limitSw1.c -- Configure positive and negative hardware limit inputs.
/* limitsw1.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.
*/
/*
:Configure positive and negative hardware limit inputs.
A motor's positive and negative hardware limit inputs have four configurations:
1) Event Action (any MPIAction such as MPIActionE_STOP)
2) Event Trigger (a trigger polarity, active HIGH or LOW)
3) Direction Flag (TRUE will cause the command direction of motion to
qualify the events, FALSE will ignore direction,
based solely on the limit input state)
4) Duration (requires the limit condition to exist for
a programmable number of seconds before an
event will occur)
Events are configured using MPIMotorEventConfigGet/Set(...).
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 MOTOR (0)
#define EVENT_DURATION (0.010) /* seconds */
/* Perform basic command line parsing. (-control -server -port -trace) */
void basicParsing(int argc,
char *argv[],
MPIControlType *controlType,
MPIControlAddress *controlAddress)
{
long argIndex;
/* Parse command line for Control type and address */
argIndex = argControl(argc, argv, controlType, controlAddress);
/* Check for unknown/invalid command line arguments */
if (argIndex < argc) {
fprintf(stderr,"usage: %s %s\n", argv[0], ArgUSAGE);
exit(MPIMessageARG_INVALID);
}
}
/* Create and initialize MPI objects */
void programInit(MPIControl *control,
MPIControlType controlType,
MPIControlAddress *controlAddress,
MPIMotor *motor,
long motorNumber)
{
long returnValue;
/* Obtain a Control handle */
*control =
mpiControlCreate(controlType,
controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize the controller */
returnValue =
mpiControlInit(*control);
msgCHECK(returnValue);
/* Obtain a Motor handle */
*motor =
mpiMotorCreate(*control,
motorNumber);
msgCHECK(mpiMotorValidate(*motor));
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
MPIMotor *motor)
{
long returnValue;
/* Delete motor object */
returnValue =
mpiMotorDelete(*motor);
msgCHECK(returnValue);
*motor = MPIHandleVOID;
/* Delete control object */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/* Configure a motor's limit switch */
void limitConfigure(MPIMotor motor,
MPIEventType eventType,
MPIAction action,
long polarity,
long direction,
double duration)
{
MPIMotorLimitConfig eventConfig;
long returnValue;
/* Get the current limit configuration */
returnValue =
mpiMotorEventConfigGet(motor,
eventType,
&eventConfig,
NULL);
msgCHECK(returnValue);
/* Set trigger level to Active Low (FALSE) or Active High (TRUE) */
eventConfig.trigger.polarity = polarity;
/* Use commanded velocity direction as a trigger qualifier. (TRUE/FALSE) */
eventConfig.direction = direction;
/* Wait duration seconds before triggering */
eventConfig.duration = (float) duration;
/* Configure motor to perform action upon limit */
eventConfig.action = action;
/* Set the new limit configuration */
returnValue =
mpiMotorEventConfigSet(motor,
eventType,
&eventConfig,
NULL);
msgCHECK(returnValue);
}
int main(int argc,
char *argv[])
{
MPIControl control;
MPIMotor motor;
MPIControlAddress controlAddress;
MPIControlType controlType;
/* Perform basic command line parsing. (-control -server -port -trace) */
basicParsing(argc,
argv,
&controlType,
&controlAddress);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
&motor,
MOTOR);
/* Change the LIMIT_HW_POS configuration */
limitConfigure(motor,
MPIEventTypeLIMIT_HW_POS, /* +HW limit */
MPIActionE_STOP, /* E-STOP on limit */
TRUE, /* Active High */
TRUE, /* Use velocity as a trigger qualifier */
EVENT_DURATION);
/* Change the LIMIT_HW_POS configuration */
limitConfigure(motor,
MPIEventTypeLIMIT_HW_NEG, /* -HW limit */
MPIActionE_STOP, /* E-STOP on limit */
TRUE, /* Active High */
TRUE, /* Use velocity as a trigger qualifier */
EVENT_DURATION);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
&motor);
return MPIMessageOK;
}
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