userLabel |
This value consists of 16 characters and is used to label the filter object for user identification purposes. The userLabel field is NOT used by the controller. |
Algorithm |
This value defines the closed-loop control algorithm that the controller's filter object will execute every servo cycle. See MEIXmpAlgorithm. |
Axis
[MEIXmpFilterAxisInputs] |
This array defines the axis (pointer to the axis) and coefficient for the position input into the filter. The array size is MEIXmpFilterAxisInputs. The input to the filter is the position error of the axis, which is multiplied by the coefficient defined by the Axis array. See MEIXmpAxisInput. |
*VelPtr |
Pointer to a velocity value for algorithms that require a velocity input (such as the PIV algorithm). |
GainSwitchType |
This value specifies the switch type for the gain table index. See MEIXmpSwitchType. The switch type MEIXmpSwitchTypeMOTION_ONLY is supported by standard firmware. All other gain switch types require custom firmware. |
GainDelay |
This value specifies a delay between when the gain switch conditions are met and when the gain table index value is updated. This allows the gain table switching to be delayed. Units are in seconds. This feature requires custom firmware; it is NOT available in standard firmware. |
GainWindow |
This value specifies the position window between when the gain switch conditions are met and when the gain table index value is updated. This allows the gain table switching to be delayed. It is only valid with the MEIXmpSwitchTypeWINDOW gain switch type. Units are in raw position counts. This feature requires custom firmware; it is NOT available in standard firmware. |
PPISwitchType |
This value specifies the switch type for the P/PI velocity mode bit. This value is for legacy analog controllers and is not available for SynqNet controllers. This feature requires custom firmware; it is NOT available in standard firmware. |
PPIMode |
This value specifies the mode for the P/PI velocity loop calculation and P/PI switch type. See MEIXmpPPIMode. |
PPIDelay |
This value specifies a delay between when the P/PI switch conditions are met and when the P/PI bit is updated. This allows the P/PI switching to be delayed. Units are in seconds. This value is for legacy analog controllers and is not available for SynqNet controllers. This feature requires custom firmware; it is NOT available in standard firmware. |
PPIWindow |
This value specifies the position window between when the P/PI switch conditions are met and when the P/PI bit is updated. It allows the P/PI switching to be delayed. Units are in raw position counts. This feature requires custom firmware; it is NOT available in standard firmware. |
ResetIntegratorConfig |
This value specifies the mode (enabled or disabled) for the reset integrator feature. This value is for legacy analog controllers and is not available for SynqNet controllers. This feature requires custom firmware; it is NOT available in standard firmware. |
ResetIntegratorDelay |
This value specifies a time duration to force the integrator sum to zero, after the command trajectory is complete and the motor is settling. Units are in seconds. This feature requires custom firmware; it is NOT available in standard firmware. |
PostFilterForm |
This value specifies the post-filter type applied to the closed-loop control algorithm output. The post-filter parameters are specified by the PostFilter. See MEIXmpPostFilterForm.
Although the postfilter may be configured through this structure, it is strongly recommended that users use the meiFilterPostfilterGet(...) and meiFilterPostfilterSet(...) methods. |
PostFilter |
This structure specifies the configuration for the filter's postfilter (type, length, and values for the postfilter coefficients).
Postfilters are used to digitally filter the output of a control loop. One common use for postfilters is the compensation of system resonances.
Although the postfilter may be configured through this structure, it is strongly recommended that users use the meiFilterPostfilterGet(...) and meiFilterPostfilterSet(...) methods. |