SDK_Axis_Setup.mc File Reference

Functions for the axis setup. More...

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

Go to the source code of this file.

Functions
long	sdkSetupPositionPIDControl (long axis, long kprop, long kint, long kder)
	Set parameters for PID position control loop. More...
long	sdkSetupPositionPIDControlExt (long axis, long kprop, long kint, long kder, long kilim, long kilimtime, long bandwidth, long ffvel, long kffacc, long kffdec)
	Set extended parameters for PID position control loop. More...
long	sdkSetupAxisUserUnits (long axis, long posencrev, long posencqc, long posfact_z, long posfact_n, long feedrev, long feeddist)
	Setup to convert the resolution of the machine in user units. More...
long	sdkSetupAxisMovementParam (long axis, long velres, long maxRpm, long ramptype, long rampmin, long jerkmin, long poserr)
	Defines parameters which are required for the calculation of ramps and velocities. More...
long	sdkSetupAxisJerkLimited (long axis, long jerkmin1, long jerkmin2, long jerkmin3, long jerkmin4)
	Definition of the jerk limited extended parameter. More...
long	sdkSetupAxisDirection (long axis, long posdrct)
	Definition of the rotation direction of the axis. More...
long	skdSetupAxisSoftwareLimit (long axis, long negLimitUu, long posLimitUu)
	Setting up a software axis limitation in user units. More...
long	skdEnableAxisSoftwareLimit (long axis, long active)
	Activation of the axis software limits. More...

Detailed Description

Functions for the axis setup.

Revision

271

Definition in file SDK_Axis_Setup.mc.

Function Documentation

sdkSetupAxisDirection()

long sdkSetupAxisDirection	(	long	axis,
		long	posdrct
	)

Definition of the rotation direction of the axis.

The application defines what is a forward and backward movement of the motor. With the help of this function this definition can be adjusted.

Parameters

axis	Axis module number
posdrct	Parameter to set the rotation direction (default 0) 1 Normal direction -1 Invert direction

Returns

value: Process value
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Examples

Maxon_EC45_flat_1ax_BC_Enc.mc, Maxon_EC45_flat_1ax_BC_Hall.mc, Maxon_EC45_flat_1ax_SC_Hall_Inc.mc, Maxon_ECi30_2ax_SC_Hall_Inc.mc, Maxon_ECi40_1ax_SC_OL_Inc.mc, Maxon_ECi40_3ax_SC_OL_Inc.mc, Maxon_ECi52_1ax_SC_SSI.mc, Maxon_RE_40_1ax_Inc.mc, Maxon_RE_40_1ax_OL.mc, MotorCommissioning_MaxonECi30.mc, Stepper_XY_CL.mc, and Stepper_XY_OL.mc.

Definition at line 186 of file SDK_Axis_Setup.mc.

{
    // Set rotation direction
    if (posdrct==1 || posdrct==-1 )
    {
        VIRTAMP_PARAM(axis,VIRTAMP_INVERT)=posdrct;
        VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_UUFACT_UNITNO)=posdrct;
    }
    else    // Error
    {
        print("SDK Error: not supported rotation direction");
        return(-1);
    }
 
    return(1);
}

sdkSetupAxisJerkLimited()

long sdkSetupAxisJerkLimited	(	long	axis,
		long	jerkmin1,
		long	jerkmin2,
		long	jerkmin3,
		long	jerkmin4
	)

Definition of the jerk limited extended parameter.

Function to set the extended jerk limited parameters. This topic is described in the ApossIDE Help on the page "Limited Jerk". If the parameters JERKMIN2 - 4 are set to the value 0, the jerk limit is taken from the parameter JERKMIN.

Parameters

axis	Axis module number
jerkmin1	Defines the minimum time [ms] required before reaching the maximum acceleration (default 100)
jerkmin2	Defines the minimum time [ms] required to ramp the acceleration down from maximum acceleration to 0 (default 0)
jerkmin3	Defines the minimum time [ms] required to ramp the deceleration up from 0 to maximum deceleration (default 0)
jerkmin4	Defines the minimum time [ms] required to ramp the deceleration down from maximum deceleration to 0 (default 0)

Returns

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

Definition at line 162 of file SDK_Axis_Setup.mc.

{
     AXE_PARAM(axis, RAMPTYPE)  = RAMPTYPE_JERKLIMITED;     // Ramp type: Jerk limited
     AXE_PARAM(axis, JERKMIN)   = jerkmin1;
     AXE_PARAM(axis, JERKMIN2)  = jerkmin2;
     AXE_PARAM(axis, JERKMIN3)  = jerkmin3;
     AXE_PARAM(axis, JERKMIN4)  = jerkmin4;
 
    return(1);
}

sdkSetupAxisMovementParam()

long sdkSetupAxisMovementParam	(	long	axis,
		long	velres,
		long	maxRpm,
		long	ramptype,
		long	rampmin,
		long	jerkmin,
		long	poserr
	)

Defines parameters which are required for the calculation of ramps and velocities.

The function sets all basic parameters which are needed for the calculation of the ramps and velocities.

Parameters

axis	Axis module number
velres	Velocity resolution, Scaling used for the velocity and acceleration/deceleration commands (default 100)
maxRpm	Defines the rated speed of the drive. This value is listed in RPM (default 1000)
ramptype	Defines the ramptype (default 0) 0 RAMPTYPE_TRAPEZ: Trapezoid ramp 2 RAMPTYPE_JERKLIMITED: Jerk limited ramp
rampmin	Maximum acceleration (default 1000)
jerkmin	Minimum time (ms) required before reaching the maximum acceleration (default 100) just usefull for ramptype "RAMPTYPE_JERKLIMITED"
poserr	The Maximum Tolerated Position Error POSERR defines the tolerance allowed between the current actual position and the calculated command position (default 20000)

Returns

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

Examples

CAN_1Ax_EPOS4-Test_csp.mc, CAN_1Ax_EPOS4-Test_cst.mc, CAN_1Ax_EPOS4-Test_csv.mc, CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, CAN_4Ax_MiniMACS6_csv.mc, ECAT_1Ax_EPOS4-Test_cst.mc, ECAT_3Ax_Epos4-Test_csp.mc, Maxon_EC45_flat_1ax_BC_Enc.mc, Maxon_EC45_flat_1ax_BC_Hall.mc, Maxon_EC45_flat_1ax_SC_Hall_Inc.mc, Maxon_ECi30_2ax_SC_Hall_Inc.mc, Maxon_ECi40_1ax_SC_OL_Inc.mc, Maxon_ECi40_3ax_SC_OL_Inc.mc, Maxon_ECi52_1ax_SC_SSI.mc, Maxon_RE_40_1ax_Inc.mc, Maxon_RE_40_1ax_OL.mc, MotorCommissioning_MaxonECi30.mc, Stepper_XY_CL.mc, and Stepper_XY_OL.mc.

Definition at line 136 of file SDK_Axis_Setup.mc.

{
     AXE_PARAM(axis, VELRES)    = velres;   // Velocity resolution
     AXE_PARAM(axis, VELMAX)    = maxRpm;   // Rated speed of drive
     AXE_PARAM(axis, RAMPTYPE)  = ramptype; // Ramp type
     AXE_PARAM(axis, RAMPMIN)   = rampmin;  // Maximum acceleration
     AXE_PARAM(axis, JERKMIN)   = jerkmin;  // Minimum time required before reaching the maximum acceleration
     AXE_PARAM(axis, POSERR)    = poserr;   // Maximum tolerated position error
 
    return(1);
}

sdkSetupAxisUserUnits()

long sdkSetupAxisUserUnits	(	long	axis,
		long	posencrev,
		long	posencqc,
		long	posfact_z,
		long	posfact_n,
		long	feedrev,
		long	feeddist
	)

Setup to convert the resolution of the machine in user units.

The basic resolution of the entire machine is 1 encoder quadcount. Using the above formula, this can be converted to the resolution of the machine in user units. This is the highest precision to which an application may specify positions. For example, if 1 uu equals 10 qc, then the command "AxisPosRelStart(0,1);" will move the motor foward by 10 qc; it will not be possible for the application program to move the motor by only 5 qc. Conversely, if the motor moves forward by only 1 qc, then the Apos command is likely to return the same actual position value even though the motor has moved to a new position; the application program will be unable to differentiate between these two motor positions. More information are available in the Help of ApossIDE: "How to Set Up Resolution and Gear Parameters".

Parameters

axis	Axis module number
posencrev	Number of revolutions of the motor
posencqc	Number of quadcounts in POSENCREV revolutions
posfact_z	Number of revolutions of the input shaft
posfact_n	Number of revolutions of the output shaft in POSFACT_Z revolutions of the input shaft
feedrev	Number of revolutions of the gear box output shaft
feeddist	Distance travelled (in user units) in FEEDREV revolutions of the gear box output shaft

Returns

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

Examples

CAN_1Ax_EPOS4-Test_csp.mc, CAN_1Ax_EPOS4-Test_cst.mc, CAN_1Ax_EPOS4-Test_csv.mc, CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, CAN_4Ax_MiniMACS6_csv.mc, ECAT_1Ax_EPOS4-Test_cst.mc, ECAT_3Ax_Epos4-Test_csp.mc, Maxon_EC45_flat_1ax_BC_Enc.mc, Maxon_EC45_flat_1ax_BC_Hall.mc, Maxon_EC45_flat_1ax_SC_Hall_Inc.mc, Maxon_ECi30_2ax_SC_Hall_Inc.mc, Maxon_ECi40_1ax_SC_OL_Inc.mc, Maxon_ECi40_3ax_SC_OL_Inc.mc, Maxon_ECi52_1ax_SC_SSI.mc, Maxon_RE_40_1ax_Inc.mc, MotorCommissioning_MaxonECi30.mc, Stepper_XY_CL.mc, and Stepper_XY_OL.mc.

Definition at line 104 of file SDK_Axis_Setup.mc.

{
    AXE_PARAM(axis,POSENCREV) = posencrev;      //  Number of revolutions of the motor
    AXE_PARAM(axis,POSENCQC)  = posencqc;       //  Number of quadcounts in POSENCREV revolutions
    AXE_PARAM(axis,POSFACT_Z) = posfact_z;      //  Number of revolutions of the input shaft
    AXE_PARAM(axis,POSFACT_N) = posfact_n;      //  Number of revolutions of the output shaft in POSFACT_Z revolutions of the input shaft
    AXE_PARAM(axis,FEEDREV)   = feedrev;        //  Number of revolutions of the gear box output shaft
    AXE_PARAM(axis,FEEDDIST)  = feeddist;       //  Distance travelled (in user units) in FEEDREV revolutions of the gear box output shaft
 
    return(1);
}

sdkSetupPositionPIDControl()

long sdkSetupPositionPIDControl	(	long	axis,
		long	kprop,
		long	kint,
		long	kder
	)

Set parameters for PID position control loop.

The function sets the basic factors of the position PID controller. With the function sdkSetupPositionPIDControlExt() the extended factors of the position controller can be set. More information are available in the Help of ApossIDE in the topic "Control Loop Design".

Parameters

axis	Axis module number
kprop	Proportional value for PID position control loop (default 30)
kint	Integral value for PID position control loop (default 0)
kder	Derivative value for PID position control loop (default 0)

Returns

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

Definition at line 36 of file SDK_Axis_Setup.mc.

{
    // Parameters for position controller
    AXE_PARAM(axis, KPROP)      = kprop;    // position-controller  proportional factor:       1 … 65000
    AXE_PARAM(axis, KINT)       = kint;     // position-controller  integral factor:           0 … 65000
    AXE_PARAM(axis, KDER)       = kder;     // position-controller  differencial factor:       0 … 65000
 
    return(1);
}

sdkSetupPositionPIDControlExt()

long sdkSetupPositionPIDControlExt	(	long	axis,
		long	kprop,
		long	kint,
		long	kder,
		long	kilim,
		long	kilimtime,
		long	bandwidth,
		long	ffvel,
		long	kffacc,
		long	kffdec
	)

Set extended parameters for PID position control loop.

The function sets the extended factors of the position PID controller. With the function sdkSetupPositionPIDControl() the basic factors of the position controller can be set. More information are available in the Help of ApossIDE in the topic "Control Loop Design".

Parameters

axis	Axis module number
kprop	Proportional value for PID position control loop (default 30)
kint	Integral value for PID position control loop (default 0)
kder	Derivative value for PID position control loop (default 0)
kilim	Limit value for the integral sum of the PID position control loop (default 1000)
kilimtime	Time used to increase or decrease the integral limit (default 0)
bandwidth	Bandwidth within which the PID filter is active. 1000 equals to 100% velocity setpoint (default 1000)
ffvel	Velocity Feed forward (default 0)
kffacc	Acceleration Feed forward (default 0)
kffdec	Deceleration Feed Forward (default 0)

Returns

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

Examples

CAN_1Ax_EPOS4-Test_csp.mc, CAN_1Ax_EPOS4-Test_cst.mc, CAN_1Ax_EPOS4-Test_csv.mc, CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, CAN_4Ax_MiniMACS6_csv.mc, ECAT_1Ax_EPOS4-Test_cst.mc, ECAT_3Ax_Epos4-Test_csp.mc, Maxon_EC45_flat_1ax_BC_Enc.mc, Maxon_EC45_flat_1ax_BC_Hall.mc, Maxon_EC45_flat_1ax_SC_Hall_Inc.mc, Maxon_ECi30_2ax_SC_Hall_Inc.mc, Maxon_ECi40_1ax_SC_OL_Inc.mc, Maxon_ECi40_3ax_SC_OL_Inc.mc, Maxon_ECi52_1ax_SC_SSI.mc, Maxon_RE_40_1ax_Inc.mc, Maxon_RE_40_1ax_OL.mc, MotorCommissioning_MaxonECi30.mc, Stepper_XY_CL.mc, and Stepper_XY_OL.mc.

Definition at line 65 of file SDK_Axis_Setup.mc.

{
    // Parameters for position controller
    AXE_PARAM(axis, KPROP)      = kprop;    // position-controller  proportional factor:                1 … 65000
    AXE_PARAM(axis, KINT)       = kint;     // position-controller  integral factor:                    0 … 65000
    AXE_PARAM(axis, KDER)       = kder;     // position-controller  differencial factor:                0 … 65000
 
    AXE_PARAM(axis, KILIM)      = kilim;    // position-controller  limits the integral sum:            0 … 65000
    AXE_PARAM(axis, KILIMTIME)  = kilimtime;// position-controller  Time used to for integral limit:    -10000…10000
    AXE_PARAM(axis, BANDWIDTH)  = bandwidth;// position-controller  Bandwidth of the PID filter:        0 … 2000
    AXE_PARAM(axis, FFVEL)      = ffvel;    // position-controller  Velocity Feed forward:              0…100000
    AXE_PARAM(axis, KFFACC)     = kffacc;   // position-controller  Acceleration Feed Forward:          0 … 8000
    AXE_PARAM(axis, KFFDEC)     = kffdec;   // position-controller  Deceleration Feed Forward:          0 … 8000
 
    return(1);
}

skdEnableAxisSoftwareLimit()

long skdEnableAxisSoftwareLimit	(	long	axis,
		long	active
	)

Activation of the axis software limits.

This function enables or disables the software limits set with the xy function skdSetupAxisSoftwareLimit().

Parameters

axis	Axis module number
active	Parameter to enable / disable the software limit 0 Disable software limit 1 Enable software limit

Returns

value: Process value
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 238 of file SDK_Axis_Setup.mc.

{
    if(active == 0)
    {
        AXE_PARAM(axis,SWPOSLIMACT)     =   active;
        AXE_PARAM(axis,SWNEGLIMACT)     =   active;
        print("Disable software limit axis ", axis);
    }
    else
    {
        AXE_PARAM(axis,SWPOSLIMACT)     =   1;
        AXE_PARAM(axis,SWNEGLIMACT)     =   1;
        print("Enable software limit axis ", axis);
    }
 
    return(1);
}

skdSetupAxisSoftwareLimit()

long skdSetupAxisSoftwareLimit	(	long	axis,
		long	negLimitUu,
		long	posLimitUu
	)

Setting up a software axis limitation in user units.

For additional safety a software axis limit can be set. This function is for setting the limits and must be activated with the function skdEnableAxisSoftwareLimit(). The limit is set in user units.

Parameters

axis	Axis module number
negLimitUu	Negative axis limit [Uu]
posLimitUu	Positive axis limit [Uu]

Returns

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

Definition at line 215 of file SDK_Axis_Setup.mc.

{
    AXE_PARAM(axis,NEGLIMIT)        =   negLimitUu * ((double)(AXE_PARAM(axis,FEEDREV)*AXE_PARAM(axis,POSFACT_Z)*AXE_PARAM(axis,POSENCQC))/((double)AXE_PARAM(axis,FEEDDIST)*AXE_PARAM(axis,POSFACT_N)*AXE_PARAM(axis,POSENCREV)));
    AXE_PARAM(axis,POSLIMIT)        =   posLimitUu * ((double)(AXE_PARAM(axis,FEEDREV)*AXE_PARAM(axis,POSFACT_Z)*AXE_PARAM(axis,POSENCQC))/((double)AXE_PARAM(axis,FEEDDIST)*AXE_PARAM(axis,POSFACT_N)*AXE_PARAM(axis,POSENCREV)));
    print("Set negative software limit to ", AXE_PARAM(axis,NEGLIMIT), " qc");
    print("Set positive software limit to ", AXE_PARAM(axis,POSLIMIT), " qc");
    return(1);
}