SDK_Amplifier_MotorAlignment.mc File Reference

Functions for aligning a motor. More...

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

Go to the source code of this file.

Functions
long	sdkMotorAlignment (long axis, long mode, long maxCurrent, long alignCurrent)
	The purpose of this function is to find the rotor position of a brushless motor in relation to the encoder position feedback. More...
long	sdkMotorMultiAlignment (long axis, long axisNumber, long mode, long maxCurrent, long alignCurrent)
	The purpose of this function is to find the rotor position of a brushless motor in relation to the encoder position feedback. More...
long	sdkSetMotorAlignmentOffset (long axis, long elPol, long poselOffset)
	This function sets the offset of the electric field in relation to an absolute encoder. More...

Detailed Description

Functions for aligning a motor.

Revision

192

Definition in file SDK_Amplifier_MotorAlignment.mc.

Function Documentation

sdkMotorAlignment()

long sdkMotorAlignment	(	long	axis,
		long	mode,
		long	maxCurrent,
		long	alignCurrent
	)

The purpose of this function is to find the rotor position of a brushless motor in relation to the encoder position feedback.

The function will start a program in the amplifier, which will apply a magnetic field to the rotor. The rotor will then align to this field. The field will then be varied a bit back and forth to commit the measurement. To use this function the maximum current of the motor must also be specified.

Note

In order for this procedure to work, the motor must not be braked or be in a limit position. The rotor must be able to rotate freely for about half a revolution.

Parameters

axis	Axis module number
mode	Mode of aligment 1: For brushless motors 3: For stepper motors
maxCurrent	Maximum current of the motor
alignCurrent	Current for the alignment function

Returns

value: Command Reference, MotorAlingStatus()
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Examples

Maxon_ECi40_1ax_SC_OL_Inc.mc, Maxon_ECi52_1ax_SC_SSI.mc, and Stepper_XY_CL.mc.

Definition at line 34 of file SDK_Amplifier_MotorAlignment.mc.

{
    long retVal;
 
    HWAMP_PARAM((axis), HWAMP_MAXCUR)   = alignCurrent;     // Set the maximum current for aligning the motor
 
    print("AxisNo ", axis, " Start position detection");
    MotorAlignStart(axis, mode);                            // Start motor aliginment
 
    while((retVal = MotorAlignStatus(axis)) == 0)           // Wait until the alignment is successful or failed
    {
        print("Aligning... ", retVal);
        Delay(500);
    }
    if(retVal < 0)
    {
        print("!!!! Rotor position detection FAILED !!!! retVal: ", retVal);
    }
    else if (retVal > 0)
    {
        print("Alignment completed with ", retVal);
    }
    HWAMP_PARAM((axis), HWAMP_MAXCUR)   = maxCurrent;       // Set the maximum current for the motor
 
    return(retVal);
}

sdkMotorMultiAlignment()

long sdkMotorMultiAlignment	(	long	axis,
		long	axisNumber,
		long	mode,
		long	maxCurrent,
		long	alignCurrent
	)

The purpose of this function is to find the rotor position of a brushless motor in relation to the encoder position feedback.

The function is the same as function sdkMotorAlignment() - but several motors can be started in simultaneous. The same current is set for each axis.

Note

In order for this procedure to work, the motor must not be braked or be in a limit position. The rotor must be able to rotate freely for about half a revolution.

Parameters

axis	Axis module number (lowest axis)
axisNumber	Number axes. These must be lined up and increased by one for each axis
mode	Mode of aligment 1: For brushless motors 3: For stepper motors
maxCurrent	Maximum current of the motor
alignCurrent	Current for the alignment function

Returns

value: Command Reference, MotorAlingStatus()
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Examples

Maxon_ECi40_3ax_SC_OL_Inc.mc.

Definition at line 79 of file SDK_Amplifier_MotorAlignment.mc.

{
    long retVal[6]={0,0,0,0,0,0},retValCheck[6]={0,0,0,0,0,0}, retValSum=0, i;
 
    axisNumber=axis+axisNumber;
 
    for (i=axis;i<axisNumber;i++)
    {
        AxisControl(i,OFF);
        HWAMP_PARAM((i), HWAMP_MAXCUR)   = alignCurrent;    // Set the maximum current for aligning the motor
        print("AxisNo ", i, " Start position detection");
        MotorAlignStart(i, mode);
        Delay(250);
    }
    print("AxisNumber ", axisNumber - axis);
 
    while(!(retValSum==(axisNumber-axis)))
    {
        retValSum=0;
        for (i=axis;i<axisNumber;i++)
        {
            retVal[i] = MotorAlignStatus(i);
            printf("Aligning Axis: %ld, Status: %ld", i, retVal[i]);
            print("");
 
            if(retVal[i] < 0)
            {
                print("!!!! Rotor position detection FAILED !!!! retVal: ", retVal[i]);
                print("");
                return(-1);
            }
            else if (retVal[i] > 0)
            {
                printf("Aligning Axis: %ld completed with: %ld", i, retVal[i]);
                print("");
                retValCheck[i]=1;
            }
            retValSum=retValCheck[i]+retValSum;
        }
        Delay(1000);
    }
    for (i=axis;i<=axisNumber;i++)
    {
        HWAMP_PARAM((i), HWAMP_MAXCUR)   = maxCurrent;      // Set the maximum current for the motor
    }
 
    return(1);
}

sdkSetMotorAlignmentOffset()

long sdkSetMotorAlignmentOffset	(	long	axis,
		long	elPol,
		long	poselOffset
	)

This function sets the offset of the electric field in relation to an absolute encoder.

If an absolute encoder is used and the offset between rotor/ encoder is already known, the classic motor alignment can be dispensed with. The offset and the polarity can be determined with the function sdkMotorAlignment() during commissioning.

Parameters

axis	Axis module number
elPol	Encoder 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
poselOffset	Sets the offsets for the aligned absolute encoders.

Returns

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

Examples

Maxon_ECi52_1ax_SC_SSI.mc.

Definition at line 143 of file SDK_Amplifier_MotorAlignment.mc.

{
    HWAMP_PARAM(axis,HWAMP_ELPOL)           = elPol;
    HWAMP_PARAM(axis, HWAMP_POSEL_OFFSET)   = poselOffset;
 
    return(1);
}