SDK_Amplifier_MotorCommissioning.mc

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#pragma once
 
#include <SysDef.mh>
#include "SDK_Amplifier_MotorCommissioning.mh"
 
long sdkMotorCommCurrentStep(long axis, long current, long time, long recordEnable)
{
    if (recordEnable==1)    // Settings for the recording
        {
        RecordIndex(    HWAMP_PROCESS_INDEX(axis,PO_HWAMP_CURRENT),
                        AXE_PROCESS_INDEX(axis,REG_USERREFCUR));
        RecordTimeBase(RECORD_LOOP_CUR);
        RecordDest(DYNMEM);
        RecordStart(0);
    }
 
    // Set the controller loop
    HWAMP_PARAM(axis, HWAMP_MODE)     = HWAMP_MODE_POS_CUR;
 
    // Parameters for position controller -> Make sure that the position controller is not running
    AXE_PARAM(axis, KPROP)  = 0;            // position-controller  proportional factor
    AXE_PARAM(axis, KINT)   = 0;            // position-controller  integral factor
    AXE_PARAM(axis, KDER)   = 0;            // position-controller  differencial factor
    AXE_PARAM(axis, FFVEL)  = 0;            // position-controller  Velocity Feed forward
    AXE_PARAM(axis, KFFACC) = 0;            // position-controller  Acceleration Feed Forward
    AXE_PARAM(axis, KFFDEC) = 0;            // position-controller  Deceleration Feed Forward
    AXE_PARAM(axis, POSERR) = 0x7FFFFFFF;   // very high to avoid errors
 
    AxisControl(axis, USERREFCUR);      // Turn motor control on with a user defined reference current
    print("Start current step");
    Delay(50);
 
    AXE_PROCESS(axis,REG_USERREFCUR)=current;   //Current Step to "current" mA
    Delay(time);                                //Wait for "time" ms
    AXE_PROCESS(axis,REG_USERREFCUR)=0;         //Set current to 0 mA
 
    Delay(50);
    print("Stop current step");
    RecordStop(0,0);
 
    return(1);
}
 
long sdkMotorCommVelStep(long axis, long velocity, long time, long recordEnable)
{
    // Settings for the recording
    if (recordEnable==1)
        {
        RecordIndex(    HWAMP_PROCESS_INDEX(axis,PO_HWAMP_VELPI_ACTUAL),
                        HWAMP_PROCESS_INDEX(axis,PO_HWAMP_VELPI_REF));
        RecordTimeBase(RECORD_LOOP_VEL);
        RecordDest(DYNMEM);
        RecordStart(0);
        }
 
    // Set the controller loop
    HWAMP_PARAM(axis, HWAMP_MODE)     = HWAMP_MODE_POS_VEL_CUR;
 
    // Parameters for position controller -> Make sure that the position controller is not running
    AXE_PARAM(axis, KPROP)  = 0;            // position-controller  proportional factor
    AXE_PARAM(axis, KINT)   = 0;            // position-controller  integral factor
    AXE_PARAM(axis, KDER)   = 0;            // position-controller  differencial factor
    AXE_PARAM(axis, FFVEL)  = 0;            // position-controller  Velocity Feed forward
    AXE_PARAM(axis, KFFACC) = 0;            // position-controller  Acceleration Feed Forward
    AXE_PARAM(axis, KFFDEC) = 0;            // position-controller  Deceleration Feed Forward
    AXE_PARAM(axis, POSERR) = 0x7FFFFFFF;   // very high to avoid errors
 
 
    AxisControl(axis, USERREFVEL);      // Turn motor control on with a user defined reference current
    print("Start velocity step");
    Delay(50);
 
    AXE_PROCESS(axis,REG_USERREFVEL)=velocity;  // Velcity step to "velocity"
    Delay(time);                                // Wait for "time" ms
    AXE_PROCESS(axis,REG_USERREFVEL)=0;         // Set velocity to 0
 
    Delay(50);
    print("Stop velocity step");
    RecordStop(0,0);
 
    return(1);
}
 
long sdkMotorCommPositionRamp(long axis, long distance, long controlMode, long recordEnable)
{
    if (recordEnable==1)    // Settings for the recording
        {
        RecordIndex(    AXE_PROCESS_INDEX(axis,REG_COMPOS),
                        AXE_PROCESS_INDEX(axis,REG_ACTPOS),
                        AXE_PROCESS_INDEX(axis,REG_TRACKERR));
        RecordDest(DYNMEM);
        RecordStart(0);
    }
 
    // Set controller loop
    HWAMP_PARAM(axis, HWAMP_MODE)   = controlMode;
    AXE_PARAM(axis, POSERR)         = 0x7FFFFFFF;   // very high to avoid errors
 
    AxisControl(axis, ON);              // Turn the motor on
    print("Start position ramp");
    Delay(50);
 
    AxisPosRelStart(axis, distance);    // Start relative movement
    AxisWaitReached(axis);              // Wait until target ist reached
 
    Delay(50);
    print("Stop position ramp");
    RecordStop(0,0);
 
    return(1);
}
 
long sdkMotorCommHallSignalCheck(long axis)
{
    // Turn off the motor and set a hall commtype
    AxisControl(axis, OFF);
    HWAMP_PARAM(axis,HWAMP_COMMTYPE)=HWAMP_COMMTYPE_BLDC;
 
    print("HALL Bit 0: ", HWHALL_PROCESS(axis,PO_HWHALL_STATUS).i[0]);
    print("HALL Bit 1: ", HWHALL_PROCESS(axis,PO_HWHALL_STATUS).i[1]);
    print("HALL Bit 2: ", HWHALL_PROCESS(axis,PO_HWHALL_STATUS).i[2]);
    print("HALL Position: ", HWHALL_PROCESS(axis,PO_HWHALL_POS));
 
    return(1);
}
long sdkMotorCommEncoderUserUnitCheck(long axis)
{
    // Turn off the motor
    AxisControl(axis, OFF);
    print("Counts per turn [cpt]: ",AXE_PROCESS(axis,REG_ACTPOS)/4);
    print("Quadcounts      [qc] : ",AXE_PROCESS(axis,REG_ACTPOS));
    print("User units      [uu] : ", Apos(axis));
    print("");
    return(1);
}