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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: MtrInfo 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>MtrInfo Struct Reference</h1><!-- doxytag: class="MtrInfo" --><a href="structMtrInfo-members.html">List of all members.</a><hr><a name="_details"></a><h2>Detailed Description</h2>Motor information structure. <p>This structure holds information about the motor connected to the amplifier.<p>The amplifier uses the information in this structure when controlling the motor. It is very important that the information provided to the amplifier be as accurate as possible for proper motor control.<p>Use the methods <a class="el" href="classAmp.html#z5_8">Amp::GetMtrInfo</a> and <a class="el" href="classAmp.html#z5_9">Amp::SetMtrInfo</a> to upload / download the information contained in this structure.<p>Note that unlike many amplifier parameters, motor parameters are always stored in non-volatile flash memory.<p><p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00511">511</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="structMtrInfo.html#a0">MtrInfo</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Motor info structure 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="MtrInfo::type" ref="o0" args="" --><a class="el" href="CML__Utils_8h.html#a8">uint16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o0">type</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Motor type. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o1"></a><!-- doxytag: member="MtrInfo::mfgName" ref="o1" args="[COPLEY_MAX_STRING]" -->char </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o1">mfgName</a> [COPLEY_MAX_STRING]</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Name of the motor manufacturer. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o2"></a><!-- doxytag: member="MtrInfo::model" ref="o2" args="[COPLEY_MAX_STRING]" -->char </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o2">model</a> [COPLEY_MAX_STRING]</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Motor model number. <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="structMtrInfo.html#o3">poles</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Number of pole pairs (i.e. <a href="#o3"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o4"></a><!-- doxytag: member="MtrInfo::resistance" ref="o4" args="" --><a class="el" href="CML__Utils_8h.html#a8">uint16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o4">resistance</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Motor resistance (10 milliohm units). <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o5"></a><!-- doxytag: member="MtrInfo::inductance" ref="o5" args="" --><a class="el" href="CML__Utils_8h.html#a8">uint16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o5">inductance</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Motor inductance (10 microhenry units). <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o6"></a><!-- doxytag: member="MtrInfo::trqPeak" ref="o6" args="" --><a class="el" href="CML__Utils_8h.html#a10">uint32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o6">trqPeak</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Peak torque (0.01 Newton millimeters). <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o7"></a><!-- doxytag: member="MtrInfo::trqCont" ref="o7" args="" --><a class="el" href="CML__Utils_8h.html#a10">uint32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o7">trqCont</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Continuous torque (0.01 Newton millimeters). <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o8"></a><!-- doxytag: member="MtrInfo::trqConst" ref="o8" args="" --><a class="el" href="CML__Utils_8h.html#a10">uint32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o8">trqConst</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Torque constant (0.01 Newton millimeters / <a class="el" href="classAmp.html">Amp</a>). <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o9"></a><!-- doxytag: member="MtrInfo::velMax" ref="o9" args="" --><a class="el" href="CML__Utils_8h.html#a11">uunit</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o9">velMax</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Max velocity. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o10"></a><!-- doxytag: member="MtrInfo::backEMF" ref="o10" args="" --><a class="el" href="CML__Utils_8h.html#a10">uint32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o10">backEMF</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Back EMF constant (10 millivolts / KRPM). <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o11"></a><!-- doxytag: member="MtrInfo::inertia" ref="o11" args="" --><a class="el" href="CML__Utils_8h.html#a10">uint32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o11">inertia</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Inertia. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o12"></a><!-- doxytag: member="MtrInfo::tempSensor" ref="o12" args="" -->bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o12">tempSensor</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Motor has a temperature sensor (true/false). <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o13"></a><!-- doxytag: member="MtrInfo::mtrReverse" ref="o13" args="" -->bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o13">mtrReverse</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Reverse motor wiring if true. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o14"></a><!-- doxytag: member="MtrInfo::encReverse" ref="o14" args="" -->bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o14">encReverse</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Reverse encoder direction if true. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o15"></a><!-- doxytag: member="MtrInfo::hallType" ref="o15" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o15">hallType</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Type of hall sensors on motor. See documentation for details. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o16"></a><!-- doxytag: member="MtrInfo::hallWiring" ref="o16" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o16">hallWiring</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Hall wiring code, see documentation for details. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o17"></a><!-- doxytag: member="MtrInfo::hallOffset" ref="o17" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o17">hallOffset</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Hall offset (degrees). <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o18"></a><!-- doxytag: member="MtrInfo::hasBrake" ref="o18" args="" -->bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o18">hasBrake</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Motor has a brake if true. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o19"></a><!-- doxytag: member="MtrInfo::stopTime" ref="o19" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o19">stopTime</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Delay (milliseconds) between disabling amp & applying brake During this time the amp will attempt to actively stop motor. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o20"></a><!-- doxytag: member="MtrInfo::brakeDelay" ref="o20" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o20">brakeDelay</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Delay (milliseconds) between applying brake & disabling PWM. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o21"></a><!-- doxytag: member="MtrInfo::brakeVel" ref="o21" args="" --><a class="el" href="CML__Utils_8h.html#a11">uunit</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o21">brakeVel</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Velocity below which brake will be applied. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o22"></a><!-- doxytag: member="MtrInfo::encType" ref="o22" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o22">encType</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Encoder type. See documentation for details. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o23"></a><!-- doxytag: member="MtrInfo::ctsPerRev" ref="o23" args="" --><a class="el" href="CML__Utils_8h.html#a9">int32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o23">ctsPerRev</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Encoder counts / revolution (rotory motors only). <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o24"></a><!-- doxytag: member="MtrInfo::encUnits" ref="o24" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o24">encUnits</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Encoder units (linear motor only). <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o25"></a><!-- doxytag: member="MtrInfo::encRes" ref="o25" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o25">encRes</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Encoder resolution (encoder units / count) - linear motors only. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o26"></a><!-- doxytag: member="MtrInfo::eleDist" ref="o26" args="" --><a class="el" href="CML__Utils_8h.html#a9">int32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o26">eleDist</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Motor electrical distance (encoder units / electrical phase) - linear only. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o27"></a><!-- doxytag: member="MtrInfo::mtrUnits" ref="o27" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o27">mtrUnits</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Motor units (used by CME program). <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o28"></a><!-- doxytag: member="MtrInfo::stepsPerRev" ref="o28" args="" --><a class="el" href="CML__Utils_8h.html#a9">int32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o28">stepsPerRev</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Microsteps / motor rotation (used for Stepnet amplifiers). <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o29"></a><!-- doxytag: member="MtrInfo::encShift" ref="o29" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o29">encShift</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Analog Encoder shift value (used only with Analog encoders). <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o30"></a><!-- doxytag: member="MtrInfo::ndxDist" ref="o30" args="" --><a class="el" href="CML__Utils_8h.html#a9">int32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o30">ndxDist</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Index mark distance (reserved for future use). <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="structMtrInfo.html#o31">loadEncType</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Load encoder type (0 for none). <a href="#o31"></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="structMtrInfo.html#o32">loadEncRes</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Load encoder resolution. <a href="#o32"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o33"></a><!-- doxytag: member="MtrInfo::loadEncReverse" ref="o33" args="" -->bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structMtrInfo.html#o33">loadEncReverse</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Reverse load encoder if true. <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="structMtrInfo.html#o34">gearRatio</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Load encoder gear ratio. <a href="#o34"></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="structMtrInfo.html#o35">resolverCycles</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Resolver cycles / rev. <a href="#o35"></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="structMtrInfo.html#o36">hallVelShift</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Hall velocity shift value. <a href="#o36"></a><br></td></tr></table><hr><h2>Constructor & Destructor Documentation</h2><a class="anchor" name="a0"></a><!-- doxytag: member="MtrInfo::MtrInfo" 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="structMtrInfo.html">MtrInfo</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></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td>⌨️ 快捷键说明
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