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.

The Filter object contains up to 5 gain tables. For information, see Gain Tables.

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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

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.

Postfilter Methods
	meiFilterPostfilterGet	Reads postfilter information.
	meiFilterPostfilterSet	Writes postfilter information.
	meiFilterPostfilterSectionGet	Reads postfilter section information.
	meiFilterPostfilterSectionSet	Writes postfilter section information.

Data Types

	MPIFilterCoeff
	MPIFilterConfig / MEIFilterConfig
	MEIFilterForm
	MPIFilterGain
	MEIFilterGainIndex
	MEIFilterGainPID
	MEIFilterGainPIDCoeff
	MEIFilterGainPIV
	MEIFilterGainPIVCoeff
	MEIFilterGainTypePID
	MEIFilterGainTypePIV
	MPIFilterMessage
	MEIFilterType
	MEIPostfilterSection

Constants

	MPIFilterCoeffCOUNT_MAX
	MPIFilterGainCOUNT_MAX
	MEIMaxBiQuadSections