Main Page | Class Hierarchy | Class List | File List | Class Members

T_SysParam Struct Reference

SysParam struct. More...

#include <MipDefinitions.h>

List of all members.

Public Attributes

char AxisNumber
 No. of the axis = MIP-Bus Address.
char GroupAddress
 Group address for multicast messages.
int StartupMode
 No. of active mode after startup.
long RS232BaudRate
 Baudrate RS232.
int RS232Mode
 0 = N81
long RS485BaudRate
 Baudrate RS485.
TSysCfg SysConfig
 System configuration. 16 bits: see definition below.
TsysCfg2 SysCongig2
 System configuration 2. 16 bits: see definition below.
int SupplyVolt
 Supply Voltage (needed for MIP-EC current regulation).
int NbOfChanges
 no. of parameter changes
int EncoderResolution
 encoder resolution [impulse/round]
int MaxVelocity
 in [rpm]
word MinAccelTime
 time [ms] to accelerate 0 to MaxVelocity
int PeakCurrent
 max. peak current in [mA]
int ContCurrent
 max. continuous current in [mA]
float GearRatio
 total transmission ratio
float Inertia
 total inertia (rotor + load) in [g*cm2]
float TorqueConst
 in [Nm/A]
float SpeedConst
 in [rpm/V] (needed for MIP-EC current regulation)
int CurDelta
 third parameter for EC-current regulation
long PosErrorMax
 max. position error in [qc]
long UpPositionLimit
 upper position limit [qc]
int EnableUpLimit
 1 = enable, 0 = disable
long LoPositionLimit
 lower position limit [qc]
int EnableLoLimit
 1 = enable, 0 = disable
int PosGainP
 P gain for position regulation.
int PosGainI
 I gain for position regulation.
int PosGainD
 D gain for position regulation.
int CurGainP
 P gain for current regulation.
int CurGainI
 I gain for current regulation.
int HomeType
 see possible types below
float HomeVelocity
 velocity of home seek [qc/ms]
int CurrentThreshold
 current index threshold [mA]
long HomeOffSet
 relative offSet to home [qc]
int PLMaxVelocity
 upper limit for pulse length velocity measurement
int AuxEncoderMode
 0 = without ext. encoder, 1 = with 'a-dir' encoder, 2 = with 'a-b' encoder
float AuxEncoderGain
 Auxiliary encoder gain.
int BrakeGain
 low level braking gain
int HomePositionHi
 position value Set after Homing (Hi-Word)
int HomePositionLo
 same (Lo-Word)
long OneRevolution
 one full rotor revolution [qc]
long OneLoadRevolution
 one full load revolution [qc].
word ExtendTag
 if == EXTEND_TAG, following parameters exist
long ExtParam [35]
 place for 35 extended parameters (43..77)
long SysParamCRC
 CRC of system parameters.


Detailed Description

SysParam struct.

This file contains the definitions of various structs used by the MIP devices. For detailed information, please refer to the MIP manual.


The documentation for this struct was generated from the following file:
Generated on Wed Jun 1 09:19:08 2005 for libmip by doxygen 1.3.8