#include <MipDefinitions.h>
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. |
This file contains the definitions of various structs used by the MIP devices. For detailed information, please refer to the MIP manual.