MPIMotorConfig / MEIMotorConfig

Definition: MPIMotorConfig

typedef struct MPIMotorConfig {
    MPIMotorType     type;

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

    float           abortDelay;
    float           enableDelay;
    MPIMotorBrake   brake;

    MPIObjectMap    filterMap;

} MPIMotorConfig;

Description

event	Structure to configure various Motor Events. See MPIMotorEventConfig description.
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	Configures the dedicated brake logic. See MPIMotorBrake.
filterMap	Get/Set a map of Filter Objects to which the Motor is mapped. Default mapping is Filter 0 to Motor 0, Filter 1 to Motor 1, etc. See also MPIObjectMap description in Object section.

Definition: MEIMotorConfig

typedef struct MEIMotorConfig {
    char                    userLabel[MEIObjectLabelCharMAX+1]; 
                              /* +1 for NULL terminator */
    MEIMotorDemandMode      demandMode;
    MEIMotorEncoder         Encoder[MEIXmpMotorEncoders];
    MEIMotorStatusOutput    StatusOutput;

    MEIMotorIoConfig        Io[MEIMotorIoConfigIndexLAST];
	
    MEIMotorFaultConfig     faultConfig;

    MEIMotorStepper         Stepper;
    MEIMotorDacConfig       Dac;

    MEIXmpCommutationBlock  Commutation; 
                              /* read-only from field Theta to end */

    MEIXmpLimitData         Limit[MEIXmpLimitLAST];

    MPIAction               nodeFailureAction;
    MPIAction               userFaultAction; 
                              /* see MEISqNodeConfigUserFault{} 
                              structure */
    MEIMotorDisableAction   disableAction;

} MEIMotorConfig;

Required Header: stdmei.h
Change History: Modified in the 03.04.00. Modified in the 03.03.00.

Description

MEIMotorConfig contains configurations for the motor.

userLabel	This field consists of 16 characters and is used to label the motot object for user identification purposes. The userLabel field is NOT used by the controller.
demandMode	The demand mode determines the data type(s) transmitted from the controller to the node for servo control. The default value is automatically configured during SynqNet network initialization, based on the particular node model. The demand mode cannot be changed when the motor’s ampEnable is enabled for safety. See MEIMotorDemandMode description.
Encoder	Structure to configure Motor Encoder type and parameters.
StatusOutput	A structure to configure a motor's digital outputs to monitor axis status bits. Requires custom firmware.
Io	An array of motor I/O configuration structures.
faultConfig	A structure to configure a motor's fault bits. Support for motor fault bits is node/drive specific.
Stepper	Structure to configure Motor Stepper parameters. See MEIMotorStepper description.
Dac	Structure that includes Command and Auxiliary DAC configuration for each motor. See MEIMotorDacConfig description.
Commutation	A structure to configure controller sinusoidal commutation. This structure is controller specific. Please see Sinusoidal Commutation for more details.
Limit	Structure used to configure custom motor limits and events. See User Limits for more information.
nodeFailureAction	Action applied to the motor when a Node failure occurs.
userFaultAction	Action applied to the motor when a User Fault occurs.
disableAction	Used to configure the controller to set the command position equal to the actual position while the motor is disabled.

Sample Code


/* A is the scaling numerator, B is the scaling denominator */
long encoderRatio(MPIMotor motor, long A, long B)
{
    MEIMotorConfig  config;
    long            returnValue;

    returnValue = mpiMotorConfigGet(motor, NULL, &config);

    config.Encoder[0].ratio.A = A;
    config.Encoder[0].ratio.B = B;
    
    if(returnValue == MPIMessageOK)
    {
        returnValue = mpiMotorConfigSet(motor, NULL, &config);
    }
    return returnValue;
}