Configuration.sq

// This file contains example methods for configuring a system before running an application using hard coded values.
 
void ConfigurePhantomAxis(uint32 axisIndex)
{
    // The number of encoder counts per unit. 
    // This value is just the value used for testing and on phantom axes. 
    // Remember to change this value to one that makes sense for the application.
    double userUnits = 1000.0; 
    AxisUserUnitsSet(axisIndex, userUnits);
 
    // This gets rid of any abnormal configurations the axis previously had.
    AxisInterruptEnableSet(axisIndex, false);
 
    // Set the axis to do nothing when the axis gets an amp fault, hits hardware limits, or gets a position error limit.
    enum RSIActionNONE = 0;
    AxisAmpFaultActionSet(axisIndex, RSIActionNONE);
    AxisHardwareNegLimitActionSet(axisIndex, RSIActionNONE);
    AxisHardwareNegLimitTriggerStateSet(axisIndex, true);
    AxisHardwarePosLimitActionSet(axisIndex, RSIActionNONE);
    AxisHardwarePosLimitTriggerStateSet(axisIndex, true);
    AxisErrorLimitActionSet(axisIndex, RSIActionNONE);
 
    // Set the Fine Position Tolerance to a very large value to get the phantom axis to detect that it's done
    // moving when it reaches the final position  
    double finePositionTolerance = 1000000.0;
    AxisPositionToleranceFineSet(axisIndex, finePositionTolerance);
 
    // Set the Coarse Position Tolerance to a very large value to get the phantom axis to detect that it's done
    // moving when it reaches the final position  
    double coarsePositionTolerance = 1000000.0;
    AxisPositionToleranceCoarseSet(axisIndex, coarsePositionTolerance);
 
    // Set default velocity to a very high number because this is a phantom axis.
    double velocity = 100000.0;
    AxisDefaultVelocitySet(axisIndex, velocity);  // Set the default velocity
 
    // This value is just the value used for testing and on phantom axes. 
    // Remember to change this value to one that makes sense for the application.
    // Set default acceleration to a very high value because this is a phantom axis.
    double acceleration = 1000000.0;
    AxisDefaultAccelerationSet(axisIndex, acceleration);
    AxisDefaultDecelerationSet(axisIndex, acceleration);
 
    double jerkPercent = 50.0;
    AxisDefaultJerkPercentSet(axisIndex, jerkPercent);
}
 
void PrepareAxisForMotion(uint32 axisIndex)
{
    // Prepare the axis for motion
    AxisAbort(axisIndex);                           // Stop whatever the axis was doing.
    AxisClearFaults(axisIndex);                     // Clear any faults the axis had.
    AxisPositionSet(axisIndex, 0);                  // Set the current position to 0.
    AxisCommandPositionSet(axisIndex, 0);           // Set command position to 0.
    AxisCommandPositionDirectSet(axisIndex, 0);
    AxisMotionCamRepeatStop(axisIndex);
    AxisGearingDisable(axisIndex);                  // Reset gearing.
    AxisAmpEnableSet(axisIndex, true);              // Enable the axis.
}
 
void main()
{
  int32 axisCount = ControllerAxisCountGet();
  for (uint32 index = 0; index < axisCount; index++)
  {
    ConfigurePhantomAxis(index);
    PrepareAxisForMotion(index);
  }
}
 
// More example functions in the future!