固高单轴驱控一体化GT指令说明

单轴驱控一体化GT指令说明

1 任务调度与模式切换相关指令函数

1.1GT_PrfDrv(short profile)；

1.2GT_AxisOn(short axis);

1.3GT_AxisOff(short axis)

1.4GT_ClrSts(short axis, short count=1)

1.5 GT_SetCtrlMode(short axis,short ctrlMode)

1.6 GT_TuneEnable(short axis,short enable)

1.7 GT_SetTuneCmd(short axis,short phase,short cmdPersent)

1.8 GT_UpdatePriority(short axis)

1.9 GT_GetSysMode(short axis,short *pSysMode)

2 电流环相关指令函数

2.1 GT_SetCurrPid(short control,short kp,short ki,short limit)

2.2 GT_SetCurrFbLPFHz(short axis,short fc)

2.3 GT_SetCurrLPF1Hz(short axis,short fc)

2.4 GT_SetCurrLPF2Hz(short axis,short fc)

2.5 GT_SetPosOffset(short axis,short offset)

2.6 GT_GetPosOffset(short axis,short *offset)

2.7 GT_GetIa(short axis,short *pIa)

2.8 GT_GetIb(short axis,short *pIb)

2.9 GT_GetIdref(short axis,short *pIdref)

2.10 GT_GetId(short axis,short *pId)

2.11 GT_GetIqref(short axis,short *pIqref)

2.12 GT_GetIq(short axis,short *pIq)

2.13 GT_GetUdc(short axis,short *pUdc)

2.14 GT_GetUac(short axis,short *pUac)

2.15 GT_GetErrcode(short axis,short *pErrcode)

2.16 GT_SetCurrOutLPFHz (short axis,short fc)

3 速度环相关指令函数

3.1 GT_SetVelPid(short control,short kp,short ki,short limit)

3.2 GT_SetVelFbLPFHz(short axis,short fc)

3.3 GT_SetVelAnLPFHz(short axis,short fc)

3.4 GT_SetQref(short axis,double qRef)

3.5 GT_GetQref(short axis,short *pQref)

3.6 GT_GetQfb(short axis,short *pQfb)

3.7 GT_SetQPrm(short profile,TQPrm *pPrm)

3.8 GT_GetQPrm(short profile,TQPrm *pPrm)

4 压力环相关指令函数

4.1 GT_SetPrsPid(short control,short index,double kp,double ki,long integralLimit,short limit)

4.2 GT_SetPref(short axis,long prsRef)

4.3 GT_GetPref(short axis,long *pPref)

4.4 GT_GetPfb(short axis,short *pPfb)

4.5 GT_SetPrsPrm(short profile,TPrsPrm *pPrm)

4.6 GT_GetPrsPrm(short profile,TPrsPrm *pPrm)

5. 其他指令

5.1 GT_SetPSParams(short axis, short type, short iCont, short iPeak,short pwmFRQ, short vRate, short vBus, short wRate, short pwmDT)

5.2 GT_SetMotorParams(short axis,TMrtPrm *mrtprm)

5.4 GT_SetVref(short axis,short vRef)

5.5 GT_SetTref(short axis,short tRef)

5.6 GT_GetMtemp(short axis,short *pMtemp)

5.7 GT_SetProtEnable(short axis,short protIndex)

5.8 GT_SetOCParams(short axis,short iUp,short iDn)

5.9 GT_SetOVParams(short axis,short vUp,short vDn,short vOn,short vOff)

5.10 GT_SetOPParams(short axis,short iUp,short iDn)

5.13 GT_SetOSpdParams(short axis,short vLim))