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MEIXmpAlgorithm
Declaration
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typedef enum {
MEIXmpAlgorithmPID,
MEIXmpAlgorithmPIV,
MEIXmpAlgorithmNONE,
MEIXmpAlgorithmPIV1,
MEIXmpAlgorithmUSER,
} MEIXmpAlgorithm; |
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Required Header: xmp.h |
Description
MEIXmpAlgorithm is an enumeration for the closed-loop servo control algorithm types. The controller executes the closed-loop control algorithm every sample period and calculates the demand output to the drive based on the command trajectory input and position feedback. This is a low-level enumeration defined by the controller firmware. It is controller-specific and subject to change in future releases.
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| MEIXmpAlgorithmPID |
Closed-loop position control algorithm with Proportional, Integral, and Derivative terms. This is the default option for controller firmware. |
| MEIXmpAlgorithmPIV |
Closed-loop position and velocity control algorithm. Contains Proportional and Integral terms for the position and velocity loops, and a Derivative term for the position loop. |
| MEIXmpAlgorithmNONE |
No algorithm is active in the controller. This is useful for axes/motors that do not use closed-loop control. Examples are steppers and open-loop torque control. If closed-loop control is not needed, use NONE to disable the controller's calculations, which will reduce the controller's load and increase its performance. |
| MEIXmpAlgorithmPIV1 |
Custom closed-loop position and velocity control algorithm. Requires custom controller firmware. |
| MEIXmpAlgorithmUSER |
Reserved for future use. |
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See Also
mpiFilterConfigGet | mpiFilterConfigSet | Servo Tuning
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