SDK_SignalGenerator.mh File Reference

Declaration of the signal generator functions. More...

Go to the source code of this file.

Functions
long	sdkSigGenAxisSetupMiniMACS6 (long axis, long encPortOut, long indexDistance)
	Settings for a Signal Generator. More...
long	sdkSigGenOpenloopSetupMiniMACS6 (long encPort, long indexDistance)
	Settings for a Signal Generator. More...
void	sdkSigGenEnable (long encPort, long enable)
	Enable/Disable Signal Generator. More...
void	sdkSigGenReset (long encPort)
	Reset Signal Generator. More...
void	sdkSigGenOpenloopAcceleration (long encPort, long acceleration)
	Set acceleration of Signal Generator. More...
void	sdkSigGenOpenloopDeceleration (long encPort, long deceleration)
	Set acceleration of Signal Generator. More...
void	sdkSigGenOpenloopVelocity (long encPort, long velocity)
	Set velocity of Signal Generator. More...

Detailed Description

Declaration of the signal generator functions.

Revision

210

Definition in file SDK_SignalGenerator.mh.

Function Documentation

sdkSigGenAxisSetupMiniMACS6()

long sdkSigGenAxisSetupMiniMACS6	(	long	axis,
		long	encPortOut,
		long	indexDistance
	)

Settings for a Signal Generator.

With this function the settings can be made which are required for a signal generator. This is a closed loop signal generator which can generate encoder signals by running a virtual axis. The signal generator can also generate index signals with a defined index distance. This signal will be generated on a digital output. For signal generator 0 this will be digital output 1, for signal generator 1 digital output 2 and so on. The digital output can then not be controlled by normal output functions anymore.

The generated signal cannot be read back. A encoder signal connection to a different port has to be made to receive the generated signals.

Parameters

axis	Axis number 0-n
encPortOut	Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
indexDistance	Distance in increments between two index signals.

Returns

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

Definition at line 41 of file SDK_SignalGenerator.mc.

{
    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);
}

sdkSigGenEnable()

void sdkSigGenEnable	(	long	encPort,
		long	enable
	)

Enable/Disable Signal Generator.

Disabling and Enabling the Signal Generator will reset the index distance counter. This means, an index signal will immediately generated. The next signal will be generated after index distance.

Parameters

encPort	Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
enable	1 = enable, 0 = disable

Definition at line 167 of file SDK_SignalGenerator.mc.

{
    if(enable)
        HWSIGGEN_PARAM(encPort, HWSIGGEN_MODE) = HWSIGGEN_MODE_ENABLE;      // enable signal generator
    else
        HWSIGGEN_PARAM(encPort, HWSIGGEN_MODE) = 0;                         // disable signal generator
}

sdkSigGenOpenloopAcceleration()

void sdkSigGenOpenloopAcceleration	(	long	encPort,
		long	acceleration
	)

Set acceleration of Signal Generator.

Parameters

encPort	Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
acceleration	The acceleration of the generated signal [Hz/s]

Definition at line 195 of file SDK_SignalGenerator.mc.

{
    VIRTMAST_PARAM(encPort, VIRTMAST_ACC) = acceleration; // acc is in Hz/s
}

sdkSigGenOpenloopDeceleration()

void sdkSigGenOpenloopDeceleration	(	long	encPort,
		long	deceleration
	)

Set acceleration of Signal Generator.

Parameters

encPort	Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
acceleration	The acceleration of the generated signal [Hz/s]

Definition at line 207 of file SDK_SignalGenerator.mc.

{
    VIRTMAST_PARAM(encPort, VIRTMAST_DEC) = deceleration; // dec is in Hz/s
}

sdkSigGenOpenloopSetupMiniMACS6()

long sdkSigGenOpenloopSetupMiniMACS6	(	long	encPort,
		long	indexDistance
	)

Settings for a Signal Generator.

With this function the settings can be made which are required for a signal generator. This is an open loop signal generator which can generate an encoder signal with a defined signal speed and and with a ramp of defined acceleration and deceleration. The signal generator can also generate index signals with a defined index distance. This signal will be generated on a digital output. For signal generator 0 this will be digital output 1, for signal generator 1 digital output 2 and so on. The digital output can then not be controlled by normal output functions anymore.

The generated signal cannot be read back. A encoder signal connection to a different port can be made to receive the generated signals.

Parameters

encPort	Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
indexDistance	Distance in increments between two index signals.

Returns

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

Definition at line 117 of file SDK_SignalGenerator.mc.

{
    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);
}

sdkSigGenOpenloopVelocity()

void sdkSigGenOpenloopVelocity	(	long	encPort,
		long	velocity
	)

Set velocity of Signal Generator.

Parameters

encPort	Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual
velocity	The velocity of the generated signal [Hz]

Definition at line 219 of file SDK_SignalGenerator.mc.

{
    VIRTMAST_PARAM(encPort, VIRTMAST_VEL) = velocity*1000; // vel is in 1/1000 Hz
}

sdkSigGenReset()

void sdkSigGenReset

(

long

encPort

)

Reset Signal Generator.

This function will reset the index distance counter. This means, an index signal will immediately generated. The next signal will be generated after index distance.

Parameters

encPort

Encoder port number. Usually, module instance 0 is connected to X1 and so on. Please refer to product manual

Definition at line 182 of file SDK_SignalGenerator.mc.

{
    HWSIGGEN_PARAM(encPort, HWSIGGEN_MODE) = 0;                         // disable signal generator
    HWSIGGEN_PARAM(encPort, HWSIGGEN_MODE) = HWSIGGEN_MODE_ENABLE;      // enable signal generator
}