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mpiFilterIntergratorReset

Declaration

 
long mpiFilterIntegratorReset(MPIFilter filter)
 

Required Header: stdmpi.h

Description

mpiFilterIntergratorReset resets the integrators of filter.

 
Return Values
MPIMessageOK  
MPIFilterMessageINVALID_ALGORITHM  

Sample Code

/* Enable the amplifier for every motor attached to a motion supervisor */
void motionAmpEnable(MPIMotion	motion) 
{
	MPIControl		control;
	MPIAxis			axis;
	MPIMotor		motor;
	MPIFilter		filter;
	MPIObjectMap	map;
	MPIObjectMap	motionMotorMap;
	long			motorIndex;
	long			filterIndex;
	long			returnValue;
	double			position;
	long			enableState;


	/* Get the controller handle */
	control = mpiMotionControl(motion);

	for (axis =  mpiMotionAxisFirst(motion);
		 axis != MPIHandleVOID;
		 axis =  mpiMotionAxisNext(motion, axis)) {

		/* Get the object map for the motors */
		returnValue = mpiAxisMotorMapGet(axis, &map);
		msgCHECK(returnValue);

		/* Add map to motionMotorMap */
		motionMotorMap |= map;
	}

	/* For every motor ... */
	for (motorIndex = 0; motorIndex < MEIXmpMAX_Motors; motorIndex++) {

		if (mpiObjectMapBitGET(motionMotorMap, motorIndex)) {

			/* Create motor handle */
			motor = mpiMotorCreate(control, motorIndex);
			msgCHECK(mpiMotorValidate(motor));

			/* Get the state of the amplifier */
			returnValue = mpiMotorAmpEnableGet(motor, &enableState);
			msgCHECK(returnValue);

			/* If the amplifier is disabled ... */
			if (enableState == FALSE) {

				/* For every axis */
				for (axis =  mpiMotionAxisFirst(motion);
					 axis != MPIHandleVOID;
					 axis =  mpiMotionAxisNext(motion, axis)) {

					/* Get the object map for the motors */
					returnValue = mpiAxisMotorMapGet(axis, &map);
					msgCHECK(returnValue);

					/* If axis is attached to motor ... */
					if (mpiObjectMapBitGET(map, motorIndex)) {

						/* Get the actual position of the axis */
						returnValue = mpiAxisActualPositionGet(axis, &position);
						msgCHECK(returnValue);

						/* Set command position equal to actual position */
						returnValue = mpiAxisCommandPositionSet(axis, position);
						msgCHECK(returnValue);
					}
				}

				/* Get the object map for the filters */
				returnValue = mpiMotorFilterMapGet(motor, &map);
				msgCHECK(returnValue);

				/* For every filter ... */
				for (filterIndex = 0;
					 filterIndex < MEIXmpMAX_Filters;
					 filterIndex++) {

					if (mpiObjectMapBitGET(map, filterIndex)) {

						/* Create filter handle */
						filter = mpiFilterCreate(control, filterIndex);
						msgCHECK(mpiFilterValidate(filter));

						/* Reset integrator */
						returnValue = mpiFilterIntegratorReset(filter);
						msgCHECK(returnValue);

						/* Delete filter handle */
						returnValue = mpiFilterDelete(filter);
						msgCHECK(returnValue);
					}
				}

				/* Enable the amplifier */
				returnValue = mpiMotorAmpEnableSet(motor, TRUE);
				msgCHECK(returnValue);
			}

			/* Delete motor handle */
			returnValue = mpiMotorDelete(motor);
			msgCHECK(returnValue);
		}
	}
}

Troubleshooting

If an axis is not in an error state and the filter associated with that axis' motor has a non-zero integration term, then it is very likely that the integrator has built up a substantial integral term. Enabling the motor's amplifier when this has happened could cause the motor to jump with enormous force. Use mpiFilterIntegratorReset to reset the integrator before enabling the motor's amplifier to prevent this kind of jump.

Another condition that can cause the motor to jump upon enabling its amplifier is that the command position of the axis is not equal to the actual position of the axis. To prevent this situation, one should use mpiAxisActualPositionGet and mpiAxisCommandPositionSet. Please refer to this functions for a more in depth discussion.

See Also

MPIFilter | MEIFilterConfig | MEIFilterGainPID | MEIFilterGainPIV
mpiAxisActualPositionGet | mpiAxisCommandPositionSet

 

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