New Micros NMIY-0031, Manual

Page: 139 / 188

2 / 2 6 / 2 0 0 2 2 : 0 6 P M 2 / 2 6 / 2 0 0 2 1 3 9
N M I L - 7 0 5 6 S E R V O M O T O R D R I V E R
C S A M P L E P R O G R A M
l_veloc()
{
int data_in;
commnd = LTRJ; send_cmd();
trajec2 = 0x18; trajec1 = 0x28;
dbyte2 = trajec2; dbyte1 = trajec1; send_word();
printf("\nEnter a Velocity value (0-65535): ");
scanf("%d", &data_in);
veloc4 = data_in / 256; veloc3 = data_in % 256;
veloc2 = 0x00; veloc1 = 0x00;
accel4 = 0x00; accel3 = 0x05; accel2 = 0x00; accel1 = 0x00;
dbyte2 = accel4; dbyte1 = accel3; send_word();
dbyte2 = accel2; dbyte1 = accel1; send_word();
dbyte2 = veloc4; dbyte1 = veloc3; send_word();
dbyte2 = veloc2; dbyte1 = veloc1; send_word();
commnd = STT; send_cmd();
} /* end left velocity move */
load_filter()
{
commnd = LFIL; send_cmd();
/* send filter control word */
dbyte2 = filter2; dbyte1 = filter1; send_word();
/* send new filter settings */
dbyte2 = kp2; dbyte1 = kp1; send_word();
dbyte2 = ki2; dbyte1 = ki1; send_word();
dbyte2 = kd2; dbyte1 = kd1; send_word();
dbyte2 = il2; dbyte1 = il1; send_word();
commnd = UDF; send_cmd(); /* activate new settings */
} /* end load filter */
load_traj()
{
commnd = LTRJ; send_cmd();
/* send trajectory control word */
dbyte2 = trajec2; dbyte1 = trajec1; send_word();
/* send new trajectory settings */
dbyte2 = accel4; dbyte1 = accel3; send_word();
dbyte2 = accel2; dbyte1 = accel1; send_word();
dbyte2 = veloc4; dbyte1 = veloc3; send_word();
dbyte2 = veloc2; dbyte1 = veloc1; send_word();
dbyte2 = posit4; dbyte1 = posit3; send_word();
dbyte2 = posit2; dbyte1 = posit1; send_word();
commnd = STT; send_cmd();
} /* end load trajectory */
menu()
{
printf("\n 0 Absolute Move");
printf("\n 1 Load Trajectory");
printf("\n 2 Relative Move");
printf("\n 3 Left Velocity Move");
printf("\n 4 Right Velocity Move");
printf("\n 5 Jog Left");
printf("\n 6 Jog Right");
printf("\n 7 Load Filter Parameters");
printf("\n 8 Motor Power Off");
printf("\n 9 Display current setup values");
printf("\n\n Enter the number of your choice: ");
} /* end menu */