Table of Contents
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Section 9
Advanced Capabilities
9.1
Motion Control Software Overview
Section 9 — Advanced Capabilities
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9.1.1 Introduction
The ESP system motion control software provides the core functionality
required for motion control applications. The motion control kernel
consists of the servo system and the trajectory generator. A set of func-
tions provide an Application Programming Interface (API) for configuring
and controlling the software modules. Functional descriptions are pro-
vided in the following paragraphs.
9.1.2 Control API
The ESP system API functions are used to customize the motion control
performance for a specific application. These functions can be divided
into three fundamental categories; (1) initialization, (2) configuration, and
(3) control. Initialization functions are used at start-up to set the initial
values for all the ESP system data structures. The ESP system behavior is
then customized using the configuration functions. After initialization and
configuration, the axes are sent to specific locations by setting the axis
control parameters. API functions are briefly described in the following
paragraphs.
9.1.2.1 System Initialization
Initialization is the first required step in using the ESP system. Initializa-
tion API calls typically invoke a board-level hardware reset, initialize data
structures with previously stored parameters from non-volatile flash
memory (or ESP-compatible stage if new) and establish communication.
9.1.2.2 Configuration
Axis-specific parameters must be configured after initialization. These
parameters consist of:
– General axis configuration; for servo or stepper motor designation
– Servo parameters; for configuring control algorithm gains. Parameters
include digital-to-analog converter offset, proportional gain, derivative
gain, integral gain, integrator limit, velocity feed-forward, and accelera-
tion feed-forward.
– Trajectory parameters; trapezoidal velocity profile, S-curve velocity
profile, and master-slave profile.
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