ampparam_8cpp-source.html

美国COPLEY驱动器,程序开发工具之一.

<a name="l00355"></a>00355 <span class="comment">/***************************************************************************/</span>
<a name="l00356"></a><a class="code" href="classAmp.html#z2_16">00356</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z2_16">Amp::GetHallState</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> &amp;value )
<a name="l00357"></a>00357 { 
<a name="l00358"></a>00358    <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_HALL_STATE, 0, value ); 
<a name="l00359"></a>00359 }
<a name="l00360"></a>00360 
<a name="l00361"></a>00361 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00362"></a>00362 <span class="comment">/**</span>
<a name="l00363"></a>00363 <span class="comment">  Get the analog reference input voltage.  If the amplifier has an analog</span>
<a name="l00364"></a>00364 <span class="comment">  reference input, it's value will be returned in millivolts.</span>
<a name="l00365"></a>00365 <span class="comment"></span>
<a name="l00366"></a>00366 <span class="comment">  @param value The value will be returned in this variable</span>
<a name="l00367"></a>00367 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00368"></a>00368 <span class="comment">  */</span>
<a name="l00369"></a>00369 <span class="comment">/***************************************************************************/</span>
<a name="l00370"></a><a class="code" href="classAmp.html#z2_17">00370</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z2_17">Amp::GetRefVoltage</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> &amp;value )
<a name="l00371"></a>00371 {
<a name="l00372"></a>00372    <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_ANALOG_REF, 0, value );
<a name="l00373"></a>00373 }
<a name="l00374"></a>00374 
<a name="l00375"></a>00375 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00376"></a>00376 <span class="comment">/**</span>
<a name="l00377"></a>00377 <span class="comment">  Get the high voltage bus voltage in units of 0.1 volts.</span>
<a name="l00378"></a>00378 <span class="comment"></span>
<a name="l00379"></a>00379 <span class="comment">  @param value The value will be returned in this variable</span>
<a name="l00380"></a>00380 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00381"></a>00381 <span class="comment">  */</span>
<a name="l00382"></a>00382 <span class="comment">/***************************************************************************/</span>
<a name="l00383"></a><a class="code" href="classAmp.html#z2_18">00383</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z2_18">Amp::GetHighVoltage</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> &amp;value )
<a name="l00384"></a>00384 {
<a name="l00385"></a>00385    <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_HVREF, 0, value );
<a name="l00386"></a>00386 }
<a name="l00387"></a>00387 
<a name="l00388"></a>00388 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00389"></a>00389 <span class="comment">/**</span>
<a name="l00390"></a>00390 <span class="comment">  Get the current amplifier temperature (degrees C).</span>
<a name="l00391"></a>00391 <span class="comment"></span>
<a name="l00392"></a>00392 <span class="comment">  @param value The value will be returned in this variable</span>
<a name="l00393"></a>00393 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00394"></a>00394 <span class="comment">  */</span>
<a name="l00395"></a>00395 <span class="comment">/***************************************************************************/</span>
<a name="l00396"></a><a class="code" href="classAmp.html#z2_19">00396</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z2_19">Amp::GetAmpTemp</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> &amp;value )
<a name="l00397"></a>00397 {
<a name="l00398"></a>00398    <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_AMPTEMP, 0, value );
<a name="l00399"></a>00399 }
<a name="l00400"></a>00400 
<a name="l00401"></a>00401 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00402"></a>00402 <span class="comment">/**</span>
<a name="l00403"></a>00403 <span class="comment">  Get the raw voltage on the two analog encoder inputs (0.1 millivolt units).</span>
<a name="l00404"></a>00404 <span class="comment">  If the amplifier has analog encoder inputs, then they will be read and </span>
<a name="l00405"></a>00405 <span class="comment">  returned.</span>
<a name="l00406"></a>00406 <span class="comment"></span>
<a name="l00407"></a>00407 <span class="comment">  @param sin The sine input of the analog encoder will be returned here.</span>
<a name="l00408"></a>00408 <span class="comment">  @param cos The cosine input of the analog encoder will be returned here.</span>
<a name="l00409"></a>00409 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00410"></a>00410 <span class="comment">  */</span>
<a name="l00411"></a>00411 <span class="comment">/***************************************************************************/</span>
<a name="l00412"></a><a class="code" href="classAmp.html#z2_20">00412</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z2_20">Amp::GetAnalogEncoder</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> &amp;sin, <a class="code" href="CML__Utils_8h.html#a7">int16</a> &amp;cos )
<a name="l00413"></a>00413 {
<a name="l00414"></a>00414    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_AENC_SIN, 0, sin );
<a name="l00415"></a>00415    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_AENC_COS, 0, cos );
<a name="l00416"></a>00416    <span class="keywordflow">return</span> err;
<a name="l00417"></a>00417 }
<a name="l00418"></a>00418 
<a name="l00419"></a>00419 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00420"></a>00420 <span class="comment">/**</span>
<a name="l00421"></a>00421 <span class="comment">  Get the actual current values read directly from the amplifier's current</span>
<a name="l00422"></a>00422 <span class="comment">  sensors.</span>
<a name="l00423"></a>00423 <span class="comment"></span>
<a name="l00424"></a>00424 <span class="comment">  Note that if the motor wiring is being swapped in software, the U and V</span>
<a name="l00425"></a>00425 <span class="comment">  reading will be swapped.</span>
<a name="l00426"></a>00426 <span class="comment"></span>
<a name="l00427"></a>00427 <span class="comment">  @param u The U winding current will be returned here.</span>
<a name="l00428"></a>00428 <span class="comment">  @param v The V winding current will be returned here.</span>
<a name="l00429"></a>00429 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00430"></a>00430 <span class="comment">  */</span>
<a name="l00431"></a>00431 <span class="comment">/***************************************************************************/</span>
<a name="l00432"></a><a class="code" href="classAmp.html#z2_21">00432</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z2_21">Amp::GetMotorCurrent</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> &amp;u, <a class="code" href="CML__Utils_8h.html#a7">int16</a> &amp;v )
<a name="l00433"></a>00433 {
<a name="l00434"></a>00434    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_CNRT_U, 0, u );
<a name="l00435"></a>00435    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_CRNT_V, 0, v );
<a name="l00436"></a>00436    <span class="keywordflow">return</span> err;
<a name="l00437"></a>00437 }
<a name="l00438"></a>00438 
<a name="l00439"></a>00439 <span class="comment">/***************************************************************************/</span>
<a name="l00440"></a>00440 <span class="comment">/***************************************************************************/</span>
<a name="l00441"></a>00441 <span class="comment">/***************************************************************************/</span>
<a name="l00442"></a>00442 <span class="comment">/***************************************************************************/</span>
<a name="l00443"></a>00443 <span class="comment">/*</span>
<a name="l00444"></a>00444 <span class="comment">   Misc configuration parameters</span>
<a name="l00445"></a>00445 <span class="comment">   */</span>
<a name="l00446"></a>00446 <span class="comment">/***************************************************************************/</span>
<a name="l00447"></a>00447 <span class="comment">/***************************************************************************/</span>
<a name="l00448"></a>00448 <span class="comment">/***************************************************************************/</span>
<a name="l00449"></a>00449 <span class="comment">/***************************************************************************/</span>
<a name="l00450"></a>00450 
<a name="l00451"></a>00451 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00452"></a>00452 <span class="comment">/**</span>
<a name="l00453"></a>00453 <span class="comment">  Set the PWM output mode configuration for the amplifier.</span>
<a name="l00454"></a>00454 <span class="comment">  @param mode The PWM output mode to set</span>
<a name="l00455"></a>00455 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00456"></a>00456 <span class="comment">  */</span>
<a name="l00457"></a>00457 <span class="comment">/***************************************************************************/</span>
<a name="l00458"></a><a class="code" href="classAmp.html#z1_15">00458</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z1_15">Amp::SetPwmMode</a>( <a class="code" href="CML__AmpDef_8h.html#a406">AMP_PWM_MODE</a> mode )
<a name="l00459"></a>00459 {
<a name="l00460"></a>00460    <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a10">Dnld16</a>( OBJID_PWM_MODE, 0, (<a class="code" href="CML__Utils_8h.html#a8">uint16</a>)mode );
<a name="l00461"></a>00461 }
<a name="l00462"></a>00462 
<a name="l00463"></a>00463 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00464"></a>00464 <span class="comment">/**</span>
<a name="l00465"></a>00465 <span class="comment">  Get the current PWM output mode configuration from the amplifier.</span>
<a name="l00466"></a>00466 <span class="comment">  @param mode The mode information will be returned here.</span>
<a name="l00467"></a>00467 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00468"></a>00468 <span class="comment">  */</span>
<a name="l00469"></a>00469 <span class="comment">/***************************************************************************/</span>
<a name="l00470"></a><a class="code" href="classAmp.html#z1_16">00470</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z1_16">Amp::GetPwmMode</a>( <a class="code" href="CML__AmpDef_8h.html#a406">AMP_PWM_MODE</a> &amp;mode )
<a name="l00471"></a>00471 {
<a name="l00472"></a>00472    <a class="code" href="CML__Utils_8h.html#a8">uint16</a> m;
<a name="l00473"></a>00473    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_PWM_MODE, 0, m );
<a name="l00474"></a>00474    mode = (<a class="code" href="CML__AmpDef_8h.html#a406">AMP_PWM_MODE</a>)m;
<a name="l00475"></a>00475    <span class="keywordflow">return</span> err;