cml__ampdef_8h-source.html

美国COPLEY驱动器,程序开发工具之一.

<a name="l00244"></a>00244 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a160">INCFG_POSLIM_L</a>              = 0x0005, <span class="comment">///&lt; Positive limit switch, active Low.</span>
<a name="l00245"></a>00245 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a161">INCFG_NEGLIM_H</a>              = 0x0006, <span class="comment">///&lt; Negative limit switch, active High. </span>
<a name="l00246"></a>00246 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a162">INCFG_NEGLIM_L</a>              = 0x0007, <span class="comment">///&lt; Negative limit switch, active Low.  </span>
<a name="l00247"></a>00247 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a163">INCFG_MOTOR_TEMP_H</a>          = 0x0008, <span class="comment">///&lt; Motor temp sensor active high            </span>
<a name="l00248"></a>00248 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a164">INCFG_MOTOR_TEMP_L</a>          = 0x0009, <span class="comment">///&lt; Motor temp sensor active low             </span>
<a name="l00249"></a>00249 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a165">INCFG_CLR_FAULTS_H</a>          = 0x000A, <span class="comment">///&lt; Clear faults on edge, disable while high </span>
<a name="l00250"></a>00250 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a166">INCFG_CLR_FAULTS_L</a>          = 0x000B, <span class="comment">///&lt; Clear faults on edge, disable while low  </span>
<a name="l00251"></a>00251 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a167">INCFG_RESET_DISABLE_R</a>       = 0x000C, <span class="comment">///&lt; Reset on rising edge, disable while high </span>
<a name="l00252"></a>00252 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a168">INCFG_RESET_DISABLE_F</a>       = 0x000D, <span class="comment">///&lt; Reset on falling edge, disable while low  </span>
<a name="l00253"></a>00253 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a169">INCFG_HOME_H</a>                = 0x000E, <span class="comment">///&lt; Home switch, active high     </span>
<a name="l00254"></a>00254 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a170">INCFG_HOME_L</a>                = 0x000F, <span class="comment">///&lt; Home switch, active low      </span>
<a name="l00255"></a>00255 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a171">INCFG_DISABLE_H</a>             = 0x0010, <span class="comment">///&lt; Amplifier disable active high</span>
<a name="l00256"></a>00256 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a172">INCFG_DISABLE_L</a>             = 0x0011, <span class="comment">///&lt; Amplifier disable active low </span>
<a name="l00257"></a>00257 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a173">INCFG_PWM_SYNC_H</a>            = 0x0013, <span class="comment">///&lt; Sync input on falling edge, valid only on high speed inputs</span>
<a name="l00258"></a>00258 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a174">INCFG_MOTION_ABORT_H</a>        = 0x0014, <span class="comment">///&lt; Abort motion active high </span>
<a name="l00259"></a>00259 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a175">INCFG_MOTION_ABORT_L</a>        = 0x0015, <span class="comment">///&lt; Abort motion active low </span>
<a name="l00260"></a>00260 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a176">INCFG_SCALE_ADC_H</a>           = 0x0016, <span class="comment">///&lt; Scale analog reference input by a factor of 8 when high</span>
<a name="l00261"></a>00261 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a177">INCFG_SCALE_ADC_L</a>           = 0x0017, <span class="comment">///&lt; Scale analog reference input by a factor of 8 when low</span>
<a name="l00262"></a>00262 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a178">INCFG_HIGHSPEED_CAPTURE_R</a>   = 0x0018, <span class="comment">///&lt; High speed position capture on rising edge</span>
<a name="l00263"></a><a class="code" href="CML__AmpDef_8h.html#a395a179">00263</a> <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a395a179">INCFG_HIGHSPEED_CAPTURE_F</a>   = 0x0019  <span class="comment">///&lt; High speed position capture on falling edge</span>
<a name="l00264"></a>00264 <span class="comment"></span>};
<a name="l00265"></a>00265 
<a name="l00266"></a>00266 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00267"></a>00267 <span class="comment">/**</span>
<a name="l00268"></a>00268 <span class="comment">Output pin configuration settings.  The digital output pins located on the</span>
<a name="l00269"></a>00269 <span class="comment">amplifier can be programmed to follow one or more bits in one of the </span>
<a name="l00270"></a>00270 <span class="comment">amplifier's status words.</span>
<a name="l00271"></a>00271 <span class="comment"></span>
<a name="l00272"></a>00272 <span class="comment">This enumeration is used to specify which status word a particular output </span>
<a name="l00273"></a>00273 <span class="comment">pin will follow, and whether the output will be active high or active low.</span>
<a name="l00274"></a>00274 <span class="comment"></span>
<a name="l00275"></a>00275 <span class="comment">Each output pin has a configuration value associated with it (which should </span>
<a name="l00276"></a>00276 <span class="comment">be programmed using one of the values of this enumeration), and a 32-bit </span>
<a name="l00277"></a>00277 <span class="comment">mask value.  If the output pin is configured to follow a status register, </span>
<a name="l00278"></a>00278 <span class="comment">the mask identifies which bit(s) of the status register should be used to </span>
<a name="l00279"></a>00279 <span class="comment">control the output pin.  If any of the masked bits in the status register </span>
<a name="l00280"></a>00280 <span class="comment">are set, then the output pin will go active.</span>
<a name="l00281"></a>00281 <span class="comment">*/</span>
<a name="l00282"></a>00282 <span class="comment">/***************************************************************************/</span>
<a name="l00283"></a><a class="code" href="CML__AmpDef_8h.html#a396">00283</a> <span class="keyword">enum</span> <a class="code" href="CML__AmpDef_8h.html#a396">OUTPUT_PIN_CONFIG</a>
<a name="l00284"></a>00284 {<span class="comment"></span>
<a name="l00285"></a>00285 <span class="comment">   /// The output pin follows the amplifier's event status register </span>
<a name="l00286"></a>00286 <span class="comment">   /// and is active Low.</span>
<a name="l00287"></a>00287 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a396a180">OUTCFG_EVENT_STATUS_L</a>       = 0x0000,
<a name="l00288"></a>00288 <span class="comment"></span>
<a name="l00289"></a>00289 <span class="comment">   /// The output pin follows the amplifier's event status register </span>
<a name="l00290"></a>00290 <span class="comment">   /// and is active High.</span>
<a name="l00291"></a>00291 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a396a181">OUTCFG_EVENT_STATUS_H</a>       = 0x0100,
<a name="l00292"></a>00292 <span class="comment"></span>
<a name="l00293"></a>00293 <span class="comment">   /// The output pin follows the latched version of the amplifier's </span>
<a name="l00294"></a>00294 <span class="comment">   /// event status register and is active Low.</span>
<a name="l00295"></a>00295 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a396a182">OUTCFG_EVENT_LATCH_L</a>        = 0x0001,
<a name="l00296"></a>00296 <span class="comment"></span>
<a name="l00297"></a>00297 <span class="comment">   /// The output pin follows the latched version of the amplifier's </span>
<a name="l00298"></a>00298 <span class="comment">   /// event status register and is active High.</span>
<a name="l00299"></a>00299 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a396a183">OUTCFG_EVENT_LATCH_H</a>        = 0x0101,
<a name="l00300"></a>00300 <span class="comment"></span>
<a name="l00301"></a>00301 <span class="comment">   /// The output pin is manually controlled using the Amp::SetOutputs</span>
<a name="l00302"></a>00302 <span class="comment">   /// function, and the output is active Low.</span>
<a name="l00303"></a>00303 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a396a184">OUTCFG_MANUAL_L</a>             = 0x0002,
<a name="l00304"></a>00304 <span class="comment"></span>
<a name="l00305"></a>00305 <span class="comment">   /// The output pin is manually controlled using the Amp::SetOutputs</span>
<a name="l00306"></a>00306 <span class="comment">   /// function, and the output is active High.</span>
<a name="l00307"></a>00307 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a396a185">OUTCFG_MANUAL_H</a>             = 0x0102,
<a name="l00308"></a>00308 <span class="comment"></span>
<a name="l00309"></a>00309 <span class="comment">   /// The output pin follows bits in the trajectory status register</span>
<a name="l00310"></a>00310 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a396a186">OUTCFG_TRJ_STATUS</a>           = 0x0003,
<a name="l00311"></a>00311 <span class="comment"></span>
<a name="l00312"></a>00312 <span class="comment">   /// The output pin will go active when the actual motor position is</span>
<a name="l00313"></a>00313 <span class="comment">   /// greater then the first output parameter, and less then the </span>
<a name="l00314"></a>00314 <span class="comment">   /// second output parameter</span>
<a name="l00315"></a>00315 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a396a187">OUTCFG_POSITION_WINDOW</a>      = 0x0004,
<a name="l00316"></a>00316 <span class="comment"></span>
<a name="l00317"></a>00317 <span class="comment">   /// The output pin will go active when the motor actual position crosses</span>
<a name="l00318"></a>00318 <span class="comment">   /// through a programmed value in the low to high direction.</span>
<a name="l00319"></a>00319 <span class="comment">   /// The pin will stay active for a programmed amount of time.</span>
<a name="l00320"></a>00320 <span class="comment">   /// The first output parameter specifies the position, and the second </span>
<a name="l00321"></a>00321 <span class="comment">   /// output parameter specifies the time to remain active in milliseconds.</span>
<a name="l00322"></a>00322 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a396a188">OUTCFG_POSITION_TRIG_LOW2HIGH</a> = 0x0005,
<a name="l00323"></a>00323 <span class="comment"></span>
<a name="l00324"></a>00324 <span class="comment">   /// The output pin will go active when the motor actual position crosses</span>
<a name="l00325"></a>00325 <span class="comment">   /// through a programmed value in the high to low direction.</span>
<a name="l00326"></a>00326 <span class="comment">   /// The pin will stay active for a programmed amount of time.</span>
<a name="l00327"></a>00327 <span class="comment">   /// The first output parameter specifies the position, and the second </span>
<a name="l00328"></a>00328 <span class="comment">   /// output parameter specifies the time to remain active in milliseconds.</span>
<a name="l00329"></a>00329 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a396a189">OUTCFG_POSITION_TRIG_HIGH2LOW</a> = 0x0006,
<a name="l00330"></a>00330 <span class="comment"></span>
<a name="l00331"></a>00331 <span class="comment">   /// The output pin will go active when the motor actual position crosses</span>
<a name="l00332"></a>00332 <span class="comment">   /// through a programmed value in either direction.</span>
<a name="l00333"></a>00333 <span class="comment">   /// The pin will stay active for a programmed amount of time.</span>
<a name="l00334"></a>00334 <span class="comment">   /// The first output parameter specifies the position, and the second </span>
<a name="l00335"></a>00335 <span class="comment">   /// output parameter specifies the time to remain active in milliseconds.</span>
<a name="l00336"></a>00336 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a396a190">OUTCFG_POSITION_TRIG</a>        = 0x0007,
<a name="l00337"></a>00337 <span class="comment"></span>
<a name="l00338"></a>00338 <span class="comment">   /// If set the output pin is used as Sync output. This bit can only</span>
<a name="l00339"></a>00339 <span class="comment">   /// be used with  output pin 0. </span>
<a name="l00340"></a>00340 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a396a191">OUTCFG_SYNC_OUTPUT</a>          = 0x0200,
<a name="l00341"></a>00341 <span class="comment"></span>
<a name="l00342"></a>00342 <span class="comment">   /// This bit may be ORed with any of the other output pin configuration </span>
<a name="l00343"></a>00343 <span class="comment">   /// values to make them active high.</span>
<a name="l00344"></a>00344 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a396a192">OUTCFG_ACTIVE_HIGH</a>          = 0x0100
<a name="l00345"></a>00345 };
<a name="l00346"></a>00346 
<a name="l00347"></a>00347 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00348"></a>00348 <span class="comment">/**</span>
<a name="l00349"></a>00349 <span class="comment">This enumeration is used to specify the mode of operation of the amplifier.</span>
<a name="l00350"></a>00350 <span class="comment"></span>
<a name="l00351"></a>00351 <span class="comment">The amplifier mode of operation specifies the control method to be used by </span>
<a name="l00352"></a>00352 <span class="comment">the amplifier, as well as the source of input to that control structure.</span>
<a name="l00353"></a>00353 <span class="comment"></span>
<a name="l00354"></a>00354 <span class="comment">The amplifier can be controlled in servo mode or in microstepping mode.  When</span>
<a name="l00355"></a>00355 <span class="comment">running in servo mode the amplifier uses up to three nested control loops.</span>
<a name="l00356"></a>00356 <span class="comment">These loops control current, velocity and position.  In microstepping mode</span>
<a name="l00357"></a>00357 <span class="comment">the low level current loop is retained, but the upper level loops are replaced</span>
<a name="l00358"></a>00358 <span class="comment">with a simple position command.</span>
<a name="l00359"></a>00359 <span class="comment"></span>
<a name="l00360"></a>00360 <span class="comment">The command source of the amplifier will normally be the CANopen network itself.</span>
<a name="l00361"></a>00361 <span class="comment">However, the amplifier also supports several low level control methods in which</span>
<a name="l00362"></a>00362 <span class="comment">commands are received through analog or digital input pins, or even from an </span>
<a name="l00363"></a>00363 <span class="comment">internal function generator.</span>
<a name="l00364"></a>00364 <span class="comment"></span>
<a name="l00365"></a>00365 <span class="comment">Normally, only the CANopen modes of operation will be used when running over</span>
<a name="l00366"></a>00366 <span class="comment">the CANopen network.  These modes are AMPMODE_CAN_PROFILE, AMPMODE_CAN_VELOCITY,</span>
<a name="l00367"></a>00367 <span class="comment">AMPMODE_CAN_HOMING, and AMPMODE_CAN_PVT.  Each of these modes can be used on </span>
<a name="l00368"></a>00368 <span class="comment">either servo or microstepping drives.  It's typically not necessary to </span>
<a name="l00369"></a>00369 <span class="comment">specify the type of control method (servo or microstepping) to be used with </span>