MPIFilterSwitchType

Declaration

typedef enum {
      MPIFilterSwitchTypeINVALID = -1,
   
      MPIFilterSwitchTypeNONE,
      MPIFilterSwitchTypeMOTION_ONLY,
      MPIFilterSwitchTypeWINDOW,
      MPIFilterSwitchTypeUSER,

      MPIFilterSwitchTypeEND,
      MPIFilterSwitchTypeFIRST = MPIFilterSwitchTypeINVALID + 1
} MPIFilterSwitchType;

 

Required Header: filter.h

Change History: Added in 04.00.

Description

MPIFilterSwitchType is an enumeration for gain scheduling that determines the gain scheduling mode. Only MPIFilterSwitchTypeNONE and MPIFilterSwitchTypeMOTION_ONLY are available in standard firmware types. MPIFilterSwitchType is also used in non-standard firmware types to determine the P/PI Mode switching.

Gain Scheduling is a feature that switches filter gains for the acceleration, deceleration, constant velocity, and idle states of motion. The post filters are not affected by gain scheduling. Standard algorithms are used with gain scheduling (PID, PIV). To change the gain scheduling type from none (uses only the gains in gain table index 0), use MPIFilterConfig. GainSwitchType is set with mpiFilterConfigSet(...).

When setting filter gain parameters using mpiFilterGainGet(...) and mpiFilterGainSet(...), use the gain index value to write to a gain index of your choosing.

MPIFilterSwitchTypeNONE Default value in factory default firmware. This mode uses mpiFilterGainIndexSet() and mpiFilterGainIndexGet() to manipulate the gain index manually, if desired.
MPIFilterSwitchTypeMOTION_ONLY Switch gains based on controller's switching algorithm.

See Also

MPIFilterConfig | mpiFilterConfigGet | mpiFilterConfigSet | MPIFilterGainIndex | mpiFilterGainIndexSet | mpiFilterGainIndexGet | mpiFilterGainGet | mpiFilterGainSet