configAmpFault.cpp

Configure the amp fault input.

/* configAmpFault.cpp
 
 Copyright(c) 1998-2009 by Robotic Systems Integration, Inc. All rights reserved.
 This software contains proprietary and confidential information of Robotic 
 Systems Integration, Inc. (RSI) and its suppliers. Except as may be set forth 
 in the license agreement under which this software is supplied, disclosure, 
 reproduction, or use with controls other than those provided by RSI or suppliers
 for RSI is strictly prohibited without the prior express written consent of 
 Robotic Systems Integration.
 
 This sample code presumes that the user has set the tuning paramters(PID, PIV, etc.) 
 prior to running this program so that the motor can rotate in a stable manner.
 
 
 The program will configure the amp fault input for a motor.
 
 A motor's amp fault input has three items to configure:
 
 1) Event Action   (any MPIAction such as MPIActionE_STOP)
 2) Event Trigger  (a trigger polarity, active HIGH or LOW)
 3) Duration       (requires the limit condition to exist for
                    a programmable number of seconds before an
                    event will occur)

 The duration described above is a configuration that provides filtering of the amp 
 fault input by requiring the input to remain active for the defined duration.  This 
 will effectively keep the amp fault from activating prematurely due to electrical 
 noise on the amp fault input.
 
 For any questions regarding this sample code please visit our documentation at www.roboticsys.com


 Warning!  This is a sample program to assist in the integration of your motion 
 controller with your application.  It may not contain all of the logic and safety
 features that your application requires.
*/

#include "rsi.h"

using namespace RSI::RapidCode::SynqNet;

#define AXIS_NUMBER             0
#define ACTIVE_HIGH             1
#define ACTIVE_LOW              0
#define ENABLED               1
#define DISABLED              0
#define AMP_FAULT_DURATION_TIME       1 //value in seconds


void configAmpFaultMain()
{
  try
  {
    MotionController  *controller ;
    Axis        *axis ;

    // initialize RsiController class
    controller = MotionController::CreateFromBoard(0);  
    
    // initialize RsiAxis class  
    axis = controller->AxisGet(AXIS_NUMBER);

    axis->AmpEnableSet(false);

    //To change AMP_FAULT characteristics:
    axis->AmpFaultActionSet(RSIActionABORT);
    printf("\n AMP_FAULT Action set to ABORT\n");

    axis->AmpFaultTriggerStateSet(ACTIVE_LOW);
    printf("\n AMP_FAULT Trigger State set to ACTIVE_LOW\n");

    axis->AmpFaultDurationSet(AMP_FAULT_DURATION_TIME);
    printf("\n AMP_FAULT Duration set to 1.0 second\n");
  }
  catch (RsiError *err)
  {
    printf("%s\n", err->text);
  }
}