MEIXmpSwitchType

Declaration

	typedef enum { MEIXmpSwitchTypeNONE, MEIXmpSwitchTypeMOTION_ONLY, MEIXmpSwitchTypeWINDOW, MEIXmpSwitchTypeUSER, } MEIXmpSwitchType;
	Required Header: xmp.h

Description

MEIXmpSwitchType is an enumeration for gain scheduling that determines the gain scheduling mode. Only MEIXmpSwitchTypeNONE and MEIXmpSwitchTypeMOTION_ONLY are available in standard firmware types.

Gain Scheduling is a feature that switches filter gains for the acceleration, deceleration, constant velocity, and idle states of motion. The post filters are not affected by gain scheduling. Standard algorithms are used with gain scheduling (PID, PIV). To change the gain scheduling type from none (uses only the gains in gain table index 0), use MEIFilterConfig. GainSwitchType is set with mpiFilterConfigSet(...).

When setting filter gain parameters using mpiFilterGainGet(...) and mpiFilterGainSet(...), use the gain index value to write to a gain index of your choosing.

MEIXmpSwitchTypeNONE	Default value in factory default firmware. This mode uses mpiFilterGainIndexSet() and mpiFilterGainIndexGet() to manipulate the gain index manually, if desired.
MEIXmpSwitchTypeMOTION_ONLY	Switch gains based on controller's switching algorithm.

MEIFilterGainIndex (go to MEIFilterGainIndex)

MEIFilterGainIndexNO_MOTION	When command velocity = 0
MEIFilterGainIndexACCEL	When command acceleration > 0
MEIFilterGainIndexDECEL	When command acceleration < 0
MEIFilterGainIndexVELOCITY	When command velocity > 0 and command acceleration = 0 The firmware automatically takes care of this switching. Be aware when checking the gain index, that the firmware can change the gain index in real time.

Description

Gain Scheduling is a feature that switches filter gains for the acceleration, deceleration, constant velocity, and idle states of motion. The post filters are not affected by gain scheduling. Standard algorithms are used with gain scheduling (PID, PIV). To change the gain scheduling type from NONE (uses only the gains in gain table index 0), use MEIFilterConfig.GainSwitchType, which is set with mpiFilterConfigSet(...).

Use mpiFilterConfigSet(...) to change MEIFilterConfig.GainSwitchType to one of the MEIXmpSwitchType enumerations to change the gain scheduling mode.