gMotorVars.SpinTAC.PosPlanErrorID 3004

Ernst,

In the InstaSPIN User's Guide (spruhj1), Section 13.8 we talk about the error codes associated with SpinTAC Position Plan.  The 3004 error means that there is a configuration error in the STPOSPLAN_addCfgTran function.  You should be able to get some additional information from these variables:

gMotorVars.SpinTAC.PosPlanCfgErrorIdx - This tells you which function call of STPOSPLAN_addCfgTran caused the error
gMotorVars.SpinTAC.PosPlanCfgErrorCode - This tells you specifically what the error is

The max values for VelLim, AccLim, DecLim, & JrkLim are determined by the maximum limits given to the profile generator.  These can be found in the function ST_setupPosMove in the spintac_position.h file.

The default limit maximums are setup as follows:

VelLim - Motor Max Speed as defined in USER_MOTOR_MAX_SPEED_KRPM, scaled into pu/s
AccLim - 10 pu/s^2 to prevent overflow when converting to krpm/s
DecLim - 10 pu/s^2 to prevent overflow when converting to krpm/s
JrkLim - 62.5 pu/s^3 to prevent overflow when converting to krpm/s^2

These limit maximums can be raised to the full numerical limits if the conversion between pu/s and krpm is abandoned.  

The numerical limits are defined as follows:

VelLim - 1.0 pu/s
AccLim - 120 pu/s^2
DecLim - 120 pu/s^2
JrkLIm - 2000 pu/s^3

To enable transitions at these maximums the code needs to be modified in a couple places.

1. The values in ST_setupPosMove in spintac_position.h need to be changed to the desired limits.

2. In ST_runPosMove, the IQmpy & IQ20mpy with the scale factor ST_SPEED_PU_PER_KRPM needs to be removed.

3. In ST_runPosPlan the IQmpy & IQ20mpy with the scale factor ST_SPEED_KRPM_PER_PU needs to be removed

4. At this point you should be able to use the numerical limits as the maximum values for your profile.  But it is important to note that the definitions for the variables in gMotorVars has now changed from krpm to pu.