ClearCore::MotorManager Class Reference

Detailed Description

ClearCore motor-connector manager.

This class manages shared settings for the MotorDriver connectors.

For more detailed information on the ClearCore Motor Control and Motion Generation systems, check out the Motor Control System and Step and Direction Control informational pages.

ClearCore motor-connector manager. More...

#include <MotorManager.h>

Public Types
enum	MotorClockRates { CLOCK_RATE_LOW, CLOCK_RATE_NORMAL, CLOCK_RATE_HIGH }
enum	MotorPair { MOTOR_M0M1 = 0, MOTOR_M2M3 = 1, NUM_MOTOR_PAIRS = 2, MOTOR_ALL = NUM_MOTOR_PAIRS }

Public Member Functions
bool	MotorInputClocking (MotorClockRates newRate)
	Sets the output step rate for the motor step generators. More...
bool	MotorModeSet (MotorPair motorPair, Connector::ConnectorModes newMode)
	Sets the operational mode for the specified MotorDriver connectors. More...

Member Enumeration Documentation

enum ClearCore::MotorManager::MotorClockRates

Output step rates to be sent to motors.

Enumerator
CLOCK_RATE_LOW	Select the slow speed step input rate (100 kHz, 5uS pulse width)
CLOCK_RATE_NORMAL	Select the medium speed step input rate (500 kHz, 1uS pulse width)
CLOCK_RATE_HIGH	Select the fast speed step input rate (2 MHz, 250nS pulse width)

enum ClearCore::MotorManager::MotorPair

Indicates a pair of MotorDriver Connectors.

Enumerator
MOTOR_M0M1	MotorDriver Connectors M-0 and M-1.
MOTOR_M2M3	MotorDriver Connectors M-2 and M-3.
NUM_MOTOR_PAIRS	The total number of pairs of MotorDriver Connectors.
MOTOR_ALL	All MotorDriver Connectors.

Member Function Documentation

bool ClearCore::MotorManager::MotorInputClocking

(

MotorClockRates

newRate

)

Sets the output step rate for the motor step generators.

Sets the step rate for the MotorDriver connectors as a group. They cannot be individually set.

Note

Setting a HIGH clock rate when using a ClearPath motor may cause errors. NORMAL clock rate is recommended for ClearPath motors.

// Set all MotorDrivers' input clock rate to the high rate
MotorMgr.MotorInputClocking(MotorManager::CLOCK_RATE_HIGH);

Parameters

[in]

newRate

Step rate to be set

Returns

Success

Examples:

ClearPathModeExamples/ClearPath-SD_Series/DualAxisSynchronized/DualAxisSynchronized.cpp, ClearPathModeExamples/ClearPath-SD_Series/MovePositionAbsolute/MovePositionAbsolute.cpp, ClearPathModeExamples/ClearPath-SD_Series/MovePositionRelative/MovePositionRelative.cpp, ClearPathModeExamples/ClearPath-SD_Series/MoveVelocity/MoveVelocity.cpp, ClearPathModeExamples/ClearPath-SD_Series/UserSeeksHome/UserSeeksHome.cpp, SerialCommExamples/ClearCoreCommandProtocol/ClearCoreCommandProtocol.cpp, and StepAndDirectionExamplesNonClearPath/StepAndDirectionNonClearPath/StepAndDirection.cpp.

bool ClearCore::MotorManager::MotorModeSet	(	MotorPair	motorPair,
		Connector::ConnectorModes	newMode
	)

Sets the operational mode for the specified MotorDriver connectors.

Sets the mode for the specified MotorDriver connectors in tandem. They cannot be individually set.

// Set M-2 and M-3's mode to step and direction
MotorMgr.MotorModeSet(MotorManager::MOTOR_M2M3,
                        Connector::CPM_MODE_STEP_AND_DIR);

Parameters

[in]	motorPair	Connectors to be set to specified mode.
[in]	newMode	Connector modes to be set. The valid modes for the MotorDriver connectors are: Connector::CPM_MODE_STEP_AND_DIR Connector::CPM_MODE_A_DIRECT_B_DIRECT Connector::CPM_MODE_A_DIRECT_B_PWM Connector::CPM_MODE_A_PWM_B_PWM.

Returns

Success

Examples:

ClearPathModeExamples/ClearPath-MC_Series/Abs16PositionsHomeToHardStop/Abs16PositionsHomeToHardStop.cpp, ClearPathModeExamples/ClearPath-MC_Series/Abs2PositionsHomeToSwitch/Abs2PositionsHomeToSwitch.cpp, ClearPathModeExamples/ClearPath-MC_Series/Abs4PositionsHomeToHardStop/Abs4PositionsHomeToHardStop.cpp, ClearPathModeExamples/ClearPath-MC_Series/FollowDigitalPosition/FollowDigitalPosition.cpp, ClearPathModeExamples/ClearPath-MC_Series/FollowDigitalTorque/FollowDigitalTorque.cpp, ClearPathModeExamples/ClearPath-MC_Series/FollowDigitalVelocity/FollowDigitalVelocity.cpp, ClearPathModeExamples/ClearPath-MC_Series/FollowDigitalVelocityWithVariableTorque/FollowDigitalVelocityWithVariableTorque.cpp, ClearPathModeExamples/ClearPath-MC_Series/ManualVelocity/ManualVelocity.cpp, ClearPathModeExamples/ClearPath-MC_Series/Move2IncrementsHomeToSwitch/Move2IncrementsHomeToSwitch.cpp, ClearPathModeExamples/ClearPath-MC_Series/Move4IncrementsHomeToHardStop/Move4IncrementsHomeToHardStop.cpp, ClearPathModeExamples/ClearPath-MC_Series/PulseBurstPositioning/PulseBurstPositioning.cpp, ClearPathModeExamples/ClearPath-MC_Series/RampUpDownToSelectedVelocity/RampUpDownToSelectedVelocity.cpp, ClearPathModeExamples/ClearPath-SD_Series/DualAxisSynchronized/DualAxisSynchronized.cpp, ClearPathModeExamples/ClearPath-SD_Series/MovePositionAbsolute/MovePositionAbsolute.cpp, ClearPathModeExamples/ClearPath-SD_Series/MovePositionRelative/MovePositionRelative.cpp, ClearPathModeExamples/ClearPath-SD_Series/MoveVelocity/MoveVelocity.cpp, ClearPathModeExamples/ClearPath-SD_Series/UserSeeksHome/UserSeeksHome.cpp, EncoderInputExamples/FollowEncoder/FollowEncoder.cpp, SerialCommExamples/ClearCoreCommandProtocol/ClearCoreCommandProtocol.cpp, and StepAndDirectionExamplesNonClearPath/StepAndDirectionNonClearPath/StepAndDirection.cpp.

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The documentation for this class was generated from the following file:

• MotorManager.h