Descriptor structure used to configure a controller. It is usually defined in a corresponding xxx.xxxctrl.dt2 configuration file. The dt2 table name is "INOS-CUR-CONTROL", see also Control. More...

#include <cinoscurcontrol.h>

Inheritance diagram for SINOSCurControl:

[legend]

Public Attributes
real64	m_rKpHalt
	Kp [*] parameter of the PID controller used in halt mode.

real64	m_rTiHalt
	Ti [ms] parameter of the PID controller used in halt mode.

real64	m_rTdHalt
	Td [ms] parameter of the PID controller used in halt mode.

real64	m_rKpRun
	Kp [*] parameter of the PID controller used in run mode.

real64	m_rTiRun
	Ti [ms] parameter of the PID controller used in run mode.

real64	m_rTdRun
	Td [ms] parameter of the PID controller used in run mode.

real64	m_rVff
	Feed forward V.

real64	m_rAff
	Feed forward A.

real64	m_rBff
	Feed forward B.

real64	m_rTintMax
	Max. allowed torque integrator [Nm].

real64	m_rImax
	Max. allowed current [A].

real64	m_rTmax
	Torque at max. current [Nm].

uint32	m_uNumDiff
	Requested number of speed filter.

real64	m_rSff
	Feed forward S gain.

real64	m_rSoffset
	Feed forward S offset.

real64	m_rTff
	Feed forward torque.

Public Attributes inherited from SINOSBaseControl
inosName64	m_cName
	Axis name.

inosName64	m_cPosName
	Position channel name. If working with Indel motor controllers this name is equal to the axis name.

inosName64	m_cDacName
	Optional dac channel name. This parameter is only used if one uses a stone aged analog interface to a foreign axis controller.

inosName64	m_cEnbName
	Optional enable input channel name. This parameter can be used to define the name of a digital input, which represents the emergency button state (0-emergency, 1-ok)

inosName	m_cUnit
	Axis unit, e.g. m, mm, deg, ... The string has no special meaning and is just for displaying purposes.

real64	m_rCycleTime
	Axis cycletime the controller generator should work with [ms]. Do not configure this value in modern applications (e.g. GinLink based) as the axis cycletime there is category based and configured in the corresponding fieldbus configuration file (e.g. ginlink.dt2)

real64	m_rDeadTime
	Controller dead time [ms]. is calculated incrementally to the fieldbus delays if option DF_INOS_BASE_CONTROL_OPT_DEAD_INC or DF_INOS_BASE_CONTROL_OPT_DEAD_INC2 is set. Otherwise the value is absolute. For example: DF_INOS_BASE_CONTROL_OPT_DEAD_INC is set and an axis is controlled with a GIN-SAC4x4, so the value is the dead time of the controller: 2SAC control time e. g.: 21/24kHz = 0.0833 ms.

real64	m_rSmax
	Max. allowed position check error [unit].

real64	m_rSmaxRun
	factor to calculate max. allowed position error at move maxSerr = m_rSmax(1.0 + m_rSmaxRun(V/Vmax))

real64	m_rDelayToHalt
	Delay [ms] before the controller should switch from run to halt parameters.

real64	m_rPosExUnitsPerInc
	Units per increment factor for a possible extended position channel.

uint32	m_uOptions
	Controller options, see DF_INOS_BASE_CONTROL_OPT_DEAD_INC, DF_INOS_BASE_CONTROL_OPT_POS_OVRS, DF_INOS_BASE_CONTROL_OPT_FFV_100, DF_INOS_BASE_CONTROL_OPT_NO_PID, DF_INOS_BASE_CONTROL_OPT_POS_ABS, DF_INOS_BASE_CONTROL_OPT_NO_MPE, DF_INOS_BASE_CONTROL_OPT_POSEX, DF_INOS_BASE_CONTROL_OPT_INIT_V_ADJ_DIS, DF_INOS_BASE_CONTROL_OPT_DEAD_INC2, DF_INOS_BASE_CONTROL_OPT_DISTANCE_CODED_CALIB, DF_INOS_BASE_CONTROL_OPT_CUSTOMER1_SYNC_INTERFACE, DF_INOS_BASE_CONTROL_OPT_LIMIT_OUT, DF_INOS_BASE_CONTROL_OPT_IGNORE_CYCLEID, DF_INOS_BASE_CONTROL_OPT_INC_FRACT, DF_INOS_BASE_CONTROL_OPT_EXT_POS_ERR.

uint8	m_uDigits
	Number of digits to use in INCO explorer. This parameter has no functional meaning and has just displaying character.

uint8	m_uVfilter
	Size of requested speed filter.

uint8	m_uOversampling
	Requested oversampling, e.g. axis sampling rate is 96kHz and fieldbus cycle time 16kHz -> oversampling = 6.

real64	m_rMicroMoveTime
	Duration used for a 'micromove' in milliseconds (one-way, e.g. moving there and back again takes twice this duration)

Detailed Description

Descriptor structure used to configure a controller. It is usually defined in a corresponding xxx.xxxctrl.dt2 configuration file. The dt2 table name is "INOS-CUR-CONTROL", see also Control.

The documentation for this struct was generated from the following file:

/home/jenkins/workspace/inos_doxygen/os/inos/inc/cinoscurcontrol.h

Public Attributes

Detailed Description