE_PDO_1_MAPPING   0x1600

Definition at line 25 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_RECEIVE_PDO_1_PARAMETER

#define MINIMACS6_RECEIVE_PDO_1_PARAMETER   0x1400

OBJECT DICTIONARY - MiniMACS6 DS402 Slave.

Definition at line 21 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_RECEIVE_PDO_2_MAPPING

#define MINIMACS6_RECEIVE_PDO_2_MAPPING   0x1601

Definition at line 26 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_RECEIVE_PDO_2_PARAMETER

#define MINIMACS6_RECEIVE_PDO_2_PARAMETER   0x1401

Definition at line 22 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_RECEIVE_PDO_3_MAPPING

#define MINIMACS6_RECEIVE_PDO_3_MAPPING   0x1602

Definition at line 27 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_RECEIVE_PDO_3_PARAMETER

#define MINIMACS6_RECEIVE_PDO_3_PARAMETER   0x1402

Definition at line 23 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_RECEIVE_PDO_4_MAPPING

#define MINIMACS6_RECEIVE_PDO_4_MAPPING   0x1603

Definition at line 28 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_RECEIVE_PDO_4_PARAMETER

#define MINIMACS6_RECEIVE_PDO_4_PARAMETER   0x1403

Definition at line 24 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_STATUSWORD

#define MINIMACS6_STATUSWORD   0x6041

Definition at line 40 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_SYNC_MANAGER_2_PDO_ASSIGNMENT

#define MINIMACS6_SYNC_MANAGER_2_PDO_ASSIGNMENT   0

Definition at line 37 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_SYNC_MANAGER_3_PDO_ASSIGNMENT

#define MINIMACS6_SYNC_MANAGER_3_PDO_ASSIGNMENT   0

Definition at line 38 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_TRANSMIT_PDO_1_MAPPING

#define MINIMACS6_TRANSMIT_PDO_1_MAPPING   0x1A00

Definition at line 33 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_TRANSMIT_PDO_1_PARAMETER

#define MINIMACS6_TRANSMIT_PDO_1_PARAMETER   0x1800

Definition at line 29 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_TRANSMIT_PDO_2_MAPPING

#define MINIMACS6_TRANSMIT_PDO_2_MAPPING   0x1A01

Definition at line 34 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_TRANSMIT_PDO_2_PARAMETER

#define MINIMACS6_TRANSMIT_PDO_2_PARAMETER   0x1801

Definition at line 30 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_TRANSMIT_PDO_3_MAPPING

#define MINIMACS6_TRANSMIT_PDO_3_MAPPING   0x1A02

Definition at line 35 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_TRANSMIT_PDO_3_PARAMETER

#define MINIMACS6_TRANSMIT_PDO_3_PARAMETER   0x1802

Definition at line 31 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_TRANSMIT_PDO_4_MAPPING

#define MINIMACS6_TRANSMIT_PDO_4_MAPPING   0x1A03

Definition at line 36 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

◆ MINIMACS6_TRANSMIT_PDO_4_PARAMETER

#define MINIMACS6_TRANSMIT_PDO_4_PARAMETER   0x1803

Definition at line 32 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mh.

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
axisAxis module number
busIdBus ID of the connected slave
operationModeOperation mod which should be set after homing.
homingStateCall-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

Definition at line 318 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mc.

320 {
321  long time, displayMode;
322  long axOffset = 0x800;
323  time= Time()%1000;
324 
325  switch (homingState) {
326  case 0:
327  print("sdkMiniMACS6_AxisHomingStart: " ,axis);
328  homingState = 1;
329  break;
330  case 1:
331  // x6060 Change operation mode to ”6: Homing mode.”
332  SdoWriten( busId, MINIMACS6_MODES_OF_OPERATION+axOffset*axis, 0, 1, MINIMACS6_OP_HMM);
333  print("...: DS402 Homing AxisNo: ",axis," - Set mode of OP: 0x06");
334 
335  Delay(1);
336  print("...: DS402 Homing AxisNo: ",axis," - Enable Drive");
337  AxisControl(axis, ON);
338 
339  homingState = 2;
340 
341  case 2:
342  displayMode = SdoRead(busId, MINIMACS6_MODES_OF_OPERATION_DISPLAY+axOffset*axis, 0);
343  if(displayMode== MINIMACS6_OP_HMM)
344  {
345  print("...: DS402 Homing AxisNo: ",axis," - Display mode of OP: ",displayMode);
346  homingState = 3;
347  }
348  else if(time==0)
349  {
350  printf("...: DS402 Homing AxisNo: %ld - Waiting for OP mode display: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
351  // This section must be called in a 1 ms loop because of the print function.
352  Delay(1);
353  }
354  break;
355 
356  case 3:
357  // Bit 10 Target reached - Homing procedure is interrupted or not started
358  if(VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS).i[10]==1)
359  {
360  printf("...: DS402 Homing AxisNo: %ld - Homing start signal Status: %lx\n",axis,VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
361  VIRTAMP_PARAM(axis, VIRTAMP_CNTRLW_PWRONENP) = 0x1F;
362  VIRTAMP_PARAM(axis, VIRTAMP_CNTRLW_PWRONENN) = 0x1F;
363  homingState = 4;
364  }
365  // Bit 13 Homingerror - Homing error occurred
366  else if(VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS).i[13]==1)
367  {
368  printf("...: DS402 Homing AxisNo: %ld - Homing Error - Status: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
369  return(-1);
370  }
371  else if(time==0)
372  {
373  printf("...: DS402 Homing AxisNo: %ld - Waiting for ready bit: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
374  // This section must be called in a 1 ms loop because of the print function.
375  Delay(1);
376  }
377  break;
378 
379  case 4:
380  // Homing procedure is completed successfully
381  if (VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS).i[12]==1)
382  {
383  printf("...: DS402 Homing AxisNo: %ld - Homing done - Status: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
384 
385  VIRTAMP_PARAM(axis, VIRTAMP_CNTRLW_PWRONENP) = 0x0F;
386  VIRTAMP_PARAM(axis, VIRTAMP_CNTRLW_PWRONENN) = 0x0F;
387 
388  print("...: DS402 Homing AxisNo: ",axis," - Disable Drive");
389  AxisControl(axis, OFF);
390 
391  SdoWriten(busId, MINIMACS6_MODES_OF_OPERATION+axOffset*axis, 0, 1, operationMode ); // 0x6060 Change operation mode to ”8: CSP mode.”
392 
393  homingState = 5;
394  break;
395  }
396  // Bit 13 Homingerror - Homing error occurred
397  else if(VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS).i[13]==1)
398  {
399  printf("...: DS402 Homing AxisNo: %ld - Homing Error - Status: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
400  return(-1);
401  }
402  // Homing procedure is in progress
403  else if(time==0)
404  {
405  printf("...: DS402 Homing AxisNo: %ld - Homing in progress - Status: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
406  // This section must be called in a 1 ms loop because of the print function.
407  Delay(1);
408  }
409  break;
410 
411  case 5:
412  displayMode = SdoRead(busId, MINIMACS6_MODES_OF_OPERATION_DISPLAY+axOffset*axis, 0);
413  if(displayMode== operationMode)
414  {
415  print("...: DS402 Homing AxisNo: ",axis," - Display mode of OP: ",displayMode);
416  homingState = 6;
417  }
418  else if(time==0)
419  {
420  printf("...: DS402 Homing AxisNo: %ld - Waiting for OP mode display: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
421  // This section must be called in a 1 ms loop because of the print function.
422  Delay(1);
423  }
424  case 6:
425  print("...: DS402 Homing AxisNo: ",axis," - Finished");
426  homingState = 7;
427  return(1);
428  case 7:
429  return(1);
430  default :
431  print("...: DS402 Homing AxisNo: ",axis," - Incorrect hominState init value: ", homingState);
432  return(-1);
433  }
434 
435  return(0);
436 }

◆ 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
axisAxis module number
busIdBus ID of the connected slave
pdoNumberUsed PDO number
operationModeDefinition 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

Definition at line 37 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mc.

38 {
39  long busmod, signedFlag;
40  signedFlag = 0x10000000;
41  busmod = axis;
42 
43  print("sdkMiniMACS6_SetupCanBusModule: ", busmod);
44 
45  BUSMOD_PARAM(busmod, BUSMOD_MODE) = BUSMOD_MODE_DEACTIVATE; // Deactivate (objects will be deleted)
46  BUSMOD_PARAM(busmod, BUSMOD_BUSTYPE) = BUSMOD_BUSTYPE_CAN; // Can bus
47 
48 
49  BUSMOD_PARAM(busmod, BUSMOD_BUSNO) = busId / 100000; // Bus number (0 = master, 1 = slave CAN bus)
50  BUSMOD_PARAM(busmod, BUSMOD_ID) = busId % 1000; // CAN Id for this bus module
51  BUSMOD_PARAM(busmod, BUSMOD_SYNC) = 1; // Sync active
52  BUSMOD_PARAM(busmod, BUSMOD_GUARDTIME) = 0; // no guarding
53  BUSMOD_PARAM(busmod, BUSMOD_MODE) = BUSMOD_MODE_ACTIVATE; // Create bus module
54 
55  BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT1) = VIRTAMP_PROCESS_SRCINDEX(axis,PO_VIRTAMP_CMDWORD); // Select the input value sources object (send to bus): CMD Word
56 
57  if (operationMode == MINIMACS6_OP_CSP) // cycle synchronous position (csp) mode
58  {
59  BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT2) = VIRTAMP_PROCESS_SRCINDEX(axis,PO_VIRTAMP_REFPOS); // Select the input value sources object (send to bus): position setpoint
60  print("...: cycle synchronous position (csp) mode");
61  }
62  else if (operationMode == MINIMACS6_OP_CSV) // cycle synchronous velocity (csv) mode
63  {
64  BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT2) = VIRTAMP_PROCESS_SRCINDEX(axis,PO_VIRTAMP_REFVEL); // Select the input value sources object (send to bus): velocity setvel
65  print("...: cycle synchronous velocity (csv) mode");
66  }
67  else if (operationMode == MINIMACS6_OP_CST) // cycle synchronous torque (cst) mode
68  {
69  BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT2) = AXE_PROCESS_SRCINDEX(axis,REG_USERREFCUR); // Select the input value sources object (send to bus): target torque
70  print("...: cycle synchronous torque (cst) mode");
71  }
72  else// Error
73  {
74  print("...: not supported operation mode");
75  return(-1);
76  }
77 
78  BUSMOD_PARAM(busmod, BUSMOD_TXMAP_INPUT1) = pdoNumber*0x01000000 + 2*0x00010000 + 0; // pdo ; length in bytes; bytes offset control word
79 
80  if (operationMode != MINIMACS6_OP_CST)
81  BUSMOD_PARAM(busmod, BUSMOD_TXMAP_INPUT2) = pdoNumber*0x01000000 + 4*0x00010000 + 2; // pdo ; length in bytes; bytes offset target position/ velocity
82  else // cycle synchronous torque (cst) mode
83  BUSMOD_PARAM(busmod, BUSMOD_TXMAP_INPUT2) = pdoNumber*0x01000000 + 2*0x00010000 + 2; // pdo ; length in bytes; bytes offset target torque
84 
85  BUSMOD_PARAM(busmod, BUSMOD_RXMAP_POVALUE1) = pdoNumber*0x01000000 + 2*0x00010000 + 0; // pdo ; length in bytes; bytes offset status word
86  BUSMOD_PARAM(busmod, BUSMOD_RXMAP_POVALUE2) = pdoNumber*0x01000000 + 4*0x00010000 + 2; // pdo ; length in bytes; bytes offset position actual value
87  BUSMOD_PARAM(busmod, BUSMOD_RXMAP_POVALUE3) = signedFlag + pdoNumber*0x01000000 + 2*0x00010000 + 6; // pdo ; length in bytes; bytes offset torque actual value
88 
89  BUSMOD_PARAM(busmod, BUSMOD_MODE) = BUSMOD_MODE_ACTIVATE_NOSTOP; // Start bus module
90 
91  return(1);
92 }

◆ 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
busIdBus ID of the connected slave
pdoNumberUsed PDO number
slaveAxisNoAxis module number of the slave (0-5)
operationModeDefinition 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

Definition at line 230 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mc.

232 {
233  long nodeid, last_value;
234  long axOffset = 0x8000000;
235  nodeid = busId % 100000;
236 
237  print("sdkMiniMACS6_SetupCanSdoParam: " ,nodeid);
238 
239  // Set ms loop sync source to CAN PDO, This feature will sync the controllers loop to a bus signal.
240  SdoWrite(busId, 0x2203, 0x13, 1);
241 
242  // reset Transmittype
243  SdoWrite(busId, MINIMACS6_TRANSMIT_PDO_1_PARAMETER+ pdonumber-1, 2, 255); // TxPDO1 Transmittype
244 
245  // the pdos have to be disabled for configuring
246  last_value = (SdoRead(busId, MINIMACS6_TRANSMIT_PDO_1_PARAMETER+ pdonumber-1, 1));
247  SdoWrite(busId, MINIMACS6_TRANSMIT_PDO_1_PARAMETER+ pdonumber-1, 1, (last_value | 0x80000000)); // disable pdo x
248 
249  //the pdos have to be disabled for configuring
250  last_value = (SdoRead(busId, MINIMACS6_RECEIVE_PDO_1_PARAMETER+pdonumber-1, 1));
251  SdoWrite(busId, MINIMACS6_RECEIVE_PDO_1_PARAMETER+ pdonumber-1, 1, (last_value | 0x80000000)); // disable pdo 1
252 
253  // Now we setup the correct PDO transmission for Tx and Rx
254  SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_PARAMETER + pdonumber-1), 2, 1); // TxPDO Transmittype SYNC
255  SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_PARAMETER + pdonumber-1), 2, 1); // RxPDO Transmittype SYNC
256 
257  // config RX PDO
258  SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_MAPPING + pdonumber-1), 0x00, 0); // disable
259  SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_MAPPING + pdonumber-1), 0x01, 0x60400010+axOffset*slaveAxisNo); // controlword
260 
261  if (operationMode == MINIMACS6_OP_CSP) {
262  SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_MAPPING + pdonumber-1), 2, 0x607A0020+axOffset*slaveAxisNo); // download pdo 0x1600 entry: position set point
263  SdoWrite(busId, MINIMACS6_MODES_OF_OPERATION, 0, MINIMACS6_OP_CSP); // mode of operation CSP
264  print("...: cycle synchronous position (csp) mode");
265  }
266  else if (operationMode == MINIMACS6_OP_CSV ) {
267  SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_MAPPING + pdonumber-1), 2, 0x60FF0020+axOffset*slaveAxisNo); // download pdo 0x1600 entry: target velocity 32bit
268  SdoWrite(busId, MINIMACS6_MODES_OF_OPERATION, 0, MINIMACS6_OP_CSV); // mode of operation CSV
269  print("...: cycle synchronous velocity (csv) mode");
270  }
271  else if (operationMode == MINIMACS6_OP_CST) {
272  SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_MAPPING + pdonumber-1), 2, 0x60710010+axOffset*slaveAxisNo); // download pdo 0x1600 entry: Target torque 16bit
273  SdoWrite(busId, MINIMACS6_MODES_OF_OPERATION, 0, MINIMACS6_OP_CST); // mode of operation CST
274  print("...: cycle synchronous torque (cst) mode");
275  }
276  else { // Error
277  print("...: not supported operation mode");
278  return(-1);
279  }
280 
281  SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_MAPPING + pdonumber - 1), 0x00, 2); // enable
282 
283  // config TX PDO
284  SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x00, 0); // disable
285  SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x01, 0x60410010+axOffset*slaveAxisNo); // statusword
286  SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x02, 0x60640020+axOffset*slaveAxisNo); // actpos
287  SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x03, 0x60770010+axOffset*slaveAxisNo); // Torque actual
288  SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x00, 3 ); // enable
289 
290  // fill in the wanted pdo
291  SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_PARAMETER + pdonumber - 1), 1, (0x80000180 + (pdonumber - 1)*0x100 + nodeid) );// fill in pdo
292  SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_PARAMETER + pdonumber - 1), 1, (0x80000200 + (pdonumber - 1)*0x100 + nodeid) );// fill in pdo
293 
294  // enable
295  SdoWrite(busId, (MINIMACS6_TRANSMIT_PDO_1_PARAMETER + pdonumber - 1), 1, (0x00000180 + (pdonumber - 1)*0x100 + nodeid) );// enable pdo
296  SdoWrite(busId, (MINIMACS6_RECEIVE_PDO_1_PARAMETER + pdonumber - 1), 1, (0x00000200 + (pdonumber - 1)*0x100 + nodeid) );// enable pdo
297 
298  return(1);
299 }

◆ 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
axisAxis module number
maxRpmDefinition of the maximum motor speed [rpm]
operationModeDefinition 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

Definition at line 112 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mc.

113 {
114  print("sdkMiniMACS6_SetupCanVirtAmp: ",axis );
115 
116  // virtual amplifiers have a fixed connection to axes number, axes 0 uses amplifier 0.
117  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_CMDWORD) = AXE_PROCESS_SRCINDEX(axis,REG_CNTRLWORD);
118  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_REFPOS) = AXE_PROCESS_SRCINDEX(axis,REG_COMPOS);
119  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_REFVEL) = AXE_PROCESS_SRCINDEX(axis,REG_REFERENCE);
120  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_REFACC) = AXE_PROCESS_SRCINDEX(axis,PID_FFACCPART);
121  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_STATUS) = BUSMOD_PROCESS_SRCINDEX(axis,PO_BUSMOD_VALUE1); //statusword
122  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_CURRENT) = BUSMOD_PROCESS_SRCINDEX(axis, PO_BUSMOD_VALUE3); //torque
123 
124  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWROFF) = 0x06;
125  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWRONDIS) = 0x06;
126  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWRONENP) = 0x0F;
127  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWRONENN) = 0x0F;
128  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_QUICKSTOP) = 0x02;
129  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_RESET) = 0x80;
130 
131  VIRTAMP_PARAM(axis,VIRTAMP_STOPDELAY) = 0x00;
132  VIRTAMP_PARAM(axis,VIRTAMP_ERROR_BITMASK) = 0x08;
133  VIRTAMP_PARAM(axis,VIRTAMP_ERROR_POLARITY) = 1;
134 
135  // Ready bit: Ready to switch on, Switched on, Operation enabled, Voltage enabled
136  VIRTAMP_PARAM(axis,VIRTAMP_READY_BITMASK) = 0x17;
137  VIRTAMP_PARAM(axis,VIRTAMP_READY_POLARITY) = 1;
138 
139  if (operationMode == MINIMACS6_OP_CSP) // cycle synchronous position (csp) mode
140  {
141  VIRTAMP_PARAM(axis,VIRTAMP_REF100PERC) = 0; // not used in csp
142  VIRTAMP_PARAM(axis,VIRTAMP_REFLIMIT) = 0; // not used in csp
143  print("...: cycle synchronous position (csp) mode");
144  }
145  else if (operationMode == MINIMACS6_OP_CSV) // cycle synchronous velocity (csv) mode
146  {
147  VIRTAMP_PARAM(axis,VIRTAMP_REF100PERC) = maxRpm;
148  VIRTAMP_PARAM(axis,VIRTAMP_REFLIMIT) = 2* maxRpm;
149  print("...: cycle synchronous velocity (csv) mode");
150  }
151  else if (operationMode == MINIMACS6_OP_CST) // cycle synchronous torque (cst) mode
152  {
153  VIRTAMP_PARAM(axis,VIRTAMP_REF100PERC) = 0; // not used in cst
154  VIRTAMP_PARAM(axis,VIRTAMP_REFLIMIT) = 0; // not used in cst
155  print("...: cycle synchronous torque (cst) mode");
156  }
157  else // Error
158  {
159  print("...: not supported operation mode");
160  return(-1);
161  }
162 
163  VIRTAMP_PARAM(axis,VIRTAMP_MODE) = VIRTAMP_MODE_ENABLE; // has to be the last one because it activates all
164 
165  return(1);
166 }

◆ 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
axisAxis module number
operationModeDefinition 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

Definition at line 183 of file SDK_Amplifier_MiniMACS6_DS402_Slave.mc.

184 {
185  print("sdkMiniMACS6_SetupCanVirtCntin: ",axis);
186 
187  VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_PISRC_COUNTER) = BUSMOD_PROCESS_SRCINDEX(axis, PO_BUSMOD_VALUE2);
188 
189  if (operationMode == MINIMACS6_OP_CSP) // cycle synchronous position (csp) mode
190  {
191  VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE_DIRECT; // Source is absolute and is taken as it is
192  print("...: cycle synchronous position (csp) mode");
193  }
194  else if (operationMode == MINIMACS6_OP_CSV) // cycle synchronous velocity (csv) mode
195  {
196  VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE; // Source is a position value and difference to last value is added
197  print("...: cycle synchronous velocity (csv) mode");
198  }
199  else if (operationMode == MINIMACS6_OP_CSP) // cycle synchronous torque (cst) mode
200  {
201  VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE_DIRECT; // Source is absolute and is taken as it is
202  print("...: cycle synchronous torque (cst) mode");
203  }
204  else // Error
205  {
206  print("...: not supported operation mode");
207  return(-1);
208  }
209 
210  return(1);
211 }
VIRTCNTIN_MODE
#define VIRTCNTIN_MODE
Counter mode.
Definition: SdoDictionary.mh:5003
BUSMOD_MODE_ACTIVATE_NOSTOP
#define BUSMOD_MODE_ACTIVATE_NOSTOP
Definition: SdoDictionary.mh:11306
PID_FFACCPART
#define PID_FFACCPART
Definition: SdoDictionary.mh:3454
VIRTCOUNTIN_PARAM
#define VIRTCOUNTIN_PARAM(modno, parno)
Virtual Counter Inputs parameters: Setter.
Definition: SdoDictionary.mh:4985
VIRTAMP_PROCESS_SRCINDEX
#define VIRTAMP_PROCESS_SRCINDEX(modno, parno)
Virtual Amplifier Process Data: Source Index.
Definition: SdoDictionary.mh:6404
VIRTAMP_CNTRLW_QUICKSTOP
#define VIRTAMP_CNTRLW_QUICKSTOP
Controlword to stop drive with internal ramps.
Definition: SdoDictionary.mh:5395
BUSMOD_ID
#define BUSMOD_ID
Slave node id.
Definition: SdoDictionary.mh:11017
MINIMACS6_RECEIVE_PDO_1_PARAMETER
#define MINIMACS6_RECEIVE_PDO_1_PARAMETER
OBJECT DICTIONARY - MiniMACS6 DS402 Slave.
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mh:21
VIRTAMP_ERROR_POLARITY
#define VIRTAMP_ERROR_POLARITY
Polarity of Error Bit.
Definition: SdoDictionary.mh:5521
VIRTAMP_CNTRLW_RESET
#define VIRTAMP_CNTRLW_RESET
Controlword to reset from error.
Definition: SdoDictionary.mh:5405
MINIMACS6_OP_HMM
#define MINIMACS6_OP_HMM
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mh:44
MINIMACS6_MODES_OF_OPERATION_DISPLAY
#define MINIMACS6_MODES_OF_OPERATION_DISPLAY
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mh:48
VIRTAMP_READY_BITMASK
#define VIRTAMP_READY_BITMASK
Bitmask to detect drive ready condition.
Definition: SdoDictionary.mh:5555
VIRTAMP_PISRC_CMDWORD
#define VIRTAMP_PISRC_CMDWORD
Index/subindex of command word.
Definition: SdoDictionary.mh:5300
VIRTAMP_REF100PERC
#define VIRTAMP_REF100PERC
Output reference value to use at 100 percent.
Definition: SdoDictionary.mh:5442
VIRTAMP_READY_POLARITY
#define VIRTAMP_READY_POLARITY
Polarity of Ready Bit.
Definition: SdoDictionary.mh:5565
MINIMACS6_TRANSMIT_PDO_1_MAPPING
#define MINIMACS6_TRANSMIT_PDO_1_MAPPING
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mh:33
BUSMOD_RXMAP_POVALUE2
#define BUSMOD_RXMAP_POVALUE2
Mapping for RX PDOs (receive from bus)
Definition: SdoDictionary.mh:11216
BUSMOD_BUSTYPE
#define BUSMOD_BUSTYPE
Bus type.
Definition: SdoDictionary.mh:10996
BUSMOD_MODE_ACTIVATE
#define BUSMOD_MODE_ACTIVATE
Definition: SdoDictionary.mh:11305
PO_VIRTAMP_REFVEL
#define PO_VIRTAMP_REFVEL
Output reference velocity.
Definition: SdoDictionary.mh:6438
PO_BUSMOD_VALUE1
#define PO_BUSMOD_VALUE1
Output value of the RX PDOs.
Definition: SdoDictionary.mh:12804
VIRTAMP_PISRC_STATUS
#define VIRTAMP_PISRC_STATUS
Index/subindex of status.
Definition: SdoDictionary.mh:5335
BUSMOD_BUSTYPE_CAN
#define BUSMOD_BUSTYPE_CAN
Definition: SdoDictionary.mh:11309
VIRTCNTIN_MODE_ABSOLUTE
#define VIRTCNTIN_MODE_ABSOLUTE
Definition: SdoDictionary.mh:5080
REG_REFERENCE
#define REG_REFERENCE
Actual reference value generated by position control loop.
Definition: SdoDictionary.mh:3290
BUSMOD_PISRC_INPUT2
#define BUSMOD_PISRC_INPUT2
Index and subindex of Input value.
Definition: SdoDictionary.mh:10872
BUSMOD_TXMAP_INPUT1
#define BUSMOD_TXMAP_INPUT1
Mapping for TX PDOs (send to bus)
Definition: SdoDictionary.mh:11097
MINIMACS6_RECEIVE_PDO_1_MAPPING
#define MINIMACS6_RECEIVE_PDO_1_MAPPING
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mh:25
VIRTAMP_PARAM
#define VIRTAMP_PARAM(modno, parno)
Virtual Amplifier Parameters: Setter.
Definition: SdoDictionary.mh:5280
BUSMOD_RXMAP_POVALUE1
#define BUSMOD_RXMAP_POVALUE1
Mapping for RX PDOs (receive from bus)
Definition: SdoDictionary.mh:11202
VIRTAMP_ERROR_BITMASK
#define VIRTAMP_ERROR_BITMASK
Bitmask to detect error condition.
Definition: SdoDictionary.mh:5510
REG_USERREFCUR
#define REG_USERREFCUR
Motor current reference value in AxisControl(USERREFCUR) mode.
Definition: SdoDictionary.mh:3414
BUSMOD_BUSNO
#define BUSMOD_BUSNO
Bus number.
Definition: SdoDictionary.mh:11006
VIRTAMP_STOPDELAY
#define VIRTAMP_STOPDELAY
Delay after a STOP command.
Definition: SdoDictionary.mh:5491
BUSMOD_PROCESS_SRCINDEX
#define BUSMOD_PROCESS_SRCINDEX(modno, parno)
Bus Module Process Data: Source Index.
Definition: SdoDictionary.mh:12789
VIRTAMP_PROCESS
#define VIRTAMP_PROCESS(modno, parno)
Virtual Amplifier Process Data: Setter.
Definition: SdoDictionary.mh:6410
VIRTAMP_PISRC_REFACC
#define VIRTAMP_PISRC_REFACC
Index/subindex of acceleration/current reference.
Definition: SdoDictionary.mh:5321
MINIMACS6_MODES_OF_OPERATION
#define MINIMACS6_MODES_OF_OPERATION
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mh:41
PO_BUSMOD_VALUE3
#define PO_BUSMOD_VALUE3
Output value of the RX PDOs.
Definition: SdoDictionary.mh:12814
PO_VIRTAMP_CMDWORD
#define PO_VIRTAMP_CMDWORD
Output command word.
Definition: SdoDictionary.mh:6426
VIRTAMP_CNTRLW_PWRONENN
#define VIRTAMP_CNTRLW_PWRONENN
Controlword to use in power on enable negative direction state (could be same as above)
Definition: SdoDictionary.mh:5385
VIRTAMP_PISRC_CURRENT
#define VIRTAMP_PISRC_CURRENT
Index/subindex of current.
Definition: SdoDictionary.mh:5328
VIRTAMP_CNTRLW_PWRONENP
#define VIRTAMP_CNTRLW_PWRONENP
Controlword to use in power on enable positive direction state.
Definition: SdoDictionary.mh:5375
BUSMOD_MODE_DEACTIVATE
#define BUSMOD_MODE_DEACTIVATE
Definition: SdoDictionary.mh:11304
VIRTAMP_MODE_ENABLE
#define VIRTAMP_MODE_ENABLE
Definition: SdoDictionary.mh:5581
PO_VIRTAMP_REFPOS
#define PO_VIRTAMP_REFPOS
Output reference position.
Definition: SdoDictionary.mh:6432
REG_COMPOS
#define REG_COMPOS
Set-point position value.
Definition: SdoDictionary.mh:3207
AXE_PROCESS_SRCINDEX
#define AXE_PROCESS_SRCINDEX(modno, parno)
Axis Process Data: Source Index.
Definition: SdoDictionary.mh:3181
MINIMACS6_OP_CSP
#define MINIMACS6_OP_CSP
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mh:45
BUSMOD_MODE
#define BUSMOD_MODE
Activate / Deactivate.
Definition: SdoDictionary.mh:10839
VIRTAMP_MODE
#define VIRTAMP_MODE
Mode of operation.
Definition: SdoDictionary.mh:5293
BUSMOD_SYNC
#define BUSMOD_SYNC
Sync interval (only for CAN)
Definition: SdoDictionary.mh:11032
MINIMACS6_TRANSMIT_PDO_1_PARAMETER
#define MINIMACS6_TRANSMIT_PDO_1_PARAMETER
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mh:29
REG_CNTRLWORD
#define REG_CNTRLWORD
Definition: SdoDictionary.mh:3369
VIRTAMP_CNTRLW_PWROFF
#define VIRTAMP_CNTRLW_PWROFF
Controlword to use in power off state.
Definition: SdoDictionary.mh:5355
BUSMOD_RXMAP_POVALUE3
#define BUSMOD_RXMAP_POVALUE3
Mapping for RX PDOs (receive from bus)
Definition: SdoDictionary.mh:11230
VIRTAMP_PISRC_REFPOS
#define VIRTAMP_PISRC_REFPOS
Index/subindex of position reference.
Definition: SdoDictionary.mh:5307
BUSMOD_GUARDTIME
#define BUSMOD_GUARDTIME
Guard interval.
Definition: SdoDictionary.mh:11047
MINIMACS6_OP_CST
#define MINIMACS6_OP_CST
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mh:47
BUSMOD_PISRC_INPUT1
#define BUSMOD_PISRC_INPUT1
Index and subindex of Input value.
Definition: SdoDictionary.mh:10864
PO_VIRTAMP_STATUS
#define PO_VIRTAMP_STATUS
Status.
Definition: SdoDictionary.mh:6420
VIRTCNTIN_MODE_ABSOLUTE_DIRECT
#define VIRTCNTIN_MODE_ABSOLUTE_DIRECT
Definition: SdoDictionary.mh:5083
VIRTAMP_PISRC_REFVEL
#define VIRTAMP_PISRC_REFVEL
Index/subindex of velocity reference.
Definition: SdoDictionary.mh:5314
VIRTAMP_REFLIMIT
#define VIRTAMP_REFLIMIT
Output reference limit.
Definition: SdoDictionary.mh:5449
MINIMACS6_OP_CSV
#define MINIMACS6_OP_CSV
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mh:46
BUSMOD_PARAM
#define BUSMOD_PARAM(modno, parno)
Bus Module Parameters: Setter.
Definition: SdoDictionary.mh:10813
VIRTAMP_CNTRLW_PWRONDIS
#define VIRTAMP_CNTRLW_PWRONDIS
Controlword to use in power on disable state.
Definition: SdoDictionary.mh:5365
BUSMOD_TXMAP_INPUT2
#define BUSMOD_TXMAP_INPUT2
Mapping for TX PDOs (send to bus)
Definition: SdoDictionary.mh:11110
VIRTCNTIN_PISRC_COUNTER
#define VIRTCNTIN_PISRC_COUNTER
Index/subindex of counter source.
Definition: SdoDictionary.mh:5030
PO_BUSMOD_VALUE2
#define PO_BUSMOD_VALUE2
Output value of the RX PDOs.
Definition: SdoDictionary.mh:12809
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