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#include <cinosprocessimage.h>
#include <inco_com.h>

Include dependency graph for cinosbasecontrol.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	SINOSBaseControl
	Descriptor structure used to configure a controller. It is usually defined in a corresponding xxx.xxxctrl.dt2 configuration file. see also Control. More...

class	CINOSBaseControl

class	CINOSRegisterBaseControl

Macros
#define	DF_INOS_BASE_CONTROL_DBT "INOS-BASE-CONTROL"

#define	DF_INOS_CONTROL_STATE_PEACE 0

#define	DF_INOS_CONTROL_STATE_ACTIVATING 1

#define	DF_INOS_CONTROL_STATE_ACTIVE 2

#define	DF_INOS_CONTROL_STATE_INACTIVATING 3

#define	DF_INOS_CONTROL_SUBSTATE_ACTIVE_HALT 0

#define	DF_INOS_CONTROL_SUBSTATE_ACTIVE_RUN 1

#define	DF_INOS_CONTROL_SUBSTATE_ACTIVE_UMOVE 2

#define	ER_INOS_BASE_CONTROL_MCROBOT_ERROR_BASE 0x00000000

#define	ER_INOS_GSB_CONTROL_MCROBOT_ERROR_BASE 0x40031300

#define	ER_INOS_SL2_CONTROL_MCROBOT_ERROR_BASE 0x40032300

#define	ER_INOS_HSSI_CONTROL_MCROBOT_ERROR_BASE 0x40033300

#define	ER_INOS_CONTROL_POSCHK 0x00000001

#define	ER_INOS_CONTROL_POSOVR 0x00000002

#define	ER_INOS_CONTROL_OSCICHK 0x00000004

#define	ER_INOS_CONTROL_ENBMISSING 0x00000008

#define	ER_INOS_CONTROL_HOMEFAILED 0x00000010

#define	ER_INOS_CONTROL_SAFE_SYNCFAILED 0x00000020

#define	ER_INOS_CONTROL_WATCHDOG 0x00000040

#define	ER_INOS_CONTROL_POSCHN 0x00001000

#define	ER_INOS_CONTROL_ACTIVATE 0x00002000

#define	ER_INOS_CONTROL_EXTERN 0x00004000

#define	ER_INOS_CONTROL_OFFLINE 0x00008000

#define	WR_INOS_CONTROL_INTLIMIT 0x00000001

#define	WR_INOS_CONTROL_FSLIMIT 0x00000002

#define	WR_INOS_CONTROL_EXTERN 0x00004000

#define	DF_INOS_BASE_CONTROL_FLAG_CHK_POS 0x00000001

#define	DF_INOS_BASE_CONTROL_FLAG_SIM_POS 0x00000002

#define	DF_INOS_BASE_CONTROL_FLAG_SIM_OUT 0x00000004

#define	DF_INOS_BASE_CONTROL_FLAG_SIM_ACT 0x00000008

#define	DF_INOS_BASE_CONTROL_FLAG_ENB_NRD 0x00000010

#define	DF_INOS_BASE_CONTROL_FLAG_DEAD_INC 0x00000020

#define	DF_INOS_BASE_CONTROL_FLAG_ENB_SYN 0x00000040

#define	DF_INOS_BASE_CONTROL_FLAG_ENB_NRM 0x00000080

#define	DF_INOS_BASE_CONTROL_FLAG_POS_OVRS 0x00000100

#define	DF_INOS_BASE_CONTROL_FLAG_FFV_100 0x00000200

#define	DF_INOS_BASE_CONTROL_FLAG_NO_PID 0x00000400

#define	DF_INOS_BASE_CONTROL_FLAG_POS_ABS 0x00000800

#define	DF_INOS_BASE_CONTROL_FLAG_NO_MPE 0x00001000

#define	DF_INOS_BASE_CONTROL_FLAG_POSEX 0x00002000

#define	DF_INOS_BASE_CONTROL_FLAG_INIT_V_ADJ_DIS 0x00004000

#define	DF_INOS_BASE_CONTROL_FLAG_DEAD_INC2 0x00008000

#define	DF_INOS_BASE_CONTROL_FLAG_LIFETIME 0x00010000

#define	DF_INOS_BASE_CONTROL_FLAG_NRM_POS 0x00020000

#define	DF_INOS_BASE_CONTROL_FLAG_DISTANCE_CODED_CALIB 0x00040000

#define	DF_INOS_BASE_CONTROL_FLAG_INC_FRACT 0x00080000

#define	DF_INOS_BASE_CONTROL_FLAG_ENB_SAFE_SYNC 0x40000000

#define	DF_INOS_BASE_CONTROL_FLAG_DIS_SERR 0x80000000

#define	DF_INOS_BASE_CONTROL_OPT_DEAD_INC 0x00000001

#define	DF_INOS_BASE_CONTROL_OPT_POS_OVRS 0x00000002

#define	DF_INOS_BASE_CONTROL_OPT_FFV_100 0x00000004

#define	DF_INOS_BASE_CONTROL_OPT_NO_PID 0x00000008

#define	DF_INOS_BASE_CONTROL_OPT_POS_ABS 0x00000010

#define	DF_INOS_BASE_CONTROL_OPT_NO_MPE 0x00000020

#define	DF_INOS_BASE_CONTROL_OPT_POSEX 0x00000040

#define	DF_INOS_BASE_CONTROL_OPT_INIT_V_ADJ_DIS 0x00000080

#define	DF_INOS_BASE_CONTROL_OPT_DEAD_INC2 0x00000100

#define	DF_INOS_BASE_CONTROL_OPT_DISTANCE_CODED_CALIB 0x00000200

#define	DF_INOS_BASE_CONTROL_OPT_CUSTOMER1_SYNC_INTERFACE 0x00000400

#define	DF_INOS_BASE_CONTROL_OPT_LIMIT_OUT 0x00000800

#define	DF_INOS_BASE_CONTROL_OPT_IGNORE_CYCLEID 0x00001000

#define	DF_INOS_BASE_CONTROL_OPT_INC_FRACT 0x00002000

#define	DF_INOS_BASE_CONTROL_OPT_EXT_POS_ERR 0x00004000

#define	INOS_BASECONTROL_UPDATE_CMD_BUFFER()

Typedefs
typedef CINOSBaseControl (	TCreateControl) (const char *apAxisName)

Detailed Description

Short comment.

Author: Ch. Hirzel

Copyright: Copyright © 2016 Indel AG. All rights reserved.; This software is licensed on a non-exclusive basis for use on Indel products only. If the Source Code has been provided by Indel, the software may be modified or further developed, exclusively for the use on Indel's products. For evaluation purposes of the aforementioned development or modification of the software, the software may temporarily be used on third party products. Any further use of this software, its modification or development on non-Indel products is strictly prohibited.

Remarks

project         : 
language        : GNU C++
system          :

Long comment on this file.

Macro Definition Documentation

◆ DF_INOS_BASE_CONTROL_OPT_CUSTOMER1_SYNC_INTERFACE

#define DF_INOS_BASE_CONTROL_OPT_CUSTOMER1_SYNC_INTERFACE 0x00000400

Support the sync-handling for 'customer1' axes

◆ DF_INOS_BASE_CONTROL_OPT_DEAD_INC

#define DF_INOS_BASE_CONTROL_OPT_DEAD_INC 0x00000001

Add dead time caused by the "fieldbus delays" (cycletime + fieldbustime + residual). Resulting Deadtime = DeadTime (from dt2 file) + "fieldbus delays"

◆ DF_INOS_BASE_CONTROL_OPT_DEAD_INC2

#define DF_INOS_BASE_CONTROL_OPT_DEAD_INC2 0x00000100

Add dead time caused by the "fieldbus delays" by another formula (0.5*cycletime + fieldbustime + residual). Resulting Deadtime = DeadTime (from dt2 file) + "fieldbus delays"

◆ DF_INOS_BASE_CONTROL_OPT_DISTANCE_CODED_CALIB

#define DF_INOS_BASE_CONTROL_OPT_DISTANCE_CODED_CALIB 0x00000200

One needs to activate this option if the axis has a distance coded measurement system and the axis is going to be calibrated using the Motion.Calib mechanism.

◆ DF_INOS_BASE_CONTROL_OPT_EXT_POS_ERR

#define DF_INOS_BASE_CONTROL_OPT_EXT_POS_ERR 0x00004000

Extended position error calculation. Enables a more precise position error calculation if the controller deadtime is much higher than the controller cycletime (e.g. with laser scanner axes).

◆ DF_INOS_BASE_CONTROL_OPT_FFV_100

#define DF_INOS_BASE_CONTROL_OPT_FFV_100 0x00000004

Commanded speed value to external controller is 100% based This is mandatory for GinLink and LocalBus based axes

◆ DF_INOS_BASE_CONTROL_OPT_IGNORE_CYCLEID

#define DF_INOS_BASE_CONTROL_OPT_IGNORE_CYCLEID 0x00001000

Ignore cycleid of controller inputs and outputs. Setting this option, allows cycleid's of control inputs/outpts to be different from the main cycletime/category

◆ DF_INOS_BASE_CONTROL_OPT_INC_FRACT

#define DF_INOS_BASE_CONTROL_OPT_INC_FRACT 0x00002000

Fractional increments support

◆ DF_INOS_BASE_CONTROL_OPT_INIT_V_ADJ_DIS

#define DF_INOS_BASE_CONTROL_OPT_INIT_V_ADJ_DIS 0x00000080

Do not adjust axis init speed even if DF_INOS_BASE_CONTROL_OPT_FFV_100 is disabled. (only on InfoLink based systems)

◆ DF_INOS_BASE_CONTROL_OPT_LIMIT_OUT

#define DF_INOS_BASE_CONTROL_OPT_LIMIT_OUT 0x00000800

Obey control output limits, e.g. Min/Max of actual range in XML for DAC. Introduced as opt-in to ensure compatibility for customers that may live on the limits not being checked...

◆ DF_INOS_BASE_CONTROL_OPT_NO_MPE

#define DF_INOS_BASE_CONTROL_OPT_NO_MPE 0x00000020

Without master position error. Do not send master position (maspos) error to controller. Use this option if you want to have the control algorithm on the fieldbus master side

◆ DF_INOS_BASE_CONTROL_OPT_NO_PID

#define DF_INOS_BASE_CONTROL_OPT_NO_PID 0x00000008

No pid calculation. Implicitly set if DF_INOS_BASE_CONTROL_OPT_FFV_100 is used and DF_INOS_BASE_CONTROL_OPT_NO_MPE is not used

◆ DF_INOS_BASE_CONTROL_OPT_POS_ABS

#define DF_INOS_BASE_CONTROL_OPT_POS_ABS 0x00000010

Position channel contains absolute encoder positions, e.g. used during axis init

◆ DF_INOS_BASE_CONTROL_OPT_POS_OVRS

#define DF_INOS_BASE_CONTROL_OPT_POS_OVRS 0x00000002

Enable position channel overrun detection (only on InfoLink based systems)

◆ DF_INOS_BASE_CONTROL_OPT_POSEX

#define DF_INOS_BASE_CONTROL_OPT_POSEX 0x00000040

Support 2nd position channel (PositionEx). Usually enabled if a 2nd position measurment system is available

◆ INOS_BASECONTROL_UPDATE_CMD_BUFFER

#define INOS_BASECONTROL_UPDATE_CMD_BUFFER ( )

Value:

    if (nullptr != m_pCmdBuf) {\
        m_uCmdWrt = (m_uCmdWrt + 1) & m_uCmdMsk;\
        m_pCmdBuf[m_uCmdWrt].m_rS = apData->m_rS;\
        m_pCmdBuf[m_uCmdWrt].m_rV = apData->m_rV;\
        m_pCmdBuf[m_uCmdWrt].m_rA = apData->m_rA;\
        m_pCmdBuf[m_uCmdWrt].m_rJ = apData->m_rJ;\
    }\

Classes

Macros

Typedefs