encfltcfg.c -- Configure encoder fault settings for a motor.
/* encfltcfg.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 encoder fault settings for a motor.
Encoder faults are set with an action, duration, and trigger.
The action is one of the following:
MPIActionSTOP,
MPIActionE_STOP,
MPIActionE_STOP_ABORT,
MPIActionABORT,
The duration is in seconds. Keep in mind that the resolution of this setting
is one servo sample period (1/sample rate).
The trigger sets three switches.
MPIMotorEncoderFaultMaskBW_DET, Broken wire switch
MPIMotorEncoderFaultMaskILL_DET, Illegal state switch
MPIMotorEncoderFaultMaskABS_ERR, Absolute encoder error switch
Broken wires occur when the positive and negative halves of an encoder signal
pull together. An example would be when A+ and A- are at the same voltage
because one of the A wires is disconnected.
Illegal state occurs when the A and B channel change level within 40 nsec.
Absolute encoder errors occur when there is a communication error on an
absolute encoder. The details of this will vary with different types of
absolute encoders.
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);
}
}
void encoderFaultConfigure(MPIMotor motor,
MPIAction action,
double duration)
{
MPIMotorLimitConfig eventConfig;
long returnValue;
/* Get the current limit configuration */
returnValue =
mpiMotorEventConfigGet(motor,
MPIEventTypeENCODER_FAULT,
&eventConfig,
NULL);
msgCHECK(returnValue);
/* Wait duration seconds before triggering */
eventConfig.duration = (float) duration;
/* Configure motor to perform action upon limit */
eventConfig.action = action;
/* Trigger fault from Primary encoder only */
eventConfig.trigger.encoder = MPIMotorEncoderFaultPRIMARY;
/* Set the new limit configuration */
returnValue =
mpiMotorEventConfigSet(motor,
MPIEventTypeENCODER_FAULT,
&eventConfig,
NULL);
msgCHECK(returnValue);
}
/* 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;
}
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 ENCODER_FAULT configuration */
encoderFaultConfigure(motor,
MPIActionABORT, /* ABORT on limit */
EVENT_DURATION);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
&motor);
return MPIMessageOK;
}
|
