MEIMotorDemandMode

Definition

typedef enum MEIMotorDemandMode {
   MEIMotorDemandModeTORQUE,
   MEIMotorDemandModeVELOCITY,
   MEIMotorDemandModeANALOG,
   MEIMotorDemandModeANALOG_DUAL_DAC,
} MEIMotorDemandMode;

Change History: Added in the 03.04.00

Description

MEIMotorDemandMode is an enumeration of demand modes for a motor. The demand mode determines the data type(s) transmitted from the controller to the node for servo control.

During SynqNet network initialization, the nodes are discovered and the demand mode is automatically set to a default based on the particular drive model. The number of demand fields (1, 2, or 3) per motor are enabled and connected to the controller’s filter (closed-loop servo algorithm). The user can change the demand mode using mpiMotorConfigGet/Set(…).

Please consult the drive or RMB (Remote Motion Block) documentation to determine which modes are supported.

MEIMotorDemandModeTORQUE	The controller sends a 16-bit motor control value representing torque. For SynqNet drives only.
MEIMotorDemandModeVELOCITY	The controller sends a 16-bit motor control value representing velocity. For SynqNet drives only.
MEIMotorDemandModeANALOG	The controller sends a 16-bit motor control value representing torque. For RMBs only.
MEIMotorDemandModeANALOG_DUAL_DAC	The controller sends two 16-bit motor control values. Use this mode for auxiliary DACs or sinusoidal commutation. For RMBs only.

Remarks

For optimum controller performance with RMBs, set demandMode = MEIMotorDemandModeANALOG_DUAL_DAC ONLY for motors that actually use the auxiliary DACs.

Sample Code

To configure the SynqNet demand mode for velocity:


MEIMotorConfig config;
mpiMotorConfigGet(motor, NULL, &config);

config.demandMode = MEIMotorDemandModeVELOCITY;

mpiMotorConfigSet(motor, NULL, &config);