settle1.c -- Configure in-position tolerance and settling time for
an axis.
/* settle1.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 in-position tolerance and settling time for an axis.
A simple settling configuration which sets the Fine Position Tolerance
and Settling Time for an axis. Both are required for the
MPIXmpStatusIN_FINE_POSITION status bit. The settling criteria are:
1) The absolute value of the position error is less than or equal to
the fine position tolerance.
2) The absolute value of the velocity is less than or equal to the
velocity tolerance.
3) Both criteria 1 and 2 above have been satisfied for the settling
time. Whenever either criteria 1 or 2 is not satisfied,
IN_FINE_POSITION is cleared and the settling tier is reset.
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.
*/
#include <stdlib.h>
#include <stdio.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"
#if defined(ARG_MAIN_RENAME)
#define main settle1Main
argMainRENAME(main, settle1)
#endif
/* Command line arguments and defaults */
long axisNumber = 0;
Arg argList[] = {
{ "-axis", ArgTypeLONG, &axisNumber, },
{ NULL, ArgTypeINVALID, NULL, }
};
int
main(int argc,
char *argv[])
{
MPIControl control; /* Motion controller handle */
MPIAxis axis; /* Axis handle(s) */
MPIAxisConfig axisConfig; /* Axis configuration */
long returnValue; /* Return value from library */
MPIControlType controlType;
MPIControlAddress controlAddress;
long argIndex;
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)) {
mpiPlatformConsole("usage: %s %s\n"
"\t\t[-axis # (0 .. %d)]\n",
argv[0],
ArgUSAGE,
MPIXmpMAX_Axes - 1);
exit(MPIMessageARG_INVALID);
}
/* Create motion controller object */
control =
mpiControlCreate(controlType,
&controlAddress);
msgCHECK(mpiControlValidate(control));
/* Initialize motion controller */
returnValue = mpiControlInit(control);
msgCHECK(returnValue);
/* Create axis object on controller*/
axis =
mpiAxisCreate(control,
axisNumber);
msgCHECK(mpiAxisValidate(axis));
/* Configure axis */
returnValue =
mpiAxisConfigGet(axis,
&axisConfig,
NULL);
msgCHECK(returnValue);
axisConfig.inPosition.tolerance.positionFine = (float)50.0;
axisConfig.inPosition.tolerance.velocity = (float)100.0;
axisConfig.inPosition.settlingTime = (float)0.5; /* .5 seconds */
returnValue =
mpiAxisConfigSet(axis,
&axisConfig,
NULL);
msgCHECK(returnValue);
returnValue = mpiAxisDelete(axis);
msgCHECK(returnValue);
returnValue = mpiControlDelete(control);
msgCHECK(returnValue);
return ((int)returnValue);
}
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