Difference between revisions of "Component: Electrical Machines (AllCode)"

Revision as of 12:00, 3 February 2023

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_temp/EM_Functions.fcsx

Please click here to view the component source code (Beta): FC_Comp_Source_temp/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

@@ Line 17: / Line 17: @@
 ==Component Source Code==
-Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_EM_Functions.fcsx FC_Comp_Source_EM_Functions.fcsx]
+Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_temp/EM_Functions.fcsx FC_Comp_Source_temp/EM_Functions.fcsx]
-Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_EM_Functions.fcsx FC_Comp_Source_EM_Functions.fcsx]
+Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_temp/EM_Functions.fcsx FC_Comp_Source_temp/EM_Functions.fcsx]
 ==Detailed description==
@@ Line 57: / Line 57: @@
 ''<span style="color:red;">No additional examples</span>''
@@ Line 65: / Line 67: @@
 ==Macro reference==
-===GetLogDataReady===
+===Get3PhaseMode===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Get3PhaseMode'''
 |-
-| colspan="2" | Checks to see if the logging is complete and ready to read.&nbsp;
+| colspan="2" | Checks to see if the brushless mode is enabled&nbsp;
 |-
 |-
@@ Line 79: / Line 81: @@
-===GetRPM===
+===GetAPIVersion===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAPIVersion'''
 |-
-| colspan="2" | Reads the speed in RPM&nbsp;
+| colspan="2" | Reads the API firmware version&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-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===GetWeight===
+===GetAbsPosition===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAbsPosition'''
 |-
-| colspan="2" | Reads the voltage of a single channel&nbsp;
+| colspan="2" | Reads the absolute position of the encoder&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u32-icon.png]] - ULONG
-| 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''
 |}
-===SetControlKP===
+===GetCommsOK===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''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''
 |}
-===SetControlSetpoint===
+===GetControlFeedback===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetControlFeedback'''
 |-
 | colspan="2" | &nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[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''
 |}
-===GetAPIVersion===
+===GetControlOutputs===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetControlOutputs'''
+|-
+| colspan="2" | &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-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===GetLogData===
+===GetCurrent===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetCurrent'''
 |-
-| 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 current of a single channel&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Buffer
+| width="90%" | Channel
 |-
-| colspan="2" | Buffer to store the incoming log data&nbsp;
+| 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-bool-icon.png]] - BOOL
+| 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''
 |}
@@ Line 202: / Line 194: @@
-===GetSafetySwitch===
+===GetErrorStatus===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetErrorStatus'''
 |-
-| colspan="2" | Reads the safety switch&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;
 |-
 |-
-| 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-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===SetControlKI===
+===GetLogData===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''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="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Value
+| width="90%" | Buffer
 |-
-| colspan="2" | &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="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===ZeroLoadCell===
+===GetLogDataReady===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLogDataReady'''
 |-
-| colspan="2" | &nbsp;
+| 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-void-icon.png]] - VOID
+| 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''
 |}
-===SetControlMaxDrivePercentage===
+===GetLogStartAngle===
 {| 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'''
+| 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;
+|-
 |-
-| 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''
+|}
+===GetMotorDirection===
+{| 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'''
 |-
-| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| colspan="2" | Reads the motor direction&nbsp;
-| 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="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===SetMotorType===
+===GetRPM===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetRPM'''
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Reads the speed in RPM&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%" | 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''
 |}
-===SetLoadCellCalibration===
+===GetSafetySwitch===
 {| 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;" | '''SetLoadCellCalibration'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetSafetySwitch'''
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Reads the safety switch&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%" | 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''
 |}
@@ Line 325: / Line 316: @@
-===GetControlFeedback===
+===GetWeight===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetWeight'''
+|-
+| colspan="2" | Reads the voltage of a single channel&nbsp;
+|-
 |-
-| colspan="2" | &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
@@ Line 339: / Line 335: @@
-===SetControlKD===
+===Initialise===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Returns 1 if the connection is ok and communications have been established&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Value
+| width="90%" | MotorType
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | 0=DC, 1=1Phase, 2=3Phase, 3=AngleControl&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-bool-icon.png]] - BOOL
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===SetCapacitorBank===
+===SetAbsPosition===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAbsPosition'''
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Resets the absolute motor position to 0&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
@@ Line 377: / Line 368: @@
-===GetCommsOK===
+===SetActive===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetActive'''
 |-
-| colspan="2" | Checks if comms are ok and stable&nbsp;
+| colspan="2" | &nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
+| width="90%" | Active
-|}
-===GetLogStartAngle===
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| colspan="2" | 0=Off, 1=On&nbsp;
-| 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-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''
 |}
-===SetVoltage===
+===SetCapacitorBank===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCapacitorBank'''
 |-
-| colspan="2" | Sets the DC Voltage from 0 to 24V&nbsp;
+| colspan="2" | &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
+| width="90%" | Cap
 |-
 | colspan="2" | &nbsp;
@@ Line 429: / Line 406: @@
-===Get3PhaseMode===
+===SetControlKD===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKD'''
 |-
-| colspan="2" | Checks to see if the brushless mode is enabled&nbsp;
+| colspan="2" | &nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
+| width="90%" | Value
-|}
-===GetAbsPosition===
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| colspan="2" | &nbsp;
-| 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-void-icon.png]] - VOID
-|-
-|-
-| 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''
 |}
-===SetFan===
+===SetControlKI===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKI'''
 |-
-| colspan="2" | |Sets the speed of the FAN from 0 (MIN)  to 3000 (MAX)&nbsp;
+| colspan="2" | &nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | Speed
+| width="90%" | Value
 |-
 | colspan="2" | &nbsp;
@@ Line 476: / Line 444: @@
-===SetMotorDirection===
+===SetControlKP===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlKP'''
 |-
 | colspan="2" | &nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | MotorDirection
+| width="90%" | Value
 |-
-| colspan="2" | 0=FW, 1=BW&nbsp;
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 495: / Line 463: @@
-===GetMotorDirection===
+===SetControlMaxDrivePercentage===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlMaxDrivePercentage'''
+|-
+| colspan="2" | &nbsp;
+|-
 |-
-| colspan="2" | Reads the motor direction&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-u16-icon.png]] - UINT
+| 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''
 |}
-===SetThreePhaseDriveMode===
+===SetControlSetpoint===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetControlSetpoint'''
 |-
 | colspan="2" | &nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | Mode
+| width="90%" | Value
 |-
-| colspan="2" | 0=Simple, 1=Accurate&nbsp;
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 528: / Line 501: @@
-===GetCurrent===
+===SetDriveMode===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetDriveMode'''
 |-
-| colspan="2" | Reads the current of a single channel&nbsp;
+| colspan="2" | &nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
+| width="90%" | Mode
 |-
-| colspan="2" | Range: 0-6 - 0=DC1, 1=DC2, 2=U, 3=V, 4=W, 5=Dyno, 6=I, 7=TotalDriver&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="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===SetFrequency===
+===SetDynoLoad===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetDynoLoad'''
 |-
 | colspan="2" | &nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | Frequency
+| width="90%" | Load
 |-
-| colspan="2" | Frequency of sine wave in Hz&nbsp;
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 566: / Line 539: @@
-===SetDynoLoad===
+===SetFan===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFan'''
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | |Sets the speed of the FAN from 0 (MIN)  to 3000 (MAX)&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Load
+| width="90%" | Speed
 |-
 | colspan="2" | &nbsp;
@@ Line 585: / Line 558: @@
-===GetErrorStatus===
+===SetFrequency===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFrequency'''
+|-
+| colspan="2" | &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;
+| 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-u8-icon.png]] - BYTE
+| 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''
 |}
-===GetControlOutputs===
+===SetLoadCellCalibration===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLoadCellCalibration'''
 |-
 | colspan="2" | &nbsp;
@@ Line 609: / Line 587: @@
 |-
 | width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | Data
+| width="90%" | Value
 |-
 | colspan="2" | &nbsp;
@@ Line 618: / Line 596: @@
-===SetActive===
+===SetMotorDirection===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotorDirection'''
 |-
 | colspan="2" | &nbsp;
@@ Line 628: / Line 606: @@
 |-
 | 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
@@ Line 637: / Line 615: @@
-===SetDriveMode===
+===SetMotorType===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotorType'''
 |-
 | colspan="2" | &nbsp;
@@ Line 647: / Line 625: @@
 |-
 | 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
@@ Line 695: / Line 673: @@
-===SetAbsPosition===
+===SetThreePhaseDriveMode===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetThreePhaseDriveMode'''
+|-
+| colspan="2" | &nbsp;
+|-
 |-
-| colspan="2" | Resets the absolute motor position to 0&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
@@ Line 709: / Line 692: @@
-===Initialise===
+===SetVoltage===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetVoltage'''
+|-
+| colspan="2" | Sets the DC Voltage from 0 to 24V&nbsp;
+|-
 |-
-| colspan="2" | Returns 1 if the connection is ok and communications have been established&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%" | MotorType
+| 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''
+|}
+===ZeroLoadCell===
+{| 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;
 |-
-| 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-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}