SetupSignalGeneratorOpenloop.mc

 
#include <SysDef.mh>
 
#include "..\..\SDK\SDK_ApossC.mc"
#include "..\..\SDK\Encoder\SDK_SignalGenerator.mc"
 
#define AXIS                    0       // Axis module number
#define ENCPORT_TX              0       // Encoder port number used for signal generator
#define ENCPORT_RX              1       // Encoder port number used for reception of the signal
#define INDEX_DISTANCE          10000
 
long startRecording(long axis);
 
long main(void)
{
    sdkSetupIncEncoder(AXIS,
                       ENCPORT_RX,
                       2000,
                       1,               //digital input latch type
                       1,               //digital input no
                       HWLATCH_SLOPE_RISING);
 
    sdkSigGenOpenloopSetupMiniMACS6(ENCPORT_TX,
                            INDEX_DISTANCE
                            );
 
 
    sdkSigGenOpenloopAcceleration(ENCPORT_TX, 100000);
    sdkSigGenOpenloopDeceleration(ENCPORT_TX, 50000);
 
    Delay(1);
 
    DefOrigin(AXIS);
 
    startRecording(AXIS);
 
    //start master and ramp up
    sdkSigGenOpenloopVelocity(ENCPORT_TX, 100000);
 
    Delay(2500);
 
    sdkSigGenEnable(ENCPORT_TX, 0);
    Delay(100);
    sdkSigGenEnable(ENCPORT_TX, 1);
 
    //ramp down to 0
    sdkSigGenOpenloopVelocity(ENCPORT_TX, 0);
 
    Delay(3000);
 
    //reset index generator
    sdkSigGenReset(ENCPORT_TX);
 
    //start master
    sdkSigGenOpenloopVelocity(ENCPORT_TX, -100000);
 
    Delay(2500);
 
    sdkSigGenEnable(ENCPORT_TX, 0);
    Delay(100);
    sdkSigGenEnable(ENCPORT_TX, 1);
 
    //stop master
    sdkSigGenOpenloopVelocity(ENCPORT_TX, 0);
 
    Delay(2500);
 
    sdkSigGenEnable(ENCPORT_TX, 0);
 
    Delay(100);
 
    RecordStop(0, 0);
 
 
    while(1)
    {
        sdkInfoPrintAxesPos();
        Delay(500);
    }
    return(0);
}
 
long startRecording(long axis)
{
    //set up oscilloscope
    RecordTime(1);
    RecordDest(DYNMEM);
    RecordIndex(AXE_PROCESS_INDEX(axis, REG_ACTPOS),
                AXE_PROCESS_INDEX(axis, REG_ZERO),
                AXE_PROCESS_INDEX(axis, REG_IAVEL),
                VIRTMAST_PROCESS_INDEX(axis, PO_VIRTMAST_VEL));
    RecordType(0);
    RecordStart(0);
}