Force monitoring related functions

Overview

This group contains functions for controlling the force monitoring, reading the force sensor and setting a custom force limit.

Collaboration diagram for Force monitoring related functions:

Functions
long	NemV4EnableForceMonitoring (TNemesysV4 *Nemesys, int Enable)
	Enable / Disable force monitoring functionality. More...
long	NemV4IsSafetyStopActive (TNemesysV4 *Nemesys)
	Reads the safety stop input. More...
long	NemV4ReadForceSensor (TNemesysV4 *Nemesys, float *Force_kN)
	Reads the internal force sensor value scaled to kN. More...
long	NemV4WriteForceLimit (TNemesysV4 *Nemesys, float ForceLimit_kN)
	Sets a custom force limit. More...

Function Documentation

long NemV4EnableForceMonitoring	(	TNemesysV4 *	Nemesys,
		int	Enable
	)

Enable / Disable force monitoring functionality.

Parameters

Nemesys	Device pointer
Enable	1 = enable, 0 = disable

Returns

Error code - ERR_NOERR indicates success

{
    long Result;
    uint32_t InputsPolarity;

    Result = CsiDevReadObject(&Nemesys->Device, NemV4_OD_H3141_DIG_INPUTS_PROPERTIES,
        2, &InputsPolarity);
    CSI_RETURN_ON_ERROR(Result);

    InputsPolarity &= ~0x01;
    if (!Enable)
    {
        InputsPolarity |= 0x01;
    }

    return CsiDevWriteObject(&Nemesys->Device, NemV4_OD_H3141_DIG_INPUTS_PROPERTIES,
        2, InputsPolarity);
}

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long NemV4IsSafetyStopActive

(

TNemesysV4 *

Nemesys

)

Reads the safety stop input.

I case of a force overload, that means, if the measured force is higher than the force limit, the force monitoring sets the safety stop input and stops the pump. If this function returns true, then the pump is in a force overload situation. If safety stop is active, you can read the force sensor via NemV4ReadForceSensor() to get the current force value.

Parameters

Nemesys

The device to query

Return values

<	0 Error
0	Safety stop inactive
1	Safety stop active - force overload situation or force monitoring disabled.

{
    return NemV4ReadDigitalInput(Nemesys, NEM4_DIG_IN_SAFETY_STOP);
}

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long NemV4ReadForceSensor	(	TNemesysV4 *	Nemesys,
		float *	Force_kN
	)

Reads the internal force sensor value scaled to kN.

Parameters

Nemesys	The device to read from
Force_kN	Returns the force sensor value in kN

Returns

Error code - ERR_NOERR indicates success

{
    int16_t Value_mV;
    long Result;

    Result = NemV4ReadAnalogInput(Nemesys, NEM4_ANALOG_IN_FORCE_SENSOR, &Value_mV);
    CSI_RETURN_ON_ERROR(Result);
    *Force_kN = Value_mV * Nemesys->ForceSensorScaling.Factor + Nemesys->ForceSensorScaling.Offset;
    return ERR_NOERR;
}

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long NemV4WriteForceLimit	(	TNemesysV4 *	Nemesys,
		float	ForceLimit_kN
	)

Sets a custom force limit.

Each device has a device specific force limit. After a call to NemV4DevInit the TNemesysV4 device type contains the maximum force in the MaxForce_kN member. This function allows you to reduce the maximum force below this maximum device force, if this is required for your application.

Parameters

Nemesys	The device to configure
ForceLimit_kN	The force limit in kN. This value needs to be less than the device force limit and greater than 0.

Returns

Error code - ERR_NOERR indicates success

{
    int32_t DeviceValue_mV;

    if (ForceLimit_kN < 0 || ForceLimit_kN > Nemesys->MaxForce_kN)
    {
        return -ERR_INVAL;
    }

    DeviceValue_mV = round((ForceLimit_kN - Nemesys->ForceLimitScaling.Offset) /
        Nemesys->ForceLimitScaling.Factor);
    return CsiDevWriteObject(&Nemesys->Device, NemV4_OD_H3182_ANALOG_OUT,
        2, DeviceValue_mV);
}

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