home3.c -- Hard stop homing then set position to zero
/* home3.c */
/* Copyright(c) 1991-2006 by Motion Engineering, Inc. All rights reserved.
*
* This software contains proprietary and confidential information of
* Motion Engineering Inc., and its suppliers. Except as may be set forth
* in the license agreement under which this software is supplied, use,
* disclosure, or reproduction is prohibited without the prior express
* written consent of Motion Engineering, Inc.
*/
/*
: Hard stop homing then set position to zero
This application demonstrates how to do hard stop homing by looking at
the position error limit. It shows how to set error limit event configuration
then to command velocity move. It will wait until a position error limit is
triggered and set the home position to zero.
This application will change your E_STOP deceleration time to 1 seconds.
Please change this value accordingly.
It is highly recommended to command a very slow move when doing running
this application by changing the VELOCITY, ACCELERATION and DECELERATION.
Warning! This is a sample program to assist in the integration of an
MEI motion controller with your application. It may not contain all
of the logic and safety features that your application requires.
The msgCHECK(...) macros used in the following sample code are intended
to convey our strong belief that ALL error return codes should be checked.
Actual application code should use specific error handling techniques (other
than msgCHECKs) best suited to your internal error recovery methods.
*/
#include <stdlib.h>
#include <stdio.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"
#define MOTION_NUMBER (0)
#define AXIS_NUMBER (0)
#define VELOCITY (1000.0)
#define ACCELERATION (10000.0)
#define DECELERATION (10000.0)
#define POSITION_ERROR_LIMIT (100.00)
/* Parse command line */
long parseCommandLine(int argc,
char *argv[],
MPIControlType *controlType,
MPIControlAddress *controlAddress,
long *axisNumber,
long *motionNumber,
float *positionLimit)
{
long argIndex;
/* Application-specific command line arguments */
Arg argList[] =
{
{ "-errorLimit", ArgTypeFLOAT, positionLimit, },
{ "-motion", ArgTypeLONG, motionNumber, },
{ "-axis", ArgTypeLONG, axisNumber, },
{ NULL, ArgTypeINVALID, NULL, }
};
/* Parse command line for Control type and address */
argIndex =
argControl(argc,
argv,
controlType,
controlAddress);
/* Parse command line for application-specific arguments */
while (argIndex < argc)
{
long argIndexNew;
argIndexNew = argSet(argList, argIndex, argc, argv);
if (argIndexNew <= argIndex)
{
argIndex = argIndexNew;
break;
}
else
{
argIndex = argIndexNew;
}
}
/* Check for unknown/invalid command line arguments */
if ((argIndex < argc) ||
(*axisNumber > (MPIXmpMAX_Axes-1)))
{
mpiPlatformConsole("usage: %s %s\n"
"\t\t[-axis # (0 .. %d)]\n"
"\t\t[-motion # (0 .. %d)]\n",
argv[0],
ArgUSAGE,
MPIXmpMAX_Axes - 1,
MPIXmpMAX_MSs - 1);
exit(MPIMessageARG_INVALID);
}
return 0;
}
/* Create and initialize MPI objects */
void programInit(MPIControl *control,
MPIControlType controlType,
MPIControlAddress *controlAddress,
MPIMotion *motion,
long motionNumber,
MPIAxis *axis,
long axisNumber,
MPIMotor *motor,
MPIEventMgr *eventMgr,
MPINotify *notify)
{
MPIEventMask eventMask;
long returnValue;
/* Create motion controller object */
*control =
mpiControlCreate(controlType, controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize motion controller */
returnValue =
mpiControlInit(*control);
msgCHECK(returnValue);
/* Create motor objects */
*motor =
mpiMotorCreate(*control, axisNumber);
msgCHECK(mpiMotorValidate(*motor));
/* Create axis objects */
*axis =
mpiAxisCreate(*control, axisNumber);
msgCHECK(mpiAxisValidate(*axis));
/* Create motion supervisor object */
*motion =
mpiMotionCreate(*control, motionNumber, NULL);
msgCHECK(mpiMotionValidate(*motion));
/* Attach axis */
returnValue =
mpiMotionAxisAppend(*motion, *axis);
msgCHECK(returnValue);
/* Map axis to motion supervisor on XMP */
returnValue =
mpiMotionAction(*motion, MPIActionMAP);
msgCHECK(returnValue);
/* Create event manager object */
*eventMgr =
mpiEventMgrCreate(*control);
msgCHECK(mpiEventMgrValidate(*eventMgr));
returnValue =
mpiEventMgrFlush(*eventMgr);
msgCHECK(returnValue);
/* Request notification of all events from motion */
mpiEventMaskCLEAR(eventMask);
mpiEventMaskALL(eventMask);
mpiEventMaskALL(eventMask);
returnValue =
mpiMotionEventNotifySet(*motion,
eventMask,
NULL);
msgCHECK(returnValue);
/* Create event notification object for NULL (all objects) */
*notify =
mpiNotifyCreate(eventMask, NULL);
msgCHECK(mpiNotifyValidate(*notify));
/* Append notify to event manager */
returnValue =
mpiEventMgrNotifyAppend(*eventMgr, *notify);
msgCHECK(returnValue);
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
MPIMotion *motion,
MPIAxis *axis,
long axisNumber,
MPIMotor *motor,
MPIEventMgr *eventMgr,
MPINotify *notify)
{
long returnValue;
/* Delete event manager object */
returnValue =
mpiEventMgrDelete(*eventMgr);
msgCHECK(returnValue);
*eventMgr = MPIHandleVOID;
/* Delete event notification object */
returnValue =
mpiNotifyDelete(*notify);
msgCHECK(returnValue);
*notify = MPIHandleVOID;
/* Delete motion supervisor object */
returnValue =
mpiMotionDelete(*motion);
msgCHECK(returnValue);
*motion = MPIHandleVOID;
/* Delete axis objects */
returnValue =
mpiAxisDelete(*axis);
msgCHECK(returnValue);
*axis = MPIHandleVOID;
/* Delete motor objects */
returnValue =
mpiMotorDelete(*motor);
msgCHECK(returnValue);
*motor = MPIHandleVOID;
/* Delete motion controller object */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/* Perform a Velocity move */
void velocityMove(MPITrajectory *trajectory,
MPIMotionParams *params,
MPIMotion *motion)
{
long returnValue;
/* Setup motion parameters */
trajectory->velocity = VELOCITY;
trajectory->acceleration = ACCELERATION;
trajectory->deceleration = DECELERATION; /* Not used for velocity move */
trajectory->jerkPercent = 0.0; /* Not used for velocity move */
params->velocity.trajectory = trajectory;
/* Start a velocity move */
returnValue =
mpiMotionStart(*motion,
MPIMotionTypeVELOCITY,
params);
msgCHECK(returnValue);
}
/* Wait for events */
void waitForEvent(MPIAxis axis,
MPIMotor motor,
MPIEventMgr eventMgr,
MPIEventType eventType,
MPINotify notify,
float positionLimit)
{
MPIEventStatus eventStatus;
long returnValue;
/* Collect motion events */
while (TRUE)
{
/* Obtain firmware event(s) (if any) */
returnValue =
mpiEventMgrService(eventMgr,
MPIHandleVOID);
msgCHECK(returnValue);
/* Poll for motion event */
returnValue =
mpiNotifyEventWait(notify,
&eventStatus,
MPIWaitMSEC*20);
if (returnValue == MPIMessageOK)
{
if (eventStatus.type == MPIEventTypeLIMIT_ERROR)
{
printf("PositionErrorLimit Received\n");
break;
}
else if (eventStatus.type == MPIEventTypeMOTION_DONE)
{
printf("MotionDoneEvent Received\n");
break;
}
}
else
{
mpiAssert(returnValue == MPIMessageTIMEOUT);
}
}
}
/* Set the current position to be zero by changing the origin */
void zeroPosition(MPIMotion motion,
MPIAxis axis)
{
double actualPosition;
double commandPosition;
double originValue;
long returnValue;
returnValue =
mpiMotionPositionGet(motion,
&actualPosition,
&commandPosition);
msgCHECK(returnValue);
returnValue =
mpiAxisOriginGet(axis,
&originValue);
msgCHECK(returnValue);
returnValue =
mpiAxisOriginSet(axis,
originValue+actualPosition);
msgCHECK(returnValue);
}
int main(int argc,
char *argv[])
{
MPIControl control;
MPIControlType controlType;
MPIControlAddress controlAddress;
MPIMotion motion;
MPIMotionConfig config;
MPIAxis axis;
MPIMotor motor;
MPIEventMgr eventMgr;
MPINotify notify;
MPIMotorLimitConfig eventConfig;
MPITrajectory trajectory;
MPIMotionParams params;
double velocity = VELOCITY;
double acceleration = ACCELERATION;
double deceleration = DECELERATION;
float positionLimit = POSITION_ERROR_LIMIT;
long motionNumber = MOTION_NUMBER;
long axisNumber = AXIS_NUMBER;
long returnValue;
/* Parse command line */
parseCommandLine(argc,
argv,
&controlType,
&controlAddress,
&axisNumber,
&motionNumber,
&positionLimit);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
&motion,
motionNumber,
&axis,
axisNumber,
&motor,
&eventMgr,
¬ify);
/*Configure estop time*/
returnValue =
mpiMotionConfigGet(motion,
&config,
NULL);
msgCHECK(returnValue);
config.decelTime.eStop = 1; /*Estop decel is set to 1 seconds */
returnValue =
mpiMotionConfigSet(motion,
&config,
NULL);
msgCHECK(returnValue);
/* Set the action limit trigger to E_STOP_ABORT */
returnValue =
mpiMotorEventConfigGet(motor,
MPIEventTypeLIMIT_ERROR,
&eventConfig,
NULL);
msgCHECK(returnValue);
eventConfig.action = MPIActionE_STOP_ABORT;
eventConfig.trigger.error = positionLimit;
returnValue =
mpiMotorEventConfigSet(motor,
MPIEventTypeLIMIT_ERROR,
&eventConfig,
NULL);
msgCHECK(returnValue);
/* Perform a Velocity move */
velocityMove(&trajectory,
¶ms,
&motion);
/* Wait for a position error event */
waitForEvent(axis,
motor,
eventMgr,
MPIEventTypeLIMIT_ERROR,
notify,
positionLimit);
/* Sleep 5 seconds to make sure that axis is in STOP state */
mpiPlatformSleep(5000);
/* Set axis in idle state */
returnValue =
mpiMotionAction(motion, MPIActionRESET);
msgCHECK(returnValue);
/* Axis is homed, then set current position to be zero position */
zeroPosition(motion, axis);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
&motion,
&axis,
axisNumber,
&motor,
&eventMgr,
¬ify);
return MPIMessageOK;
}
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