Add SMP_INCREMENTAL_SETPOINT and SMP_ABSOLUTE_SETPOINT as alternative to older names. Added lots of comments for parameters.

1 files changed, 46 insertions, 15 deletions

diff --git a/simplemotion_defs.h b/simplemotion_defs.h
index 9e585dd..d16d1ef 100644
--- a/simplemotion_defs.h
+++ b/simplemotion_defs.h
@@ -142,7 +142,6 @@
 // continue to .. 200

 

 

-

 /*

  * List of motor control parameters.

  *

@@ -150,8 +149,13 @@
  * for details. If unknown, ask Granite Devices.

  */

 

-#define SMP_INCREMENTAL_POS_TARGET 550

-#define SMP_ABSOLUTE_POS_TARGET 551

+ //control setpoint values (pos, vel or torq depending on control mode):

+#define SMP_INCREMENTAL_SETPOINT 550

+#define SMP_ABSOLUTE_SETPOINT 551

+//old names for backwards compatibility:

+#define SMP_INCREMENTAL_POS_TARGET SMP_INCREMENTAL_SETPOINT

+#define SMP_ABSOLUTE_POS_TARGET SMP_ABSOLUTE_SETPOINT

+

 #define SMP_FAULTS 552

 	//bitfield bits:

 	#define FLT_FOLLOWERROR	BV(1)

@@ -195,28 +199,37 @@
 	#define STAT_PERMANENT_STOP BV(15)//outputs disabled until reset

 

 #define SMP_SYSTEM_CONTROL 554 //writing 1 initiates settings save to flash, writing 2=device restart, 4=abort buffered motion

-	//choices:

+	//possible values listed

+	//save active settings  to flash:

 	#define SMP_SYSTEM_CONTROL_SAVECFG 1

+	//restart drive:

 	#define SMP_SYSTEM_CONTROL_RESTART 2

+	//abort buffered commands (discard rest of buffer)

 	#define SMP_SYSTEM_CONTROL_ABORTBUFFERED 4

+	//next 3 for factory use only:

     #define SMP_SYSTEM_SAMPLE_TEST_VARIABLES 8 //production testing function

     #define SMP_SYSTEM_START_PRODUCTION_TEST 16 //production testing function

     #define SMP_SYSTEM_STOP_PRODUCTION_TEST 32 //production testing function

+

+	//follow error tolerance for position control:

 #define SMP_POS_FERROR_TRIP 555

+//velocity follow error trip point. units: velocity command (counts per PIDcycle * divider)

 #define SMP_VEL_FERROR_TRIP 556

+//recovery velocity from disabled/fault state. same scale as other velocity limits

 #define SMP_POS_ERROR_RECOVERY_SPEED 557

+

+//motor type:

 #define SMP_MOTOR_MODE 558

-#define MOTOR_NONE 0

-    //ac servo

+	//factory state, no choice:

+	#define MOTOR_NONE 0

+    //DC servo:

     #define MOTOR_DC 1

+	//2 phase AC motor

     #define MOTOR_AC_VECTOR_2PHA 2  /*2 phase ac or bldc */

+	//3 phase AC motor

     #define MOTOR_AC_VECTOR 3 /*3 phase ac or bldc */

-    #define _MOTOR_LAST 7

-

-

-

-//position follow error trip point

-//velocity follow error trip point. units: velocity command (counts per PIDcycle * divider)

+	//for drive internal use only:

+	#define _MOTOR_LAST 7

 

 //#define CFG_INPUT_FILTER_LEN 30

 #define SMP_CONTROL_MODE 559

@@ -226,6 +239,7 @@
 	#define CM_POSITION 1

 #define SMP_INPUT_MULTIPLIER 560

 #define SMP_INPUT_DIVIDER 561

+//setpoint source

 #define SMP_INPUT_REFERENCE_MODE 562

 	//choices:

 	#define SMP_INPUT_REFERENCE_MODE_SERIALONLY 0

@@ -237,9 +251,14 @@
 	#define SMP_INPUT_REFERENCE_MODE_RESERVED2 6

 	#define SMP_INPUT_REFERENCE_MODE_LAST_ 6

 

+//setpoint source offset when absolute setpoint is used (pwm/analog)

 #define SMP_ABS_IN_OFFSET 563

+//scaler, not used after VSD-E

 #define SMP_ABS_IN_SCALER 564

+

+//FB1 device resolution, pulses per rev

 #define SMP_ENCODER_PPR 565

+//motor polepairs, not used with DC motor

 #define SMP_MOTOR_POLEPAIRS 566

 

 

@@ -279,20 +298,30 @@
 //NOT IMPLEMENTED YET

 

 //current loop related 400-499

+//direct torque gains, not used after VSD-E

 #define SMP_TORQ_P 401

 #define SMP_TORQ_I 402

+//motor inductance and resistance

 #define SMP_MOTOR_RES 405

 #define SMP_MOTOR_IND 406

 

+//continuous current limit mA

 #define SMP_TORQUELIMIT_CONT 410

+//peak current limit mA

 #define SMP_TORQUELIMIT_PEAK 411

+//homing current limit mA

 #define SMP_TORQUELIMIT_HOMING 415

+//next 2 set fault sensitivity

 #define SMP_TORQUEFAULT_MARGIN 420

 #define SMP_TORQUEFAULT_OC_TOLERANCE 421

 

+//motor thermal time constant in seconds:

 #define SMP_MOTOR_THERMAL_TIMECONSTANT 430

+//how fast to ramp up voltage during phase search:

 #define SMP_PHASESEARCH_VOLTAGE_SLOPE 480

+//by default this is calculated from other motor params:

 #define SMP_PHASESEARCH_CURRENT 481

+//selector value 0-9 = 100 - 3300Hz (see Granity):

 #define SMP_TORQUE_LPF_BANDWIDTH 490

 

 //motor rev to rotary/linear unit scale. like 5mm/rev or 0.1rev/rev. 30bit parameter & scale 100000=1.0

@@ -357,6 +386,7 @@
 	#define HOMING_ENABLED BV(7) /*if 0, homing cant be started */

 	#define _HOMING_CFG_MAX_VALUE 0x00ff

 

+//starting and stopping homing:

 #define SMP_HOMING_CONTROL 7532

 

 

@@ -442,6 +472,7 @@
 #define SMP_PID_FREQUENCY 6055

 

 //affects only in MC_VECTOR & MC_BLDC mode

+//used in drive development only, do not use if unsure

 #define SMP_OVERRIDE_COMMUTATION_ANGLE 8000

 #define SMP_TORQUE_CMD_OVERRIDE 8001

 #define SMP_OVERRIDE_COMMUTATION_FREQ 8003

@@ -459,8 +490,8 @@
 #define SMP_DEBUGPARAM4 8103

 #define SMP_DEBUGPARAM5 8104

 #define SMP_DEBUGPARAM6 8105

-#define SMP_FAULT_LOCATION1  8110 //this is for GC side

-#define SMP_FAULT_LOCATION2  8111 //this is for STM side

+#define SMP_FAULT_LOCATION1  8110 //this is for GraniteCore side

+#define SMP_FAULT_LOCATION2  8111 //this is for Argon IO side

 #define SMP_OVERRIDE_PARAM_ADDR_1 8120

 #define SMP_OVERRIDE_PARAM_ADDR_2 8121

 #define SMP_OVERRIDE_PARAM_ADDR_3 8122

@@ -486,7 +517,7 @@
 #define SMP_BOOTLOADER_STAT 193

         #define BOOTLOADER_STAT_FLASH_VERIFIED_OK BV(0)

 

-/*DFU Bootloader parameters end:*/

+/*DFU Bootloader parameters end*/