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Component: Electrical Machines (AllCode): Difference between revisions

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==Detailed description==
==Detailed description==




Line 52: Line 54:




''<span style="color:red;">No additional examples</span>''




==Macro reference==
''<span style="color:red;">No additional examples</span>''


{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLogDataReady'''
|-
| colspan="2" | Checks to see if the logging is complete and ready to read.&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetRPM'''
|-
| colspan="2" | Reads the speed in RPM&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetWeight'''
|-
| colspan="2" | Reads the voltage of a single channel&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Scale
|-
| colspan="2" | Range: 0-1 -  0=Weight, 1=Torque&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKP'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlSetpoint'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAPIVersion'''
|-
| colspan="2" | Reads the API firmware version&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


==Macro reference==


{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===Get3PhaseMode===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLogData'''
| width="90%" class="mtx-class-macrohead" | '''Get3PhaseMode'''
|-
|-
| colspan="2" | Gets a 64-byte packet of log data. 250 packets make up a single log. Returns 0 if comms failed and 1 if comms OK&nbsp;
| colspan="2" | Checks to see if the brushless mode is enabled&nbsp;
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Buffer
|-
| colspan="2" | Buffer to store the incoming log data&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
Line 168: Line 85:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetAPIVersion===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetDataArray'''
| width="90%" class="mtx-class-macrohead" | '''GetAPIVersion'''
|-
|-
| colspan="2" | Collects a data array from the EM box full of control data. Each set of data includes: Setpoint, Feedback, Poutput, Ioutput, Doutput Returns the number of complete data samples collected.&nbsp;
| colspan="2" | Reads the API firmware version&nbsp;
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | data
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetAbsPosition===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetSafetySwitch'''
| width="90%" class="mtx-class-macrohead" | '''GetAbsPosition'''
|-
|-
| colspan="2" | Reads the safety switch&nbsp;
| colspan="2" | Reads the absolute position of the encoder&nbsp;
|-
|-
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u32-icon.png]] - ULONG
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetCommsOK===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKI'''
| width="90%" class="mtx-class-macrohead" | '''GetCommsOK'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | Checks if comms are ok and stable&nbsp;
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ZeroLoadCell'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlMaxDrivePercentage'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | Range 0.0-1.0&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotorType'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | MotorType
|-
| colspan="2" | 0=DC, 1=1 Phase, 2=3 Phase&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetControlFeedback===
|-
{| class="mtx-class-macrotable wikitable"
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLoadCellCalibration'''
|-
|-
| colspan="2" | &nbsp;
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
|-
| width="90%" class="mtx-class-macrohead" | '''GetControlFeedback'''
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetVoltage'''
|-
| colspan="2" | Reads the voltage of a single channel&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range: 0-5 -  0=DC1, 1=DC2, 2=U, 3=V, 4=W, 5=VEXT&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetControlOutputs===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetControlFeedback'''
| width="90%" class="mtx-class-macrohead" | '''GetControlOutputs'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKD'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 324: Line 151:
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
| width="90%" | Data
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCapacitorBank'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Cap
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetCommsOK'''
|-
| colspan="2" | Checks if comms are ok and stable&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLogStartAngle'''
|-
| colspan="2" | Collects the U Phase angle at the start of logging.  Used to calculate and re-create the 3Phase voltage data.&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetVoltage'''
|-
| colspan="2" | Sets the DC Voltage from 0 to 24V&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Voltage
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Index
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Get3PhaseMode'''
|-
| colspan="2" | Checks to see if the brushless mode is enabled&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAbsPosition'''
|-
| colspan="2" | Reads the absolute position of the encoder&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u32-icon.png]] - ULONG
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFan'''
|-
| colspan="2" | |Sets the speed of the FAN from 0 (MIN)  to 3000 (MAX)&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Speed
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 444: Line 160:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetCurrent===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotorDirection'''
| width="90%" class="mtx-class-macrohead" | '''GetCurrent'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | MotorDirection
|-
| colspan="2" | 0=FW, 1=BW&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetMotorDirection'''
|-
| colspan="2" | Reads the motor direction&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetThreePhaseDriveMode'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | Mode
|-
| colspan="2" | 0=Simple, 1=Accurate&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetCurrent'''
|-
|-
| colspan="2" | Reads the current of a single channel&nbsp;
| colspan="2" | Reads the current of a single channel&nbsp;
Line 511: Line 179:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetDataArray===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFrequency'''
| width="90%" class="mtx-class-macrohead" | '''GetDataArray'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | Collects a data array from the EM box full of control data. Each set of data includes: Setpoint, Feedback, Poutput, Ioutput, Doutput Returns the number of complete data samples collected.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Frequency
|-
| colspan="2" | Frequency of sine wave in Hz&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetDynoLoad'''
|-
| colspan="2" | &nbsp;
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Load
| width="90%" | data
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetErrorStatus===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetErrorStatus'''
| width="90%" class="mtx-class-macrohead" | '''GetErrorStatus'''
|-
|-
| colspan="2" | Gets the current error status. Error status will automatically resolve itself once the causing condition has been removed. 0 = No Error 1 = Error - likely over current or brownout&nbsp;
| colspan="2" | Gets the current error status. Error status will automatically resolve itself once the causing condition has been removed. 0 = No Error 1 = Error - likely over current or brownout&nbsp;
Line 560: Line 212:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetLogData===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetControlOutputs'''
| width="90%" class="mtx-class-macrohead" | '''GetLogData'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | Gets a 64-byte packet of log data. 250 packets make up a single log. Returns 0 if comms failed and 1 if comms OK&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Data
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetActive'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | Active
|-
| colspan="2" | 0=Off, 1=On&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetDriveMode'''
|-
| colspan="2" | &nbsp;
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
| width="90%" | Buffer
|-
|-
| colspan="2" | 0=PWM, 1=On/Off/Float&nbsp;
| colspan="2" | Buffer to store the incoming log data&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTCPProps'''
|-
| colspan="2" | Sets the TCP IP address and Port&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | IP0
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | IP1
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | IP2
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | IP3
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Port
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAbsPosition'''
|-
| colspan="2" | Resets the absolute motor position to 0&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
|-
| colspan="2" | Returns 1 if the connection is ok and communications have been established&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | MotorType
|-
| colspan="2" | 0=DC, 1=1Phase, 2=3Phase, 3=AngleControl&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
Line 683: Line 231:




 
===GetLogDataReady===
 
{| class="mtx-class-macrotable wikitable"
==Property reference==
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Communications
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Comms Mode
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Stop On Error
|-
| colspan="2" | Automatically allows the runtime to stop if there is a communications error.&nbsp;
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | USB Communications
|-
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Autodetect Port
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Runtime Statistics
|-
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Console Data
|-
| colspan="2" | Allow console data to be generated showing the high level EM communications and returns&nbsp;
|}==Macro reference==
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLogDataReady'''
| width="90%" class="mtx-class-macrohead" | '''GetLogDataReady'''
|-
|-
| colspan="2" | Checks to see if the logging is complete and ready to read.&nbsp;
| colspan="2" | Checks to see if the logging is complete and ready to read.&nbsp;
Line 739: Line 245:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetLogStartAngle===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetRPM'''
| width="90%" class="mtx-class-macrohead" | '''GetLogStartAngle'''
|-
|-
| colspan="2" | Reads the speed in RPM&nbsp;
| colspan="2" | Collects the U Phase angle at the start of logging.  Used to calculate and re-create the 3Phase voltage data.&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetWeight'''
|-
| colspan="2" | Reads the voltage of a single channel&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Scale
|-
| colspan="2" | Range: 0-1 - 0=Weight, 1=Torque&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKP'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlSetpoint'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAPIVersion'''
|-
| colspan="2" | Reads the API firmware version&nbsp;
|-
|-
|-
|-
Line 819: Line 259:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetMotorDirection===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLogData'''
| width="90%" class="mtx-class-macrohead" | '''GetMotorDirection'''
|-
|-
| colspan="2" | Gets a 64-byte packet of log data. 250 packets make up a single log. Returns 0 if comms failed and 1 if comms OK&nbsp;
| colspan="2" | Reads the motor direction&nbsp;
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Buffer
|-
| colspan="2" | Buffer to store the incoming log data&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetRPM===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetDataArray'''
| width="90%" class="mtx-class-macrohead" | '''GetRPM'''
|-
|-
| colspan="2" | Collects a data array from the EM box full of control data. Each set of data includes: Setpoint, Feedback, Poutput, Ioutput, Doutput Returns the number of complete data samples collected.&nbsp;
| colspan="2" | Reads the speed in RPM&nbsp;
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | data
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetSafetySwitch===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetSafetySwitch'''
| width="90%" class="mtx-class-macrohead" | '''GetSafetySwitch'''
|-
|-
| colspan="2" | Reads the safety switch&nbsp;
| colspan="2" | Reads the safety switch&nbsp;
Line 868: Line 301:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetVoltage===
|-
{| class="mtx-class-macrotable wikitable"
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKI'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ZeroLoadCell'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlMaxDrivePercentage'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | Range 0.0-1.0&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotorType'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | MotorType
|-
| colspan="2" | 0=DC, 1=1 Phase, 2=3 Phase&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLoadCellCalibration'''
| width="90%" class="mtx-class-macrohead" | '''GetVoltage'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetVoltage'''
|-
|-
| colspan="2" | Reads the voltage of a single channel&nbsp;
| colspan="2" | Reads the voltage of a single channel&nbsp;
Line 971: Line 320:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetWeight===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetControlFeedback'''
| width="90%" class="mtx-class-macrohead" | '''GetWeight'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | Reads the voltage of a single channel&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKD'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCapacitorBank'''
|-
| colspan="2" | &nbsp;
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Cap
| width="90%" | Scale
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | Range: 0-1 -  0=Weight, 1=Torque&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===Initialise===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetCommsOK'''
| width="90%" class="mtx-class-macrohead" | '''Initialise'''
|-
|-
| colspan="2" | Checks if comms are ok and stable&nbsp;
| colspan="2" | Returns 1 if the connection is ok and communications have been established&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLogStartAngle'''
|-
| colspan="2" | Collects the U Phase angle at the start of logging.  Used to calculate and re-create the 3Phase voltage data.&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetVoltage'''
|-
| colspan="2" | Sets the DC Voltage from 0 to 24V&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Voltage
|-
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Index
| width="90%" | MotorType
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Get3PhaseMode'''
|-
| colspan="2" | Checks to see if the brushless mode is enabled&nbsp;
|-
|-
| colspan="2" | 0=DC, 1=1Phase, 2=3Phase, 3=AngleControl&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
Line 1,082: Line 358:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetAbsPosition===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAbsPosition'''
| width="90%" class="mtx-class-macrohead" | '''SetAbsPosition'''
|-
|-
| colspan="2" | Reads the absolute position of the encoder&nbsp;
| colspan="2" | Resets the absolute motor position to 0&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u32-icon.png]] - ULONG
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFan'''
|-
| colspan="2" | |Sets the speed of the FAN from 0 (MIN)  to 3000 (MAX)&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Speed
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotorDirection'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | MotorDirection
|-
| colspan="2" | 0=FW, 1=BW&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetMotorDirection'''
|-
| colspan="2" | Reads the motor direction&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetThreePhaseDriveMode'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | Mode
|-
| colspan="2" | 0=Simple, 1=Accurate&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetCurrent'''
|-
| colspan="2" | Reads the current of a single channel&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range: 0-6 - 0=DC1, 1=DC2, 2=U, 3=V, 4=W, 5=Dyno, 6=I, 7=TotalDriver&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFrequency'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Frequency
|-
| colspan="2" | Frequency of sine wave in Hz&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetDynoLoad'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Load
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetErrorStatus'''
|-
| colspan="2" | Gets the current error status. Error status will automatically resolve itself once the causing condition has been removed. 0 = No Error 1 = Error - likely over current or brownout&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetControlOutputs'''
|-
| colspan="2" | &nbsp;
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Data
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 1,247: Line 372:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetActive===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetActive'''
| width="90%" class="mtx-class-macrohead" | '''SetActive'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,265: Line 391:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetCapacitorBank===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetDriveMode'''
| width="90%" class="mtx-class-macrohead" | '''SetCapacitorBank'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,274: Line 401:
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
| width="90%" | Cap
|-
| colspan="2" | 0=PWM, 1=On/Off/Float&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTCPProps'''
|-
| colspan="2" | Sets the TCP IP address and Port&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | IP0
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | IP1
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | IP2
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | IP3
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Port
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,321: Line 410:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetControlKD===
|-
{| class="mtx-class-macrotable wikitable"
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAbsPosition'''
|-
| colspan="2" | Resets the absolute motor position to 0&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
|-
| colspan="2" | Returns 1 if the connection is ok and communications have been established&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | MotorType
|-
| colspan="2" | 0=DC, 1=1Phase, 2=3Phase, 3=AngleControl&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
 
 
==Property reference==
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Communications
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Comms Mode
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Stop On Error
|-
| colspan="2" | Automatically allows the runtime to stop if there is a communications error.&nbsp;
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | USB Communications
|-
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Autodetect Port
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Runtime Statistics
|-
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Console Data
|-
| colspan="2" | Allow console data to be generated showing the high level EM communications and returns&nbsp;
|}==Macro reference==
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLogDataReady'''
|-
| colspan="2" | Checks to see if the logging is complete and ready to read.&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetRPM'''
| width="90%" class="mtx-class-macrohead" | '''SetControlKD'''
|-
| colspan="2" | Reads the speed in RPM&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetWeight'''
|-
| colspan="2" | Reads the voltage of a single channel&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Scale
|-
| colspan="2" | Range: 0-1 -  0=Weight, 1=Torque&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKP'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,457: Line 429:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetControlKI===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlSetpoint'''
| width="90%" class="mtx-class-macrohead" | '''SetControlKI'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,475: Line 448:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetControlKP===
|-
{| class="mtx-class-macrotable wikitable"
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAPIVersion'''
|-
| colspan="2" | Reads the API firmware version&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLogData'''
|-
| colspan="2" | Gets a 64-byte packet of log data. 250 packets make up a single log. Returns 0 if comms failed and 1 if comms OK&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Buffer
|-
| colspan="2" | Buffer to store the incoming log data&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetDataArray'''
|-
| colspan="2" | Collects a data array from the EM box full of control data. Each set of data includes: Setpoint, Feedback, Poutput, Ioutput, Doutput Returns the number of complete data samples collected.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | data
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetSafetySwitch'''
|-
| colspan="2" | Reads the safety switch&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKI'''
| width="90%" class="mtx-class-macrohead" | '''SetControlKP'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,555: Line 467:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetControlMaxDrivePercentage===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ZeroLoadCell'''
| width="90%" class="mtx-class-macrohead" | '''SetControlMaxDrivePercentage'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlMaxDrivePercentage'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,586: Line 486:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetControlSetpoint===
|-
{| class="mtx-class-macrotable wikitable"
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotorType'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | MotorType
|-
| colspan="2" | 0=DC, 1=1 Phase, 2=3 Phase&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLoadCellCalibration'''
| width="90%" class="mtx-class-macrohead" | '''SetControlSetpoint'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,622: Line 505:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetDriveMode===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetVoltage'''
| width="90%" class="mtx-class-macrohead" | '''SetDriveMode'''
|-
|-
| colspan="2" | Reads the voltage of a single channel&nbsp;
| colspan="2" | &nbsp;
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
| width="90%" | Mode
|-
|-
| colspan="2" | Range: 0-5 -  0=DC1, 1=DC2, 2=U, 3=V, 4=W, 5=VEXT&nbsp;
| colspan="2" | 0=PWM, 1=On/Off/Float&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetControlFeedback'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKD'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 1,671: Line 524:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetDynoLoad===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCapacitorBank'''
| width="90%" class="mtx-class-macrohead" | '''SetDynoLoad'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Cap
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetCommsOK'''
|-
| colspan="2" | Checks if comms are ok and stable&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLogStartAngle'''
|-
| colspan="2" | Collects the U Phase angle at the start of logging.  Used to calculate and re-create the 3Phase voltage data.&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetVoltage'''
|-
| colspan="2" | Sets the DC Voltage from 0 to 24V&nbsp;
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Voltage
| width="90%" | Load
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Index
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,738: Line 543:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetFan===
|-
{| class="mtx-class-macrotable wikitable"
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Get3PhaseMode'''
|-
| colspan="2" | Checks to see if the brushless mode is enabled&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAbsPosition'''
|-
| colspan="2" | Reads the absolute position of the encoder&nbsp;
|-
|-
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u32-icon.png]] - ULONG
| width="90%" class="mtx-class-macrohead" | '''SetFan'''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFan'''
|-
|-
| colspan="2" | |Sets the speed of the FAN from 0 (MIN)  to 3000 (MAX)&nbsp;
| colspan="2" | |Sets the speed of the FAN from 0 (MIN)  to 3000 (MAX)&nbsp;
Line 1,782: Line 562:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetFrequency===
|-
{| class="mtx-class-macrotable wikitable"
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotorDirection'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | MotorDirection
|-
| colspan="2" | 0=FW, 1=BW&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetMotorDirection'''
|-
| colspan="2" | Reads the motor direction&nbsp;
|-
|-
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" class="mtx-class-macrohead" | '''SetFrequency'''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetThreePhaseDriveMode'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | Mode
|-
| colspan="2" | 0=Simple, 1=Accurate&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetCurrent'''
|-
| colspan="2" | Reads the current of a single channel&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range: 0-6 - 0=DC1, 1=DC2, 2=U, 3=V, 4=W, 5=Dyno, 6=I, 7=TotalDriver&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFrequency'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,867: Line 581:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetLoadCellCalibration===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetDynoLoad'''
| width="90%" class="mtx-class-macrohead" | '''SetLoadCellCalibration'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,876: Line 591:
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Load
| width="90%" | Value
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,885: Line 600:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetMotorDirection===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetErrorStatus'''
| width="90%" class="mtx-class-macrohead" | '''SetMotorDirection'''
|-
| colspan="2" | Gets the current error status. Error status will automatically resolve itself once the causing condition has been removed. 0 = No Error 1 = Error - likely over current or brownout&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetControlOutputs'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Data
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetActive'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,925: Line 610:
|-
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | Active
| width="90%" | MotorDirection
|-
|-
| colspan="2" | 0=Off, 1=On&nbsp;
| colspan="2" | 0=FW, 1=BW&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 1,934: Line 619:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetMotorType===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetDriveMode'''
| width="90%" class="mtx-class-macrohead" | '''SetMotorType'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
Line 1,943: Line 629:
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
| width="90%" | MotorType
|-
|-
| colspan="2" | 0=PWM, 1=On/Off/Float&nbsp;
| colspan="2" | 0=DC, 1=1 Phase, 2=3 Phase&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 1,952: Line 638:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetTCPProps===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTCPProps'''
| width="90%" class="mtx-class-macrohead" | '''SetTCPProps'''
|-
|-
| colspan="2" | Sets the TCP IP address and Port&nbsp;
| colspan="2" | Sets the TCP IP address and Port&nbsp;
Line 1,990: Line 677:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetThreePhaseDriveMode===
|-
{| class="mtx-class-macrotable wikitable"
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAbsPosition'''
|-
| colspan="2" | Resets the absolute motor position to 0&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
|-
| colspan="2" | Returns 1 if the connection is ok and communications have been established&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | MotorType
|-
| colspan="2" | 0=DC, 1=1Phase, 2=3Phase, 3=AngleControl&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
 
 
==Property reference==
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Communications
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" | Comms Mode
| width="90%" class="mtx-class-macrohead" | '''SetThreePhaseDriveMode'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Stop On Error
|-
|-
| colspan="2" | Automatically allows the runtime to stop if there is a communications error.&nbsp;
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | Mode
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| colspan="2" | 0=Simple, 1=Accurate&nbsp;
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | USB Communications
|-
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Autodetect Port
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Runtime Statistics
|-
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Console Data
|-
| colspan="2" | Allow console data to be generated showing the high level EM communications and returns&nbsp;
|}==Macro reference==
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLogDataReady'''
|-
| colspan="2" | Checks to see if the logging is complete and ready to read.&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetRPM'''
|-
| colspan="2" | Reads the speed in RPM&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetWeight'''
|-
| colspan="2" | Reads the voltage of a single channel&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Scale
|-
| colspan="2" | Range: 0-1 -  0=Weight, 1=Torque&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKP'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlSetpoint'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAPIVersion'''
|-
| colspan="2" | Reads the API firmware version&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLogData'''
|-
| colspan="2" | Gets a 64-byte packet of log data. 250 packets make up a single log. Returns 0 if comms failed and 1 if comms OK&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Buffer
|-
| colspan="2" | Buffer to store the incoming log data&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetDataArray'''
|-
| colspan="2" | Collects a data array from the EM box full of control data. Each set of data includes: Setpoint, Feedback, Poutput, Ioutput, Doutput Returns the number of complete data samples collected.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | data
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetSafetySwitch'''
|-
| colspan="2" | Reads the safety switch&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKI'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ZeroLoadCell'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlMaxDrivePercentage'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | Range 0.0-1.0&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotorType'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | MotorType
|-
| colspan="2" | 0=DC, 1=1 Phase, 2=3 Phase&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 2,273: Line 696:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetVoltage===
|-
{| class="mtx-class-macrotable wikitable"
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLoadCellCalibration'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetVoltage'''
|-
| colspan="2" | Reads the voltage of a single channel&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range: 0-5 -  0=DC1, 1=DC2, 2=U, 3=V, 4=W, 5=VEXT&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetControlFeedback'''
|-
| colspan="2" | &nbsp;
|-
|-
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" class="mtx-class-macrohead" | '''SetVoltage'''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKD'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCapacitorBank'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Cap
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetCommsOK'''
|-
| colspan="2" | Checks if comms are ok and stable&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLogStartAngle'''
|-
| colspan="2" | Collects the U Phase angle at the start of logging.  Used to calculate and re-create the 3Phase voltage data.&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetVoltage'''
|-
|-
| colspan="2" | Sets the DC Voltage from 0 to 24V&nbsp;
| colspan="2" | Sets the DC Voltage from 0 to 24V&nbsp;
Line 2,407: Line 720:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ZeroLoadCell===
|-
{| class="mtx-class-macrotable wikitable"
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Get3PhaseMode'''
|-
| colspan="2" | Checks to see if the brushless mode is enabled&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAbsPosition'''
|-
| colspan="2" | Reads the absolute position of the encoder&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u32-icon.png]] - ULONG
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFan'''
|-
| colspan="2" | |Sets the speed of the FAN from 0 (MIN)  to 3000 (MAX)&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Speed
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotorDirection'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | MotorDirection
|-
| colspan="2" | 0=FW, 1=BW&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetMotorDirection'''
|-
| colspan="2" | Reads the motor direction&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetThreePhaseDriveMode'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | Mode
|-
| colspan="2" | 0=Simple, 1=Accurate&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetCurrent'''
|-
| colspan="2" | Reads the current of a single channel&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range: 0-6 - 0=DC1, 1=DC2, 2=U, 3=V, 4=W, 5=Dyno, 6=I, 7=TotalDriver&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFrequency'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Frequency
|-
| colspan="2" | Frequency of sine wave in Hz&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetDynoLoad'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Load
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetErrorStatus'''
|-
| colspan="2" | Gets the current error status. Error status will automatically resolve itself once the causing condition has been removed. 0 = No Error 1 = Error - likely over current or brownout&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetControlOutputs'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Data
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetActive'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | Active
|-
| colspan="2" | 0=Off, 1=On&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetDriveMode'''
| width="90%" class="mtx-class-macrohead" | '''ZeroLoadCell'''
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
|-
| colspan="2" | 0=PWM, 1=On/Off/Float&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTCPProps'''
|-
| colspan="2" | Sets the TCP IP address and Port&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | IP0
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | IP1
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | IP2
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | IP3
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Port
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAbsPosition'''
|-
| colspan="2" | Resets the absolute motor position to 0&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
|-
| colspan="2" | Returns 1 if the connection is ok and communications have been established&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | MotorType
|-
| colspan="2" | 0=DC, 1=1Phase, 2=3Phase, 3=AngleControl&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}




==Property reference==
==Property reference==


{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-prop-icon.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''  
| width="90%" class="mtx-class-macrohead" | '''Properties'''  
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| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Communications
| width="90%" class="mtx-class-propfolder" | Communications
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| colspan="2" | Automatically allows the runtime to stop if there is a communications error.&nbsp;
| colspan="2" | Automatically allows the runtime to stop if there is a communications error.&nbsp;
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| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | USB Communications
| width="90%" class="mtx-class-propfolder" | USB Communications
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| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
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| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Runtime Statistics
| width="90%" class="mtx-class-propfolder" | Runtime Statistics
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Latest revision as of 14:36, 13 July 2026

Author Matrix TSL
Version 2.0
Category AllCode


Electrical Machines component

A set of functions to communicate with the Matrix EM hardware. Allows the functions to be easily standardised across all SCADA programs.

Component Source Code

Please click here to download the component source project: FC_Comp_Source_EM_Functions.fcsx

Please click here to view the component source code (Beta): FC_Comp_Source_EM_Functions.fcsx

Detailed description

No detailed description exists yet for this component

Examples

No additional examples







Macro reference

Get3PhaseMode

Get3PhaseMode
Checks to see if the brushless mode is enabled 
- BOOL Return


GetAPIVersion

GetAPIVersion
Reads the API firmware version 
- BYTE Return


GetAbsPosition

GetAbsPosition
Reads the absolute position of the encoder 
- ULONG Return


GetCommsOK

GetCommsOK
Checks if comms are ok and stable 
- BOOL Return


GetControlFeedback

GetControlFeedback
 
- FLOAT Return


GetControlOutputs

GetControlOutputs
 
- FLOAT Data
 
- VOID Return


GetCurrent

GetCurrent
Reads the current of a single channel 
- BYTE Channel
Range: 0-6 - 0=DC1, 1=DC2, 2=U, 3=V, 4=W, 5=Dyno, 6=I, 7=TotalDriver 
- FLOAT Return


GetDataArray

GetDataArray
Collects a data array from the EM box full of control data. Each set of data includes: Setpoint, Feedback, Poutput, Ioutput, Doutput Returns the number of complete data samples collected. 
- FLOAT data
 
- BYTE Return


GetErrorStatus

GetErrorStatus
Gets the current error status. Error status will automatically resolve itself once the causing condition has been removed. 0 = No Error 1 = Error - likely over current or brownout 
- BYTE Return


GetLogData

GetLogData
Gets a 64-byte packet of log data. 250 packets make up a single log. Returns 0 if comms failed and 1 if comms OK 
- BYTE Buffer
Buffer to store the incoming log data 
- BOOL Return


GetLogDataReady

GetLogDataReady
Checks to see if the logging is complete and ready to read. 
- BOOL Return


GetLogStartAngle

GetLogStartAngle
Collects the U Phase angle at the start of logging. Used to calculate and re-create the 3Phase voltage data. 
- BYTE Return


GetMotorDirection

GetMotorDirection
Reads the motor direction 
- UINT Return


GetRPM

GetRPM
Reads the speed in RPM 
- UINT Return


GetSafetySwitch

GetSafetySwitch
Reads the safety switch 
- UINT Return


GetVoltage

GetVoltage
Reads the voltage of a single channel 
- BYTE Channel
Range: 0-5 - 0=DC1, 1=DC2, 2=U, 3=V, 4=W, 5=VEXT 
- FLOAT Return


GetWeight

GetWeight
Reads the voltage of a single channel 
- BYTE Scale
Range: 0-1 - 0=Weight, 1=Torque 
- FLOAT Return


Initialise

Initialise
Returns 1 if the connection is ok and communications have been established 
- BYTE MotorType
0=DC, 1=1Phase, 2=3Phase, 3=AngleControl 
- BOOL Return


SetAbsPosition

SetAbsPosition
Resets the absolute motor position to 0 
- VOID Return


SetActive

SetActive
 
- BOOL Active
0=Off, 1=On 
- VOID Return


SetCapacitorBank

SetCapacitorBank
 
- BYTE Cap
 
- VOID Return


SetControlKD

SetControlKD
 
- FLOAT Value
 
- VOID Return


SetControlKI

SetControlKI
 
- FLOAT Value
 
- VOID Return


SetControlKP

SetControlKP
 
- FLOAT Value
 
- VOID Return


SetControlMaxDrivePercentage

SetControlMaxDrivePercentage
 
- FLOAT Value
Range 0.0-1.0 
- VOID Return


SetControlSetpoint

SetControlSetpoint
 
- FLOAT Value
 
- VOID Return


SetDriveMode

SetDriveMode
 
- BYTE Mode
0=PWM, 1=On/Off/Float 
- VOID Return


SetDynoLoad

SetDynoLoad
 
- FLOAT Load
 
- VOID Return


SetFan

SetFan
|Sets the speed of the FAN from 0 (MIN) to 3000 (MAX) 
- UINT Speed
 
- VOID Return


SetFrequency

SetFrequency
 
- UINT Frequency
Frequency of sine wave in Hz 
- VOID Return


SetLoadCellCalibration

SetLoadCellCalibration
 
- FLOAT Value
 
- VOID Return


SetMotorDirection

SetMotorDirection
 
- BOOL MotorDirection
0=FW, 1=BW 
- VOID Return


SetMotorType

SetMotorType
 
- BYTE MotorType
0=DC, 1=1 Phase, 2=3 Phase 
- VOID Return


SetTCPProps

SetTCPProps
Sets the TCP IP address and Port 
- BYTE IP0
 
- BYTE IP1
 
- BYTE IP2
 
- BYTE IP3
 
- UINT Port
 
- VOID Return


SetThreePhaseDriveMode

SetThreePhaseDriveMode
 
- BOOL Mode
0=Simple, 1=Accurate 
- VOID Return


SetVoltage

SetVoltage
Sets the DC Voltage from 0 to 24V 
- FLOAT Voltage
 
- BYTE Index
 
- VOID Return


ZeroLoadCell

ZeroLoadCell
 
- VOID Return


Property reference

Properties
Communications
Comms Mode
 
Stop On Error
Automatically allows the runtime to stop if there is a communications error. 
USB Communications
Autodetect Port
 
Runtime Statistics
Console Data
Allow console data to be generated showing the high level EM communications and returns 
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