const Error *Amp::RequestStatUpdt( void )
{
// For secondary axis objects, do this through the primary axis
if( primaryAmpRef )
{
RefObjLocker<Amp> pri( primaryAmpRef );
if( !pri ) return &AmpError::NotInit;
return pri->RequestStatUpdt();
}
// Note that 8367 based products don't support remote
// requests well, so we use an SDO to request the PDO
if( (hwType & 0xFF00) != 0x0300 )
{
RefObjLocker<Network> net( GetNetworkRef() );
if( !net ) return &NodeError::NetworkUnavailable;
if( !statPDO )
return &AmpError::NotInit;
return statPDO->Request(*net);
}
else
return Dnld8( OBJID_PDOREQUEST, 0, (uint8)0 );
}
/* description: Initialize the motor,the motor can work in three diffrient mode
posiotion,velocity,torque.this one is initialed to torque,modify
the code if needed
// function: void motor_init(void)
// @param:
//return value:
*/
void motor_init(void)
{
static char message[32];
uint8 err;
sprintf(message, "velocity started:\r\n");
UART0_SendStr (message);
//get initial position step:0
uint32 pos;
err=GetPosition(&pos);
if(err){showerr(err,0);}
else{
sprintf(message, "initial pos: %4d\r\n",pos);
UART0_SendStr (message);
}
// set homing mode step:1
err=SetHomeMode(1);
if(err){showerr(err,1);}
// set homing method step:2
// here the mean of homing is that
// to use the current position as homing position
err=Dnld8(OBJID_HOME_METHOD, 0, (uint8)35,2);
if(err){showerr(err,2);}
// shutdown step:3
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x06,3);
if(err){showerr(err,3);}
//wait at least 3ms to avoid the Priority inversion
sysDelayNS(3);
// switch on step:4
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x07,4);
if(err){showerr(err,4);}
// enable operation step:5
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x0f,5);
if(err){showerr(err,5);}
// start home mode step:6
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x1f,6);
if(err){showerr(err,6);}
// home mode active step:7
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x1f,7);
if(err){showerr(err,7);}
sysDelayNS(10);
//get current position step:8
err=GetPosition(&pos);
if(err){showerr(err,8);}
else{
sprintf(message, "current pos: %4d\r\n",pos);
UART0_SendStr (message);
}
//===================================
// set position mode step:9
err=SetPositionMode(1);
if(err){showerr(err,9);}
// shutdown step:10
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x06,2);
if(err){showerr(err,10);}
// switch on step:11
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x07,3);
if(err){showerr(err,11);}
//wait at least 3ms to avoid the Priority inversion
sysDelayNS(3);
// enable operation step:12
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x0f,4);
if(err){showerr(err,12);}
// while(1){;} //just for debug
}
