structvelloopconfig.html
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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: VelLoopConfig Struct Reference</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><h1>VelLoopConfig Struct Reference</h1><!-- doxytag: class="VelLoopConfig" --><a href="structVelLoopConfig-members.html">List of all members.</a><hr><a name="_details"></a><h2>Detailed Description</h2>This structure holds the velocity loop configuration parameters specific to the Copley amplifier. <p>The velocity loop is one of three servo control loops used by the amplifier to control a motor. The configuration parameters used by this control loop allow the servo performance to be 'tuned' for various motors and loads.<p>The amplifier member functions <a class="el" href="classAmp.html#z6_2">Amp::GetVelLoopConfig</a> and <a class="el" href="classAmp.html#z6_3">Amp::SetVelLoopConfig</a> are used to read and write this data to the amplifier.<p><p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00164">164</a> of file <a class="el" href="CML__AmpStruct_8h-source.html">CML_AmpStruct.h</a>.<table border="0" cellpadding="0" cellspacing="0"><tr><td></td></tr><tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structVelLoopConfig.html#a0">VelLoopConfig</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#a0"></a><br></td></tr><tr><td colspan="2"><br><h2>Public Attributes</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o0"></a><!-- doxytag: member="VelLoopConfig::kp" ref="o0" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structVelLoopConfig.html#o0">kp</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Proportional gain. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o1"></a><!-- doxytag: member="VelLoopConfig::ki" ref="o1" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structVelLoopConfig.html#o1">ki</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Integral gain. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o2"></a><!-- doxytag: member="VelLoopConfig::kaff" ref="o2" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structVelLoopConfig.html#o2">kaff</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Acceleration feed forward. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structVelLoopConfig.html#o3">shift</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Output shift value. <a href="#o3"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structVelLoopConfig.html#o4">maxVel</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum allowed velocity. <a href="#o4"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structVelLoopConfig.html#o5">maxAcc</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum allowed acceleration. <a href="#o5"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structVelLoopConfig.html#o6">maxDec</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum allowed deceleration This value limits the rate of change of the velocity command input to the velocity loop. <a href="#o6"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structVelLoopConfig.html#o7">estopDec</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Deceleration used for emergency stop When the position loop is driving the velocity loop this value is only used for tracking error conditions. <a href="#o7"></a><br></td></tr></table><hr><h2>Constructor & Destructor Documentation</h2><a class="anchor" name="a0"></a><!-- doxytag: member="VelLoopConfig::VelLoopConfig" ref="a0" args="(void)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"><a class="el" href="structVelLoopConfig.html">VelLoopConfig</a> </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top">void </td> <td class="mdname1" valign="top" nowrap> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap><code> [inline]</code></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Default constructor. <p>Simply initializes all members to zero. <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00231">231</a> of file <a class="el" href="CML__AmpStruct_8h-source.html">CML_AmpStruct.h</a>. </td> </tr></table><hr><h2>Member Data Documentation</h2><a class="anchor" name="o7"></a><!-- doxytag: member="VelLoopConfig::estopDec" ref="o7" args="" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a> <a class="el" href="structVelLoopConfig.html#o7">estopDec</a> </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Deceleration used for emergency stop When the position loop is driving the velocity loop this value is only used for tracking error conditions. <p>If a tracking error occurs, the velocity loop takes over control and drives to zero velocity using this deceleration value.<p>Setting this value to zero indicates that the deceleration is unlimited.<p>This parameter is specified in "user units". See <a class="el" href="classAmp.html#z15_0">Amp::SetCountsPerUnit</a> for details. <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00227">227</a> of file <a class="el" href="CML__AmpStruct_8h-source.html">CML_AmpStruct.h</a>. </td> </tr></table><a class="anchor" name="o5"></a><!-- doxytag: member="VelLoopConfig::maxAcc" ref="o5" args="" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a> <a class="el" href="structVelLoopConfig.html#o5">maxAcc</a> </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Maximum allowed acceleration. <p>This value limits the rate of change of the velocity command input to the velocity loop. It is used when the magnitude of the command is increasing.<p>Note that the acceleration & deceleration limits are NOT used when the position loop is driving the velocity loop.<p>This parameter is specified in "user units". See <a class="el" href="classAmp.html#z15_0">Amp::SetCountsPerUnit</a> for details. <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00202">202</a> of file <a class="el" href="CML__AmpStruct_8h-source.html">CML_AmpStruct.h</a>. </td> </tr></table><a class="anchor" name="o6"></a><!-- doxytag: member="VelLoopConfig::maxDec" ref="o6" args="" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a> <a class="el" href="structVelLoopConfig.html#o6">maxDec</a> </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Maximum allowed deceleration This value limits the rate of change of the velocity command input to the velocity loop. <p>It is used when the magnitude of the command is decreasing.<p>Note that the acceleration & deceleration limits are not used when the position loop is driving the velocity loop.<p>This parameter is specified in "user units". See <a class="el" href="classAmp.html#z15_0">Amp::SetCountsPerUnit</a> for details. <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00214">214</a> of file <a class="el" href="CML__AmpStruct_8h-source.html">CML_AmpStruct.h</a>. </td> </tr></table><a class="anchor" name="o4"></a><!-- doxytag: member="VelLoopConfig::maxVel" ref="o4" args="" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a> <a class="el" href="structVelLoopConfig.html#o4">maxVel</a> </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Maximum allowed velocity. <p>This value is used to limit the velocity command before the velocity loop uses it to calculate output current. When running in a position mode (normal for CAN operation) The velocity command is the output from the position loop. This command is clipped by this value before it is passed to the velocity loop.<p>This parameter is specified in "user units". See <a class="el" href="classAmp.html#z15_0">Amp::SetCountsPerUnit</a> for details. <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00189">189</a> of file <a class="el" href="CML__AmpStruct_8h-source.html">CML_AmpStruct.h</a>. </td> </tr></table><a class="anchor" name="o3"></a><!-- doxytag: member="VelLoopConfig::shift" ref="o3" args="" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a7">int16</a> <a class="el" href="structVelLoopConfig.html#o3">shift</a> </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Output shift value. <p>The output of the loop is downshifted this many bits to get the current loop command <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00177">177</a> of file <a class="el" href="CML__AmpStruct_8h-source.html">CML_AmpStruct.h</a>. </td> </tr></table><hr>The documentation for this struct was generated from the following file:<ul><li><a class="el" href="CML__AmpStruct_8h-source.html">CML_AmpStruct.h</a></ul><hr><address style="align: right;"><small>Copley Motion Library, Copyright (c) 2002-2003<a href="http://www.copleycontrols.com"><img src="CCC_logo.gif" alt="Copley Controls Corp." align="middle" border=0 ></a></small></address></body></html>⌨️ 快捷键说明
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