cml__ampstruct_8h-source.html

来自「美国COPLEY驱动器,程序开发工具之一.」· HTML 代码 · 共 536 行 · 第 1/5 页

<a name="l00316"></a>00316 <span class="comment">   /// Note that this parameter is internally the same as the torque</span>
<a name="l00317"></a>00317 <span class="comment">   /// slope parameter which can be set using the function </span>
<a name="l00318"></a>00318 <span class="comment">   /// Amp::SetTorqueSlope.  The units are different however as this </span>
<a name="l00319"></a>00319 <span class="comment">   /// parameter controls slope in units of current and the torque slope</span>
<a name="l00320"></a>00320 <span class="comment">   /// function adjusts in units of torque.</span>
<a name="l00321"></a><a class="code" href="structCrntLoopConfig.html#o9">00321</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a9">int32</a> <a class="code" href="structCrntLoopConfig.html#o9">slope</a>;
<a name="l00322"></a>00322 <span class="comment"></span>
<a name="l00323"></a>00323 <span class="comment">   /// Default constructor.</span>
<a name="l00324"></a>00324 <span class="comment">   /// Simply initializes all members to zero.</span>
<a name="l00325"></a><a class="code" href="structCrntLoopConfig.html#a0">00325</a> <span class="comment"></span>   <a class="code" href="structCrntLoopConfig.html#a0">CrntLoopConfig</a>( <span class="keywordtype">void</span> )
<a name="l00326"></a>00326    {
<a name="l00327"></a>00327       <a class="code" href="structCrntLoopConfig.html#o0">kp</a> = 0;
<a name="l00328"></a>00328       <a class="code" href="structCrntLoopConfig.html#o1">ki</a> = 0;
<a name="l00329"></a>00329       <a class="code" href="structCrntLoopConfig.html#o2">offset</a> = 0;
<a name="l00330"></a>00330       <a class="code" href="structCrntLoopConfig.html#o9">slope</a> = 0;
<a name="l00331"></a>00331 
<a name="l00332"></a>00332       <a class="code" href="structCrntLoopConfig.html#o3">peakLim</a> = 0;
<a name="l00333"></a>00333       <a class="code" href="structCrntLoopConfig.html#o4">contLim</a> = 0;
<a name="l00334"></a>00334       <a class="code" href="structCrntLoopConfig.html#o5">peakTime</a> = 0;
<a name="l00335"></a>00335 
<a name="l00336"></a>00336       <a class="code" href="structCrntLoopConfig.html#o6">stepHoldCurrent</a> = 0;
<a name="l00337"></a>00337       <a class="code" href="structCrntLoopConfig.html#o7">stepRun2HoldTime</a> = 0;
<a name="l00338"></a>00338       <a class="code" href="structCrntLoopConfig.html#o8">stepVolControlDelayTime</a> = 0;
<a name="l00339"></a>00339    }
<a name="l00340"></a>00340 };
<a name="l00341"></a>00341 
<a name="l00342"></a>00342 
<a name="l00343"></a>00343 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00344"></a>00344 <span class="comment">/**</span>
<a name="l00345"></a>00345 <span class="comment">  Homing parameter structure.  This structure allows all homing parameters </span>
<a name="l00346"></a>00346 <span class="comment">  to be grouped together and passed to the amplifier for convenience.</span>
<a name="l00347"></a>00347 <span class="comment">  */</span>
<a name="l00348"></a>00348 <span class="comment">/***************************************************************************/</span>
<a name="l00349"></a><a class="code" href="structHomeConfig.html">00349</a> <span class="keyword">struct </span><a class="code" href="structHomeConfig.html">HomeConfig</a>
<a name="l00350"></a>00350 {<span class="comment"></span>
<a name="l00351"></a>00351 <span class="comment">   /// Homing method to use</span>
<a name="l00352"></a><a class="code" href="structHomeConfig.html#o0">00352</a> <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a403">COPLEY_HOME_METHOD</a> <a class="code" href="structHomeConfig.html#o0">method</a>;
<a name="l00353"></a>00353 <span class="comment"></span>
<a name="l00354"></a>00354 <span class="comment">   /// Extended home method.  If the main home method is set to </span>
<a name="l00355"></a>00355 <span class="comment">   /// any value other then 'CHM_EXTENDED' then this parameter</span>
<a name="l00356"></a>00356 <span class="comment">   /// is ignored.  If the home method is set to this value, then</span>
<a name="l00357"></a>00357 <span class="comment">   /// this value will be used to define the low level homing </span>
<a name="l00358"></a>00358 <span class="comment">   /// routine used by the amplifier.</span>
<a name="l00359"></a>00359 <span class="comment">   ///</span>
<a name="l00360"></a>00360 <span class="comment">   /// For the most part this parameter can be ignored.  It's </span>
<a name="l00361"></a>00361 <span class="comment">   /// intended to allow access to some low level features of </span>
<a name="l00362"></a>00362 <span class="comment">   /// the amplifier's homing state machine which are otherwise</span>
<a name="l00363"></a>00363 <span class="comment">   /// not available through the more generic home methods.</span>
<a name="l00364"></a>00364 <span class="comment">   /// </span>
<a name="l00365"></a>00365 <span class="comment">   /// Encodings for this parameter can be found in the CANopen</span>
<a name="l00366"></a>00366 <span class="comment">   /// programmers guide for CANopen object 0x2352, or in the </span>
<a name="l00367"></a>00367 <span class="comment">   /// serial port programmers guide for variable 0xC2.</span>
<a name="l00368"></a><a class="code" href="structHomeConfig.html#o1">00368</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <a class="code" href="structHomeConfig.html#o1">extended</a>;
<a name="l00369"></a>00369 <span class="comment"></span>
<a name="l00370"></a>00370 <span class="comment">   /// Velocity to use for fast moves during the home procedure.</span>
<a name="l00371"></a>00371 <span class="comment">   /// This parameter is specified in "user units".  See </span>
<a name="l00372"></a>00372 <span class="comment">   /// Amp::SetCountsPerUnit for details.</span>
<a name="l00373"></a><a class="code" href="structHomeConfig.html#o2">00373</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structHomeConfig.html#o2">velFast</a>;
<a name="l00374"></a>00374 <span class="comment"></span>
<a name="l00375"></a>00375 <span class="comment">   /// Velocity to use when seeking a sensor edge.</span>
<a name="l00376"></a>00376 <span class="comment">   /// This parameter is specified in "user units".  See </span>
<a name="l00377"></a>00377 <span class="comment">   /// Amp::SetCountsPerUnit for details.</span>
<a name="l00378"></a><a class="code" href="structHomeConfig.html#o3">00378</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structHomeConfig.html#o3">velSlow</a>;
<a name="l00379"></a>00379 <span class="comment"></span>
<a name="l00380"></a>00380 <span class="comment">   /// Acceleration to use for the home procuedure.</span>
<a name="l00381"></a>00381 <span class="comment">   /// This parameter is specified in "user units".  See </span>
<a name="l00382"></a>00382 <span class="comment">   /// Amp::SetCountsPerUnit for details.</span>
<a name="l00383"></a><a class="code" href="structHomeConfig.html#o4">00383</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structHomeConfig.html#o4">accel</a>;
<a name="l00384"></a>00384 <span class="comment"></span>
<a name="l00385"></a>00385 <span class="comment">   /// Offset from located home position to zero position.</span>
<a name="l00386"></a>00386 <span class="comment">   /// After the home position is found as defined by the home method,</span>
<a name="l00387"></a>00387 <span class="comment">   /// this offset will be added to it and the resulting position will</span>
<a name="l00388"></a>00388 <span class="comment">   /// be considered the zero position.</span>
<a name="l00389"></a>00389 <span class="comment">   /// This parameter is specified in "user units".  See </span>
<a name="l00390"></a>00390 <span class="comment">   /// Amp::SetCountsPerUnit for details.</span>
<a name="l00391"></a><a class="code" href="structHomeConfig.html#o5">00391</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structHomeConfig.html#o5">offset</a>;
<a name="l00392"></a>00392 <span class="comment"></span>
<a name="l00393"></a>00393 <span class="comment">   /// Home current limit.  This parameter is only used when running</span>
<a name="l00394"></a>00394 <span class="comment">   /// in one of the 'home to hard stop' homing modes.  In all other</span>
<a name="l00395"></a>00395 <span class="comment">   /// modes this parameter may be left uninitialized.</span>
<a name="l00396"></a>00396 <span class="comment">   /// The current should be specified in units of 0.01 Amps</span>
<a name="l00397"></a>00397 <span class="comment">   /// (i.e. 100 for 1.0 Amp)</span>
<a name="l00398"></a><a class="code" href="structHomeConfig.html#o6">00398</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a7">int16</a> <a class="code" href="structHomeConfig.html#o6">current</a>;
<a name="l00399"></a>00399 <span class="comment"></span>
<a name="l00400"></a>00400 <span class="comment">   /// Home delay.  This parameter is only used when running</span>
<a name="l00401"></a>00401 <span class="comment">   /// in one of the 'home to hard stop' homing modes.  In all other</span>
<a name="l00402"></a>00402 <span class="comment">   /// modes this parameter may be left uninitialized.</span>
<a name="l00403"></a>00403 <span class="comment">   /// The delay is specified in units of milliseconds.</span>
<a name="l00404"></a><a class="code" href="structHomeConfig.html#o7">00404</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a7">int16</a> <a class="code" href="structHomeConfig.html#o7">delay</a>;
<a name="l00405"></a>00405 <span class="comment"></span>
<a name="l00406"></a>00406 <span class="comment">   /// Default constructor, just set the method to none and the other</span>
<a name="l00407"></a>00407 <span class="comment">   /// parameters to zero.</span>
<a name="l00408"></a><a class="code" href="structHomeConfig.html#a0">00408</a> <span class="comment"></span>   <a class="code" href="structHomeConfig.html#a0">HomeConfig</a>( <span class="keywordtype">void</span> )
<a name="l00409"></a>00409    {
<a name="l00410"></a>00410       <a class="code" href="structHomeConfig.html#o0">method</a> = <a class="code" href="CML__AmpDef_8h.html#a403a311">CHM_NONE</a>;
<a name="l00411"></a>00411       <a class="code" href="structHomeConfig.html#o1">extended</a> = 0;
<a name="l00412"></a>00412       <a class="code" href="structHomeConfig.html#o2">velFast</a> = 0;
<a name="l00413"></a>00413       <a class="code" href="structHomeConfig.html#o3">velSlow</a> = 0;
<a name="l00414"></a>00414       <a class="code" href="structHomeConfig.html#o4">accel</a>   = 0;
<a name="l00415"></a>00415       <a class="code" href="structHomeConfig.html#o5">offset</a>  = 0;
<a name="l00416"></a>00416       <a class="code" href="structHomeConfig.html#o6">current</a> = 0;
<a name="l00417"></a>00417       <a class="code" href="structHomeConfig.html#o7">delay</a>   = 0;
<a name="l00418"></a>00418    }
<a name="l00419"></a>00419 };
<a name="l00420"></a>00420 
<a name="l00421"></a>00421 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00422"></a>00422 <span class="comment">/**</span>
<a name="l00423"></a>00423 <span class="comment">  Amplifier profile parameters.  This structure holds all the parameters </span>