Filter Objects

Introduction  
 

A Filter object manages a single filter on a controller. It represents the control algorithm used to control a motor in a closed-loop system. The Filter contains an algorithm, a set of coefficients, inputs, and an output. Its primary responsibility is to take the difference between the command and actual positions and then calculate the output based on the control algorithm and coefficients.

For simple systems, there is a one-to-one relationship between the Axis, Filter, and Motor objects.

Methods
Create, Delete, Validate Methods
  mpiFilterCreate Create Filter object
  mpiFilterDelete Delete Filter object
  mpiFilterValidate Validate Filter object
     
Configuration and Information Methods
  mpiFilterConfigGet Get Filter configuration
  mpiFilterConfigSet Set Filter configuration
  mpiFilterFlashConfigGet Get flash configuration for Filter
  mpiFilterFlashConfigSet Set flash configuration for Filter
  mpiFilterGainGet Get gain coefficients
  mpiFilterGainSet Set current gain index
  mpiFilterGainIndexGet Get current gain index
  mpiFilterGainIndexSet Set current gain index
  mpiFilterStatus Get Filter's status
     
Memory Methods
  mpiFilterMemory Get address to Filter memory
  mpiFilterMemoryGet Copy data from Filter memory to application memory
  mpiFilterMemorySet Copy data from application memory to Filter memory
     
Relational Methods
  mpiFilterAxisMapGet Get object map of axes associated with Filter
  mpiFilterAxisMapSet Set axes associated with Filter
  mpiFilterControl Return handle of Control that is assoiciated with Filter
  mpiFilterMotorMapGet Get object map of Motors associated with Filter
  mpiFilterMotorMapSet Set Motors to be associated with Filter
  mpiFilterNumber Get index of Filter (for Control list)
     
Action Methods
  mpiFilterIntergratorReset Reset the integrators of filter.
     

Data Types
  MPIFilterCoeff  
  MPIFilterConfig / MEIFilterConfig  
  MPIFilterGain  
  MEIFilterGainIndex  
  MEIFilterGainPID  
  MEIFilterGainPIDCoeff  
  MEIFilterGainPIV  
  MEIFilterGainPIVCoeff  
  MEIFilterGainSercos  
  MEIFilterGainSercosCoeff  
  MPIFilterMessage  
     
Constants
  MPIFilterCoeffCOUNT_MAX  
  MPIFilterGainCOUNT_MAX