Nanotec ASA5618

hardware/Encoders/ecmcEL5042-Encoder-Nanotec-ASA5618M42.cmd

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+#-d /**
+#-d   \brief hardware script for ecmcEL5042-Encoder-Nanotec-ASA5618M42
+#-d   \details SSI encoder used in Nanotec ASA5618M42 stepper motor, 17/16 bit
+#-d   \author Niko Kivel
+#-d   \file
+#-d   \pre Need the following varibales:
+#-d   \pre ECMC_EC_SLAVE_NUM    Slave index
+#-d   \pre ECMC_EC_SDO_INDEX    0x8008 for CH1, 0x8018 for CH2
+#-d   \note Supply:     4.75..15 V
+#-d   \note Resolution: 16 start bits + 17/16 => 49 bits total
+#-d */
+
+#- 0x80p8:01: Invert feedback direction (default 0)
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x1,0,1)"
+
+#- 0x80p8:12: Supply voltage
+#- 50: 5V (default)
+#- 90: 9V
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x12,50,1)"
+
+#- 0x80p8:13: Clock Frequency
+#- 0: 10 MHz (default)
+#- 1: 5 MHZ
+#- 2: 3.33 MHz
+#- 3: 2.5 MHz
+#- 4: 2 MHz
+#- 9: 1 MHz (Max for SSI)
+#- 17: 500 kHz
+#- 19: 250 kHz
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x13,9,1)"
+
+#- 0x80p8:14: Coding
+#- 0: Dual code active (default)
+#- 1: Gray code active
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x14,0,1)"
+
+#- total bit count:
+# 16 starting bits
+# 16 multi turn bits
+# 17 single turn bits
+# 2 status bits (which are _NOT_ used by the slave)
+#  ==> 49 bits total
+
+#- 0x80p8:15: Multiturn [Bit] Number of multiturn bits (16 start + 16 data)
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x15,32,1)"
+
+#- 0x80p8:16: Singleturn [Bit] Number of singleturn bits (17 data)
+#- WORKING with 33 bit
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x16,17,1)"
+
+#- 0x80p8:17: Offset LSB Bit [Bit] Number of “right aligned” Offset bits
+#- default 0
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x17,0,1)"
+
+#- 0x80p8:18: Mode
+#- 0: BiSS-C mode (default)
+#- 1: SSI mode
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x18,1,1)"

hardware/Motors/ecmcEL7041-0052-Motor-Nanotec-ASA5618M42.cmd

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+#-d /**
+#-d   \brief hardware script for ecmcEL7041-0052-Motor-Nanotec-ASA5618M42
+#-d   \details Parametrization of EL7041 for motor Nanotec ecmcEL7041-0052-Motor-Nanotec-ASA5618M42
+#-d   \author Niko Kivel
+#-d   \file
+#-d */
+
+#- Set max current to 4200mA (actually max current is 4.2A for this motor)
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x1,4200,2)"
+
+#- Reduced current 500mA
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x2,2000,2)"
+
+#- Nominal voltage 48V (unit 1mV)
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x3,48000,2)"
+
+#- Coil resistance 0.5 Ohm (unit 10mOhm)
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x4,50,2)"
+
+#- Motor full steps count 200
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x6,200,2)"
+
+#- Coil inductance 1.5mH (unit 0.01mH) NOT USED FOR EL7041
+#- ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0xA,150,2)"
+