Stepper_XY_CL.mc

 
#include <SysDef.mh>
 
// Relative path to the main folder ApossC_SDK_Vxx.xx
#include "..\..\..\..\..\SDK\SDK_ApossC.mc"
 
// Setting the axis number.
#define AXIS1_NO                0   // Axis module number
#define AXIS1_ENCPORT           0   // Encoder port number.
 
// Axis settings
#define STEPPER_CL_STEPS        200                     // Resolution of the stepper → 200  Steps per rev → 1.8 deg/ step
#define STEPPER_CL_ENCRES       4000                    // Resolution of the encoder for position feed back in increments (quadcounts)
 
#define STEPPER_CL_CONTROLMODE  HWAMP_MODE_POS_CUR          // Define control typ
#define STEPPER_CL_CONTCUR      4000                        // Nomial continious current allowed in mA
#define STEPPER_CL_MAXCUR       STEPPER_CL_CONTCUR * 1.25   // Maximal current allowed in mA
#define STEPPER_CL_THERMAL_TIME 25600                       // Thermal time constant of the winding
#define STEPPER_CL_MAX_RPM      400                     // Maximum velocity in RPM
 
// Portescap P532 258 0.7 10 (parallel): 0.35Ohm / 0.7mH / Tools → Current Regulator Calculator → if there is noise the values are to high
#define STEPPER_CL_CURKPROP     20000                       // Proportional factor of current controller
#define STEPPER_CL_CURKINT      250                         // Integral factor of current controller
#define STEPPER_CL_CURKILIM     32767                       // Integral limit of current controller
 
#define STEPPER_CL_VELRES       100                         // Velocity resolution, Scaling used for the velocity and acceleration/deceleration commands
#define STEPPER_CL_RAMPTYPE     RAMPTYPE_JERKLIMITED        // Defines the ramptype
#define STEPPER_CL_RAMPMIN      100                         // Maximum acceleration
#define STEPPER_CL_JERKMIN      100                         // Minimum time (ms) required before reaching the maximum acceleration
#define STEPPER_CL_POSERR       2000                        // Maximal track/ position error allowed in qc
#define STEPPER_CL_DIRECTION    1                           // User units have normal orientation. Increasing encoder values result in increasing user positions.
 
#define STEPPER_CL_POSENCREV    1                           // Number of revolutions of the motor
#define STEPPER_CL_POSENCQC     STEPPER_CL_ENCRES           // Number of quadcounts in POSENCREV revolutions
#define STEPPER_CL_POSFACT_Z    1                           // Number of revolutions of the input shaft
#define STEPPER_CL_POSFACT_N    1                           // Number of revolutions of the output shaft in POSFACT_Z revolutions of the input shaft
#define STEPPER_CL_FEEDREV      1                           // Number of revolutions of the gear box output shaft
#define STEPPER_CL_FEEDDIST     36000           // Distance travelled (in user units) in FEEDREV revolutions of the gear box output shaft
 
#define STEPPER_CL_KPROP            60                      // Proportional value for PID position control loop
#define STEPPER_CL_KINT             0                       // Integral value for PID position control loop
#define STEPPER_CL_KDER             3000                        // Derivative value for PID position control loop
#define STEPPER_CL_KILIM            1000                    // Limit value for the integral sum of the PID position control loop
#define STEPPER_CL_KILIMTIME        0                       // Time used to increase or decrease the integral limit
#define STEPPER_CL_BANDWIDTH        1000                    // Bandwidth within which the PID filter is active. 1000 equals to 100% velocity setpoint
#define STEPPER_CL_FFVEL            0                       // Velocity Feed forward
#define STEPPER_CL_KFFAC            0                       // Acceleration Feed forward
#define STEPPER_CL_KFFDEC           0                       // Deceleration Feed Forward
 
// Function delkratation
long setupStepper_CL(long axisNo, long encPort);
 
long main(void)
{
    ErrorClear();
    DefOrigin(AXIS1_NO);
 
    // Setup axis & amplifier
    setupStepper_CL(AXIS1_NO,AXIS1_ENCPORT);
 
    // Activate the axis
    AxisControl(AXIS1_NO, ON);
 
    // Start an endless movement with continuous move control with 75% velocity and 75% acceleration
    sdkStartContinuousMove(AXIS1_NO, 75, 75);
 
while(1)
    {
        // Print axis information all 500 ms
        sdkInfoPrintAxesPos();
        Delay(500);
    }
 
    return(0);
}
 
 
long setupStepper_CL(long axisNo, long encPort)
{
    long checkMotorAlignment=0;
 
    // Amplifier setup
    sdkSetupAmpStepMotor_CL(    axisNo,
                                STEPPER_CL_CONTROLMODE,
                                STEPPER_CL_STEPS,
                                STEPPER_CL_MAXCUR,
                                STEPPER_CL_ENCRES,
                                STEPPER_CL_MAX_RPM
                                );
    // At high speeds, the lag value can be determined empirically. Otherwise this line can be commented out
    HWAMP_PARAM(axisNo,HWAMP_ELPOS_LAGMULT) = 115;
 
    // Encoder setup
    sdkSetupIncEncoder(         axisNo,
                                encPort,
                                STEPPER_CL_ENCRES,
                                0,
                                0,
                                0);
 
    // Current control setup
    sdkSetupCurrentPIControl(   axisNo,
                                STEPPER_CL_CURKPROP,
                                STEPPER_CL_CURKINT,
                                STEPPER_CL_CURKILIM
                                );
 
    // Movement parameters for the axis
    sdkSetupAxisMovementParam(  axisNo,
                                STEPPER_CL_VELRES,
                                STEPPER_CL_MAX_RPM,
                                STEPPER_CL_RAMPTYPE,
                                STEPPER_CL_RAMPMIN,
                                STEPPER_CL_JERKMIN,
                                STEPPER_CL_POSERR
                                );
 
    // Definition of the user units
    sdkSetupAxisUserUnits(      axisNo,
                                STEPPER_CL_POSENCREV,
                                STEPPER_CL_POSENCQC,
                                STEPPER_CL_POSFACT_Z,
                                STEPPER_CL_POSFACT_N,
                                STEPPER_CL_FEEDREV,
                                STEPPER_CL_FEEDDIST
                                );
 
    sdkSetupAxisDirection(axisNo, STEPPER_CL_DIRECTION);
 
 
    // Position control setup
    sdkSetupPositionPIDControlExt(  axisNo,
                                    STEPPER_CL_KPROP,
                                    STEPPER_CL_KINT,
                                    STEPPER_CL_KDER,
                                    STEPPER_CL_KILIM,
                                    STEPPER_CL_KILIMTIME,
                                    STEPPER_CL_BANDWIDTH,
                                    STEPPER_CL_FFVEL,
                                    STEPPER_CL_KFFAC,
                                    STEPPER_CL_KFFDEC
                                    );
    // Motor Alignment
    checkMotorAlignment =   sdkMotorAlignment(
                            axisNo,
                            3,
                            STEPPER_CL_MAXCUR,
                            STEPPER_CL_CONTCUR);
 
    if(checkMotorAlignment<0)
    {
        print("Sorry alignement didn't work we exit");
        Exit(0);
    }
 
    // Setup virtual I2T
    sdkSetupVirtualI2T(axisNo,STEPPER_CL_CONTCUR, STEPPER_CL_THERMAL_TIME);
 
    return(1);
}