251 lines
12 KiB
C
251 lines
12 KiB
C
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/*
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* @Date: 2025-07-01 17:18:13
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* @Author: mypx
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* @LastEditors: mypx mypx_coder@163.com
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* @LastEditTime: 2025-07-22 10:24:02
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* @FilePath: h05_pos_control.h
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* @Description:
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* Copyright (c) 2025 by mypx, All Rights Reserved.
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*/
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#ifndef __H05_POS_CONTROL_H__
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#define __H05_POS_CONTROL_H__
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#include "sv_common.h"
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// H05.00 - H05.09
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#define REG_H05_00_POSITION_CMD_SRC 0x0500 // Position Command Source
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/**
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* @enum SV630P_PositionCommandSource
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* @brief Position command source enumeration
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* Defines available position command sources in position control mode
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*/
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typedef enum
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{
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SV630P_POS_CMD_PULSE = 0, /**< Pulse command: external pulse input via hardware terminal (selected by H05.01) */
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SV630P_POS_CMD_STEP = 1, /**< Step amount: set by H05.05, triggered by DI function FunIN.20 */
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SV630P_POS_CMD_MULTI_SEGMENT = 2, /**< Multi-segment position command: configured by H11 group, triggered by DI function FunIN.28 */
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} SV630P_PositionCommandSource;
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#define REG_H05_01_PULSE_INPUT_MODE 0x0501 // Pulse Input Terminal Mode
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/**
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* @enum SV630P_PulseInputMode
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* @brief Pulse input mode enumeration
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* Defines available hardware input terminal modes when position command source is pulse command
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*/
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typedef enum
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{
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SV630P_PULSE_INPUT_LOW_SPEED = 0, /**< Low speed mode: use low-speed terminal (max 200kpps) */
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SV630P_PULSE_INPUT_HIGH_SPEED = 1, /**< High speed mode: use high-speed terminal (max 4Mpps) */
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} SV630P_PulseInputMode;
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#define REG_H05_02_POSITION_UNIT 0x0502 // Position Units per Motor Revolution
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// 0P/Rev~1048576P/Rev
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#define POSITION_UNIT_MIN 0
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#define POSITION_UNIT_MAX 1048576
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#define REG_H05_03_RESERVED 0x0503 // Reserved
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#define REG_H05_04_FILTER_TIME_CONST 0x0504 // 1st Order Low Pass Filter Time Constant
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#define REG_H05_05_STEP_AMOUNT 0x0505 // Step Amount
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#define REG_H05_06_AVG_FILTER_TIME_CONST 0x0506 // Average Filter Time Constant
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#define REG_H05_07_GEAR_NUMERATOR 0x0507 // Electronic Gear Numerator 1
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#define REG_H05_08_RESERVED 0x0508 // Reserved
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#define REG_H05_09_GEAR_DENOMINATOR 0x0509 // Electronic Gear Denominator 1
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// H05.10 - H05.19
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#define REG_H05_10_POSITION_LOOP_GAIN 0x050A // Position Loop Gain
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#define REG_H05_11_POSITION_INTEGRAL_GAIN 0x050B // Position Integral Gain
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#define REG_H05_12_POSITION_FEEDFORWARD_GAIN 0x050C // Position Feedforward Gain
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#define REG_H05_13_VELOCITY_FEEDFORWARD_GAIN 0x050D // Velocity Feedforward Gain
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#define REG_H05_14_POSITION_DEADBAND 0x050E // Position Deadband
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#define REG_H05_15_PULSE_CMD_TYPE 0x050F // Pulse Command Type
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/**
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* @enum SV630P_PulseCommandType
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* @brief Pulse command type enumeration (H05.15)
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*/
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typedef enum
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{
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SV630P_PULSE_TYPE_DIR_PULSE_POS = 0, /**< Direction + pulse (positive logic) */
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SV630P_PULSE_TYPE_DIR_PULSE_NEG = 1, /**< Direction + pulse (negative logic) */
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SV630P_PULSE_TYPE_AB_QUADRATURE = 2, /**< A phase + B phase quadrature pulse */
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SV630P_PULSE_TYPE_CW_CCW_PULSE = 3, /**< CW + CCW pulse */
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} SV630P_PulseCommandType;
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#define REG_H05_16_RESERVED 0x0510 // Reserved
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#define REG_H05_17_PULSE_INPUT_LOGIC 0x0511 // Pulse Input Logic Selection
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#define REG_H05_18_PULSE_OUTPUT_MODE 0x0512 // Pulse Output Mode
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#define REG_H05_19_PULSE_OUTPUT_POLARITY 0x0513 // Pulse Output Polarity
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// H05.20 - H05.29
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#define REG_H05_20_POSITION_COMPLETE_COND 0x0514 // Position Complete Condition
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#define REG_H05_21_POSITION_WINDOW 0x0515 // Position Complete Threshold
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#define REG_H05_22_VELOCITY_WINDOW 0x0516 // Velocity Complete Threshold
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#define REG_H05_23_TORQUE_WINDOW 0x0517 // Torque Complete Threshold
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#define REG_H05_24_POSITION_LIMIT_POSITIVE 0x0518 // Positive Position Limit
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#define REG_H05_25_POSITION_LIMIT_NEGATIVE 0x0519 // Negative Position Limit
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#define REG_H05_26_SOFT_POSITION_LIMIT 0x051A // Soft Position Limit Enable
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#define REG_H05_27_PULSE_OUTPUT_SCALE 0x051B // Pulse Output Scale Factor
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#define REG_H05_28_RESERVED 0x051C // Reserved
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#define REG_H05_29_POSITION_CMD_FILTER 0x051D // Position Command Filter
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// H05.30 - H05.39
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#define REG_H05_30_HOME_SEARCH_ENABLE 0x051E // Home Search Enable Control
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#define REG_H05_31_HOME_SEARCH_MODE 0x051F // Home Search Mode
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/**
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* @enum SV630P_HomeSearchMode
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* @brief Home search mode enumeration (H05.31)
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*/
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typedef enum
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{
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SV630P_HOME_MODE_POS_SW_HOME_SW = 0, /**< Positive direction, deceleration and home are both home switch */
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SV630P_HOME_MODE_NEG_SW_HOME_SW = 1, /**< Negative direction, deceleration and home are both home switch */
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SV630P_HOME_MODE_POS_Z_HOME_Z = 2, /**< Positive direction, deceleration and home are both motor Z signal */
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SV630P_HOME_MODE_NEG_Z_HOME_Z = 3, /**< Negative direction, deceleration and home are both motor Z signal */
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SV630P_HOME_MODE_POS_SW_HOME_Z = 4, /**< Positive direction, deceleration is home switch, home is motor Z signal */
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SV630P_HOME_MODE_NEG_SW_HOME_Z = 5, /**< Negative direction, deceleration is home switch, home is motor Z signal */
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SV630P_HOME_MODE_POS_LIMIT_POS_LIMIT = 6, /**< Positive direction, deceleration and home are positive overtravel switch */
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SV630P_HOME_MODE_NEG_LIMIT_NEG_LIMIT = 7, /**< Negative direction, deceleration and home are negative overtravel switch */
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SV630P_HOME_MODE_POS_LIMIT_HOME_Z = 8, /**< Positive direction, deceleration is positive overtravel, home is motor Z */
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SV630P_HOME_MODE_NEG_LIMIT_HOME_Z = 9, /**< Negative direction, deceleration is negative overtravel, home is motor Z */
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SV630P_HOME_MODE_POS_LIMIT_POS_LIMIT2 = 10, /**< Positive direction, deceleration and home are mechanical limit */
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SV630P_HOME_MODE_NEG_LIMIT_NEG_LIMIT2 = 11, /**< Negative direction, deceleration and home are mechanical limit */
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SV630P_HOME_MODE_POS_LIMIT_HOME_Z2 = 12, /**< Positive direction, deceleration is mechanical limit, home is motor Z */
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SV630P_HOME_MODE_NEG_LIMIT_HOME_Z2 = 13, /**< Negative direction, deceleration is mechanical limit, home is motor Z */
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SV630P_HOME_MODE_POS_SINGLE_TURN = 14, /**< Positive single-turn homing */
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SV630P_HOME_MODE_NEG_SINGLE_TURN = 15, /**< Negative single-turn homing */
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SV630P_HOME_MODE_NEAREST_SINGLE_TURN = 16, /**< Nearest single-turn homing */
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} SV630P_HomeSearchMode;
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#define REG_H05_32_HOME_SEARCH_SPEED1 0x0520 // Home Search Speed 1
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#define REG_H05_33_HOME_SEARCH_SPEED2 0x0521 // Home Search Speed 2
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#define REG_H05_34_HOME_SEARCH_ACCEL 0x0522 // Home Search Acceleration
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#define REG_H05_35_HOME_SEARCH_DECEL 0x0523 // Home Search Deceleration
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#define REG_H05_36_HOME_OFFSET 0x0524 // Home Position Offset
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#define REG_H05_37_HOME_SEARCH_DIRECTION 0x0525 // Home Search Direction
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#define REG_H05_38_PULSE_OUTPUT_SRC 0x0526 // Servo Pulse Output Source
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/**
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* @enum SV630P_PulseOutputSource
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* @brief Pulse output source enumeration (H05.38)
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*/
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typedef enum
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{
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SV630P_PULSE_OUTPUT_ENCODER = 0, /**< Encoder frequency division output */
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SV630P_PULSE_OUTPUT_COMMAND = 1, /**< Command pulse synchronous output */
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SV630P_PULSE_OUTPUT_DISABLED = 2, /**< Output disabled */
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} SV630P_PulseOutputSource;
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#define REG_H05_39_PULSE_OUTPUT_DIVISOR 0x0527 // Pulse Output Divisor
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/**
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* @enum SV630P_GearRatioSwitchCondition
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* @brief Electronic gear ratio switch condition enumeration (H05.39)
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*/
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typedef enum
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{
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SV630P_GEAR_SWITCH_ZERO_COMMAND = 0, /**< Switch when position command is 0 for 2.5ms, DI function 24 required */
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SV630P_GEAR_SWITCH_REALTIME = 1, /**< Real-time switch */
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} SV630P_GearRatioSwitchCondition;
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// H05.40 - H05.49
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#define REG_H05_40_HOME_OFFSET_MODE 0x0527 /**< Mechanical home offset and limit handling mode */
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/**
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* @enum SV630P_MechanicalHomeOffsetMode
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* @brief Mechanical home offset and limit handling mode enumeration
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* Defines the logic for mechanical home offset and limit handling during homing.
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*/
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typedef enum
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{
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SV630P_HOME_OFFSET_ABS_RETRIGGER = 0, //< Absolute coordinate mode, retrigger after limit for reverse homing */
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SV630P_HOME_OFFSET_REL_RETRIGGER = 1, //< Relative offset mode, retrigger after limit for reverse homing */
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SV630P_HOME_OFFSET_ABS_AUTO_REVERSE = 2, //< Absolute coordinate mode, auto reverse after limit for homing */
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SV630P_HOME_OFFSET_REL_AUTO_REVERSE = 3, //< Relative offset mode, auto reverse after limit for homing */
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} SV630P_MechanicalHomeOffsetMode;
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#define REG_H05_41_Z_PULSE_POLARITY 0x0529 // Z Pulse Output Polarity
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/**
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* @enum SV630P_ZPulsePolarity
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* @brief Z pulse output polarity enumeration (H05.41)
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*/
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typedef enum
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{
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SV630P_Z_PULSE_NEGATIVE = 0, /**< Negative polarity: Z pulse active low */
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SV630P_Z_PULSE_POSITIVE = 1, /**< Positive polarity: Z pulse active high */
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} SV630P_ZPulsePolarity;
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#define REG_H05_42_MARK_PULSE_WIDTH 0x052A // Mark Pulse Width
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#define REG_H05_43_MARK_PULSE_DIVISOR 0x052B // Mark Pulse Divisor
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#define REG_H05_44_POSITION_ERROR_LIMIT 0x052C // Position Error Limit
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// H05.46 Absolute position linear mode position offset (low 32 bits)
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#define REG_H05_46_ABS_POS_LINEAR_OFFSET_LOW 0x052E
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#define REG_H05_48_ABS_POS_LINEAR_OFFSET_HIGH 0x0530
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// H05.50 Absolute position rotary mode mechanical gear ratio (numerator)
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#define REG_H05_50_ABS_ROT_GEAR_NUMERATOR 0x0532
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#define REG_H05_51_ABS_ROT_GEAR_DENOMINATOR 0x0533
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// H05.52 Absolute position rotary mode load rotation 1 turn pulse count (low 32 bits)
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#define REG_H05_52_ABS_ROT_LOAD_PULSE_LOW 0x0534
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#define REG_H05_54_ABS_ROT_LOAD_PULSE_HIGH 0x0536
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// H05.56 Mechanical touch zero speed threshold
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#define REG_H05_56_MECH_TOUCH_ZERO_SPEED 0x0538
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// H05.57 Mechanical limit judgment count
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#define REG_H05_57_MECH_LIMIT_COUNT 0x0539
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// H05.58 Mechanical touch zero torque threshold
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#define REG_H05_58_MECH_TOUCH_ZERO_TORQUE 0x053A
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// H05.59 Position window time
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#define REG_H05_59_POSITION_WINDOW_TIME 0x053B
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// H05.60 Position complete hold time
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#define REG_H05_60_POSITION_HOLD_TIME 0x053C
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// H05.61 Encoder frequency division pulse output (32 bits)
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#define REG_H05_61_ENCODER_DIV_PULSE_OUTPUT 0x053D
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// H05.63 Position command source real-time update enable
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#define REG_H05_63_POS_CMD_SRC_REALTIME_EN 0x053F
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// H05.66 Homing time unit selection
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#define REG_H05_66_HOME_TIME_UNIT 0x0542
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// H05.67 Zero and single-turn absolute position offset
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#define REG_H05_67_ZERO_SINGLE_TURN_OFFSET 0x0543
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// H05.69 Homing assist function
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#define REG_H05_69_HOME_ASSIST_FUNC 0x0545
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/**
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* @defgroup SV630P_Constants Common constant definitions
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* @{
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*/
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#define SV630P_MAX_POSITION_ERROR 65535 /**< Maximum position error value */
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#define SV630P_MAX_VELOCITY 10000 /**< Maximum velocity value (rpm) */
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#define SV630P_MAX_ACCELERATION 10000 /**< Maximum acceleration value (rpm/s) */
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#define SV630P_MIN_FILTER_TIME 0.0f /**< Minimum filter time (ms) */
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#define SV630P_MAX_FILTER_TIME 6553.5f /**< Maximum filter time (ms) */
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#if defined(__cplusplus)
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extern "C"
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{
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#endif
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/**
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* @brief Read main position command source
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* @param dev Pointer to servo handle
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* @param src Pointer to store the read command source
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* @return SV630P_OK on success, error code otherwise
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* @note In position control mode, used to select the position command source.
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* Pulse command is external, step and multi-segment are internal.
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*/
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int sv630p_h05_00_read_command_source(sv630p_handle_t *dev, SV630P_PositionCommandSource *src);
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/**
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* @brief Write main position command source
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* @param dev Pointer to servo handle
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* @param src Command source to write
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* @return SV630P_OK on success, error code otherwise
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*/
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int sv630p_h05_00_write_command_source(sv630p_handle_t *dev, SV630P_PositionCommandSource src);
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/**
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* @brief Read pulse input mode
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* @param dev Pointer to servo handle
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* @param mode Pointer to store the read pulse input mode
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* @return SV630P_OK on success, error code otherwise
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*/
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int sv630p_h05_01_read_pulse_input_mode(sv630p_handle_t *dev, SV630P_PulseInputMode *mode);
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int sv630p_h05_01_write_pulse_input_mode(sv630p_handle_t *dev, SV630P_PulseInputMode mode);
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int sv630p_h05_02_read_position_unit(sv630p_handle_t *dev, uint16_t *unit);
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int sv630p_h05_02_read_position_unit(sv630p_handle_t *dev, uint16_t *unit);
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#if defined(__cplusplus)
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}
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#endif
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#endif // __SV_POS_CONTROL_H__
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