MPIFilterConfig / MEIFilterConfig

MPIFilterConfig 
 
  
typedef struct MPIFilterConfig {
    long		gainIndex;
    MPIFilterGain	gain[MPIFilterGainCOUNT_MAX];
    long		sercosGainIdnMap[MPIFilterCoeffCOUNT_MAX];

    MPIObjectMap	axisMap;
    MPIObjectMap	motorMap;
} MPIFilterConfig;
Description
  gainIndex gain table index. Gain tables number 0 to MPIFilterGainCOUNT_MAX -1 (MPIFilterGainCOUNT_MAX = 4).
  gain see MPIFilterGain
  sercosGainIdnMap Map of Sercos servo loop gains. MPIFilterCoeffCOUNT_MAX coefficients in the map (MPIFilterCoeffCOUNT_MAX = 20).
  axisMap see MPIObjectMap
  motorMap see MPIObjectMap

 

MEIFilterConfig
  
typedef struct MEIFilterConfig {
    MEIXmpAlgorithm	Algorithm;

    MEIXmpAxisInput	Axis[MEIXmpFilterAxisInputs];

    long		*VelPositionPtr;	
    long		*AuxInput[MEIXmpFilterAuxInputs];

    MEIXmpSwitchType	 GainSwitchType;
    float	   	 GainDelay;
    long		 GainWindow;
    MEIXmpSwitchType 	 PPISwitchType;
    MEIXmpPPIMode 	 PPIMode;
    float		 PPIDelay;
    long		 PPIWindow;
    MEIXmpIntResetConfig ResetIntegratorConfig;
    float		 ResetIntegratorDelay;

    MEIXmpPostFilter	 PostFilter;
} MEIFilterConfig;
Description
  Algorithm This value defines the algorithm that the filter is executing every servo cycle.
  Axis[MEIXmpFilterAxisInputs] This array defines the axis (pointer to the axis) and coefficient for the position input into the filter. The input to the filter is the position error of the axis, which is multiplied by the coefficient defined by the Axis array.
  VelPositionPtr Velocity position pointer to an encoder input for algorithms that require a velocity encoder position input (such as the PIV algorithm).
  AuxInput[MEIXmpFilterAuxInputs] This array is a place holder for additional filter inputs from analog sources. This is currently not supported and is reserved for future use.
  GainSwitchType Value to define the gain table switch type. Not implemented in standard firmware.
  GainDelay Custom Delay not implemented in standard firmware.
  GainWindow Custom Delay not implemented in standard firmware.
  PPISwitchType Value to define the gain switch type for PPI mode. Not implemented in standard firmware.
  PPIMode Value to define the PPI switch mode. Not implemented in standard firmware.
  PPIDelay Custom Delay not implemented in standard firmware.
  PPIWindow Custom Window not implemented in standard firmware.
  ResetIntegratorConfig Value to define the integrator's reset configuration. Not supported in standard firmware.
  ResetIntegratorDelay Value to define the integrator's reset delay. Not supported in standard firmware.
  PostFilter This array defines the configuration for the filter's post filter (the type, the length and values for the post filter coefficients).
See Also