Revision as of 22:20, 12 August 2009

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• PFCMD : SC; MC; PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF1_Code_History

motor controller

• 1100 : set mode
• 1101 : get mode
• 1102 : set torque
• 1103 : get torque
• 1104 : set speed
• 1105 : get speed (and other info)
• 1106 : get encoder
• 1107 : set encoder zero
• 1108 : set current offsets
• 1109 : set motor mode
• 1110 : set motor torque
• 1111 : getdata
• 1112 : set qei X resolution (2x or 4x)
• 1113 : enable / disable mode zero current offset calibration (
• 1114 : set ctrl param vQ and vD
• 1115 : set ctrl param vQ and vD, and then set motor mode
  • cmd 1115 is the primary to set motor torque and mode.
  • parameters are 1115 <qPq> <qPd> <Mode>
  • Modes are :
    • 0 for shorted motor leads (safety mode)
    • 2 for zero encoder
    • 3 for close current loop torque mode
    • 4 for open loop voltage mode w/constant flux angle (adjust w/ set_position)
    • 6 for open loop voltage mode w/flux angle set by encoder (normal mode)
    • 7 to read and set motor controller current offsets

• • qPq and qPd are q15 format control reference parameters in the Q and D direction.
    • in modes (2?) and 3 - the Q and D parameters represent current with 1amp = ~1093
    • in mode 4 and 6 - the Q and D parameters represent voltage such that voltage on the motor is : Vq = qPq / 32768 * POWER SUPPLY VOLAGE

• • • eg: a parameter of 800 with a supply of 21.6 volts -> vmot = .8/32.7 * 21.6 = 0.5 volts

• 1116 : read current offsets
  • typically auto set by commanding mode 7.

• 1117 : set motor filter (both Q and D)

• 1118 : read ADCs (in_param==16 -> read all 16 channels), else thats the channel offset and read 10 channels

overload current monitor

• 1120 - reads overload config and status

• 1121 <param> - like command 1120, but pass param==1 to reset sums and trips

• 1122 <4x params> - use to set the overload config parameters

• The computation at 1KHZ, sums the ABS of the the scaled (1/256) current and subtracts the decay value

• the time in mS for the to trip :

t = (1mS) * MAX_SUM / (AMPS - DECAY)

• some defaults 11500 / ((I_PHASE - 3.0) * 1092 * 1/256

desired fuse values.

• 30 amps, 80mS
• 25 amps, 100mS
• 20 amps, 132mS
• 15 amps, 195mS
• 10 amps, 373mS

dataport

• 1257 - dataport_set_select(val)
  • 0 : received values from SC
  • 1 : electronic fuse sums
  • 2 : all 5 SM values

IMPED

• 1330 - get imp
• 1331 - set imp
• 1333 - set mc_sm to allow imped updates
• 1340 - impdebug -> called imp_debug_params

  param[0] = imp.pos;
  param[1] = imp.rel_pos;
  param[2] = imp.speed;

  param[4] = imp.kp*1e6;
  param[5] = imp.kb*1e6;
  param[6] = imp.kp_enc*1e6;
  param[7] = imp.kb_rpm*1e6;

MC SM

• 1411 - mc_sm debug
  • 0 mc_sm_debug
  • 1 mc_sm_ctrl_debug
  • 2 mc_imp_debug / mc_imp_debug_param+4

• 1420 - get mode
• 1421 - set mode (21 for imp mode)
• 1422 - set ankle error state
• 1430 - get max pos, max neg current (mA)
• 1431 - set max pos, max neg current (mA) (disable torque limit)
• 1432 - get torque limit : max pos, max neg torque
• 1433 - set torque limit : max positive, max negative torque
• 1435 - set max and min position
• 1437 - set tics timeout (for torque offset)
• 1439 - set max pos, max neg current (mA) (enable torque limit)
• 1440 - get ff params
• 1441 - set ff params
• 1442 - return ff debug params
• 1443 - enable/disable ff

• 1460
• 1461 - set IMP torque offset
• 1464 (disabled) - switch to mode4, command a qVq and qVd
• 1466 (disabled) - switch to mode6, command a qVq and qVd
• 1468 - get resistance pulse and duration
• 1469 - set resistance pulse amplitude and duration

debug (1411) options

• • 0 mc_sm_debug

  param[0] = sm->state;
  param[1] = sm->last_state;
  param[2] = sm->tics_in_current_state;
  param[3] = sm->tics_since_last_update;
  param[4] = sm->motor_is_active;

• • 1 mc_sm_ctrl_debug

  param[0] = ctrl->torque * 1000;
  param[1] = ctrl->current * 1000;
  param[2] = ctrl->qIq;
  param[3] = ctrl->qId;
  param[4] = ctrl->max_pos_current;
  param[5] = ctrl->max_neg_current;
  param[6] = ctrl->max_motor_enc_pos;
  param[7] = ctrl->max_motor_enc_pos;
  param[8] = ctrl->torque_offset * 1000;
  param[9] = ctrl->enable_imp_current_update;

• • 2 mc_imp_debug / mc_imp_debug_param+4

  param[0] = imp.pos;
  param[1] = imp.rel_pos;
  param[2] = imp.speed;

  param[4] = imp.kp*1e6;
  param[5] = imp.kb*1e6;
  param[6] = imp.kp_enc*1e6;
  param[7] = imp.kb_rpm*1e6;

states

• cmd 1420, 1421 to access state

typedef enum {
  MCSM_INIT, 
  MCSM_IDLE, 

  MCSM_MODE7,
  MCSM_MODE2,
  MCSM_MODE4A,
  MCSM_MODE4B,
  MCSM_MODE4C,
  MCSM_MODE4D,

  MCSM_MODE4_FIN,
  MCSM_BOOT_COMPLETE=20, 

  MCSM_IMP_MODE=30,
  MCSM_RESISTANCE_MODE,
  MCSM_ACTIVE, 
  MCSM_OVERLOAD, 
  MCSM_UPDATE_TIMEOUT,
  MCSM_ANKLE_READY,

  MCSM_RELAXED_MODE, // 36

  MCSM_ANKLE_ERROR=40,
  MCSM_ERROR=44,
  MCSM_POS_ERROR_POSITIVE=50,
  MCSM_POS_ERROR_NEGATIVE=52,
  MCSM_ENC_ERROR=60,

} MC_STATE_T;