SDK_Miscellaneous_IO.mc

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#pragma once
 
#include <SysDef.mh>
#include "SDK_Miscellaneous_IO.mh"
 
 
long sdkSetupPwmGenerator_UserParamMode(long userParam, long digOutPWM,long frequency, long cycleRange, long polarity)
{
    // To enable PWM generation, the HW Digital Output has to be switched to this mode
    HWDIGOUT_PARAM(0,HWDIGOUT_PISRC_BIT1+digOutPWM)         = 0x400;
 
    // Input value is an unsigned 16bit value
    HWPWMGEN_PARAM(digOutPWM,HWPWMGEN_MODE)             = HWPWMGEN_MODE_UNSIGNED;
 
    // Polarity of the reference signal
    HWPWMGEN_PARAM(digOutPWM,HWPWMGEN_POLARITY)         = polarity;
 
    // Frequency of the PWM output
    HWPWMGEN_PARAM(digOutPWM,HWPWMGEN_FREQUENCY)        = frequency;
 
    // Duty cycle range and source
    HWPWMGEN_PARAM(digOutPWM,HWPWMGEN_DUTYCYCLE_RANGE)  = cycleRange;
    HWPWMGEN_PARAM(digOutPWM,HWPWMGEN_PISRC_DUTYCYCLE)  = USER_PARAM_SRCINDEX(userParam);
 
    print("sdkSetupPwmGenerator_UserParamMode:");
    return(1);
}
 
long sdkSetupPwmGenerator_AxisModeVel(long axisNo, long digOutEnable, long digOutPWM, long frequency, long cycleRange, long polarity)
{
    // To enable PWM generation, the HW Digital Output has to be switched to this mode
    HWDIGOUT_PARAM(0,HWDIGOUT_PISRC_BIT1+digOutPWM)         = 0x400;
 
    // Input value is an unsigned 16bit value
    HWPWMGEN_PARAM(digOutPWM,HWPWMGEN_MODE)             = HWPWMGEN_MODE_SIGNED;
 
    // Polarity of the reference signal
    HWPWMGEN_PARAM(digOutPWM,HWPWMGEN_POLARITY)         = polarity;
 
    // Frequency of the PWM output
    HWPWMGEN_PARAM(digOutPWM,HWPWMGEN_FREQUENCY)        = frequency;
 
    // Duty cycle range and source
    HWPWMGEN_PARAM(digOutPWM,HWPWMGEN_DUTYCYCLE_RANGE)  = cycleRange;
    HWPWMGEN_PARAM(digOutPWM,HWPWMGEN_PISRC_DUTYCYCLE)  = VIRTAMP_PROCESS_SRCINDEX(axisNo,PO_VIRTAMP_REFVEL);
 
    // Set up the virtual amplifer for axis command
    // Resolution +/- 0x8000 (signed 16 bit value)
    VIRTAMP_PARAM(axisNo,VIRTAMP_REF100PERC)                = 0x8000;
    // Automatic setting of the enable output
    VIRTAMP_PARAM(axisNo,VIRTAMP_REFOUTP)                   = digOutEnable+1;
    VIRTAMP_PARAM(axisNo,VIRTAMP_REFOUTN)                   = digOutEnable+1;
 
    // Because no feedback is processed, the tracking error must be switched off.
    AXE_PARAM(axisNo,POSERR)    = 0x7FFFFFF;
 
    // Position controller is bypassed, the set speed is transferred directly
    AXE_PARAM(axisNo,KPROP)     = 0;
    AXE_PARAM(axisNo,KDER)      = 0;
    AXE_PARAM(axisNo,KINT)      = 0;
    AXE_PARAM(axisNo,FFVEL)     = 1000;
 
    print("sdkSetupPwmGenerator_AxisModeVel:");
    return(1);
}
 
long sdkScaleAnalogInput(long analogInputNo, long minVoltage, long maxVoltage,long offsetVoltage, long minValue, long maxValue)
{
    double scale;
 
    // Scale the maximal and minimal voltage to internal value
    maxVoltage = ((double)0x8000/10000)* maxVoltage;
    minVoltage = ((double)0x8000/10000)* minVoltage;
 
    // Scale
    scale = ((double)maxValue-(double)minValue)/ ((double)maxVoltage-(double)minVoltage);
    if((long)scale>1)
    {
        VIRTANIN_PARAM(analogInputNo,VIRTANIN_UUFACT_UNITNO)=1000;
        VIRTANIN_PARAM(analogInputNo,VIRTANIN_UUFACT_DIGNO)=(long)(scale*1000);
    }
    else
    {
        VIRTANIN_PARAM(analogInputNo,VIRTANIN_UUFACT_UNITNO)=(long)(scale*1000);
        VIRTANIN_PARAM(analogInputNo,VIRTANIN_UUFACT_DIGNO)=1000;
    }
 
    // Offset
    offsetVoltage = -((double)0x8000/10000)* offsetVoltage;
    HWANIN_PARAM(analogInputNo,HWANIN_OFFSET)=offsetVoltage;
 
    print("sdkScaleAnalogInput: ", analogInputNo);
    return(1);
}