Stepper_XY_OL.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
 
// Axis settings
#define STEPPER_OL_STEPS        200                     // Resolution of the stepper → 200  Steps per rev → 1.8 deg/ step
 
#define STEPPER_OL_CONTCUR      4000                        // Nomial continious current allowed in mA
#define STEPPER_OL_MAXCUR       STEPPER_OL_CONTCUR * 1.25   // Maximal current allowed in mA
#define STEPPER_OL_THERMAL_TIME 25600                       // Thermal time constant of the winding
#define STEPPER_OL_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_OL_CURKPROP     20000                       // Proportional factor of current controller
#define STEPPER_OL_CURKINT      250                         // Integral factor of current controller
#define STEPPER_OL_CURKILIM     32767                       // Integral limit of current controller
 
#define STEPPER_OL_VELRES       100                         // Velocity resolution, Scaling used for the velocity and acceleration/deceleration commands
#define STEPPER_OL_RAMPTYPE     RAMPTYPE_JERKLIMITED        // Defines the ramptype
#define STEPPER_OL_RAMPMIN      100                         // Maximum acceleration
#define STEPPER_OL_JERKMIN      100                         // Minimum time (ms) required before reaching the maximum acceleration
#define STEPPER_OL_POSERR       0                       // Maximal track/ position error allowed in qc
#define STEPPER_OL_DIRECTION    1                           // User units have normal orientation.
 
#define STEPPER_OL_POSENCREV    1                           // Number of revolutions of the motor
#define STEPPER_OL_POSFACT_Z    1                           // Number of revolutions of the input shaft
#define STEPPER_OL_POSFACT_N    1                           // Number of revolutions of the output shaft in POSFACT_Z revolutions of the input shaft
#define STEPPER_OL_FEEDREV      1                           // Number of revolutions of the gear box output shaft
#define STEPPER_OL_FEEDDIST     36000                       // Distance travelled (in user units) in FEEDREV revolutions of the gear box output shaft
 
#define STEPPER_OL_KPROP            0                       // Proportional value for PID position control loop
#define STEPPER_OL_KINT             0                       // Integral value for PID position control loop
#define STEPPER_OL_KDER             0                       // Derivative value for PID position control loop
#define STEPPER_OL_KILIM            0                       // Limit value for the integral sum of the PID position control loop
#define STEPPER_OL_KILIMTIME        0                       // Time used to increase or decrease the integral limit
#define STEPPER_OL_BANDWIDTH        0                       // Bandwidth within which the PID filter is active. 1000 equals to 100% velocity setpoint
#define STEPPER_OL_FFVEL            0                       // Velocity Feed forward
#define STEPPER_OL_KFFAC            0                       // Acceleration Feed forward
#define STEPPER_OL_KFFDEC           0                       // Deceleration Feed Forward
 
// Function delkratation
long setupStepper_OL(long axisNo);
 
long main(void)
{
    ErrorClear();
    DefOrigin(AXIS1_NO);
 
    // Setup axis & amplifier
    setupStepper_OL(AXIS1_NO);
 
    // 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_OL(long axisNo)
{
    // The current position is set equal to the target position as there is no feedback
    sdkSetupAxisSimulation(axisNo);
 
    // The following error monitoring is switched off
    // If the FW is newer than 9.4.00 the parameter can also be set to 0 to switch off the monitoring
    AXE_PARAM(axisNo,POSERR) =0x7FFFFFFF;
 
    // Amplifier setup
    sdkSetupAmpStepMotor_OL(    axisNo,
                                STEPPER_OL_STEPS,
                                STEPPER_OL_MAXCUR,
                                STEPPER_OL_MAX_RPM
                                );
 
    // Current control setup
    sdkSetupCurrentPIControl(   axisNo,
                                STEPPER_OL_CURKPROP,
                                STEPPER_OL_CURKINT,
                                STEPPER_OL_CURKILIM
                                );
 
    // Movement parameters for the axis
    sdkSetupAxisMovementParam(  axisNo,
                                STEPPER_OL_VELRES,
                                STEPPER_OL_MAX_RPM,
                                STEPPER_OL_RAMPTYPE,
                                STEPPER_OL_RAMPMIN,
                                STEPPER_OL_JERKMIN,
                                STEPPER_OL_POSERR
                                );
 
    // Definition of the user units
    sdkSetupAxisUserUnits(      axisNo,
                                STEPPER_OL_POSENCREV,
                                HWAMP_PARAM(axisNo, HWAMP_POLES) * HWAMP_ENCRES_MICROSTEP_RES,
                                STEPPER_OL_POSFACT_Z,
                                STEPPER_OL_POSFACT_N,
                                STEPPER_OL_FEEDREV,
                                STEPPER_OL_FEEDDIST
                                );
 
    sdkSetupAxisDirection(axisNo, STEPPER_OL_DIRECTION);
 
 
    // Position control setup
    sdkSetupPositionPIDControlExt(  axisNo,
                                    STEPPER_OL_KPROP,
                                    STEPPER_OL_KINT,
                                    STEPPER_OL_KDER,
                                    STEPPER_OL_KILIM,
                                    STEPPER_OL_KILIMTIME,
                                    STEPPER_OL_BANDWIDTH,
                                    STEPPER_OL_FFVEL,
                                    STEPPER_OL_KFFAC,
                                    STEPPER_OL_KFFDEC
                                    );
 
    // Setup virtual I2T
    sdkSetupVirtualI2T(axisNo,STEPPER_OL_CONTCUR, STEPPER_OL_THERMAL_TIME);
 
 
    return(1);
}