Serial communications library with the Advanced Motion Controls (AMC) Digiflex Performance (DP) series brushless servo motor controllers.
These high-performance servo motor controllers can operate in several modes:
- Torque mode (current feedback)
- Velocity mode (velocity feedback from resolver)
- Position mode (position feedback from encoder)
The drives have a serial (RS-422) port through which various registers with settings and device status may be accessed. The drive can also be controlled through the command registers. The same serial port may also be used with AMC's DriveWare software to commission the drive, and configure it.
The serial protocol includes CRC checks and a packet sequence number, these ensure that electrical noise and other effects do not corrupt the data transfer to and from the drive. This library will handle CRC generation, and verify the packet serial numbers in order to validate error-free communication.
This library has been used to control a DPRANIR-030A400B with resolver feedback. The drive was first set up using DriveWare, this library is only used operationally to control the internal command registers and monitor the drive and motor status.
Please note: this library is provided as-is, the author does NOT assume responsibility for any damage caused by the use of this software library. It has not been officially endorsed by Advanced Motion Controls, it is an independent development based on information provided in the Serial Communication Reference Manual.
autoreconf -i
automake -a
libtoolize
autoreconf
The test directory contains a program that can be used to query a drive and optionally to send it commands. This program can be used as an example of how to use the functions in this library.