| | Name | Description |
|---|
 | BacklashAmount |
Sets or gets the amount of Backlash Compensation Offset to be applied.
See also BacklashMode and BacklashRate.
|
| BacklashMode |
Sets or gets the Backlash Compensation mode from either BACKLASH_OFF (0) to BACKLASH_LINEAR (1).
When the backlash mode is set to Linear mode, whenever the commanded destination begins moving
in the positive direction, a positive offset of the amount, BacklashAmount, will be applied.
The offset will be ramped upward as a linear function of time at the rate specified as the BacklashRate.
Whenever the commanded destination begins moving in the negative direction the offset will be
removed by ramping downward toward zero at the same rate. If the the Backlash Compensation mode
is set to BACKLASH_OFF (0), no backlash compensation will be applied.
See also BacklashRatee and BacklashAmount.
|
| BacklashRate |
Sets or gets the rate at which the amount of Backlash Compensation Offset will be applied.
See also BacklashMode and BacklashAmount.
|
| CommutationOffset |
Get or Set 3 or 4 phase commutation offset. When brushless commutation is performed, the desired Output Magnitude is distributed and applied to the various motor coils as a function of position. The commutation offset shifts the manner in which the Output Magnitude is applied.
For a 3 phase brushless output mode, commutation offset is used in the following manner.
PhaseA = OutputMagnitude * sin((Position+CommutationOffset)*invDistPerCycle*2π)
PhaseB = OutputMagnitude * sin((Position+CommutationOffset)*invDistPerCycle*2π + 2π/3)
PhaseC = OutputMagnitude * sin((Position+CommutationOffset)*invDistPerCycle*2π + 4π/3)
For a 4 phase brushless output mode, commutation offset is used in the following manner.
PhaseA = OutputMagnitude * sin((Position+CommutationOffset)*invDistPerCycle*2π)
PhaseB = OutputMagnitude * cos((Position+CommutationOffset)*invDistPerCycle*2π)
See also invDistPerCycle and Configuration Parameters.
|
| DeadBandGain |
Get or Set gain while error is within the deadband range. See DeadBand Description.
See Servo Flow Diagram.
|
| DeadBandRange |
Get or Set range where deadband gain is to be applied. See DeadBand Description.
See Servo Flow Diagram.
|
| Dgain |
Get or Set PID Derivative Gain.
|
| FFAccel |
Set or get Acceleration feed forward for the axis.
|
| FFVel |
Set or get Velocity feed forward for the axis.
|
| ID |
Axis Channel Number
Valid range = ( 0 - 7 )
|
| Igain |
Get or Set PID Integral Gain.
|
| InputChan0 |
Set or get first Input Channel of an axis. See description of this parameter on the Configuration Screen.
|
| InputChan1 |
Set or get second Input Channel of an axis. See description of this parameter on the Configuration Screen.
|
| InputGain0 |
Set or get first Input Gain of an axis. See description of this parameter on the Configuration Screen.
|
| InputGain1 |
Set or get second Input Gain of an axis. See description of this parameter on the Configuration Screen.
|
| InputMode |
Set or get the position input mode for an axis. See description of this parameter on the
Configuration Screen. Valid modes are (from PC-DSP.h):
|
| InputOffset0 |
Set or get first Input Offset of an axis. See description of this parameter on the Configuration Screen.
|
| InputOffset1 |
Set or get second Input Offset of an axis. See description of this parameter on the Configuration Screen.
|
| InvDistPerCycle |
Get or Set distance per cycle (specified as an inverse) of an axis.
May specify the cycle of either a Stepper of Brushless Motor.
See description of this parameter on the Configuration Screen.
|
| Jerk |
Get or Set the max jerk (for independent moves and jogs)
|
| Lead |
Set or get Lead Compensation for an axis. Lead Compensation is used to compensate for lag caused by motor inductance.
|
| LimitSwitch |
Configures Limit Switch Options. Specify Hex value as decribed in KMotionDef.h
See also Configuration Screen.
|
| MasterAxis |
Sets or gets the axis to which the current axis is to be slaved.
The current axis becomes a slave and will follow the motion of the specified
Master Axis. More than one axis can be slaved to a single master axis if
desired. When slaved, changes in the commanded destination of the master axis
will be mirrored as changes in the slaved axis's destination however scaled
by the SlaveGain (as specified in the Slave Axis). The SlaveGain my be
negative if opposing motion is desired.
Setting the Master Axis value to -1 disables the Slave mode.
|
| MaxErr |
Set or get Maximum Error for axis (Limits magnitude of error entering PID).
See Servo Flow Diagram and Step Response Screen for more information.
|
| MaxFollowingError |
Set or get the maximum allowed following error before disabling the axis.
|
| MaxI |
Set or get Maximum Integrator "wind up" for axis. Integrator saturates
at the specified value. See also Servo Flow Diagram and Step Response
Screen for further information.
|
| MaxOutput |
Set or get Maximum Output for an axis. Limits magnitude of servo output.
Output saturates at the specified value. See also Servo Flow Diagram
and Step Response Screen for further information.
|
| OutputChan0 |
Get or Set the first Output Channel of an axis.
See description of this parameter on the Configuration Screen.
|
| OutputChan1 |
Get or Set the second Output Channel of an axis.
See description of this parameter on the Configuration Screen.
|
| OutputGain |
Get or Set the Output Gain of an axis. For Axes of Step/Dir,
CL Step Dir, or MicroStep output mode, the output motion can be scaled or reversed.
Normally there is no need to use a value other than -1.0 or +1.0.
For DAC Servo output mode the output signal (DAC) can be scaled or reversed.
Again, normally there is no need to use a value other than -1.0 or +1.0.
In other output modes the OutputGain value will have no effect.
|
| OutputMode |
Set or get the position output mode for an axis.
See description of this parameter on the Configuration Screen.
Valid modes are (from PC_DSP.h):
|
| OutputOffset |
Get or Set the Output Offset of an axis. For DAC Servo output mode the
output (DAC) signal can be offset. The Output Offset is applied after
any Output Gain value. The Output Offset can be used to reduce any DAC
output offset or Amplifier input offset that may cause motor axis drift
occurs when the DAC is commanded to zero (disabled). In other output
modes the OutputGain value will have no effect.
|
| Pgain |
Get or Set PID Proportional Gain.
|
| SlaveGain |
Sets or gets the Slave Gain for the axis. See also MasterAxis for more information
|
| SoftLimitNeg |
Set or get the Soft Limit Setting for the Negative direction in Counts.
|
| SoftLimitPos |
Set or get the Soft Limit Setting for the Positive direction in Counts.
|
| StepperAmplitude |
Set or get the nominal output magnitude used for axis if in MicroStepping
Output Mode to the specified value. This will be the output amplitude when
stopped or moving slowly. If Lead Compensation is used, the amplitude
while moving may be higher.
|
Properties