MPI 04.00 Reference >> mpiMotor

MPIMotorConfig

Definition

  typedef struct MPIMotorConfig {
      MPIMotorType                    type;
      /* Event configuration, ordered by MPIMotorLimitType */
      MPIMotorLimitConfig             limit[MPIMotorLimitTypeCOUNT];
      double                          abortDelay;
      double                          enableDelay;
      MPIMotorBrake                   brake;
    
      char                            userLabel[MPIObjectLabelCharMAX+1]; /* +1 for NULL terminator */
    
      MPIMotorDemandMode              demandMode;
      MPIMotorFeedback                feedback[MPIMotorMAX_FEEDBACKS];
      MPIMotorStatusOutput            statusOutput;
      MPIMotorIoConfig                io[MPIMotorIoConfigIndexCOUNT];
      MPIMotorFaultConfig             faultConfig;
      MPIMotorStepper                 stepper;
    
      MPIMotorCommutationBlockConfig  commutation;
      int32_t                            commutationTheta;
    
      MPIAction                       nodeFailureAction;
      MPIAction                       userFaultAction; /* see MPISqNodeConfigUserFault{} structure */
      MPIMotorDisableAction           disableAction;
 } MPIMotorConfig;

 

Required Header: stdmpi.h

Change History: Modified in 04.00.

Description

type Enumerated value representing the motor type.
limit[MPIMotorLimitTypeCOUNT] An array of dedicated limit configuration structures.
abortDelay Sets time value, in seconds, to delay Abort action after Event has occured.
enableDelay Sets time value, in seconds, to delay Enabling of the amplifier after commanded.
brake Configures the dedicated brake logic. For more information, see MPIMotorBrake.
userLabel This field consists of 16 characters and is used to label the motot object for user identification purposes. The userLabel field is NOT used by the controller.
demandMode The demand mode determines the data type(s) transmitted from the controller to the node for servo control. The default value is automatically configured during SynqNet network initialization, based on the particular node model. The demand mode cannot be changed when the motor’s ampEnable is enabled for safety. For more information, see MPIMotorDemandMode.
feedback An array of structures containing the configurations for the primary and secondary position feedback devices.
StatusOutput A structure to configure a motor's digital outputs to monitor axis status bits. Requires custom firmware.
io An array of motor I/O configuration structures.
faultConfig A structure to configure a motor's fault bits. Support for motor fault bits is node/drive specific.
stepper Structure to configure Motor Stepper parameters. For more information, see MPIMotorStepper description.
commutation A structure to configure controller sinusoidal commutation. This structure is controller specific. For more information, see Sinusoidal Commutation.
commutationTheta Place Holder Text
nodeFailureAction Action applied to the motor when a Node failure occurs.
userFaultAction Action applied to the motor when a User Fault occurs.
disableAction Used to configure the controller to set the command position equal to the actual position while the motor is disabled.

Sample Code 

/* A is the scaling numerator, B is the scaling denominator */
int32_t encoderRatio(MPIMotor motor, int32_t A, int32_t B)
{
    MPIMotorConfig  config;
    int32_t            returnValue;

    returnValue = mpiMotorConfigGet(motor, NULL, &config);

    config.Encoder[0].ratio.A = A;
    config.Encoder[0].ratio.B = B;
    
    if(returnValue == MPIMessageOK)
    {
        returnValue = mpiMotorConfigSet(motor, NULL, &config);
    }
    return returnValue;
}

See Also

mpiMotorConfigGet | mpiMotorConfigSet