SDK_Axis_Setup.mc

Go to the documentation of this file.

 
#pragma once
 
#include <SysDef.mh>
#include "SDK_Axis_Setup.mh"
 
long sdkSetupPositionPIDControl(long axis, long kprop, long kint, long kder)
{
    // 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);
}
 
long sdkSetupPositionPIDControlExt(long axis, long kprop, long kint, long kder, long kilim, long kilimtime, long bandwidth, long ffvel, long kffacc, long kffdec)
{
    // 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);
}
 
long sdkSetupAxisUserUnits(long axis, long posencrev, long posencqc, long posfact_z, long posfact_n, long feedrev, long feeddist)
{
    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);
}
 
 
long sdkSetupAxisMovementParam(long axis, long velres, long maxRpm, long ramptype, long rampmin, long jerkmin, long poserr)
{
     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);
}
 
long sdkSetupAxisJerkLimited(long axis, long jerkmin1, long jerkmin2, long jerkmin3, long jerkmin4)
{
     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);
}
 
 
long sdkSetupAxisDirection(long axis, long posdrct)
{
    // 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);
}
 
long skdSetupAxisSoftwareLimit( long axis, long negLimitUu, long posLimitUu)
{
    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);
}
 
long skdEnableAxisSoftwareLimit( long axis, long active)
{
    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);
}