Basic Motion Control Functions

Overview

Basic low level motion control functions for execution of positioning tasks.

The functions in this group allow basic positioning of the pusher using device specific speed and position (increments) values. No syringe configuration is required for these functions because they use the native device units like increments for positions and mrpm for speed. These functions are called from the high level dosing functions (see Dosing and pump control functions).

Collaboration diagram for Basic Motion Control Functions:

Functions
long	NemV4GetCurrentVelocity (TNemesysV4 *Nemesys, int32_t *Velocity)
	Read the actual velocity from the Nemesys. More...
long	NemV4GetPosIs (TNemesysV4 *Nemesys, int32_t *PosIs)
	Reads the actual position from the Nemesys. More...
long	NemV4MoveDistance (TNemesysV4 *Nemesys, int32_t Distance, uint32_t Velocity)
	Moves the pusher a certain distance from the current position. More...
long	NemV4MoveToPos (TNemesysV4 *Nemesys, int32_t PosAbs, uint32_t Velocity)
	Move pusher to a certain position. More...
long	NemV4MoveWithVelocity (TNemesysV4 *Nemesys, int32_t Velocity)
	Moves the syringe pusher with the given velocity. More...

Function Documentation

long NemV4GetCurrentVelocity	(	TNemesysV4 *	Nemesys,
		int32_t *	Velocity
	)

Read the actual velocity from the Nemesys.

Parameters

Nemesys	Nemesys to read from
Velocity	Stores the velocity in Nemesys units (speed in mrpm - millirevolutions per minute)

Returns

Error code - ERR_NOERR indicates success

Referenced by NemV4GetCurrentFlow().

{
    int32_t Result;

    *Velocity = 0;
    Result = NemV4IsStopped(Nemesys);
    if (Result < 0)
    {
        return Result;
    }

    //
    // If dosing is finished, then the flow rate is 0
    //
    if (Result)
    {
        Nemesys->LastVelocity = 0;
    }

    *Velocity = Nemesys->LastVelocity;
    return Result;
}

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long NemV4GetPosIs	(	TNemesysV4 *	Nemesys,
		int32_t *	PosIs
	)

Reads the actual position from the Nemesys.

Parameters

Nemesys	Nemesys to read from
PosIs	Returns the current position in Nemesys units (increments)

Returns

Error code - ERR_NOERR indicates success

Referenced by NemV4GetSyringeLevel(), NemV4MoveDistance(), and NemV4SetSyringeLevel().

{
    long Result;

    Result = CsiDevReadObject(&Nemesys->Device,  NemV4_OD_H6064_ACTUAL_POSITION,
        0, (uint32_t*)PosIs);

    return Result;
}

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long NemV4MoveDistance	(	TNemesysV4 *	Nemesys,
		int32_t	Distance,
		uint32_t	Velocity
	)

Moves the pusher a certain distance from the current position.

This function executes a relative move from the current position. The sign of the distance parameter configures the direction of the move. A negative value will pull the pusher and a positive value will push the syringe pusher into the syringe

Parameters

Nemesys	Nemesys device to move
Distance	The distance in increments. The sign configures the direction
Velocity	The device velocity value.

Returns

Error code - ERR_NOERR indicates success

Referenced by NemV4DoseVolume().

{
    long    Result;
    int32_t  PosIs;
    int32_t  TargetPos;

    if (Distance < 0)
    {
        Nemesys->LastVelocity = 0 - Velocity;
    }
    else
    {
        Nemesys->LastVelocity = Velocity;
    }

    //
    // First read the actual position - this is our starting point
    //
    Result = NemV4GetPosIs(Nemesys, &PosIs);
    CSI_RETURN_ON_ERROR(Result);

    TargetPos = PosIs + Distance;

    //
    // Finally execute a simple absolute position move
    //
    return NemV4MoveToPos(Nemesys, TargetPos, Velocity);
}

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long NemV4MoveToPos	(	TNemesysV4 *	Nemesys,
		int32_t	PosAbs,
		uint32_t	Velocity
	)

Move pusher to a certain position.

This function executes an move to an absolute position. This is a low level function that is called from other API functions to execute dosing tasks.

Parameters

[in]	Nemesys	The Nemesys to move
[in]	PosAbs	The position value in increments
[in]	Velocity	The speed in mrpm (millirevolutions per minute)

Returns

Error code - ERR_NOERR indicates success

Referenced by NemV4MoveDistance(), NemV4MoveWithVelocity(), and NemV4SetSyringeLevel().

{
    long     Result;
    uint16_t  wControlWord;

    //
    // Limit the position move to the maximum possible value and then invert
    // the position because in real hardware the position value will
    // decrease if we move away from lower limit but we would like to use
    // positive values here
    //
    if (dwPosAbs > Nemesys->MaxPos)
    {
        dwPosAbs = Nemesys->MaxPos;
    }

    //
    // check if operation mode is profile position - if not, then activate
    // the profile position mode
    //
    if (Nemesys->OpMode != NemV4_OP_MODE_PROFILE_POSITION)
    {
        Result = NemV4_SetOpMode(Nemesys, NemV4_OP_MODE_PROFILE_POSITION);
        if (Result != ERR_NOERR)
        {
            return Result;
        }
    }

    //
    // first we store our target position
    //
    Result = CsiDevWriteObject(&Nemesys->Device, NemV4_OD_H607A_TARGET_POSITION,
        0, dwPosAbs);
    CSI_RETURN_ON_ERROR(Result);

    //
    // now we store our velocity
    //
    Result = CsiDevWriteObject(&Nemesys->Device, NemV4_OD_H6081_PROFILE_VELOCITY,
        0, dwVelocity);
    CSI_RETURN_ON_ERROR(Result);

    //
    // Now start movement
    //
    wControlWord = CW_OP_EN;
    Result = NemV4_SetControlWord(Nemesys, wControlWord);
    CSI_RETURN_ON_ERROR(Result);
    wControlWord = CW_OP_EN | CWBIT_NEW_SET_POINT | CWBIT_IMMEDIATELY;
    return NemV4_SetControlWord(Nemesys, wControlWord);
}

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long NemV4MoveWithVelocity	(	TNemesysV4 *	Nemesys,
		int32_t	Velocity
	)

Moves the syringe pusher with the given velocity.

The sign of the velocity value indicates the direction. A negative value means aspiration and a positive value means dispension. The pusher will move until the minimum or maximum position is reached

Parameters

Nemesys	The nemesys device to control
Velocity	The device specific velocity value. The sign indicates the move direction.

Returns

Error code - ERR_NOERR indicates success

Referenced by NemV4GenerateFlow().

{
    int32_t TargetPos;

    Nemesys->LastVelocity = Velocity;
    //
    // Now calculate target position - target position depends on the
    // dwVolume value and on the sign of the dwFlowRate
    //
    if (Velocity < 0)
    {
        Velocity = 0 - Velocity;
        TargetPos = Nemesys->MinPos; // move to lower limit
    }
    else
    {
        TargetPos = Nemesys->MaxPos; // move to upper limit
    }

    //
    // Finally execute a simple absolut position move
    //
    return NemV4MoveToPos(Nemesys, TargetPos, Velocity);
}

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