SDK_Amplifier_MotorAlignment.mc

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#pragma once
 
#include <SysDef.mh>
#include "SDK_Amplifier_MotorAlignment.mh"
 
long sdkMotorAlignment(long axis, long mode, long maxCurrent, long alignCurrent)
{
    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);
}
 
 
long sdkMotorMultiAlignment(long axis, long axisNumber, long mode, long maxCurrent, long alignCurrent)
{
    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);
}
 
long sdkSetMotorAlignmentOffset(long axis, long elPol, long poselOffset)
{
    HWAMP_PARAM(axis,HWAMP_ELPOL)           = elPol;
    HWAMP_PARAM(axis, HWAMP_POSEL_OFFSET)   = poselOffset;
 
    return(1);
}