MPIMotorConfig / MEIMotorConfig

MPIMotorConfig

 

 
typedef struct MPIMotorConfig {
    MPIMotorType    type;

    /* Event configuration, ordered by MPIEventType */
    MPIMotorEventConfig		event[MPIEventTypeMOTOR_LAST];

    long    ampEnablePolarity;	/* FALSE => active lo, else active hi */
    long    encoderPhase;	/* 0 => normal, else reversed */
    long    captureOnChange;	/* 0 => normal, else enabled */

    float            abortDelay;
    float            enableDelay;
    MPIMotorBrake    brake;

    MPIObjectMap     filterMap;

    MPIMotorIo	      io;
} MPIMotorConfig;
Description
  event Structure to configure various Motor Events. See MPIMotorEventConfig description.
  ampEnablePolarity Configures Amplifier Enable Output polarity. For active low signal = FALSE, for Active High = TRUE
  encoderPhase Configures encoder phasing. Normal (A rising, B rising, A falling, etc.) = 0, Reversed = non-zero.
  captureOnChange Configures Captures objects for this motor to Capture on Rising and Falling transitions.
  abortDelay Sets time value, in seconds, to delay Abort action after Event has occured.
  enableDelay Sets time value, in seconds, to delay Enabling of the amplifier after commanded.
  brake Settings for tying a brake enable output to the amp enable output.
  filterMap Get/Set a map of Filter Objects to which the Motor is mapped. Default mapping is Filter 0 to Motor 0, Fitler 1 to Motor 1, etc. See also MPIObjectMap description in Object section.
  io Structure to read the Motor input and set Motor output values.. See MPIMotorIo description.

 

MEIMotorConfig

 

 
typedef struct MEIMotorConfig {
    MEIMotorEncoder      Encoder[MEIXmpMotorEncoders];
    MEIXmpIO             StatusOutput[MEIXmpMotorStatusOutputs];
    MEIMotorTransceiver  Transceiver[MEIXmpMotorTransceivers];
    MEIMotorTransceiver  TransceiverExtended[MEIXmpMotorTransceiversExtended];
    long                 UserOutInvert;    /* Opto Polarity */
    MEIMotorStepper      Stepper;
    long                 EncoderTermination;
    long                 SIM4;
    MEIMotorDacConfig    Dac;
    long                 pulseEnable;     /* 0 => normal, else pulse output */
    long                 pulseWidth;      /* 0.1 to 25.5 microseconds */

    MEIXmpCommutationBlock        Commutation; /* read-only from field Theta to end*/
    MEIXmpLimitData               Limit[MEIXmpLimitLAST];
    MEIXmpMotorTorqueLimitConfig  TorqueLimitConfig;
    MEIMotorDisableAction         disableAction;
    long                          AmpDisableWithLSR; /* TRUE= XMP disables amp when LSR is active */
    MEIMotorFilterInput           FilterInput[MEIXmpMotorFilterInputs];
} MEIMotorConfig;
   
Description
  Encoder Structure to configure Motor Encoder type and parameters
  Transceiver Structure to configure Motor Transceivers. See MEIMotorTransceiver description.
  TransceiverExtended Structure to configure Motor Extended Transceivers. See MEIMotorTransceiver description.
  UserOutInvert Inverts the User Opto Polarity when wired as an Output.
  Stepper Structure to configure Motor Stepper parameters. See MEIMotorStepper description.
  EncoderTermination Enables encoder termination when set to 1. Enables 100 ohm resistor between complementary encoder channels. Set to 0 (zero) to disable.
  SIM4 Enables use of SIM4 scale interpolation module when set to 1. Set to 0 (zero) to disable.
  Dac Structure that includes Command and Auxiliary DAC configuration for each motor. See MEIMotorDacConfig description.
  pulseEnable Enables the Divide-by-N output pulse. See MEICompareConfig description.
  pulseWidth Sets width of Step pulse. Valid values range from a minimum width of 0.1usec to a maximum width of 25.5usec.
  disableAction

Configures the firmware to set command equal to actual when motor is disabled (default). It can be configured to do nothing when motor is disabled. See MEIMotorDisableAction enum.
  AmpDisableWithLSR

1 - Configures FPGA to disable amp if LSR occurs.
0 - Disables FPGA from disabling amp.
LSR (LATCHED_SOFT_RESET) - results from a host reset, watchdog timeout, or +/- 15V.
See Also mpiMotorConfigGet | mpiMotorConfigSet