SDK_SignalGenerator.mc

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#pragma once
 
#include <SysDef.mh>
#include "SDK_SignalGenerator.mh"
 
#ifndef HWSIGGEN_MODE_ENABLE
    #define HWSIGGEN_MODE_ENABLE 0x0001
#endif
 
long sdkSigGenAxisSetupMiniMACS6(long axis, long encPortOut, long indexDistance)
{
    long virtMasterNo = encPortOut;
 
    if(SYS_INFO(SYS_MAX_SIGGEN) == 0)
    {
        print("Controller does not support Signal Generator");
        return(-1);
    }
 
    if((encPortOut+1) > SYS_INFO(SYS_MAX_SIGGEN))
    {
        print("Port does not support Signal Generator");
        return(-2);
    }
 
    if(SYS_INFO(SYS_MAX_VIRTMAST) == 0)
    {
        print("Controller does not support Virtual Masters");
        return(-3);
    }
 
    if((encPortOut+1) > SYS_INFO(SYS_MAX_VIRTMAST))
    {
        print("Port does not support Virtual Masters");
        return(-4);
    }
 
    // Setup selected encoder port as signal generator
    HWENC_PARAM(encPortOut, HWENCODER_MODE) = HWENCODER_MODE_INCROUTPUT;    // signal generator mode
 
    HWSIGGEN_PARAM(encPortOut, HWSIGGEN_SIGDIST) = indexDistance;           // setup index distance
 
    VIRTMAST_PARAM(encPortOut, VIRTMAST_UUFACT_UNITNO)  = 0xFFFFF;
    // Full reference value of REG_REFERENCE is 0xFFFFF
    // Virtual master works in 1/1000 Hz on each line (Spur)
    // This results in factor 1000/4 = 250
    // REG_REFERENCE is scaled with 65'536
    // 250 % 65.536 = 3.814697265625
    VIRTMAST_PARAM(encPortOut, VIRTMAST_UUFACT_INCNO) = AXE_PARAM(axis, VELMAXQC) * 3.814697265625;
 
    // set velocity source to axis cmdvel value
    VIRTMAST_PARAM(encPortOut, VIRTMAST_PISRC_CMDVEL) = AXE_PROCESS_SRCINDEX(axis, REG_REFERENCE);
    AXE_PARAM(axis, FFVEL) = 1000;
    AXE_PARAM(axis, KPROP) = 100;
    AXE_PARAM(axis, KDER) = 0;
 
    // scale to 1/1000 HZ (Pulses)
    VIRTMAST_PARAM(encPortOut, VIRTMAST_MODE) = VIRTMAST_MODE_VELOCITY;
 
    HWSIGGEN_PARAM(encPortOut, HWSIGGEN_MODE) = HWSIGGEN_MODE_ENABLE;       // enable signal generator
 
    return(1);
}
 
long sdkSigGenOpenloopSetupMiniMACS6(long encPort, long indexDistance)
{
    long virtMasterNo = encPort;
 
    if(SYS_INFO(SYS_MAX_SIGGEN) == 0)
    {
        print("Controller does not support Signal Generator");
        return(-1);
    }
 
    if((encPort+1) > SYS_INFO(SYS_MAX_SIGGEN))
    {
        print("Port does not support Signal Generator");
        return(-2);
    }
 
    if(SYS_INFO(SYS_MAX_VIRTMAST) == 0)
    {
        print("Controller does not support Virtual Masters");
        return(-3);
    }
 
    if((encPort+1) > SYS_INFO(SYS_MAX_VIRTMAST))
    {
        print("Port does not support Virtual Masters");
        return(-4);
    }
 
    // Setup selected encoder port as signal generator
    HWENC_PARAM(encPort, HWENCODER_MODE) = HWENCODER_MODE_INCROUTPUT;   // signal generator mode
 
    HWSIGGEN_PARAM(encPort, HWSIGGEN_SIGDIST) = indexDistance;          // setup index distance
 
    VIRTMAST_PARAM(encPort, VIRTMAST_UUFACT_UNITNO) = 1;
    VIRTMAST_PARAM(encPort, VIRTMAST_UUFACT_INCNO) = 1;
    VIRTMAST_PARAM(encPort, VIRTMAST_MODE) = VIRTMAST_MODE_PROFILE;
 
    HWSIGGEN_PARAM(encPort, HWSIGGEN_MODE) = HWSIGGEN_MODE_ENABLE;      // enable signal generator
 
    return(1);
}
 
void sdkSigGenEnable(long encPort, long enable)
{
    if(enable)
        HWSIGGEN_PARAM(encPort, HWSIGGEN_MODE) = HWSIGGEN_MODE_ENABLE;      // enable signal generator
    else
        HWSIGGEN_PARAM(encPort, HWSIGGEN_MODE) = 0;                         // disable signal generator
}
 
void sdkSigGenReset(long encPort)
{
    HWSIGGEN_PARAM(encPort, HWSIGGEN_MODE) = 0;                         // disable signal generator
    HWSIGGEN_PARAM(encPort, HWSIGGEN_MODE) = HWSIGGEN_MODE_ENABLE;      // enable signal generator
}
 
void sdkSigGenOpenloopAcceleration(long encPort, long acceleration)
{
    VIRTMAST_PARAM(encPort, VIRTMAST_ACC) = acceleration; // acc is in Hz/s
}
 
void sdkSigGenOpenloopDeceleration(long encPort, long deceleration)
{
    VIRTMAST_PARAM(encPort, VIRTMAST_DEC) = deceleration; // dec is in Hz/s
}
 
void sdkSigGenOpenloopVelocity(long encPort, long velocity)
{
    VIRTMAST_PARAM(encPort, VIRTMAST_VEL) = velocity*1000; // vel is in 1/1000 Hz
}