ApossC SDK  V01.15
Functions
SDK_Amplifier_MotorCommissioning.mc File Reference

Functions for commissioning a motor. More...

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

Go to the source code of this file.

Functions

long sdkMotorCommCurrentStep (long axis, long current, long time, long recordEnable)
 Current step for setting the current controller. More...
 
long sdkMotorCommVelStep (long axis, long velocity, long time, long recordEnable)
 Velocity step for setting the velocity controller. More...
 
long sdkMotorCommPositionRamp (long axis, long distance, long controlMode, long recordEnable)
 Position ramp for setting the position controller. More...
 
long sdkMotorCommHallSignalCheck (long axis)
 Checking the hall signals. More...
 
long sdkMotorCommEncoderUserUnitCheck (long axis)
 Checking the configured encoders and the user units. More...
 

Detailed Description

Functions for commissioning a motor.

Revision
241

Definition in file SDK_Amplifier_MotorCommissioning.mc.

Function Documentation

◆ sdkMotorCommCurrentStep()

long sdkMotorCommCurrentStep ( long  axis,
long  current,
long  time,
long  recordEnable 
)

Current step for setting the current controller.

This function can be used to do a current step and record it. The controller parameters can then be adjusted until t he desired behaviour of the current controller is achieved. The axis must be correctly parameterised before calling the function. With the help of this function, the attached example and the utility monitor file ut_Control_Loop_Parameter_Slider.zbm the controller can be adjusted. More information about the controller setting can be found in the ApossIDE Help.

Note
To adjust the current controller, the motor does not need to move. A step which only takes several ms is enough.
Parameters
axisAxis module number
currentCurrent for the step in mA
timeDuration of the current step in ms
recordEnableDefinition record osciloscope (Only available on MACS6)
0 Record Disable
1 Record Enable
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
MotorCommissioning_MaxonECi30.mc.

Definition at line 33 of file SDK_Amplifier_MotorCommissioning.mc.

34 {
35  if (recordEnable==1) // Settings for the recording
36  {
37  RecordIndex( HWAMP_PROCESS_INDEX(axis,PO_HWAMP_CURRENT),
38  AXE_PROCESS_INDEX(axis,REG_USERREFCUR));
39  RecordTimeBase(RECORD_LOOP_CUR);
40  RecordDest(DYNMEM);
41  RecordStart(0);
42  }
43 
44  // Set the controller loop
45  HWAMP_PARAM(axis, HWAMP_MODE) = HWAMP_MODE_POS_CUR;
46 
47  // Parameters for position controller -> Make sure that the position controller is not running
48  AXE_PARAM(axis, KPROP) = 0; // position-controller proportional factor
49  AXE_PARAM(axis, KINT) = 0; // position-controller integral factor
50  AXE_PARAM(axis, KDER) = 0; // position-controller differencial factor
51  AXE_PARAM(axis, FFVEL) = 0; // position-controller Velocity Feed forward
52  AXE_PARAM(axis, KFFACC) = 0; // position-controller Acceleration Feed Forward
53  AXE_PARAM(axis, KFFDEC) = 0; // position-controller Deceleration Feed Forward
54  AXE_PARAM(axis, POSERR) = 0x7FFFFFFF; // very high to avoid errors
55 
56  AxisControl(axis, USERREFCUR); // Turn motor control on with a user defined reference current
57  print("Start current step");
58  Delay(50);
59 
60  AXE_PROCESS(axis,REG_USERREFCUR)=current; //Current Step to "current" mA
61  Delay(time); //Wait for "time" ms
62  AXE_PROCESS(axis,REG_USERREFCUR)=0; //Set current to 0 mA
63 
64  Delay(50);
65  print("Stop current step");
66  RecordStop(0,0);
67 
68  return(1);
69 }

◆ sdkMotorCommEncoderUserUnitCheck()

long sdkMotorCommEncoderUserUnitCheck ( long  axis)

Checking the configured encoders and the user units.

With this function the number of quadcounts, counts per turn and user units can be compared. The encoder must first be correctly configured. The values are printed in the APossIDE.

Parameters
axisAxis module number
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
MotorCommissioning_MaxonECi30.mc.

Definition at line 218 of file SDK_Amplifier_MotorCommissioning.mc.

219 {
220  // Turn off the motor
221  AxisControl(axis, OFF);
222  print("Counts per turn [cpt]: ",AXE_PROCESS(axis,REG_ACTPOS)/4);
223  print("Quadcounts [qc] : ",AXE_PROCESS(axis,REG_ACTPOS));
224  print("User units [uu] : ", Apos(axis));
225  print("");
226  return(1);
227 }

◆ sdkMotorCommHallSignalCheck()

long sdkMotorCommHallSignalCheck ( long  axis)

Checking the hall signals.

With this function, the individual hall states and the position can be read out. The states are printed in the ApossiDE.

Parameters
axisAxis module number
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
MotorCommissioning_MaxonECi30.mc.

Definition at line 195 of file SDK_Amplifier_MotorCommissioning.mc.

196 {
197  // Turn off the motor and set a hall commtype
198  AxisControl(axis, OFF);
199  HWAMP_PARAM(axis,HWAMP_COMMTYPE)=HWAMP_COMMTYPE_BLDC;
200 
201  print("HALL Bit 0: ", HWHALL_PROCESS(axis,PO_HWHALL_STATUS).i[0]);
202  print("HALL Bit 1: ", HWHALL_PROCESS(axis,PO_HWHALL_STATUS).i[1]);
203  print("HALL Bit 2: ", HWHALL_PROCESS(axis,PO_HWHALL_STATUS).i[2]);
204  print("HALL Position: ", HWHALL_PROCESS(axis,PO_HWHALL_POS));
205 
206  return(1);
207 }

◆ sdkMotorCommPositionRamp()

long sdkMotorCommPositionRamp ( long  axis,
long  distance,
long  controlMode,
long  recordEnable 
)

Position ramp for setting the position controller.

This function can be used to do a positon ramp and record it. The controller parameters can then be adjusted until the desired behaviour of the position controller is achieved. The axis must be correctly parameterised before calling the function. With the help of this function, the attached example and the utility monitor file ut_Control_Loop_Parameter_Slider.zbm the controller can be adjusted. More information about the controller setting can be found in the ApossIDE Help.

Parameters
axisAxis module number
distanceRelative distance in user units between start and end position
controlModeDefine control typ (default 3)
0 HWAMP_MODE_POS_VEL_CUR: Pos -> Vel -> Cur -> PWM
1 HWAMP_MODE_POS_VEL: Pos -> Vel -> PWM
2 HWAMP_MODE_POS_CUR: Pos -> Cur -> PWM
3 HWAMP_MODE_POS: Pos -> PWM
recordEnableDefinition record osciloscope (Only available on MACS6)
0 Record Disable
1 Record Enable
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
MotorCommissioning_MaxonECi30.mc.

Definition at line 154 of file SDK_Amplifier_MotorCommissioning.mc.

155 {
156  if (recordEnable==1) // Settings for the recording
157  {
158  RecordIndex( AXE_PROCESS_INDEX(axis,REG_COMPOS),
159  AXE_PROCESS_INDEX(axis,REG_ACTPOS),
160  AXE_PROCESS_INDEX(axis,REG_TRACKERR));
161  RecordDest(DYNMEM);
162  RecordStart(0);
163  }
164 
165  // Set controller loop
166  HWAMP_PARAM(axis, HWAMP_MODE) = controlMode;
167  AXE_PARAM(axis, POSERR) = 0x7FFFFFFF; // very high to avoid errors
168 
169  AxisControl(axis, ON); // Turn the motor on
170  print("Start position ramp");
171  Delay(50);
172 
173  AxisPosRelStart(axis, distance); // Start relative movement
174  AxisWaitReached(axis); // Wait until target ist reached
175 
176  Delay(50);
177  print("Stop position ramp");
178  RecordStop(0,0);
179 
180  return(1);
181 }

◆ sdkMotorCommVelStep()

long sdkMotorCommVelStep ( long  axis,
long  velocity,
long  time,
long  recordEnable 
)

Velocity step for setting the velocity controller.

This function can be used to do a velocity step and record it. The controller parameters can then be adjusted until the desired behaviour of the current controller is achieved. The axis must be correctly parameterised before calling the function. With the help of this function, the attached example and the utility monitor file ut_Control_Loop_Parameter_Slider.zbm the controller can be adjusted. More information about the controller setting can be found in the ApossIDE Help.

Note
To adjust the velocity controller, the motor does need to move. The speed must be achievable in the selected time.
Parameters
axisAxis module number
velocityVelocity for the step, scaling is —0x4000 to 0x4000 for -100 to 100% of VELMAX
timeDuration of the velocity step in ms
recordEnableDefinition record osciloscope (Only available on MACS6)
0 Record Disable
1 Record Enable
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error
Examples
MotorCommissioning_MaxonECi30.mc.

Definition at line 91 of file SDK_Amplifier_MotorCommissioning.mc.

92 {
93  // Settings for the recording
94  if (recordEnable==1)
95  {
96  RecordIndex( HWAMP_PROCESS_INDEX(axis,PO_HWAMP_VELPI_ACTUAL),
97  HWAMP_PROCESS_INDEX(axis,PO_HWAMP_VELPI_REF));
98  RecordTimeBase(RECORD_LOOP_VEL);
99  RecordDest(DYNMEM);
100  RecordStart(0);
101  }
102 
103  // Set the controller loop
104  HWAMP_PARAM(axis, HWAMP_MODE) = HWAMP_MODE_POS_VEL_CUR;
105 
106  // Parameters for position controller -> Make sure that the position controller is not running
107  AXE_PARAM(axis, KPROP) = 0; // position-controller proportional factor
108  AXE_PARAM(axis, KINT) = 0; // position-controller integral factor
109  AXE_PARAM(axis, KDER) = 0; // position-controller differencial factor
110  AXE_PARAM(axis, FFVEL) = 0; // position-controller Velocity Feed forward
111  AXE_PARAM(axis, KFFACC) = 0; // position-controller Acceleration Feed Forward
112  AXE_PARAM(axis, KFFDEC) = 0; // position-controller Deceleration Feed Forward
113  AXE_PARAM(axis, POSERR) = 0x7FFFFFFF; // very high to avoid errors
114 
115 
116  AxisControl(axis, USERREFVEL); // Turn motor control on with a user defined reference current
117  print("Start velocity step");
118  Delay(50);
119 
120  AXE_PROCESS(axis,REG_USERREFVEL)=velocity; // Velcity step to "velocity"
121  Delay(time); // Wait for "time" ms
122  AXE_PROCESS(axis,REG_USERREFVEL)=0; // Set velocity to 0
123 
124  Delay(50);
125  print("Stop velocity step");
126  RecordStop(0,0);
127 
128  return(1);
129 }
HWAMP_MODE
#define HWAMP_MODE
Mode of operation.
Definition: SdoDictionary.mh:7639
HWAMP_COMMTYPE
#define HWAMP_COMMTYPE
Commutation type in use.
Definition: SdoDictionary.mh:7749
PO_HWAMP_VELPI_REF
#define PO_HWAMP_VELPI_REF
Reference of velocity controller.
Definition: SdoDictionary.mh:11637
PO_HWHALL_POS
#define PO_HWHALL_POS
Position value (incrementing/decrementing)
Definition: SdoDictionary.mh:11982
AXE_PROCESS
#define AXE_PROCESS(modno, parno)
Axis Process Data: Setter.
Definition: SdoDictionary.mh:3187
HWHALL_PROCESS
#define HWHALL_PROCESS(modno, parno)
HW Hall Sensor Process Data: Setter.
Definition: SdoDictionary.mh:11968
KFFDEC
#define KFFDEC
Deceleration Feed Forward.
Definition: SdoDictionary.mh:3111
PO_HWHALL_STATUS
#define PO_HWHALL_STATUS
Digital input status of HALL sensor (3 bits, 0...7)
Definition: SdoDictionary.mh:11977
KDER
#define KDER
Derivative Factor for PID position control loop.
Definition: SdoDictionary.mh:2413
PO_HWAMP_CURRENT
#define PO_HWAMP_CURRENT
Actual current.
Definition: SdoDictionary.mh:11357
POSERR
#define POSERR
Maximum tolerated position error.
Definition: SdoDictionary.mh:2444
REG_ACTPOS
#define REG_ACTPOS
Actual position value.
Definition: SdoDictionary.mh:3199
REG_USERREFCUR
#define REG_USERREFCUR
Motor current reference value in AxisControl(USERREFCUR) mode.
Definition: SdoDictionary.mh:3414
HWAMP_MODE_POS_CUR
#define HWAMP_MODE_POS_CUR
Definition: SdoDictionary.mh:8273
PO_HWAMP_VELPI_ACTUAL
#define PO_HWAMP_VELPI_ACTUAL
Same as PO_HWAMP_VEL_VEL.
Definition: SdoDictionary.mh:11631
AXE_PROCESS_INDEX
#define AXE_PROCESS_INDEX(modno, parno)
Axis Process Data: Getter.
Definition: SdoDictionary.mh:3175
REG_USERREFVEL
#define REG_USERREFVEL
User velocity reference value for AxisControl(AxisNo, USERREFVEL) mode.
Definition: SdoDictionary.mh:3339
AXE_PARAM
#define AXE_PARAM(modno, parno)
Axis Parameters: Setter.
Definition: SdoDictionary.mh:2293
REG_COMPOS
#define REG_COMPOS
Set-point position value.
Definition: SdoDictionary.mh:3207
KFFACC
#define KFFACC
Acceleration Feed Forward.
Definition: SdoDictionary.mh:3102
HWAMP_MODE_POS_VEL_CUR
#define HWAMP_MODE_POS_VEL_CUR
Definition: SdoDictionary.mh:8271
HWAMP_PARAM
#define HWAMP_PARAM(modno, parno)
HW Amplifier Parameters: Setter.
Definition: SdoDictionary.mh:7627
FFVEL
#define FFVEL
Velocity Feed forward.
Definition: SdoDictionary.mh:2644
KPROP
#define KPROP
Proportional value for PID position control loop.
Definition: SdoDictionary.mh:2404
KINT
#define KINT
Integral value for PID position control loop.
Definition: SdoDictionary.mh:2422
HWAMP_PROCESS_INDEX
#define HWAMP_PROCESS_INDEX(modno, parno)
HW Amplifier Process Data: Getter.
Definition: SdoDictionary.mh:11329
REG_TRACKERR
#define REG_TRACKERR
Actual position tracking error.
Definition: SdoDictionary.mh:3239
HWAMP_COMMTYPE_BLDC
#define HWAMP_COMMTYPE_BLDC
Definition: SdoDictionary.mh:8283
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