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美国COPLEY驱动器,程序开发工具之一.

<a name="l00370"></a>00370 <span class="comment">these modes as it can be determined by the type of amplifier being used.  Servo</span>
<a name="l00371"></a>00371 <span class="comment">amplifier's (such as Accelnet) default to servo mode, and microstepping amplifiers</span>
<a name="l00372"></a>00372 <span class="comment">(such as Stepnet) will default to microstepping mode.  If this default is not</span>
<a name="l00373"></a>00373 <span class="comment">appropriate for the application, then the control method may be forced by ORing</span>
<a name="l00374"></a>00374 <span class="comment">in one of the following two values; AMPMODE_CAN_SERVO and AMPMODE_CAN_USTEP.</span>
<a name="l00375"></a>00375 <span class="comment"></span>
<a name="l00376"></a>00376 <span class="comment">*/</span>
<a name="l00377"></a>00377 <span class="comment">/***************************************************************************/</span>
<a name="l00378"></a><a class="code" href="CML__AmpDef_8h.html#a397">00378</a> <span class="keyword">enum</span> <a class="code" href="CML__AmpDef_8h.html#a397">AMP_MODE</a>
<a name="l00379"></a>00379 {
<a name="l00380"></a>00380 <span class="comment"></span>
<a name="l00381"></a>00381 <span class="comment">   /// In this mode the CANopen network sends move commands to the amplifier,</span>
<a name="l00382"></a>00382 <span class="comment">   /// and the amplifier uses it's internal trajectory generator to perform </span>
<a name="l00383"></a>00383 <span class="comment">   /// the moves.</span>
<a name="l00384"></a>00384 <span class="comment">   /// This mode conforms to the CANopen device profile for motion control</span>
<a name="l00385"></a>00385 <span class="comment">   /// (DSP-402) profile position mode.</span>
<a name="l00386"></a>00386 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a193">AMPMODE_CAN_PROFILE</a>      = 0x0001,
<a name="l00387"></a>00387 <span class="comment"></span>
<a name="l00388"></a>00388 <span class="comment">   /// In this mode the CANopen network commands target velocity values to the </span>
<a name="l00389"></a>00389 <span class="comment">   /// amplifier.  The amplifier uses it's programmed acceleration and deceleration</span>
<a name="l00390"></a>00390 <span class="comment">   /// values to ramp the velocity up/down to the target.</span>
<a name="l00391"></a>00391 <span class="comment">   ///</span>
<a name="l00392"></a>00392 <span class="comment">   /// Note that support for profile velocity mode was added in amplifier firmware</span>
<a name="l00393"></a>00393 <span class="comment">   /// version 3.06.  Earlier versions of firmware will report an error if this</span>
<a name="l00394"></a>00394 <span class="comment">   /// mode is selected.</span>
<a name="l00395"></a>00395 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a194">AMPMODE_CAN_VELOCITY</a>     = 0x0003,
<a name="l00396"></a>00396 <span class="comment"></span>
<a name="l00397"></a>00397 <span class="comment">   /// In this mode the CANopen network commands torque values to the amplifier.</span>
<a name="l00398"></a>00398 <span class="comment">   ///</span>
<a name="l00399"></a>00399 <span class="comment">   /// Note that support for profile torque mode was added in amplifier firmware</span>
<a name="l00400"></a>00400 <span class="comment">   /// version 3.34.  Earlier versions of firmware will report an error if this</span>
<a name="l00401"></a>00401 <span class="comment">   /// mode is selected.</span>
<a name="l00402"></a>00402 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a195">AMPMODE_CAN_TORQUE</a>       = 0x0004,
<a name="l00403"></a>00403 <span class="comment"></span>
<a name="l00404"></a>00404 <span class="comment">   /// This mode is used to home the motor (i.e. find the motor zero position)</span>
<a name="l00405"></a>00405 <span class="comment">   /// under the control of the CANopen network.</span>
<a name="l00406"></a>00406 <span class="comment">   /// This mode conforms to the CANopen device profile for motion control</span>
<a name="l00407"></a>00407 <span class="comment">   /// (DSP-402) homing mode.</span>
<a name="l00408"></a>00408 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a196">AMPMODE_CAN_HOMING</a>       = 0x0006,
<a name="l00409"></a>00409 <span class="comment"></span>
<a name="l00410"></a>00410 <span class="comment">   /// In this mode the CANopen master calculates the motor trajectory and</span>
<a name="l00411"></a>00411 <span class="comment">   /// streams it over the CANopen network as a set of points that the </span>
<a name="l00412"></a>00412 <span class="comment">   /// amplifier interpolated between.</span>
<a name="l00413"></a>00413 <span class="comment">   /// This mode conforms to the CANopen device profile for motion control</span>
<a name="l00414"></a>00414 <span class="comment">   /// (DSP-402) interpolated position mode.</span>
<a name="l00415"></a>00415 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a197">AMPMODE_CAN_PVT</a>          = 0x0007,
<a name="l00416"></a>00416 <span class="comment"></span>
<a name="l00417"></a>00417 <span class="comment">   /// This value may be combined with one of the standard CAN control modes to</span>
<a name="l00418"></a>00418 <span class="comment">   /// specify that servo control should be used.  This is most often specified</span>
<a name="l00419"></a>00419 <span class="comment">   /// when a microstepping amplifier (such as the Stepnet) is to be used in </span>
<a name="l00420"></a>00420 <span class="comment">   /// servo mode.</span>
<a name="l00421"></a>00421 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a198">AMPMODE_CAN_SERVO</a>        = 0x1E00,
<a name="l00422"></a>00422 <span class="comment"></span>
<a name="l00423"></a>00423 <span class="comment">   /// This value may be combined with one of the standard CAN control modes to</span>
<a name="l00424"></a>00424 <span class="comment">   /// specify that microstepping control should be used.  This is most often specified</span>
<a name="l00425"></a>00425 <span class="comment">   /// when a servo amplifier (such as the Accelnet) is to be used in </span>
<a name="l00426"></a>00426 <span class="comment">   /// microstepping mode.</span>
<a name="l00427"></a>00427 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a199">AMPMODE_CAN_USTEP</a>        = 0x2800,
<a name="l00428"></a>00428 <span class="comment"></span>
<a name="l00429"></a>00429 <span class="comment">   /// Disable the amplifier.  In this mode, none of the controls loops are</span>
<a name="l00430"></a>00430 <span class="comment">   /// running, and no voltage will be applied across the motor windings.</span>
<a name="l00431"></a>00431 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a200">AMPMODE_DISABLED</a>         = 0x0000,
<a name="l00432"></a>00432 <span class="comment"></span>
<a name="l00433"></a>00433 <span class="comment">   /// Current mode in which the command to the current loop is simply a </span>
<a name="l00434"></a>00434 <span class="comment">   /// static value that may be programmed over the serial port or CANopen</span>
<a name="l00435"></a>00435 <span class="comment">   /// network.</span>
<a name="l00436"></a>00436 <span class="comment">   /// The programmed current value can be set with the function </span>
<a name="l00437"></a>00437 <span class="comment">   /// Amp::SetCurrentProgrammed</span>
<a name="l00438"></a>00438 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a201">AMPMODE_PROG_CRNT</a>        = 0x0100,
<a name="l00439"></a>00439 <span class="comment"></span>
<a name="l00440"></a>00440 <span class="comment">   /// Current mode in which the command to the current loop is derived from</span>
<a name="l00441"></a>00441 <span class="comment">   /// the analog input.  Note that some amplifier models do not support an</span>
<a name="l00442"></a>00442 <span class="comment">   /// analog input.  Please refer to the amplifier datasheet to determine if</span>
<a name="l00443"></a>00443 <span class="comment">   /// this mode is applicable.</span>
<a name="l00444"></a>00444 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a202">AMPMODE_AIN_CRNT</a>         = 0x0200,
<a name="l00445"></a>00445 <span class="comment"></span>
<a name="l00446"></a>00446 <span class="comment">   /// Current mode in which the command to the current loop is derived from</span>
<a name="l00447"></a>00447 <span class="comment">   /// the digital input pins.  One or two of the digital inputs are used as</span>
<a name="l00448"></a>00448 <span class="comment">   /// a PWM input command which is interpreted as a current command.</span>
<a name="l00449"></a>00449 <span class="comment">   /// Please refer to the amplifier data sheet to determine which input(s)</span>
<a name="l00450"></a>00450 <span class="comment">   /// should be used in this mode.</span>
<a name="l00451"></a>00451 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a203">AMPMODE_DIN_CRNT</a>         = 0x0300,
<a name="l00452"></a>00452 <span class="comment"></span>
<a name="l00453"></a>00453 <span class="comment">   /// Current mode in which the command to the current loop is derived from</span>
<a name="l00454"></a>00454 <span class="comment">   /// the internal function generator.</span>
<a name="l00455"></a>00455 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a204">AMPMODE_FGEN_CRNT</a>        = 0x0400,
<a name="l00456"></a>00456 <span class="comment"></span>
<a name="l00457"></a>00457 <span class="comment">   /// Velocity mode in which the command to the velocity loop is simply a</span>
<a name="l00458"></a>00458 <span class="comment">   /// static value that may be programmed over the serial or CANopen </span>
<a name="l00459"></a>00459 <span class="comment">   /// network.</span>
<a name="l00460"></a>00460 <span class="comment">   /// The programmed velocity value can be set with the function </span>
<a name="l00461"></a>00461 <span class="comment">   /// Amp::SetVelocityProgrammed</span>
<a name="l00462"></a>00462 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a205">AMPMODE_PROG_VEL</a>         = 0x0B00,
<a name="l00463"></a>00463 <span class="comment"></span>
<a name="l00464"></a>00464 <span class="comment">   /// Velocity mode in which the command to the velocity loop is derived from</span>
<a name="l00465"></a>00465 <span class="comment">   /// the analog input.  Note that some amplifier models do not support an</span>
<a name="l00466"></a>00466 <span class="comment">   /// analog input.  Please refer to the amplifier datasheet to determine if</span>
<a name="l00467"></a>00467 <span class="comment">   /// this mode is applicable.</span>
<a name="l00468"></a>00468 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a206">AMPMODE_AIN_VEL</a>          = 0x0C00,
<a name="l00469"></a>00469 <span class="comment"></span>
<a name="l00470"></a>00470 <span class="comment">   /// Velocity mode in which the command to the velocity loop is derived from</span>
<a name="l00471"></a>00471 <span class="comment">   /// the digital input pins.  One or two of the digital inputs are used as</span>
<a name="l00472"></a>00472 <span class="comment">   /// a PWM input command which is interpreted as a velocity command.</span>
<a name="l00473"></a>00473 <span class="comment">   /// Please refer to the amplifier data sheet to determine which input(s)</span>
<a name="l00474"></a>00474 <span class="comment">   /// should be used in this mode.</span>
<a name="l00475"></a>00475 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a207">AMPMODE_DIN_VEL</a>          = 0x0D00,
<a name="l00476"></a>00476 <span class="comment"></span>
<a name="l00477"></a>00477 <span class="comment">   /// Velocity mode in which the command to the velocity loop is derived from</span>
<a name="l00478"></a>00478 <span class="comment">   /// the internal function generator.</span>
<a name="l00479"></a>00479 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a208">AMPMODE_FGEN_VEL</a>         = 0x0E00,
<a name="l00480"></a>00480 <span class="comment"></span>
<a name="l00481"></a>00481 <span class="comment">   /// Position mode in which the command to the position loop is derived from</span>
<a name="l00482"></a>00482 <span class="comment">   /// the digital input pins.  Two of the digital inputs can be configured as</span>
<a name="l00483"></a>00483 <span class="comment">   /// either a master encoder input (quadrature input), a step &amp; direction </span>
<a name="l00484"></a>00484 <span class="comment">   /// input, or a step up / step down input.</span>
<a name="l00485"></a>00485 <span class="comment">   /// Please refer to the amplifier data sheet to determine which inputs</span>
<a name="l00486"></a>00486 <span class="comment">   /// should be used in this mode.</span>
<a name="l00487"></a>00487 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a209">AMPMODE_DIN_POS</a>          = 0x1700,
<a name="l00488"></a>00488 <span class="comment"></span>
<a name="l00489"></a>00489 <span class="comment">   /// Position mode in which the command to the position loop is derived from</span>
<a name="l00490"></a>00490 <span class="comment">   /// the internal function generator.</span>
<a name="l00491"></a>00491 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a210">AMPMODE_FGEN_POS</a>         = 0x1800,
<a name="l00492"></a>00492 <span class="comment"></span>
<a name="l00493"></a>00493 <span class="comment">   /// Position mode in which the command to the position loop is derived from</span>
<a name="l00494"></a>00494 <span class="comment">   /// CAM tables located in the amplifiers memory.</span>
<a name="l00495"></a>00495 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a211">AMPMODE_CAM_POS</a>          = 0x1900,