Signal flow

Signal flow

Signal path settings

The signal path processing block is positioned between the inputs and the main block. It processes 2 analog inputs (level1 and level2) and 2 digital inputs (in1 and in2).

Signal path block takes 5 arguments:

• sig_path parameter - an integer value selecting the desired scheme
• level1 - value of the first analog input
• level2 - value of the second analog input
• in1 - value of the first digital input
• in2 - value of the second digital input

and produces 2 outputs:

• output_level - analog value that will be converted to cmd using csc.
• disarm - binary value (0/1); if set to 1 and disarming is enabled in parameters, the motor won't rotate even if level is non-zero.

You can select one of the following schemes by setting the sig_path parameter in the controller. If sig_path is set to any unspecified value, the controller behaves as if sig_path were set to zero.

/sig_path

Value	Name	Description
0	Disabled	Inputs are disabled, use CAN or constant input from `idle_mode` and `idle_level` parameters.
1	Level 1 input	Level 1 input to cmd.
2	Level 1 with Level 2 safety	If the level 2 input is below 0, cmd is set to 0.
3	Level 1 with Level 2 disarm	If the level 2 input is below 0, disarm is set to 1.
4	Level 1 with enable/reverse switches	Level 1 input is applied when enable switch is on; reversed when reverse switch is on.
5	Level 1 with forward/backward switches	Level 1 input is applied when forward switch is on; negative Level 1 when backward switch is on.
6	Forward/backward switches with fixed level	Fixed level (1) is applied when forward switch is on; negative fixed level when backward switch is on.
7	Sum of Level 1 and Level 2	Cmd is set to the sum of Level 1 and Level 2 inputs.

sig_path = 0

No inputs are mapped to the control block. This setting is useful when you want to control the motor directly through the driver API.

• output_level is always 0, regardless of inputs.
• disarm is irrelevant since level is always zero.

tip

To completely disable the OPHION application, set parameter /common/appsel to 10. This setting prevents startup audio notification and disables the mode switch functionality.

sig_path = 1 - default

This default setting maps one analog input to the cmd.

• output_level equals level1.
• disarm is always zero.

sig_path = 2

Similar to sig_path = 1, but includes a safety check via level2.

• output_level equals level1 only when level2 >= 0; otherwise, output_level is zero.
• disarm is always zero.

sig_path = 3

Identical to sig_path = 1, but with disarm functionality.

• output_level equals level1.
• disarm is 1 when level2 <= 0 and 0 otherwise.

sig_path = 4

• output_level equals level1 when in1 = 1 (enable switch), otherwise zero. The value is multiplied by -1 (reverse switch) when in2 = 1.
• disarm is always zero.

sig_path = 5

level1 sets the desired level_output value, while in1 acts as forward switch and in2 as backward switch.

• output_level is determined as follows:
  • When in1 is enabled: output_level equals level1
  • When in2 is enabled: output_level equals -level1
  • When neither is enabled: output_level is zero
  • When both are enabled: output_level equals level1
• disarm is always zero.

sig_path = 6

Functions like sig_path = 5, but assumes level1 is always 1.

• output_level is determined as follows:
  • When in1 is enabled: output_level equals 1
  • When in2 is enabled: output_level equals -1
  • When neither is enabled: output_level is zero
  • When both are enabled: output_level equals 1
• disarm is always zero.

sig_path = 7

• output_level equals level1 + level2.
• disarm is always zero.