SDK_Amplifier_MotorCommissioning.mh File Reference

Declaration of the motor commissioning functions. More...

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

Declaration of the motor commissioning functions.

Revision

241

Definition in file SDK_Amplifier_MotorCommissioning.mh.

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

axis	Axis module number
current	Current for the step in mA
time	Duration of the current step in ms
recordEnable	Definition 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

Definition at line 33 of file SDK_Amplifier_MotorCommissioning.mc.

{
    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);
}

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

axis	Axis module number

Returns

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

Definition at line 218 of file SDK_Amplifier_MotorCommissioning.mc.

{
    // 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);
}

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

axis	Axis module number

Returns

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

Definition at line 195 of file SDK_Amplifier_MotorCommissioning.mc.

{
    // 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);
}

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

axis	Axis module number
distance	Relative distance in user units between start and end position
controlMode	Define 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
recordEnable	Definition 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

Definition at line 154 of file SDK_Amplifier_MotorCommissioning.mc.

{
    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);
}

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

axis	Axis module number
velocity	Velocity for the step, scaling is —0x4000 to 0x4000 for -100 to 100% of VELMAX
time	Duration of the velocity step in ms
recordEnable	Definition 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

Definition at line 91 of file SDK_Amplifier_MotorCommissioning.mc.

{
    // 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);
}