SDK_Miscellaneous_IO.mh File Reference

Declaration of the IO functions. More...

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Functions
long	sdkSetupPwmGenerator_UserParamMode (long userParam, long digOutPWM, long frequency, long cycleRange, long polarity)
	Setting up a PWM output with a user parameter as input source. More...
long	sdkSetupPwmGenerator_AxisModeVel (long axisNo, long digOutEnable, long digOutPWM, long frequency, long cycleRange, long polarity)
	Setting up a PWM output with a virtual amplifier as input source. More...
long	sdkScaleAnalogInput (long analogInputNo, long minVoltage, long maxVoltage, long offsetVoltage, long minValue, long maxValue)
	Scaling of an analog input with user units. More...

Detailed Description

Declaration of the IO functions.

Revision

183

Definition in file SDK_Miscellaneous_IO.mh.

Function Documentation

sdkScaleAnalogInput()

long sdkScaleAnalogInput	(	long	analogInputNo,
		long	minVoltage,
		long	maxVoltage,
		long	offsetVoltage,
		long	minValue,
		long	maxValue
	)

Scaling of an analog input with user units.

This function scales an analog input signal to user specific user units. Additionally, an offset of the analog input signal can be specified.

Parameters

analogInputNo	Analog input number(0-xx zero based)
minVoltage	Minimum input voltage (mV)
maxVoltage	Maximum input voltage (mV)
offsetVoltage	Voltage offest, for example, if the voltage range is 0 to 4 V, 2 V should be interpreted as 0 (mV)
minValue	Scaling value minimum value to be used in the program (Uu)
maxValue	Scaling value maximal value to be used in the program (Uu)

Returns

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

Definition at line 127 of file SDK_Miscellaneous_IO.mc.

{
    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);
}

sdkSetupPwmGenerator_AxisModeVel()

long sdkSetupPwmGenerator_AxisModeVel	(	long	axisNo,
		long	digOutEnable,
		long	digOutPWM,
		long	frequency,
		long	cycleRange,
		long	polarity
	)

Setting up a PWM output with a virtual amplifier as input source.

This function sets all important parameters for the use of a PWM output. As input a virtual amplifier is used, where the input source is interpreted as signed 16bit value. Afterwards, standard ApossC move commands such as AxisCvelStart() can be used. A feedback is not implemented with this function. Not all MACS controllers support PWM signals.

Parameters

axisNo	Axis module number digOutEnable Enable output number which is automatically set when an axis drive command is started (0-xx zero based)
digOutPWM	Digital output number for the PWM (0-xx zero based)
frequency	Frequency of the PWM output (default 1000)
cycleRange	Duty cycle range A value of 90% means a duty cycle range of 5-95 (default 90)
polarity	Polarity of the reference signal (default 0) 0 HWPWMGEN_POLARITY_POSITIVE: Output Signal is not inverted 1 HWPWMGEN_POLARITY_NEGATIVE: Output Signal is inverted

Returns

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

Definition at line 74 of file SDK_Miscellaneous_IO.mc.

{
    // 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);
}

sdkSetupPwmGenerator_UserParamMode()

long sdkSetupPwmGenerator_UserParamMode	(	long	userParam,
		long	digOutPWM,
		long	frequency,
		long	cycleRange,
		long	polarity
	)

Setting up a PWM output with a user parameter as input source.

This function sets all important parameters for the use of a PWM output. As input a UserParameter is used, where the input source is interpreted as unsigned 16bit value. Not all MACS controllers support PWM signals.

Parameters

userParam	User parameter number 1-100 which sets the PWM Input value is an unsigned 16bit value
digOutPWM	Digital output number for the PWM (0-xx zero based)
frequency	Frequency of the PWM output (default 1000)
cycleRange	Duty cycle range A value of 90% means a duty cycle range of 5-95 (default 90)
polarity	Polarity of the reference signal (default 0) 0 HWPWMGEN_POLARITY_POSITIVE: Output Signal is not inverted 1 HWPWMGEN_POLARITY_NEGATIVE: Output Signal is inverted

Returns

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

Definition at line 33 of file SDK_Miscellaneous_IO.mc.

{
    // 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);
}