MPI 04.00 Reference >> mpiMotor

MPIMotorLimitTrigger

Definition

typedef union {
	int32_t                    polarity;	/* 0 => active low, else active high */
	double                  position;	/* MPIMotorLimitTypeSW_[POSITIVE|NEGATIVE]_POSITION_LIMIT */
	double                  error;      /* MPIMotorLimitTypeERROR_LIMIT */
	double                  torque;     /* MPIMotorLimitTypeTORQUE_LIMIT */
	MPIMotorFeedbackFault   feedback;	/* MPIMotorLimitTypeFEEDBACK_FAULT */
} MPIMotorLimitTrigger;

 

Required Header: stdmpi.h

Change History: Modified in 04.00 (formerly MPIMotorEventTrigger). Modified in 03.04.00. Changed position info to double.

Description

polarity Configures the polarity for the motor event trigger.
If polarity = 0 (FALSE), the event will trigger on an active low signal.
If polarity = 1 (TRUE), the event will trigger on an active high signal.
position Configures the positive and negative software position limits. The controller monitors the actual position and compares it to the positive and negative software position limits.
If the positive limit is exceeded the controller will generate a MPIEventTypeLIMIT_SW_POS event.
If the negative limit is exceeded the controller will generate a MPIEventTypeLIMIT_SW_NEG event.MPI version 03.04.xx (and newer)
If the actual position value minus the negative limit value is greater than 263 counts, then the negative limit will trip.
Similarly, if the actual position value minus the positive limit value is less than -263 counts, then the positive limit will trip.
This is a result of a wraparound with the 64-bit signed value. When these conditions occur, the comparisons will not work correctly.MPI version 03.03.xx (and older)
If the actual position value minus the negative limit value is greater than 231 counts, then the negative limit will trip.
Similarly, if the actual position value minus the positive limit value is less than -231 counts, then the positive limit will trip.
This is a result of a wraparound with the 32-bit signed value. When these conditions occur, the comparisons will not work correctly.
error Position error limit value. The position error = command position – actual position. If the absolute value of the position error exceeds this value, the limit will be triggered
torque Demand torque value. When the motor is in TORQUE demand mode, if the output of the control algorithm exceeds the specified torque, the limit will be triggered.
feedback An enumeration of feedbacks to monitor for faults.  Either the primary, secondary, or both feedbacks can be monitored for fault conditions. When a feedback fault occurs on the specified feedbacks, the limit will be triggered.

See Also

MPIMotorLimitConfig | MPIMotorFeedbackFault | MPIEventType | Error Limit and Limit Switch Errors