MPI 04.00 Reference >> mpiMotor
MPIMotorDisableAction
Definition
typedef enum MPIMotorDisableAction {
MPIMotorDisableActionINVALID = -1,
MPIMotorDisableActionNONE,
MPIMotorDisableActionCMD_EQ_ACT,
MPIMotorDisableActionEND,
MPIMotorDisableActionFIRST = MPIMotorDisableActionINVALID + 1
} MPIMotorDisableAction;
Required Header: stdmpi.h
Change History: Modified in 04.00.
Description
MPIMotorDisableAction is an enumeration of controller actions to be applied when the Amp Enable is disabled. This feature can be configured by calling mpiMotorConfigSet(...) with the disableAction element in the MPIMotorConfig structure set to one of the values defined in the MPIMotorDisableAction enumeration.
The default configuration is MPIMotorDisableActionCMD_EQ_ACT. This configuration applies some safety features which eliminate motor jumps when the Amp Enable is enabled. This is the recommended configuration for all servo motor types.
The CMD_EQ_ACT action does not operate with stepper motors. If the motor type is a stepper, make sure to set the disable action to NONE. The pulse output is based on the command position, so if the controller sets the command position equal to the actual position during motion, it will cause very unusual motion profiles.
| MPIMotorDisableActionNONE | No action. When the Amp Enable is disabled (or enabled), the controller continues to calculate and apply the torque demand output value. |
|---|---|
| MPIMotorDisableActionCMD_EQ_ACT | Command position equals actual position action (default). When the Amp Enable is disabled, the controller will: 1) Disable the servo loop output (except for the offset). 2) Set the command position equal to the actual position every sample. 3) Clear the integrator error. When the Amp Enable is enabled, the controller will operate the servo loop normally. |
See Also
mpiMotorConfigSet | MPIMotorConfig | MPIMotorDisableAction