Other Parts Discussed in Thread: MOTORWARE
Greeting of the Day Dear,
I have my position setting follows
//Example: STPOSPLAN_addCfgState(handle, PosStep[MRev], PosStepFrac[MRev], StateTimer[ticks]);
STPOSPLAN_addCfgState(stObj->posPlanHandle, 0, 0, 200L); // StateIdx0: A
STPOSPLAN_addCfgState(stObj->posPlanHandle, 1, 0.5, 200L); // StateIdx1: B
STPOSPLAN_addCfgState(stObj->posPlanHandle, -1, 0, 200L); // StateIdx2: C
//Example: STPOSPLAN_addCfgTran(handle, FromState, ToState, CondOption, CondIdx1, CondiIdx2, VelLim[pups], AccLim[pups2], DecLim[pups2], JrkLim[pups3]);
// NOTE: The deceleration limit must be set between the following bounds [acceleration limit, 10*acceleration limit]
STPOSPLAN_addCfgTran(stObj->posPlanHandle, STATE_A, STATE_B, ST_COND_NC, 0, 0, _IQ(0.1 * ST_SPEED_PU_PER_KRPM), _IQ(0.1), _IQ(0.1), _IQ20(1)); // From StateA to StateB
STPOSPLAN_addCfgTran(stObj->posPlanHandle, STATE_B, STATE_C, ST_COND_NC, 0, 0, _IQ(0.001 * ST_SPEED_PU_PER_KRPM), _IQ(0.1), _IQ(0.1), _IQ20(1)); // From StateB to StateC
// STPOSPLAN_addCfgTran(stObj->posPlanHandle, STATE_C, STATE_A, ST_COND_NC, 0, 0, _IQ(0.1 * ST_SPEED_PU_PER_KRPM), _IQ(1), _IQ(1), _IQ20(1)); // From StateC to StateA
STPOSPLAN_addCfgTran(stObj->posPlanHandle, STATE_C, STATE_B, ST_COND_NC, 0, 0, _IQ(0.1 * ST_SPEED_PU_PER_KRPM), _IQ(1), _IQ(1), _IQ20(1)); // From StateC to StateA
As you can see in state B I mentioned fraction revolution 0.5 but the motor does not take in consideration it's rotate clock wise and anti-clockwise. I f you can suggest problem
