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ICE_ANCILLARY.MAC
[ source code | installed at | configured at ]
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Description:
    ICE_ANCILLARY.MAC - Control ancillaries on IcePAP axes.
Documentation:
    OVERVIEW
    Macros needed for IcePAP controlled motors using ancillaries (for instance brakes or air pads). The ancillary control (release/engage command) and current ancillary status is achieved with an external WAGO box. The WAGO box is also used to disable IcePAP motor motion (through its HOLD signal input). See Electronic Unit for details.

    DESCRIPTION
    Configuring macro motors
    Each IcePAP motor has first to be configured, see "help local ice" for details. The motor can be a real one or a linked one. Then the following extra parameters have to be configured.
    Extra motor_par() parameters
    Several ancillary specific parameters have to be given. Using motor_par() or in the config through the "Custom Parameters for Motor" page of each motor.
    motor_par(mot, "anc_cmd_ch")
    The WAGO logical channel used to release/engage the ancillary.
    motor_par(mot, "anc_cmd_engage")
    The WAGO channel write value to engage the ancillary. The release value will be the complement.
    motor_par(mot, "anc_sta_ch")
    The WAGO logical channel used to read the ancillary current status.
    motor_par(mot, "anc_sta_engaged")
    The WAGO channel read value when the ancillary is engaged. The released value will be the complement.


Macros:
Internal Macros:
    _icepap_ancillary_config
    Usage: _icepap_ancillary_config (num, type, p1, p2, p3)
    Called by IcePAP macro motor macros on motor reconfig.

    _icepap_ancillary_setup
    Usage: _icepap_ancillary_setup


    _icepap_ancillary_add
    Usage: _icepap_ancillary_add(mne, comm_ch, comm_release, comm_engage, st_ch, st_released, st_engaged)


    _icepap_ancillary_release
    Usage: _icepap_ancillary_release(mne, linkedmv)


    _icepap_ancillary_engage_all
    Usage: _icepap_ancillary_engage_all()


    _icepap_ancillary_engage
    Usage: _icepap_ancillary_engage(mne, forced, linkedmv)


Filename: ice_ancillary.mac
Author: GB+MP BLISS (Original 12/16).
$Revision: 1.1 $ / $Date: 2018/09/03 12:22:57 $
Last mod.: 03/09/2018 14:22 by perez