Go to the source code of this file.
Classes | |
| struct | SINOSBaseAxis |
| Descriptor structure used to configure a base axis. It is usually only used in conjunction with SINOSPhysicalAxis. The dt2 table name is "INOS-BASE-AXIS", see also Axis. More... | |
| class | CINOSBaseAxis |
| Provides axis functionality. More... | |
Macros | |
| #define | DF_INOS_BASE_AXIS_DBT "INOS-BASE-AXIS" |
| #define | DF_INOS_MAX_AXIS 256 |
| #define | DF_INOS_AXIS_STATE_DISABLED -1 |
| #define | DF_INOS_AXIS_STATE_UNDEFINED 0 |
| #define | DF_INOS_AXIS_STATE_OFF 0 |
| #define | DF_INOS_AXIS_STATE_ACTIVE 1 |
| #define | DF_INOS_AXIS_STATE_READY 2 |
| #define | DF_INOS_AXIS_STATE_PEACE 2 |
| #define | DF_INOS_AXIS_STATE_PULL 3 |
| #define | DF_INOS_AXIS_STATE_BREAK 4 |
| #define | DF_INOS_AXIS_STATE_COUPLED 5 |
| #define | DF_INOS_AXIS_STATE_FORCE 6 |
| #define | DF_INOS_AXIS_STATE_ACTIVATING 8 |
| #define | DF_INOS_AXIS_STATE_INACTIVATING 9 |
| #define | DF_INOS_AXIS_STATE_SYNCING 10 |
| #define | DF_INOS_AXIS_STATE_MOVING 11 |
| #define | DF_INOS_AXIS_STATE_ENDLESS 12 |
| #define | DF_INOS_AXIS_STATE_TOGGLE 13 |
| #define | DF_INOS_AXIS_STATE_STOPPING 14 |
| #define | DF_INOS_AXIS_STATE_BREAKING 15 |
| #define | DF_INOS_AXIS_STATE_EMSTOPPING 16 |
| #define | DF_INOS_AXIS_STATE_MOVINGEX 17 |
| #define | DF_INOS_AXIS_STATE_CURSOR 18 |
| #define | DF_INOS_AXIS_STATE_TRACK 19 |
| #define | DF_INOS_AXIS_STATE_MOVINGAPP 20 |
| #define | DF_INOS_AXIS_STATE_MOVINGDEP 21 |
| #define | DF_INOS_AXIS_STATE_RELAXING 22 |
| #define | DF_INOS_AXIS_STATE_UMOVE 23 |
| #define | DF_INOS_AXIS_STATE_SEARCHING 24 |
| #define | DF_INOS_AXIS_STATE_DEPARTING 25 |
| #define | DF_INOS_AXIS_STATES 27 |
| #define | DF_INOS_AXIS_SUBSTATE_TRACK_FOLLOW 0 |
| #define | DF_INOS_AXIS_SUBSTATE_TRACK_KEEP 1 |
| #define | DF_INOS_AXIS_CMD_ACTIVATE 0x00000001 |
| #define | DF_INOS_AXIS_CMD_INACTIVATE 0x00000002 |
| #define | DF_INOS_AXIS_CMD_SYNC 0x00000004 |
| #define | DF_INOS_AXIS_CMD_MOVE 0x00000008 |
| #define | DF_INOS_AXIS_CMD_ENDLESS 0x00000010 |
| #define | DF_INOS_AXIS_CMD_STOP 0x00000020 |
| #define | DF_INOS_AXIS_CMD_BREAK 0x00000040 |
| #define | DF_INOS_AXIS_CMD_CONTINUE 0x00000080 |
| #define | DF_INOS_AXIS_CMD_EMSTOP 0x00000100 |
| #define | DF_INOS_AXIS_CMD_UPDATE 0x00000200 |
| #define | DF_INOS_AXIS_CMD_TOGGLE 0x00000400 |
| #define | DF_INOS_AXIS_CMD_MOVEEX 0x00002000 |
| #define | DF_INOS_AXIS_CMD_HANDLE_CACHE 0x00004000 |
| #define | DF_INOS_AXIS_CMD_CURSOR 0x00008000 |
| #define | DF_INOS_AXIS_CMD_TRACK 0x00010000 |
| #define | DF_INOS_AXIS_CMD_MOVESEG 0x00020000 |
| #define | DF_INOS_AXIS_CMD_COUPLING 0x00040000 |
| #define | DF_INOS_AXIS_CMD_PULL 0x00080000 |
| #define | DF_INOS_AXIS_CMD_MOVEAPP 0x00100000 |
| #define | DF_INOS_AXIS_CMD_MOVEDEP 0x00200000 |
| #define | DF_INOS_AXIS_CMD_ENABLE 0x00400000 |
| #define | DF_INOS_AXIS_CMD_DISABLE 0x00800000 |
| #define | DF_INOS_AXIS_CMD_COMMUTATE 0x01000000 |
| #define | DF_INOS_AXIS_CMD_MOVETIME 0x02000000 |
| #define | DF_INOS_AXIS_CMD_RELAX 0x04000000 |
| #define | ER_INOS_AXIS_REJECTED 0x00000001 |
| #define | ER_INOS_AXIS_FAILED 0x00000002 |
| #define | ER_INOS_AXIS_POS_WINDOW 0x00000004 |
| #define | ER_INOS_AXIS_CPD_ERROR 0x00000008 |
| #define | ER_INOS_AXIS_CPD_DELTA 0x00000010 |
| #define | ER_INOS_AXIS_CPD_CORR 0x00000020 |
| #define | ER_INOS_AXIS_COM_FAILED 0x00000040 |
| #define | ER_INOS_AXIS_RAMP_LIMIT 0x00000080 |
| #define | ER_INOS_AXIS_REJECTED_SOS 0x00000100 |
| #define | ER_INOS_AXIS_PULL_UNDERRUN 0x00000200 |
| #define | ER_INOS_AXIS_SLS_VIOLATION 0x00000400 |
| #define | ER_INOS_AXIS_SOS_VIOLATION 0x00000800 |
| #define | ER_INOS_AXIS_CORE_MISMATCH 0x00001000 |
| #define | ER_INOS_AXIS_FORCE_CONTROL 0x00002000 |
| #define | ER_INOS_AXIS_CONTROL 0x00004000 |
| #define | ER_INOS_AXIS_RAMP 0x00008000 |
| #define | ER_INOS_AXIS_HOOK 0x00010000 |
| #define | WR_INOS_AXIS_RAMP 0x00008000 |
| #define | WR_INOS_AXIS_CONTROL 0x00004000 |
| #define | WR_INOS_AXIS_IGNORED 0x00000001 |
| #define | WR_INOS_AXIS_CPD_CORR_IGNORED 0x00000002 |
| #define | WR_INOS_AXIS_COUPLED 0x00000008 |
| #define | WR_INOS_AXIS_EME_STOPPED 0x00000010 |
| #define | DF_INOS_AXIS_FLAG_ZERO 0x00000001 |
| #define | DF_INOS_AXIS_FLAG_NORM 0x00000002 |
| #define | DF_INOS_AXIS_FLAG_INCR 0x00000004 |
| #define | DF_INOS_AXIS_FLAG_SYNC 0x00000008 |
| #define | DF_INOS_AXIS_FLAG_EDONE 0x00000010 |
| #define | DF_INOS_AXIS_FLAG_AACC 0x00000020 |
| #define | DF_INOS_AXIS_FLAG_CURL 0x00000040 |
| #define | DF_INOS_AXIS_FLAG_LSNCD 0x00000080 |
| #define | DF_INOS_AXIS_FLAG_DISMP 0x00000100 |
| #define | DF_INOS_AXIS_FLAG_RNDNR 0x00000200 |
| #define | DF_INOS_AXIS_FLAG_PWCL 0x00000400 |
| #define | DF_INOS_AXIS_FLAG_DSAP 0x00000800 |
| #define | DF_INOS_AXIS_FLAG_SAFETY 0x00001000 |
| #define | DF_INOS_AXIS_FLAG_ESPULL 0x00002000 |
| #define | DF_INOS_AXIS_FLAG_IGNORE_CORE 0x00004000 |
| #define | DF_INOS_AXIS_FLAG_INPUT_SHAPING_ACTIVE 0x20000000 |
| #define | DF_INOS_AXIS_FLAG_WINDOW 0x40000000 |
| #define | DF_INOS_AXIS_FLAG_SNCD 0x80000000 |
| #define | DF_INOS_AXIS_SYNC_NOADJ 0x00 |
| #define | DF_INOS_AXIS_SYNC_ADJUST 0x01 |
| #define | DF_INOS_AXIS_SYNC_STOP 0x02 |
| #define | DF_INOS_AXIS_NORM_AFTER 0x00 |
| #define | DF_INOS_AXIS_NORM_LIVE 0x01 |
| #define | DF_INOS_AXIS_NORM_POSITIVE 0x40 |
| #define | DF_INOS_AXIS_NORM_ROUND 0x80 |
| #define | DF_INOS_AXIS_NORM_MOVE_DIR_NO 0x00 |
| #define | DF_INOS_AXIS_NORM_MOVE_DIR_POS 0x01 |
| #define | DF_INOS_AXIS_NORM_MOVE_DIR_NEG 0x02 |
| #define | DF_INOS_AXIS_NORM_MOVE_DIR_SHORT 0x03 |
| #define | DF_INOS_AXIS_NORM_MOVE_DIR_SHORT_EX 0x04 |
| #define | DF_INOS_AXIS_SAFETY_EMGSTOP 0x00 |
| #define | DF_INOS_AXIS_SAFETY_AUTO 0x01 |
| #define | DF_INOS_AXIS_SAFETY_NONE 0x02 |
| #define | DF_INOS_AXIS_EMGT_STOP 0x00 |
| #define | DF_INOS_AXIS_EMGT_STOP_INACTIVATE 0x01 |
| #define | DF_INOS_AXIS_EMGT_INACTIVATE 0x02 |
| #define | DF_INOS_AXIS_EMGT_NONE 0x03 |
| #define | DF_INOS_AXIS_EMGT_STOP_POSITION 0x04 |
| #define | DF_INOS_AXIS_EMGT_STOP_POSITION_INACTIVATE 0x05 |
| #define | DF_PRECONFIGURED_EME_STOP_TYPE 0xffff |
| #define | DF_PRECONFIGURED_EME_STOP_POS_OR_STOP 0xfffe |
| #define | DF_PRECONFIGURED_EME_STOP_DELAY 0xffff |
| #define | DF_INOS_AXIS_PST_STANDARD 0x00000000 |
| #define | DF_INOS_AXIS_PST_WINDOW 0x00000001 |
| #define | DF_INOS_AXIS_PST_WINDOW_OPT 0x00000002 |
| #define | DF_INOS_BASE_AXIS_OPT_EARLY_DONE 0x00000001 |
| #define | DF_INOS_BASE_AXIS_OPT_AUTO_ACCEPT 0x00000002 |
| #define | DF_INOS_BASE_AXIS_OPT_LIMITS_IF_SNCD 0x00000004 |
| #define | DF_INOS_BASE_AXIS_OPT_MAPPING_DISABLED 0x00000008 |
| #define | DF_INOS_BASE_AXIS_OPT_NORM_ENABLED 0x00000010 |
| #define | DF_INOS_BASE_AXIS_OPT_CHECK_LIMITS 0x00000020 |
| #define | DF_INOS_BASE_AXIS_OPT_LIFETIME 0x00000040 |
| #define | DF_INOS_BASE_AXIS_OPT_SETPOS_DISABLED 0x00000080 |
| #define | DF_INOS_BASE_AXIS_OPT_EMGSTOP_PULL 0x00000100 |
| #define | DF_INOS_BASE_AXIS_OPT_FORCE_CONTROL 0x00000200 |
| #define | DF_INOS_BASE_AXIS_OPT_IGNORE_CORE 0x00000400 |
| #define | DF_INOS_BASE_AXIS_LIMIT_S 0x00000001 |
| #define | DF_INOS_BASE_AXIS_LIMIT_V_OF_S 0x00000002 |
| #define | DF_INOS_BASE_AXIS_LIMIT_A_OF_S 0x00000004 |
| #define | DF_INOS_BASE_AXIS_LIMIT_B_OF_S 0x00000008 |
| #define | DF_INOS_BASE_AXIS_LIMIT_S_V_CONS 0x00000010 |
| #define | DF_INOS_BASE_AXIS_LIMIT_V 0x00000020 |
| #define | DF_INOS_BASE_AXIS_LIMIT_A_OF_V 0x00000040 |
| #define | DF_INOS_BASE_AXIS_LIMIT_B_OF_V 0x00000080 |
| #define | DF_INOS_BASE_AXIS_LIMIT_A 0x00000100 |
| #define | DF_INOS_BASE_AXIS_LIMIT_B 0x00000200 |
| #define | DF_INOS_BASE_AXIS_LIMIT_BRAKE 0x00000400 |
| #define | DF_INOS_BASE_AXIS_LIMIT_J_OF_S 0x00000800 |
| #define | DF_INOS_BASE_AXIS_LIMIT_J_OF_V 0x00001000 |
| #define | DF_INOS_BASE_AXIS_LIMIT_J_OF_A 0x00002000 |
| #define | DF_INOS_BASE_AXIS_LIMIT_J 0x00004000 |
| #define | INOS_AXIS_CORE_MISMATCH_IS_ERROR(ret) |
| #define | SAFETY_CHECK_SOS() |
| #define | SAFETY_CHECK_SOS_SYNC(apSync) |
| #define | SAFETY_IGNORE_IF_SOS() |
Variables | |
| end of doxygen exclude typedef real64(* | tpGetter )(void *apVal) |
Macro Definition Documentation
◆ DF_INOS_AXIS_EMGT_INACTIVATE
| #define DF_INOS_AXIS_EMGT_INACTIVATE 0x02 |
In case of an emergency stop, directly inactivate the axis
◆ DF_INOS_AXIS_EMGT_NONE
| #define DF_INOS_AXIS_EMGT_NONE 0x03 |
Ignore the emergency stop. This type is only useful if the user handles the situation itself
◆ DF_INOS_AXIS_EMGT_STOP
| #define DF_INOS_AXIS_EMGT_STOP 0x00 |
In case of an emergency stop, use the configured 'Emergency' speed set or emergency deceleration and jerk to stop the axis. Let the axis active after stop (also known as SS2)
◆ DF_INOS_AXIS_EMGT_STOP_INACTIVATE
| #define DF_INOS_AXIS_EMGT_STOP_INACTIVATE 0x01 |
In case of an emergency stop, use the configured 'Emergency' speed set or emergency deceleration and jerk to stop the axis, wait the configured time and inactivate the axis (SS1) see also SINOSBaseAxis::m_uEmergencyDelay
◆ DF_INOS_AXIS_EMGT_STOP_POSITION
| #define DF_INOS_AXIS_EMGT_STOP_POSITION 0x04 |
In case of an emergency stop, use the configured 'Emergency' speed set or emergency deceleration and jerk to move the axis to the requested position and let the axis active after stop see also SINOSBaseAxis::m_rEmergencyPosition
◆ DF_INOS_AXIS_EMGT_STOP_POSITION_INACTIVATE
| #define DF_INOS_AXIS_EMGT_STOP_POSITION_INACTIVATE 0x05 |
In case of an emergency stop, use the configured 'Emergency' speed set or emergency deceleration and jerk to move the axis to the requested position, wait the configured time and inactivate the axis see also SINOSBaseAxis::m_uEmergencyDelay and SINOSBaseAxis::m_rEmergencyPosition
◆ DF_INOS_AXIS_NORM_AFTER
| #define DF_INOS_AXIS_NORM_AFTER 0x00 |
Norm position after move. The position will not be normed while a move is running, means that the position may exceed the "norm pos" during a move (e.g. reach 7200.0 degree, although the norm pos is set to 360.0 degree)
◆ DF_INOS_AXIS_NORM_LIVE
| #define DF_INOS_AXIS_NORM_LIVE 0x01 |
Norm position live. The position is normalised even during a move.
◆ DF_INOS_AXIS_NORM_MOVE_DIR_NEG
| #define DF_INOS_AXIS_NORM_MOVE_DIR_NEG 0x02 |
If axis position norming is active, a move always goes into negative direction, e.g. assume an axis is normed to 0..360° and the actual position is 350°, a command Move(360.0) will be done by moving to 0°
◆ DF_INOS_AXIS_NORM_MOVE_DIR_NO
| #define DF_INOS_AXIS_NORM_MOVE_DIR_NO 0x00 |
If axis position norming is active, no special move direction specified
◆ DF_INOS_AXIS_NORM_MOVE_DIR_POS
| #define DF_INOS_AXIS_NORM_MOVE_DIR_POS 0x01 |
If axis position norming is active, a move always goes into positive direction, e.g. assume an axis is normed to 0..360° and the actual position is 10°, a command Move(0.0) will be done by moving to 360°
◆ DF_INOS_AXIS_NORM_MOVE_DIR_SHORT
| #define DF_INOS_AXIS_NORM_MOVE_DIR_SHORT 0x03 |
If axis position norming is active, a move always takes the shortest way, e.g. assume an axis is normed to 0..360° and the actual position is 10°, a command Move(360.0) will be done by moving to 0°
◆ DF_INOS_AXIS_NORM_MOVE_DIR_SHORT_EX
| #define DF_INOS_AXIS_NORM_MOVE_DIR_SHORT_EX 0x04 |
If axis position norming is active, a move always takes the shortest way, except for a full turn. Assume an axis is normed to 0..360° and the actual position is 0.0, a command Move(360.0) will do a full turn although the shortest way would be a no move at all
◆ DF_INOS_AXIS_NORM_POSITIVE
| #define DF_INOS_AXIS_NORM_POSITIVE 0x40 |
Norm to only positive values
◆ DF_INOS_AXIS_NORM_ROUND
| #define DF_INOS_AXIS_NORM_ROUND 0x80 |
Use 'round' instead of 'trunc'. Rounding should most probably be enabled for new applications. Truncation mode is merely still available for backward compatibility
◆ DF_INOS_AXIS_PST_STANDARD
| #define DF_INOS_AXIS_PST_STANDARD 0x00000000 |
Positioning type STANDARD : move ends when ramp is in peace
◆ DF_INOS_AXIS_PST_WINDOW
| #define DF_INOS_AXIS_PST_WINDOW 0x00000001 |
Positioning type WINDOW : move ends when ramp is in peace and the position check error was smaller than SINOSBaseAxis::m_rPosTolerance for at least SINOSBaseAxis::m_uPosTime [ms]. The move is NEVER shorter than SINOSBaseAxis::m_uPosTime
◆ DF_INOS_AXIS_PST_WINDOW_OPT
| #define DF_INOS_AXIS_PST_WINDOW_OPT 0x00000002 |
Positioning type WINDOW optimized : move ends when ramp is in peace and the position check error was smaller than SINOSBaseAxis::m_rPosTolerance for at least SINOSBaseAxis::m_uPosTime [ms] or during the whole move. The move can be shorter than SINOSBaseAxis::m_uPosTime
◆ DF_INOS_AXIS_SAFETY_AUTO
| #define DF_INOS_AXIS_SAFETY_AUTO 0x01 |
Fully automatic handling of all safety levels. In case of a SLS, the axis speed is reduced accordingly. In case of a SOS the axis is paused (the move stays active) If the SOS is left, the axis automatically continues a previously paused move.
◆ DF_INOS_AXIS_SAFETY_EMGSTOP
| #define DF_INOS_AXIS_SAFETY_EMGSTOP 0x00 |
In case of an SOS, emit an emergency stop to the axis, which cancels a running command. In case of a SLS the axis speed is reduced accordingly.
◆ DF_INOS_AXIS_SAFETY_NONE
| #define DF_INOS_AXIS_SAFETY_NONE 0x02 |
Ignores all safety levels. The application is responsible itself to react accordingly
◆ DF_INOS_BASE_AXIS_OPT_AUTO_ACCEPT
| #define DF_INOS_BASE_AXIS_OPT_AUTO_ACCEPT 0x00000002 |
Setting this option tells the system to always accept all axis errors before activating the axis. It is recommended to use this option because it simplifies application code. If one is working with this option and an axis is on error, it is sufficient to just CINOSPhysicalAxis::InActivate and CINOSPhysicalAxis::Activate the axis to recover
◆ DF_INOS_BASE_AXIS_OPT_CHECK_LIMITS
| #define DF_INOS_BASE_AXIS_OPT_CHECK_LIMITS 0x00000020 |
Setting this option tells the system to permanently check all axis limits like speed, acceleration and deceleration. This option is helpful to find trajectory generation errors, e.g. in an own axis pulling code
◆ DF_INOS_BASE_AXIS_OPT_EARLY_DONE
| #define DF_INOS_BASE_AXIS_OPT_EARLY_DONE 0x00000001 |
Setting this option tells the system to mark a move as done one tick before is is really done. This can improve performance but should only be used if one really knows what he/she is doing
◆ DF_INOS_BASE_AXIS_OPT_EMGSTOP_PULL
| #define DF_INOS_BASE_AXIS_OPT_EMGSTOP_PULL 0x00000100 |
Setting this option tells the system to emit an emergency stop ramp in case of an axis error during a pull session. It has the advantage, that the user does not have to take care about that.
◆ DF_INOS_BASE_AXIS_OPT_FORCE_CONTROL
| #define DF_INOS_BASE_AXIS_OPT_FORCE_CONTROL 0x00000200 |
Setting this option enables force control functionality.
◆ DF_INOS_BASE_AXIS_OPT_IGNORE_CORE
| #define DF_INOS_BASE_AXIS_OPT_IGNORE_CORE 0x00000400 |
Ignore core mismatch failure/. This option should only be used in a desperate situation, where it is not easy to adjust the application code accordingly.
◆ DF_INOS_BASE_AXIS_OPT_LIFETIME
| #define DF_INOS_BASE_AXIS_OPT_LIFETIME 0x00000040 |
Use this option if you want the system to accumulate the overall moved distance. This option only works if the axis is part of a McRobot module and the used Indel target has an NvRam option.
◆ DF_INOS_BASE_AXIS_OPT_LIMITS_IF_SNCD
| #define DF_INOS_BASE_AXIS_OPT_LIMITS_IF_SNCD 0x00000004 |
Setting this option tells the system to check for axis limits only if the axis was successfully synched
◆ DF_INOS_BASE_AXIS_OPT_MAPPING_DISABLED
| #define DF_INOS_BASE_AXIS_OPT_MAPPING_DISABLED 0x00000008 |
Setting this option tells the system to permanently disable axis mapping mechanisms. If no mapping mechanisms are used, one can set this option to improve performance due to the fact, that less system hooks are set up for this axis
◆ DF_INOS_BASE_AXIS_OPT_NORM_ENABLED
| #define DF_INOS_BASE_AXIS_OPT_NORM_ENABLED 0x00000010 |
Enable axis norming already at startup. Norm type, move direction and position can be defined with SINOSBaseAxis::m_uNormMode, SINOSBaseAxis::NormMoveDir and SINOSBaseAxis::m_rNormPos
◆ DF_INOS_BASE_AXIS_OPT_SETPOS_DISABLED
| #define DF_INOS_BASE_AXIS_OPT_SETPOS_DISABLED 0x00000080 |
Setting this option tells the system to disable the methods CINOSPhysicalAxis::SetActPosition and CINOSPhysicalAxis::SetRealPosition after the axis was successfully synced. This can help to avoid crashes due to accidentally changed positions.
◆ DF_PRECONFIGURED_EME_STOP_POS_OR_STOP
| #define DF_PRECONFIGURED_EME_STOP_POS_OR_STOP 0xfffe |
If the configured emergency type is 'stop position' or 'stop position and inactivate' , use 'stop position'. In all other cases use 'stop'
