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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: CrntLoopConfig 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>CrntLoopConfig Struct Reference</h1><!-- doxytag: class="CrntLoopConfig" --><a href="structCrntLoopConfig-members.html">List of all members.</a><hr><a name="_details"></a><h2>Detailed Description</h2>This structure holds the current loop configuration parameters. <p>The current 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>This structure also holds the parameters used to control current limiting. The current limiting acts on the commanded current before it is sent to the current loop.<p>The amplifier member functions <a class="el" href="classAmp.html#z6_4">Amp::GetCrntLoopConfig</a> and <a class="el" href="classAmp.html#z6_5">Amp::SetCrntLoopConfig</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#l00260">260</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="structCrntLoopConfig.html#a0">CrntLoopConfig</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="CrntLoopConfig::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="structCrntLoopConfig.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="CrntLoopConfig::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="structCrntLoopConfig.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="CrntLoopConfig::offset" ref="o2" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structCrntLoopConfig.html#o2">offset</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Current offset. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o3"></a><!-- doxytag: member="CrntLoopConfig::peakLim" ref="o3" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structCrntLoopConfig.html#o3">peakLim</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Peak current limit (0.01 amp units) This is the maximum current that can be applied to the motor at any time Also used as Boost current in stepper mode. <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="structCrntLoopConfig.html#o4">contLim</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Continuous current limit (0.01 amp units) This is the maximum current that can continuously be applied to the load. <a href="#o4"></a><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="structCrntLoopConfig.html#o5">peakTime</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Time at peak current limit (milliseconds) If peak current is requested, it will fall back to the continuous limit within this amount of time. <a href="#o5"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="CML__Utils_8h.html#a8">uint16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structCrntLoopConfig.html#o6">stepHoldCurrent</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Stepper hold current (0.01 amps). <a href="#o6"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="CML__Utils_8h.html#a8">uint16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structCrntLoopConfig.html#o7">stepRun2HoldTime</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Run to hold time(milliseconds) The period of time, beginning when a move is complete, to when output current switched to hold current. <a href="#o7"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="CML__Utils_8h.html#a8">uint16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structCrntLoopConfig.html#o8">stepVolControlDelayTime</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Voltage control mode time delay (milliseconds) Time delay to enter into a special voltage control mode. <a href="#o8"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="CML__Utils_8h.html#a9">int32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structCrntLoopConfig.html#o9">slope</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Rate of change of current command (milliamps/sec). <a href="#o9"></a><br></td></tr></table><hr><h2>Constructor & Destructor Documentation</h2><a class="anchor" name="a0"></a><!-- doxytag: member="CrntLoopConfig::CrntLoopConfig" 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="structCrntLoopConfig.html">CrntLoopConfig</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#l00325">325</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="o4"></a><!-- doxytag: member="CrntLoopConfig::contLim" 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#a7">int16</a> <a class="el" href="structCrntLoopConfig.html#o4">contLim</a> </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Continuous current limit (0.01 amp units) This is the maximum current that can continuously be applied to the load. <p>Also used as Run current in stepper mode. <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00281">281</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="CrntLoopConfig::peakTime" 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#a7">int16</a> <a class="el" href="structCrntLoopConfig.html#o5">peakTime</a> </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Time at peak current limit (milliseconds) If peak current is requested, it will fall back to the continuous limit within this amount of time. <p>Also used as Boost current time in stepper mode. <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00287">287</a> of file <a class="el" href="CML__AmpStruct_8h-source.html">CML_AmpStruct.h</a>. </td> </tr></table><a class="anchor" name="o9"></a><!-- doxytag: member="CrntLoopConfig::slope" ref="o9" 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#a9">int32</a> <a class="el" href="structCrntLoopConfig.html#o9">slope</a> </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Rate of change of current command (milliamps/sec). <p>This parameter is only used when running in the low level programmed current mode (AMPMODE_PROG_CRNT), or in the CANopen profile torque mode (AMPMODE_CAN_TORQUE). In other modes this parameter is ignored and no limit is placed on the slope of the current command.<p>If this parameter is set to zero (default) it is not used in any mode of operation.<p>Note that this parameter is internally the same as the torque slope parameter which can be set using the function <a class="el" href="classAmp.html#z12_4">Amp::SetTorqueSlope</a>. The units are different however as this parameter controls slope in units of current and the torque slope function adjusts in units of torque. <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00321">321</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="CrntLoopConfig::stepHoldCurrent" 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#a8">uint16</a> <a class="el" href="structCrntLoopConfig.html#o6">stepHoldCurrent</a> </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Stepper hold current (0.01 amps). <p>Current used to hold the motor at rest. Used in stepper mode only. <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00292">292</a> of file <a class="el" href="CML__AmpStruct_8h-source.html">CML_AmpStruct.h</a>. </td> </tr></table><a class="anchor" name="o7"></a><!-- doxytag: member="CrntLoopConfig::stepRun2HoldTime" 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#a8">uint16</a> <a class="el" href="structCrntLoopConfig.html#o7">stepRun2HoldTime</a> </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Run to hold time(milliseconds) The period of time, beginning when a move is complete, to when output current switched to hold current. <p>Used in stepper mode only. <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00298">298</a> of file <a class="el" href="CML__AmpStruct_8h-source.html">CML_AmpStruct.h</a>. </td> </tr></table><a class="anchor" name="o8"></a><!-- doxytag: member="CrntLoopConfig::stepVolControlDelayTime" ref="o8" 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#a8">uint16</a> <a class="el" href="structCrntLoopConfig.html#o8">stepVolControlDelayTime</a> </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Voltage control mode time delay (milliseconds) Time delay to enter into a special voltage control mode. <p>If set to zero this feature is disabled. Used for stepper mode only. <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00304">304</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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