SDK_Encoder_Setup.mh File Reference

Declaration of the encoder setup function. More...

Go to the source code of this file.

Functions
long	sdkSetupIncEncoder (long axis, long encPort, long encRes, long latchType, long latchParam, long latchSlope)
	Settings for an incremental encoder. More...
long	sdkSetupSinCosEncoder (long axis, long encPort, long encRes, long latchType, long latchParam, long latchSlope)
	Settings for an SinCos encoder. More...
long	sdkSetupAbsSSIEncoder (long axis, long encPort, long encRes, long clockFreq, long fastUpdate, long datlen, long isBinary, long latchBitMask)
	Settings for a SSI encoder. More...
long	sdkSetupHallEncoderMACS5 (long axis, long hallPort, long hallAligment)
	Settings for an hall encoder. More...
long	sdkSetupHallEncoder (long axis, long hallAligment, long hallDirection)
	Settings for an hall encoder. More...

Detailed Description

Declaration of the encoder setup function.

Revision

188

Definition in file SDK_Encoder_Setup.mh.

Function Documentation

sdkSetupAbsSSIEncoder()

long sdkSetupAbsSSIEncoder	(	long	axis,
		long	encPort,
		long	encRes,
		long	clockFreq,
		long	fastUpdate,
		long	datlen,
		long	isBinary,
		long	latchBitMask
	)

Settings for a SSI encoder.

With this function the settings can be made which are required for an SSI encoder. Default is the encoder input 0 of axis 0, the encoder input 1 of axis 1 etc. This function is used to reassign the modules. The encoder assignment can be set up variably.

Example for a latching with a singelturn absSSI encoder:
A latching is performed on an encoder with a resolution of 8192 with the actual value of 2192. At the next overflow (reaching 8192) this value is subtracted by 8192. The last marker value is -6000, after the next turn -14 192 and so on.

Parameters

axis	Axis module number
encPort	Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
encRes	Resolution of the encoder for position feed back in increments (quadcounts)
clockFreq	Clock frequency of the SSI encoder (Hz)
fastUpdate	The fast update is only necessary, when the motor commutation is done with this encoder (PMSM mode) fastUpdate 0: The encoder is updated with the velocity controller update rate (8 kHz on MiniMACS6) fastUpdate 1: The encoder is updated with the current controller update rate (24 kHz on MiniMACS6)
datlen	Databit length of endat position
isBinary	1 if data coding is binary otherwise it is gray coded.
latchBitMask	The result from VIRTLATCH_PISRC_LATCHVALID will be ANDed with this bitmask to decide if a latch should be accepted. In this function the virtual input module is set as source. This is linked to the hardware digital inputs by default.

Returns

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

Note

Definition at line 179 of file SDK_Encoder_Setup.mc.

{
    VIRTCOUNTIN_PARAM(axis, VIRTCNTIN_MODE) =  VIRTCNTIN_MODE_ABSOLUTE_DIRECT_ENDLESS;                          // Defines how the source value is handled
    VIRTCOUNTIN_PARAM(axis, VIRTCNTIN_PISRC_COUNTER) = HWCOUNTABS_PROCESS_SRCINDEX(encPort,PO_HWCNTABS_VALUE);  // Setup virtual counter module
    VIRTCOUNTIN_PARAM(axis, VIRTCNTIN_OVFL_VALUE) = encRes;                                                     // Value where counter should produce an overflow
 
    HWENC_PARAM(encPort, HWENCODER_DATLEN) = datlen;
    HWENC_PARAM(encPort, HWENCODER_CLOCKFREQ) = clockFreq;
 
    HWAMP_PARAM(axis, HWAMP_PISRC_ACTPOS) = HWCOUNTABS_PROCESS_SRCINDEX(encPort,PO_HWCNTABS_VALUE);             // Source input for actual position
 
    HWENC_PARAM(encPort, HWENCODER_MODE) = HWENCODER_MODE_SSI_ACTIVE;                                           // Setup SSI Encoder active clock
 
    if(fastUpdate)                                                                                              // Setup fast update for commutation
    {
        HWENC_PARAM(encPort, HWENCODER_FAST_UPDATE) = 1;
        //HWENC_PARAM(encPort, HWENCODER_FAST_UPDATE) = HWENCODER_FAST_UPDATE_ENABLE;
    }
    else
    {
        HWENC_PARAM(encPort, HWENCODER_FAST_UPDATE) = 0;
        //HWENC_PARAM(encPort, HWENCODER_FAST_UPDATE) = HWENCODER_FAST_UPDATE_DISABLE;
    }
    if(isBinary)                                                                                                // Setup data coding typ
    {
        HWCOUNTABS_PARAM(encPort, HWCNTABS_CODING) = HWCNTABS_CODING_NONE;
    }
    else
    {
        HWCOUNTABS_PARAM(encPort, HWCNTABS_CODING) = HWCNTABS_CODING_GREY;
        //HWCOUNTABS_PARAM(encPort, HWCNTABS_CODING) = HWCNTABS_CODING_GRAY;
    }
 
    // Virtuallatch module mapping
    VIRTLATCH_PARAM(axis,VIRTLATCH_MODE)=VIRTLATCH_MODE_SOFTWARE;
    // Set the source for the lathc module
    VIRTLATCH_PARAM(axis,VIRTLATCH_PISRC_COUNTER)=
    HWCOUNTABS_PROCESS_SRCINDEX(encPort,PO_HWCNTABS_VALUE);
    VIRTLATCH_PARAM(axis, VIRTLATCH_PISRC_LATCHVALID) =
    // Set the source for input trigger, could be an other source like user param
    VIRTDIGIN_PROCESS_SRCINDEX(axis,PO_VIRTDIGIN_VALLONG);
    // Bitmask for the latchvalid source
    VIRTLATCH_PARAM(axis, VIRTLATCH_LATCHVALID_BITMASK) = latchBitMask;
 
    return(1);
}

sdkSetupHallEncoder()

long sdkSetupHallEncoder	(	long	axis,
		long	hallAligment,
		long	hallDirection
	)

Settings for an hall encoder.

With this function the settings can be made which are required for use hall encoder only.

Parameters

axis	Axis module number
hallAligment	Hall aligment. See SDO Dictionary Index: 4000, SubIndex: 88
hallDirection	Direction of rotation of the hall signals hallDirection 1: Normal hallDirection -1: Inverse (For example Maxon)

Returns

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

Definition at line 275 of file SDK_Encoder_Setup.mc.

{
    VIRTCOUNTIN_PARAM(axis, VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE;                                              // Defines how the source value is handled
    VIRTCOUNTIN_PARAM(axis, VIRTCNTIN_PISRC_COUNTER) = HWHALL_PROCESS_SRCINDEX(axis,PO_HWHALL_POS);
 
    HWAMP_PARAM(axis, HWAMP_HALL_ALIGNMENT) =  hallAligment;    // set hall alignment
    HWHALL_PARAM(axis, HWHALL_MODE) = HWHALL_MODE_ENABLE;       // enable hall encoder
 
    if(hallDirection==-1)
        VIRTCOUNTIN_PARAM(axis, VIRTCNTIN_UUFACT_INCNO) = -1;
 
    return(1);
}

sdkSetupHallEncoderMACS5()

long sdkSetupHallEncoderMACS5	(	long	axis,
		long	hallPort,
		long	hallAligment
	)

Settings for an hall encoder.

With this function the settings can be made which are required for an hall encoder. This function only valid for a MACS5 controller

Parameters

axis	Axis module number
hallPort	Hall port number
hallAligment	Hall aligment. See SDO Dictionary Index: 4000, SubIndex: 88

Returns

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

Definition at line 237 of file SDK_Encoder_Setup.mc.

{
    long hall_ModNo;
 
    // Determine Hall Number, note that the Hall-Module number has a fix assignment to the axis number
    if     (axis == 0){ hall_ModNo = 0; }
    else if (axis == 2){ hall_ModNo = 1; }
    else if (axis == 3){ hall_ModNo = 2; }
    else if (axis == 5){ hall_ModNo = 3; }
    else { // (AxisNo == 1 || AxisNo == 4)
      print("Axis No ", axis, " cannot be used as BLDC axis");
      return(-1);
    }
 
    HWAMP_PARAM((axis), HWAMP_HALL_ALIGNMENT) =  hallAligment;      // set hall alignment
 
    // Parameterization Hall Sensors
    HWENC_PARAM((hallPort), HWENCODER_MODE) = HWENCODER_MODE_HALL;  // Set encder mode
    HWHALL_PARAM((hallPort), HWHALL_MODE) = HWHALL_MODE_ENABLE;     // enable hall decoder
    HWHALL_PARAM((hall_ModNo), HWHALL_PISRC_ENCOUT) = (hallPort);   // use input number
 
    return(1);
}

sdkSetupIncEncoder()

long sdkSetupIncEncoder	(	long	axis,
		long	encPort,
		long	encRes,
		long	latchType,
		long	latchParam,
		long	latchSlope
	)

Settings for an incremental encoder.

With this function the settings can be made which are required for an incremental encoder. Default is the encoder input 0 of axis 0, the encoder input 1 of axis 1 etc. This function is used to reassign the modules. The encoder assignment can be set up variably.

Parameters

axis	Axis module number
encPort	Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
encRes	Resolution of the encoder for position feed back in increments (quadcounts)
latchType	Defines the latch type 0: Default latchTyp Encoder Z signal 1: A digital input is used as latch signal
latchParam	Parameter depending on the latch type latchType 0: Parameter can be set to 0 latchType 1: The preferred digital input is set (Digital input 1 - 64)
latchSlope	Defines the slope of the trigger signal (Default 1) 0 HWLATCH_SLOPE_CONTINUOUS: Continuous trigger signal 1 HWLATCH_SLOPE_RISING: Rising trigger signal 2 HWLATCH_SLOPE_FALLING: Falling trigger signal 3 HWLATCH_SLOPE_BOTH: Rising/ Falling trigger signal

Returns

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

Definition at line 43 of file SDK_Encoder_Setup.mc.

{
    VIRTCOUNTIN_PARAM(axis, VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE;                                              // Defines how the source value is handled
    VIRTCOUNTIN_PARAM(axis, VIRTCNTIN_PISRC_COUNTER) = HWCOUNTINC_PROCESS_SRCINDEX(encPort,PO_HWCNTINC_VALUE);      // Setup virtual counter module
 
    HWENC_PARAM(encPort, HWENCODER_MODE) = HWENCODER_MODE_INCREMENTAL;                                              // Setup encoder type
    HWAMP_PARAM(encPort, HWAMP_ENCRES) = encRes;                                                                    // Resolution of the encoder
    HWAMP_PARAM(axis, HWAMP_PISRC_ACTPOS) = HWCOUNTINC_PROCESS_SRCINDEX(encPort,PO_HWCNTINC_VALUE);                 // Source input for actual position
 
    // Virtuallatch module mapping
    VIRTLATCH_PARAM(axis,VIRTLATCH_MODE)=
    VIRTLATCH_MODE_HARDWARE;
    VIRTLATCH_PARAM(axis,VIRTLATCH_PISRC_COUNTER) =
    VIRTCOUNTIN_PROCESS_SRCINDEX(axis,PO_VIRTCNTIN_VALUE);
    VIRTLATCH_PARAM(axis,VIRTLATCH_PISRC_LATCHCNT)=
    HWCOUNTINC_PROCESS_SRCINDEX(encPort,PO_HWCNTINC_VALUE);
    VIRTLATCH_PARAM(axis,VIRTLATCH_PISRC_LATCH)=
    HWLATCH_PROCESS_SRCINDEX(encPort,PO_HWLATCH_VALUE);
    VIRTLATCH_PARAM(axis,VIRTLATCH_PISRC_LATCHSTAT)=
    HWLATCH_PROCESS_SRCINDEX(encPort,PO_HWLATCH_FLAG);
    VIRTLATCH_PARAM(axis,VIRTLATCH_PISRC_LATCHFIFO_AMOUNT)=
    HWLATCH_PROCESS_SRCINDEX(encPort,PO_HWLATCH_AMOUNT_IN_FIFO);
    VIRTLATCH_PARAM(axis,VIRTLATCH_PISRC_LATCHFIFO_READ)=
    HWLATCH_PROCESS_SRCINDEX(encPort,PO_HWLATCH_FIFOREAD);
 
    if (latchType == 0) // Default latchtype, encoder Z signal
    {
        HWLATCH_PARAM(encPort, HWLATCH_PISRC_TRIGGER) = HWLATCH_PISRC_TRIGGER_ENCZ;
    }
    else if (latchType == 1)    // Digital input for latch signal
    {
        HWLATCH_PARAM(encPort, HWLATCH_PISRC_TRIGGER) =   HWLATCH_PISRC_TRIGGER_DINP + latchParam-1;
        HWLATCH_PARAM(encPort, HWLATCH_SLOPE) = latchSlope;
    }
    else    // Error
    {
        print("Not supported latchType");
        return(-1);
    }
    return(1);
}

sdkSetupSinCosEncoder()

long sdkSetupSinCosEncoder	(	long	axis,
		long	encPort,
		long	encRes,
		long	latchType,
		long	latchParam,
		long	latchSlope
	)

Settings for an SinCos encoder.

With this function the settings can be made which are required for an SinCos encoder. Default is the encoder input 0 of axis 0, the encoder input 1 of axis 1 etc. This function is used to reassign the modules. The encoder assignment can be set up variably.

Parameters

axis	Axis module number
encPort	Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
encRes	Resolution of the encoder for position feed back in increments (quadcounts) Input must be multiplied by a factor of 256.
latchType	Defines the latch type 0: Default latchTyp Encoder Z signal 1: A digital input is used as latch signal
latchParam	Parameter depending on the latch type latchType 0: Parameter can be set to 0 latchType 1: The preferred digital input is set (Digital input 1 - 64)
latchSlope	Defines the slope of the trigger signal (Default 1) 0 HWLATCH_SLOPE_CONTINUOUS: Continuous trigger signal 1 HWLATCH_SLOPE_RISING: Rising trigger signal 2 HWLATCH_SLOPE_FALLING: Falling trigger signal 3 HWLATCH_SLOPE_BOTH: Rising/ Falling trigger signal

Returns

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

Definition at line 110 of file SDK_Encoder_Setup.mc.

{
    VIRTCOUNTIN_PARAM(axis, VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE;                                              // Defines how the source value is handled
    VIRTCOUNTIN_PARAM(axis, VIRTCNTIN_PISRC_COUNTER) = HWCOUNTINC_PROCESS_SRCINDEX(encPort,PO_HWCNTINC_VALUE);      // Setup virtual counter module
 
    HWENC_PARAM(encPort, HWENCODER_MODE) = HWENCODER_MODE_SINCOS;                                                   // Setup encoder type
    HWAMP_PARAM(encPort, HWAMP_ENCRES) = encRes;                                                                    // Resolution of the encoder
    HWAMP_PARAM(axis, HWAMP_PISRC_ACTPOS) = HWCOUNTINC_PROCESS_SRCINDEX(encPort,PO_HWCNTINC_VALUE);                 // Source input for actual position
 
    // Virtuallatch module mapping
    VIRTLATCH_PARAM(axis,VIRTLATCH_MODE)=
    VIRTLATCH_MODE_HARDWARE;
    VIRTLATCH_PARAM(axis,VIRTLATCH_PISRC_COUNTER)=
    VIRTCOUNTIN_PROCESS_SRCINDEX(encPort,PO_VIRTCNTIN_VALUE);
    VIRTLATCH_PARAM(axis,VIRTLATCH_PISRC_LATCHCNT)=
    HWCOUNTINC_PROCESS_SRCINDEX(encPort,PO_HWCNTINC_VALUE);
    VIRTLATCH_PARAM(axis,VIRTLATCH_PISRC_LATCH)=
    HWLATCH_PROCESS_SRCINDEX(encPort,PO_HWLATCH_VALUE);
    VIRTLATCH_PARAM(axis,VIRTLATCH_PISRC_LATCHSTAT)=
    HWLATCH_PROCESS_SRCINDEX(encPort,PO_HWLATCH_FLAG);
    VIRTLATCH_PARAM(axis,VIRTLATCH_PISRC_LATCHFIFO_AMOUNT)=
    HWLATCH_PROCESS_SRCINDEX(encPort,PO_HWLATCH_AMOUNT_IN_FIFO);
    VIRTLATCH_PARAM(axis,VIRTLATCH_PISRC_LATCHFIFO_READ)=
    HWLATCH_PROCESS_SRCINDEX(encPort,PO_HWLATCH_FIFOREAD);
 
    if (latchType == 0) // Default latchtype, encoder Z signal
    {
        HWLATCH_PARAM(encPort, HWLATCH_PISRC_TRIGGER) = HWLATCH_PISRC_TRIGGER_ENCZ;
    }
    else if (latchType == 1)    // Digital input for latch signal
    {
        HWLATCH_PARAM(encPort, HWLATCH_PISRC_TRIGGER) = HWLATCH_PISRC_TRIGGER_DINP + latchParam -1;
        HWLATCH_PARAM(encPort, HWLATCH_SLOPE) = latchSlope;
    }
    else    // Error
    {
        print("Not supported latchType");
        return(-1);
    }
    return(1);
}