SDK_Information_General.mh File Reference

Declaration of the general information functions. More...

Go to the source code of this file.

Functions
long	sdkInfoPrintSoftware ()
	Prints the software versions of the controller. More...
long	sdkInfoPrintHardware ()
	Prints the hardware information of the controller. More...
long	sdkInfoPrintAxesPos ()
	Prints the position information of all axes. More...
long	sdkInfoPrintPosPID ()
	Prints the parameters of the position PID controller. More...

Detailed Description

Declaration of the general information functions.

Revision

24

Definition in file SDK_Information_General.mh.

Function Documentation

sdkInfoPrintAxesPos()

long sdkInfoPrintAxesPos

(

)

Prints the position information of all axes.

Function to print the actual, command and marker position of all axes.

Returns

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

Definition at line 78 of file SDK_Information_General.mc.

{
    long axiscnt, axis;
 
    axiscnt = SYS_INFO(SYS_MAX_AXES);   // Number of axes on controller
 
    print("Axis Positions:");
    print("    Axis",chr(9),"Actual",chr(9),"Command", chr(9),"Marker");
 
    for (axis = 0; axis < axiscnt; axis++)
    {
        print("    ",axis,chr(9),Apos(axis),chr(9),Cpos(axis), chr(9),Ipos(axis));
    }
    print("");
    return(1);
}

sdkInfoPrintHardware()

long sdkInfoPrintHardware

(

)

Prints the hardware information of the controller.

Function to print the hardware version of the controller.

Returns

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

Definition at line 48 of file SDK_Information_General.mc.

{
 
    print("**********************************");
    print("-------- H/W information --------");
    print("**********************************\n");
 
    print("Amplifier:\t\t\t", SYS_INFO(SYS_ZB_AMP_NO));
    print("Encoder:\t\t\t", SYS_INFO(SYS_MAX_ENCODER ));
    print("Incremental counters:\t", SYS_INFO(SYS_MAX_CNTINC));
    print("Absolute counters:\t\t", SYS_INFO(SYS_MAX_CNTABS));
    print("Universal counters:\t", SYS_INFO(SYS_MAX_CNTUNI));
    print("Comparators:\t\t", SYS_INFO(SYS_MAX_COMPARATORS));
    print("Latches:\t\t\t", SYS_INFO(SYS_MAX_LATCH));
    print("Signal generators:\t\t", SYS_INFO(SYS_MAX_SIGGEN));
    print("CAN Module:\t\t", SYS_INFO(SYS_MAX_CANBUS));
    print("");
 
    return(1);
}

sdkInfoPrintPosPID()

long sdkInfoPrintPosPID

(

)

Prints the parameters of the position PID controller.

Function to print the basic settings of the PID controller.

Returns

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

Definition at line 104 of file SDK_Information_General.mc.

{
    long axisCnt, axis;
 
    axisCnt = SYS_INFO(SYS_MAX_AXES);   // Number of axes on controller
 
    print("PID control parameters:");
    print("    Axis",chr(9),"Prop",chr(9),"Int",chr(9),"Diff",chr(9),"Timer",chr(9),"I-Limit");
 
    for (axis = 0; axis < axisCnt; axis++)
    {
        printf("    %ld\t%ld\t%ld\t%ld\t%ld\t%ld\n",
               axis,
               AXE_PARAM(axis, KPROP),  // Proportional factor
               AXE_PARAM(axis, KINT),   // Integral factor
               AXE_PARAM(axis, KDER),   // Derivative factor
               AXE_PARAM(axis, TIMER),  // Derivative time
               AXE_PARAM(axis, KILIM)); // Integration limit
    }
    print("");
    return(1);
}

sdkInfoPrintSoftware()

long sdkInfoPrintSoftware

(

)

Prints the software versions of the controller.

Function to print the software versions of the controller.

Returns

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

Definition at line 22 of file SDK_Information_General.mc.

{
 
    print("**********************************");
    print("------ Software information ------");
    print("**********************************\n");
 
    print("Hardware ID:\t", SYS_INFO(SYS_HARDWARE_ID));
    print("Firmware:\t\t", SYS_INFO(SYS_FW_CPU));
    print("FPGA:\t\t", SYS_INFO(SYS_FPGA_SW_VERSION));
    print("Amplifier:\t\t", SYS_INFO(SYS_FW_AMPLIFIER_VERSION));
    print("Coprocessor:\t", SYS_INFO(SYS_FW_COPROCESSOR_VERSION));
    print("Bootloader:\t", SYS_INFO(SYS_BOOTLOADER_SW_VERSION));
    print("");
 
    return(1);
}