MPIMotorCommutationMode

Declaration

typedef enum {							
  MPIMotorCommutationModeINVALID = -1,

  MPIMotorCommutationModeNONE,
  MPIMotorCommutationModeCLOSED_LOOP,		
  MPIMotorCommutationModeOPEN_LOOP,			
  MPIMotorCommutationModeSIMULATE,

  MPIMotorCommutationModeEND,
  MPIMotorCommutationModeFIRST = MPIMotorCommutationModeINVALID + 1
} MPIMotorCommutationMode;

Required Header: motor.h

Change History: Modified in 04.00.

Description

MPIMotorCommutationMode is an enumeration that contains the different options for controller based sinusoidal commutation. It is important to understand that drive-based sinusoidal commutation is not covered in this enumeration. The value used for drive-based sinusoidal commutation is MPIMotorCommutationModeNONE.

Ways to tell if you are using drive or controller based sinusoidal commutation:

Drive-based Sinusoidal Commutation - only use MPIMotorCommutationModeNONE

You are using a SynqNet drive.
You use drive based commutation settings.
You are using drive based commutation initialization.

Controller-based Sinusoidal Commutation

You are not using a SynqNet drive.
You are using a torque or current mode drive.
You have two +/- 10 V current command inputs to your drive.
You are using a SynqNet node that can provide two +/- 10 V outputs per motor (MPI-RMB-10V2, for example).
You are using sinusoidal commutation.
You drive does not provide sinusoidal commutation.
You are not using brushed motors.
Your drive is configured to accept two +/- 10V inputs for sinusoidal commutation.

Sinusoidal commutation requires initialization of some sort. If you are using Controller based sinusoidal commutation, please see Sinusoidal Commutation. There are three types of sinusoidal commutation initialization routines supported by the XMP/ZMP controller:

Step (scstep.c)
Hall (schall.c)
Dither (scdither.c)

MPIMotorCommutationModeNONE	Default mode. This mode is used for: All drives that perform their own commutation. Any control loop that only requires a single command signal.
MPIMotorCommutationModeCLOSED_LOOP	Used during controller calculated sinusoidal commutation. This mode uses two command signals to command a two, three, or four phase sinusoidal commutation mode. This mode is most often used with an MPI RMB connected to a drive that has two ±10V inputs for torque command.
MPIMotorCommutationModeOPEN_LOOP	Used during sinusoidal commutation initialization before going to CLOSED_LOOP. This mode is only used when hall sensors are not available to go directly to CLOSED_LOOP mode.
MPIMotorCommutationModeSIMULATE	MPI internal mode to simulate a motor. Not used for actual motor control.