DapiStepperCommand - DapiStepperCommand_GetMotorcharacteristic
Description
With this command, motor specific parameter can be read. This command may be used everytime. It is splitted in sub commands, that are analog to the parameters of the DAPI_STEPPER_CMD_SET_MOTORCHARATERISTIC
Definition
ULONG DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC, par1, 0, 0, 0);
Parameters
Get Parameter-Stepmode
par1=DAPI_STEPPER_MOTORCHAR_PAR_STEPMODE
Get Parameter-GO-Frequency
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOFREQUENCY
Get Parameter-Start-Frequency
par1=DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY
Get Parameter-Stop-Frequency
par1=DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY
Get Parameter-Max-Frequency
par1=DAPI_STEPPER_MOTORCHAR_PAR_MAXFREQUENCY
Get Parameter-Accelerationslope
par1=DAPI_STEPPER_MOTORCHAR_PAR_ACCELERATIONSLOPE
Get Parameter-Decelerationslope
par1=DAPI_STEPPER_MOTORCHAR_PAR_DECELERATIONSLOPE
Get Parameter-Phasecurrent
par1=DAPI_STEPPER_MOTORCHAR_PAR_PHASECURRENT
Get Parameter-Hold-Phasecurrent
par1=DAPI_STEPPER_MOTORCHAR_PAR_HOLDPHASECURRENT
Get Parameter-Hold-Time
par1=DAPI_STEPPER_MOTORCHAR_PAR_HOLDTIME
Get Parameter-Status-LED-Mode
par1=DAPI_STEPPER_MOTORCHAR_PAR_STATUSLEDMODE
Get Parameter-Invert-END-Switch1
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_ENDSW1
Get Parameter-Invert-END-Switch2
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_ENDSW2
Get Parameter-Invert-Ref-Switch1
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW1
Get Parameter-Invert-Ref-Switch2
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW2
Get Parameter-Invert-direction
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_DIRECTION
Get Parameter-Endswitch-Stopmode
par1= DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE
Get Parameter-GoReferenceFrequency (WARNING: This parameter will not be supported anymore)
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY
Remark: This parameter is replaced completely by the following three parameters.
Get Parameter-GoReferenceFrequnecyToEndSwitch
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOENDSWITCH
Get Parameter-GoReferenceFrequencyAfterEndSwitch
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_AFTERENDSWITCH
Get Parameter-GoReferenceFrequencyToOffSet
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOOFFSET
Return value
Parameter-Stepmode
par1=DAPI_STEPPER_MOTORCHAR_PAR_STEPMODE
return=0 (Full-step)
return=1 (1/2-step)
return=2 (1/4-step)
return=3 (1/8-step)
return=4 (1/16-step)
Parameter-GO-Frequency
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOFREQUENCY
return=Speed [Full-step / s] - related to full-step
Parameter-Start-Frequency
par1=DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY
return=Startfrequency [Full-step / s]
Parameter-Stop-Frequency
par1=DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY
return=Stopfrequency [Full-step / s]
Parameter-Max-Frequency
par1=DAPI_STEPPER_MOTORCHAR_PAR_MAXFREQUENCY
return=maximum frequency [Full-step / s]
Parameter-Accelerationslope
par1=DAPI_STEPPER_MOTORCHAR_PAR_ACCELERATIONSLOPE
return=Acceleration slope [Full-step / 10ms]
Parameter-Decelerationslope
par1=DAPI_STEPPER_MOTORCHAR_PAR_DECELERATIONSLOPE
return=Deceleration slope [Full-step / 10ms]
Parameter-Phasecurrent
par1=DAPI_STEPPER_MOTORCHAR_PAR_PHASECURRENT
return=Phase current [mA]
Parameter-Hold-Phasecurrent
par1=DAPI_STEPPER_MOTORCHAR_PAR_HOLDPHASECURRENT
return=Phase current for motor hold [mA]
Parameter-Hold-Time
par1=DAPI_STEPPER_MOTORCHAR_PAR_HOLDTIME
return=Time in that the hold goes to motorstop [ms]
return=-1 / FFFF hex / 65535 dez (endless time)
Parameter-Status-LED-Mode
par1=DAPI_STEPPER_MOTORCHAR_PAR_STATUSLEDMODE
return=Mode of the Status-LED
return=0 (MOVE - LED is on if the stepper moves)
return=1 (HALT - LED is on if the stepper stands still)
return=2 (ENDSW1 - LED is on if the end switch1 is closed)
return=3 (ENDSW2 - LED is on if the end switch2 is closed)
return=4 (REFSW1 - LED is on if the Reference switch1 is closed)
return=5 (REFSW2 - LED is on if the Reference switch2 is closed)
Parameter-Invert-END-Switch1
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_ENDSW1
return=invert endswitch1 (0=normal / 1=inverted)
Parameter-Invert-END-Switch2
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_ENDSW2
return=invert endswitch2 (0=normal / 1=inverted)
Parameter-Invert-Ref-Switch1
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW1
return=invert referenceswitch1 (0=normal / 1=inverted)
Parameter-Invert-Ref-Switch2
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW2
return=invert referenceswitch2 (0=normal / 1=inverted)
Parameter-Invert-direction
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_DIRECTION
return=invert all direction details (0=normal / 1=inverted)
Parameter-Endswitch-Stopmode
par1= DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE
return=setting of the stop behaviour (0=Fullstop / 1=Stop)
Parameter-GoReferenceFrequnecyToEndSwitch
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOENDSWITCH
return=frequency [Full-step / s]
Parameter-GoReferenceFrequencyAfterEndSwitch
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_AFTERENDSWITCH
return=frequency [Full-step / s]
Parameter-GoReferenceFrequencyToOffSet
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOOFFSET
return=frequency [Full-step / s]
Example program
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_STEPMODE, 0, 0, 0); // Schrittmode (Voll-, Halb-, Viertel-, Achtel-, Sechszehntelschritt)
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_GOFREQUENCY, 0,0,0); // Schrittmode bei Motorstop (Voll-, Halb-, Viertel-, Achtel-, Sechszehntelschritt)
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY, 0,0,0); // Startfrequenz [Vollschritt / s]
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY, 0,0,0); // Stopfrequenz [Vollschritt / s]
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_MAXFREQUENCY, 0,0,0); // maximale Frequenz [Vollschritt / s]
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_ACCELERATIONSLOPE, 0,0,0); // Beschleunigun in [Vollschritten / ms]
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_DECELERATIONSLOPE, 0,0,0); // Bremsung in [Vollschritten / ms]
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_PHASECURRENT, 0,0,0); // Phasenstrom [mA]
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_HOLDPHASECURRENT, 0,0,0); // Phasenstrom bei Motorstillstand [mA]
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_HOLDTIME, 0,0,0); // Zeit in der der Haltestrom fließt nach Motorstop [s]
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_STATUSLEDMODE, 0,0,0); // Betriebsart der Status-LED
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_INVERT_ENDSW1, 0,0,0); // invertiere Funktion des Endschalter1
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_INVERT_ENDSW2, 0,0,0); // invertiere Funktion des Endschalter12
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW1, 0,0,0); // invertiere Funktion des Referenzschalterschalter1
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW2, 0,0,0); // invertiere Funktion des Referenzschalterschalter2
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_INVERT_DIRECTION, 0,0,0); // invertiere alle Richtungsangaben
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE, 0,0,0); // einstellen des Stopverhaltens
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC ,
DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOENDSWITCH, 0,0,0); // Abfrage der Geschwindigkeit, mit der der Endschalter angefahren wird.
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC ,
DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_AFTERENDSWITCH, 0,0,0); // Abfrage der Geschwindigkeit, mit der vom Endschalter abgefahren wird.
value = DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC ,
DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOOFFSET, 0,0,0); // Abfrage der Geschwindigkeit, mit der der optionale Offset angefahren wird.
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