IQ math(insta spin)

Hello,

If you are asking about IQmath, you can find the documentation in ControlSuite:

C:\ti\controlSUITE\libs\math\IQmath\v160\doc

2112.IQmath_Quickstart.pdf

Best regards,

Maria

I am interested in block Traj Ramp... Where his description? In what format is specified speed User_SpdRef

any interaction between modules is done in per unit.

in the case of a speed, this will be in a per unit relationship to your user.h IQ_FULL_SCALE_FREQUENCY_Hz.

SPEED_COMMAND_Hz / IQ_FULL_SCALE_FREQUENCY_Hz = SPEED_COMMAND_pu

Q30 format allows numbers between -2.0 and +1.99, so from a variable standpoint you could command a value of nearly 2x the FULL_SCALE.

If you are using the SpinTAC motion suite however there is internal safety logic that checks and only allows commands in the +/- 1.0 scale.

To make this easier for a user we have provided some access functions that are in _krpm instead of _pu. EX:

            // set the speed reference
            CTRL_setSpd_ref_krpm(ctrlHandle,gMotorVars.SpeedRef_krpm);

This is an input into the Trajectory module, which also requires an acceleration setting. Here you can see that we don't have a helper function so we must scale the _krpmps value into per unit first:

            // set the speed acceleration
            CTRL_setMaxAccel_pu(ctrlHandle,_IQmpy(MAX_ACCEL_KRPMPS_SF,gMotorVars.MaxAccel_krpmps));

You can review the module (and driver) documentation in MotorWare.exe where we use Doxygen to create a hyperlinked set of docs.

"gMotorVars.SpeedRef_krpm = _IQ(0.001);
CTRL_setSpd_ref_krpm(ctrlHandle, gMotorVars.SpeedRef_krpm);"

you can work in a global q (global q =24?)

yes, the Global Q being used is Q24, which allows up to nearly +/- 128.0 representation.

So for the Spd_ref_krpm the variable limit would be 127.9 krpm

I corrected my previous post regarding the -2.0 to +1.99 limit....this is Q30 format.

and the block Traj Ramp this transition module?

thanks, Chris