cml__ampdef_8h.html

美国COPLEY驱动器,程序开发工具之一.

<tr><td valign="top"><em><a class="anchor" name="a399a253"></a><!-- doxytag: member="AMPEVENT_VELWIN" ref="a399a253" args="" -->AMPEVENT_VELWIN</em>&nbsp;</td><td>
The amplifier's absolute velocity error is greater then the window set with Amp::SetVeliocityWarnWindow. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a399a254"></a><!-- doxytag: member="AMPEVENT_DISABLED" ref="a399a254" args="" -->AMPEVENT_DISABLED</em>&nbsp;</td><td>
The amplifier's outputs are disabled. 
<p>
The reason for the disable can be determined by <a class="el" href="classAmp.html#z1_12">Amp::GetEventStatus</a> </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a399a255"></a><!-- doxytag: member="AMPEVENT_POSLIM" ref="a399a255" args="" -->AMPEVENT_POSLIM</em>&nbsp;</td><td>
The positive limit switch is currently active. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a399a256"></a><!-- doxytag: member="AMPEVENT_NEGLIM" ref="a399a256" args="" -->AMPEVENT_NEGLIM</em>&nbsp;</td><td>
The negative limit switch is currently active. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a399a257"></a><!-- doxytag: member="AMPEVENT_SOFTLIM_POS" ref="a399a257" args="" -->AMPEVENT_SOFTLIM_POS</em>&nbsp;</td><td>
The positive software limit is currently active. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a399a258"></a><!-- doxytag: member="AMPEVENT_SOFTLIM_NEG" ref="a399a258" args="" -->AMPEVENT_SOFTLIM_NEG</em>&nbsp;</td><td>
The negative software limit is currently active. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a399a259"></a><!-- doxytag: member="AMPEVENT_QUICKSTOP" ref="a399a259" args="" -->AMPEVENT_QUICKSTOP</em>&nbsp;</td><td>
The amplifier is presently performing a quick stop sequence. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a399a260"></a><!-- doxytag: member="AMPEVENT_ABORT" ref="a399a260" args="" -->AMPEVENT_ABORT</em>&nbsp;</td><td>
The last profile was aborted without finishing. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a399a261"></a><!-- doxytag: member="AMPEVENT_SOFTDISABLE" ref="a399a261" args="" -->AMPEVENT_SOFTDISABLE</em>&nbsp;</td><td>
The amplifier is software disabled. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a399a262"></a><!-- doxytag: member="AMPEVENT_HOME_CAPTURE" ref="a399a262" args="" -->AMPEVENT_HOME_CAPTURE</em>&nbsp;</td><td>
A new home position has been captured. 
<p>
Note that this features requires firmware version &gt;= 4.77 </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a399a263"></a><!-- doxytag: member="AMPEVENT_PVT_EMPTY" ref="a399a263" args="" -->AMPEVENT_PVT_EMPTY</em>&nbsp;</td><td>
PVT buffer is empty. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a399a264"></a><!-- doxytag: member="AMPEVENT_NOT_INIT" ref="a399a264" args="" -->AMPEVENT_NOT_INIT</em>&nbsp;</td><td>
This amplifier's event mask has not yet been initialized. 
<p>
This event is for internal use only. </td></tr>
</table>
</dl>

<p>
Definition at line <a class="el" href="CML__AmpDef_8h-source.html#l00562">562</a> of file <a class="el" href="CML__AmpDef_8h-source.html">CML_AmpDef.h</a>.    </td>
  </tr>
</table>
<a class="anchor" name="a400"></a><!-- doxytag: member="CML_AmpDef.h::AMP_FAULT" ref="a400" 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">enum <a class="el" href="CML__AmpDef_8h.html#a400">AMP_FAULT</a>          </td>
        </tr>
      </table>
    </td>
  </tr>
</table>
<table cellspacing="5" cellpadding="0" border="0">
  <tr>
    <td>
      &nbsp;
    </td>
    <td>

<p>
Latching Amplifier faults conditions. 
<p>
Once a fault is detected in the amplifier, the amp will be disabled until the fault condition has been cleared.<p>
Use <a class="el" href="classAmp.html#z1_9">Amp::GetFaults</a> to get a list of any active fault conditions, and <a class="el" href="classAmp.html#z1_8">Amp::ClearFaults</a> to clear one or more faults.<dl compact><dt><b>Enumerator: </b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" name="a400a265"></a><!-- doxytag: member="FAULT_DATAFLASH" ref="a400a265" args="" -->FAULT_DATAFLASH</em>&nbsp;</td><td>
Fatal hardware error: the flash data is corrupt. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a400a266"></a><!-- doxytag: member="FAULT_ADCOFFSET" ref="a400a266" args="" -->FAULT_ADCOFFSET</em>&nbsp;</td><td>
Fatal hardware error: An A/D offset error has occurred. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a400a267"></a><!-- doxytag: member="FAULT_SHORT_CRCT" ref="a400a267" args="" -->FAULT_SHORT_CRCT</em>&nbsp;</td><td>
The amplifier detected a short circuit condition. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a400a268"></a><!-- doxytag: member="FAULT_AMP_TEMP" ref="a400a268" args="" -->FAULT_AMP_TEMP</em>&nbsp;</td><td>
The amplifier is over temperature. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a400a269"></a><!-- doxytag: member="FAULT_MTR_TEMP" ref="a400a269" args="" -->FAULT_MTR_TEMP</em>&nbsp;</td><td>
A motor temperature error was detected. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a400a270"></a><!-- doxytag: member="FAULT_OVER_VOLT" ref="a400a270" args="" -->FAULT_OVER_VOLT</em>&nbsp;</td><td>
The amplifier bus voltage is over the acceptable limit. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a400a271"></a><!-- doxytag: member="FAULT_UNDER_VOLT" ref="a400a271" args="" -->FAULT_UNDER_VOLT</em>&nbsp;</td><td>
The amplifier bus voltage is below the acceptable limit. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a400a272"></a><!-- doxytag: member="FAULT_ENCODER_PWR" ref="a400a272" args="" -->FAULT_ENCODER_PWR</em>&nbsp;</td><td>
Over current on the encoder power supply. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a400a273"></a><!-- doxytag: member="FAULT_PHASE_ERR" ref="a400a273" args="" -->FAULT_PHASE_ERR</em>&nbsp;</td><td>
Amplifier phasing error. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a400a274"></a><!-- doxytag: member="FAULT_TRK_ERR" ref="a400a274" args="" -->FAULT_TRK_ERR</em>&nbsp;</td><td>
Tracking error, the position error is too large. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a400a275"></a><!-- doxytag: member="FAULT_I2T_ERR" ref="a400a275" args="" -->FAULT_I2T_ERR</em>&nbsp;</td><td>
Current limited by i^2t algorithm. </td></tr>
</table>
</dl>

<p>
Definition at line <a class="el" href="CML__AmpDef_8h-source.html#l00652">652</a> of file <a class="el" href="CML__AmpDef_8h-source.html">CML_AmpDef.h</a>.    </td>
  </tr>
</table>
<a class="anchor" name="a397"></a><!-- doxytag: member="CML_AmpDef.h::AMP_MODE" ref="a397" 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">enum <a class="el" href="CML__AmpDef_8h.html#a397">AMP_MODE</a>          </td>
        </tr>
      </table>
    </td>
  </tr>
</table>
<table cellspacing="5" cellpadding="0" border="0">
  <tr>
    <td>
      &nbsp;
    </td>
    <td>

<p>
This enumeration is used to specify the mode of operation of the amplifier. 
<p>
The amplifier mode of operation specifies the control method to be used by the amplifier, as well as the source of input to that control structure.<p>
The amplifier can be controlled in servo mode or in microstepping mode. When running in servo mode the amplifier uses up to three nested control loops. These loops control current, velocity and position. In microstepping mode the low level current loop is retained, but the upper level loops are replaced with a simple position command.<p>
The command source of the amplifier will normally be the CANopen network itself. However, the amplifier also supports several low level control methods in which commands are received through analog or digital input pins, or even from an internal function generator.<p>
Normally, only the CANopen modes of operation will be used when running over the CANopen network. These modes are AMPMODE_CAN_PROFILE, AMPMODE_CAN_VELOCITY, AMPMODE_CAN_HOMING, and AMPMODE_CAN_PVT. Each of these modes can be used on either servo or microstepping drives. It's typically not necessary to specify the type of control method (servo or microstepping) to be used with these modes as it can be determined by the type of amplifier being used. Servo amplifier's (such as Accelnet) default to servo mode, and microstepping amplifiers (such as Stepnet) will default to microstepping mode. If this default is not appropriate for the application, then the control method may be forced by ORing in one of the following two values; AMPMODE_CAN_SERVO and AMPMODE_CAN_USTEP.<dl compact><dt><b>Enumerator: </b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" name="a397a193"></a><!-- doxytag: member="AMPMODE_CAN_PROFILE" ref="a397a193" args="" -->AMPMODE_CAN_PROFILE</em>&nbsp;</td><td>
In this mode the CANopen network sends move commands to the amplifier, and the amplifier uses it's internal trajectory generator to perform the moves. 
<p>
This mode conforms to the CANopen device profile for motion control (DSP-402) profile position mode. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a194"></a><!-- doxytag: member="AMPMODE_CAN_VELOCITY" ref="a397a194" args="" -->AMPMODE_CAN_VELOCITY</em>&nbsp;</td><td>
In this mode the CANopen network commands target velocity values to the amplifier. 
<p>
The amplifier uses it's programmed acceleration and deceleration values to ramp the velocity up/down to the target.<p>
Note that support for profile velocity mode was added in amplifier firmware version 3.06. Earlier versions of firmware will report an error if this mode is selected. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a195"></a><!-- doxytag: member="AMPMODE_CAN_TORQUE" ref="a397a195" args="" -->AMPMODE_CAN_TORQUE</em>&nbsp;</td><td>
In this mode the CANopen network commands torque values to the amplifier. 
<p>
Note that support for profile torque mode was added in amplifier firmware version 3.34. Earlier versions of firmware will report an error if this mode is selected. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a196"></a><!-- doxytag: member="AMPMODE_CAN_HOMING" ref="a397a196" args="" -->AMPMODE_CAN_HOMING</em>&nbsp;</td><td>
This mode is used to home the motor (i.e. 
<p>
find the motor zero position) under the control of the CANopen network. This mode conforms to the CANopen device profile for motion control (DSP-402) homing mode. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a197"></a><!-- doxytag: member="AMPMODE_CAN_PVT" ref="a397a197" args="" -->AMPMODE_CAN_PVT</em>&nbsp;</td><td>
In this mode the CANopen master calculates the motor trajectory and streams it over the CANopen network as a set of points that the amplifier interpolated between. 
<p>
This mode conforms to the CANopen device profile for motion control (DSP-402) interpolated position mode. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a198"></a><!-- doxytag: member="AMPMODE_CAN_SERVO" ref="a397a198" args="" -->AMPMODE_CAN_SERVO</em>&nbsp;</td><td>
This value may be combined with one of the standard CAN control modes to specify that servo control should be used. 
<p>
This is most often specified when a microstepping amplifier (such as the Stepnet) is to be used in servo mode. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a199"></a><!-- doxytag: member="AMPMODE_CAN_USTEP" ref="a397a199" args="" -->AMPMODE_CAN_USTEP</em>&nbsp;</td><td>
This value may be combined with one of the standard CAN control modes to specify that microstepping control should be used. 
<p>
This is most often specified when a servo amplifier (such as the Accelnet) is to be used in microstepping mode. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a200"></a><!-- doxytag: member="AMPMODE_DISABLED" ref="a397a200" args="" -->AMPMODE_DISABLED</em>&nbsp;</td><td>
Disable the amplifier. 
<p>
In this mode, none of the controls loops are running, and no voltage will be applied across the motor windings. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a201"></a><!-- doxytag: member="AMPMODE_PROG_CRNT" ref="a397a201" args="" -->AMPMODE_PROG_CRNT</em>&nbsp;</td><td>
Current mode in which the command to the current loop is simply a static value that may be programmed over the serial port or CANopen network. 
<p>
The programmed current value can be set with the function <a class="el" href="classAmp.html#z17_6">Amp::SetCurrentProgrammed</a> </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a202"></a><!-- doxytag: member="AMPMODE_AIN_CRNT" ref="a397a202" args="" -->AMPMODE_AIN_CRNT</em>&nbsp;</td><td>
Current mode in which the command to the current loop is derived from the analog input. 
<p>
Note that some amplifier models do not support an analog input. Please refer to the amplifier datasheet to determine if this mode is applicable. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a203"></a><!-- doxytag: member="AMPMODE_DIN_CRNT" ref="a397a203" args="" -->AMPMODE_DIN_CRNT</em>&nbsp;</td><td>
Current mode in which the command to the current loop is derived from the digital input pins. 
<p>
One or two of the digital inputs are used as a PWM input command which is interpreted as a current command. Please refer to the amplifier data sheet to determine which input(s) should be used in this mode. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a204"></a><!-- doxytag: member="AMPMODE_FGEN_CRNT" ref="a397a204" args="" -->AMPMODE_FGEN_CRNT</em>&nbsp;</td><td>
Current mode in which the command to the current loop is derived from the internal function generator. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a205"></a><!-- doxytag: member="AMPMODE_PROG_VEL" ref="a397a205" args="" -->AMPMODE_PROG_VEL</em>&nbsp;</td><td>
Velocity mode in which the command to the velocity loop is simply a static value that may be programmed over the serial or CANopen network. 
<p>
The programmed velocity value can be set with the function <a class="el" href="classAmp.html#z17_8">Amp::SetVelocityProgrammed</a> </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a206"></a><!-- doxytag: member="AMPMODE_AIN_VEL" ref="a397a206" args="" -->AMPMODE_AIN_VEL</em>&nbsp;</td><td>
Velocity mode in which the command to the velocity loop is derived from the analog input. 
<p>
Note that some amplifier models do not support an analog input. Please refer to the amplifier datasheet to determine if this mode is applicable. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a207"></a><!-- doxytag: member="AMPMODE_DIN_VEL" ref="a397a207" args="" -->AMPMODE_DIN_VEL</em>&nbsp;</td><td>
Velocity mode in which the command to the velocity loop is derived from the digital input pins. 
<p>
One or two of the digital inputs are used as a PWM input command which is interpreted as a velocity command. Please refer to the amplifier data sheet to determine which input(s) should be used in this mode. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a208"></a><!-- doxytag: member="AMPMODE_FGEN_VEL" ref="a397a208" args="" -->AMPMODE_FGEN_VEL</em>&nbsp;</td><td>
Velocity mode in which the command to the velocity loop is derived from the internal function generator. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a209"></a><!-- doxytag: member="AMPMODE_DIN_POS" ref="a397a209" args="" -->AMPMODE_DIN_POS</em>&nbsp;</td><td>
Position mode in which the command to the position loop is derived from the digital input pins. 
<p>
Two of the digital inputs can be configured as either a master encoder input (quadrature input), a step &amp; direction input, or a step up / step down input. Please refer to the amplifier data sheet to determine which inputs should be used in this mode. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a210"></a><!-- doxytag: member="AMPMODE_FGEN_POS" ref="a397a210" args="" -->AMPMODE_FGEN_POS</em>&nbsp;</td><td>
Position mode in which the command to the position loop is derived from the internal function generator. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a211"></a><!-- doxytag: member="AMPMODE_CAM_POS" ref="a397a211" args="" -->AMPMODE_CAM_POS</em>&nbsp;</td><td>
Position mode in which the command to the position loop is derived from CAM tables located in the amplifiers memory. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a212"></a><!-- doxytag: member="AMPMODE_DIN_USTEP" ref="a397a212" args="" -->AMPMODE_DIN_USTEP</em>&nbsp;</td><td>
Microstepping mode in which the commanded position is derived from the digital input pins. 
<p>
Two of the digital inputs can be configured as either a master encoder input (quadrature input), a step &amp; direction input, or a step up / step down input. Please refer to the amplifier data sheet to determine which inputs should be used in this mode. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a213"></a><!-- doxytag: member="AMPMODE_FGEN_USTEP" ref="a397a213" args="" -->AMPMODE_FGEN_USTEP</em>&nbsp;</td><td>
Microstepping mode in which the commanded position is derived from the internal function generator. </td></tr>
<tr><td valign="top"><em><a class="anchor" name="a397a214"></a><!-- doxytag: member="AMPMODE_DIAG_USTEP" ref="a397a214" args="" -->AMPMODE_DIAG_USTEP</em>&nbsp;</td><td>
Diagnostic microstepping mode. 
<p>
This is a very simple microstepping mode that can be used for motor setup and testing. A constant motor current is set by the programmed current value, and the motor phase is microstepped at a fixed rate. The position and velocity loops are not used in this mode. </td></tr>
</table>
</dl>

<p>
Definition at line <a class="el" href="CML__AmpDef_8h-source.html#l00378">378</a> of file <a class="el" href="CML__AmpDef_8h-source.html">CML_AmpDef.h</a>.    </td>
  </tr>