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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: PosLoopConfig 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>PosLoopConfig Struct Reference</h1><!-- doxytag: class="PosLoopConfig" --><a href="structPosLoopConfig-members.html">List of all members.</a><hr><a name="_details"></a><h2>Detailed Description</h2>This structure holds the position loop configuration parameters specific to the Copley amplifier. <p>The position 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>The amplifier member functions <a class="el" href="classAmp.html#z6_0">Amp::GetPosLoopConfig</a> and <a class="el" href="classAmp.html#z6_1">Amp::SetPosLoopConfig</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#l00121">121</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="structPosLoopConfig.html#a0">PosLoopConfig</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="PosLoopConfig::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="structPosLoopConfig.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="PosLoopConfig::kvff" ref="o1" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPosLoopConfig.html#o1">kvff</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Velocity feed forward. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o2"></a><!-- doxytag: member="PosLoopConfig::kaff" ref="o2" args="" --><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPosLoopConfig.html#o2">kaff</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Acceleration feed forward. <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="structPosLoopConfig.html#o3">scale</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Scaling factor. <a href="#o3"></a><br></td></tr></table><hr><h2>Constructor & Destructor Documentation</h2><a class="anchor" name="a0"></a><!-- doxytag: member="PosLoopConfig::PosLoopConfig" 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="structPosLoopConfig.html">PosLoopConfig</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 servo parameters to zero. <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00142">142</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="o3"></a><!-- doxytag: member="PosLoopConfig::scale" ref="o3" 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="structPosLoopConfig.html#o3">scale</a> </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Scaling factor. <p>This is a multiplier that is applied to the output of the position loop. It's scaled up by 100, so setting the scaling factor to 1234 would multiply the output of the loop by 12.34. This parameter was added in firmware version 3.30. For any earlier version it will default to 100 (scale by 1.0). <p>Definition at line <a class="el" href="CML__AmpStruct_8h-source.html#l00138">138</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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