DapiStepperCommand - DapiStepperCommand_SetMotorcharacteristic
Description
With this command, you can set motor characteristics.
Definition
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC, par1, par2, 0, 0);
Parameters
Set Parameter-Stepmode
par1=DAPI_STEPPER_MOTORCHAR_PAR_STEPMODE
par2=0 (Full-step)
par2=1 (1/2-step)
par2=2 (1/4-step)
par2=3 (1/8-step)
par2=4 (1/16-step)
Set Parameter-GO-Frequency
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOFREQUENCY
par2=Speed [Full-step / s] - related to full-step frequency - (maximum value=5000)
Set Parameter-Start-Frequency
par1=DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY
par2=Startfrequency [Full-step / s] - related to full-step frequency - (maximum value=5000)
Set Parameter-Stop-Frequency
par1=DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY
par2=Stopfrequency [Full-step / s] - related to full-step frequency - (maximum value=5000)
Set Parameter-Max-Frequency
par1=DAPI_STEPPER_MOTORCHAR_PAR_MAXFREQUENCY
par2=maximum frequency [Full-step / s] - related to full-step frequency - (maximum value=5000)
Set Parameter-Accelerationslope
par1=DAPI_STEPPER_MOTORCHAR_PAR_ACCELERATIONSLOPE
par2=Acceleration slope [Full-step / 10ms] - (maximum value=1000)
Set Parameter-Decelerationslope
par1=DAPI_STEPPER_MOTORCHAR_PAR_DECELERATIONSLOPE
par2=Deceleration slope [Full-step / 10ms] - (maximum value=1000)
Set Parameter-Phasecurrent
par1=DAPI_STEPPER_MOTORCHAR_PAR_PHASECURRENT
par2=Phase current [mA] - (maximum value=1500)
Set Parameter-Hold-Phasecurrent
par1=DAPI_STEPPER_MOTORCHAR_PAR_HOLDPHASECURRENT
par2=Phase current at motor hold [mA] - (maximum value=1500)
Set Parameter-Hold-Time
par1=DAPI_STEPPER_MOTORCHAR_PAR_HOLDTIME
par2=Time in that the hold goes to motorstop [ms]
par2=-1 / FFFF hex / 65535 dez (endless time)
Set Parameter-Status-LED-Mode
par1=DAPI_STEPPER_MOTORCHAR_PAR_STATUSLEDMODE
par2=Mode of the Status-LED
par2=0 (MOVE - LED is on if the stepper moves)
par2=1 (HALT - LED is on if the stepper stands still)
par2=2 (ENDSW1 - LED is on if the end switch1 is closed)
par2=3 (ENDSW2 - LED is on if the end switch2 is closed)
par2=4 (REFSW1 - LED is on if the Reference switch1 is closed)
par2=5 (REFSW2 - LED is on if the Reference switch2 is closed)
Set Parameter-Invert-END-Switch1
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_ENDSW1
par2=Endswitch1 is being inverted (0=normal / 1=inverted)
Set Parameter-Invert-END-Switch2
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_ENDSW2
par2=Endswitch2 is being inverted (0=normal / 1=inverted)
Set Parameter-Invert-Ref-Switch1
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW1
par2=Referenzswitch1 is being inverted (0=normal / 1=inverted)
Set Parameter-Invert-Ref-Switch2
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW2
return=Referenzswitch2 is being inverted (0=normal / 1=inverted)
Set Parameter-Invert-direction
par1=DAPI_STEPPER_MOTORCHAR_PAR_INVERT_DIRECTION
par2=invert all direction details (0=normal / 1=inverted)
Set Parameter-Endswitch-Stopmode
par1= DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE
par2=setting of the stop behaviour (0=Fullstop / 1=Stop)
Set Parameter-GoReferenceFrequency (WARNING: This parameter will not be supported anymore)
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY - (maximum value=5000)
Remark: This parameter is replaced completely by the following three parameters.
Set Parameter-GoReferenceFrequnecyToEndSwitch
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOENDSWITCH
par2=frequency [Full-step / s]
Set Parameter-GoReferenceFrequencyAfterEndSwitch
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_AFTERENDSWITCH
par2=frequency [Full-step / s]
Set Parameter-GoReferenceFrequencyToOffSet
par1=DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOOFFSET
par2=frequency [Full-step / s]
Example program
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_STEPMODE, 4,0,0); // Schrittmode (Voll-, Halb-, Viertel-, Achtel-, Sechszehntelschritt)
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_GOFREQUENCY, 1000,0,0); // Schrittmode bei Motorstop (Voll-, Halb-, Viertel-, Achtel-, Sechszehntelschritt)
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_STARTFREQUENCY, 100,0,0); // Startfrequenz [Vollschritt / s]
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_STOPFREQUENCY, 100,0,0); // Stopfrequenz [Vollschritt / s]
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_MAXFREQUENCY, 3500,0,0); // maximale Frequenz [Vollschritt / s]
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_ACCELERATIONSLOPE, 20,0,0); // Beschleunigung in [Vollschritten / ms]
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_DECELERATIONSLOPE, 20,0,0); // Bremsung in [Vollschritten / ms]
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_PHASECURRENT, 750,0,0); // Phasenstrom [mA]
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_HOLDPHASECURRENT, 500,0,0); // Phasenstrom bei Motorstillstand [mA]
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_HOLDTIME, 15000,0,0); // Zeit in der der Haltestrom fließt nach Motorstop [s]
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_STATUSLEDMODE, 0,0,0); // Betriebsart der Status-LED
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_INVERT_ENDSW1, 0,0,0); // invertiere Funktion des Endschalter1
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_INVERT_ENDSW2, 0,0,0); // invertiere Funktion des Endschalter2
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW1, 0,0,0); // invertiere Funktion des Referenzschalterschalter1
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_INVERT_REFSW2, 0,0,0); // invertiere Funktion des Referenzschalterschalter2
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_INVERT_DIRECTION, 0,0,0); // invertiere alle Richtungsangaben
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_ENDSWITCH_STOPMODE, 0,0,0); // einstellen des Stopverhaltens
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOENDSWITCH, 100,0,0); //Einstellung der Geschwindigkeit, mit der zum Endschalter angefahren wird.
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_AFTERENDSWITCH , 200,0,0); //Einstellung der Geschwindigkeit, mit der vom Endschalter abgefahren wird.
DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC , DAPI_STEPPER_MOTORCHAR_PAR_GOREFERENCEFREQUENCY_TOOFFSET, 300,0,0); //Einstellung der Geschwindigkeit, mit der zum optionalen Offset angefahren wird.
|
DEDITEC video