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.
| Error Messages |
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
Constants
| MPIFilterCoeffCOUNT_MAX | ||
| MPIFilterGainCOUNT_MAX | ||
| MEIMaxBiQuadSections |