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#include <inos.h>

Include dependency graph for cinosbaseramp.h:

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Classes
struct	SINOSBaseRamp
	Descriptor structure used to configure a ramp. It is usually defined in a corresponding xxx.xxxramp.dt2 configuration file. see also Ramp. More...

struct	SINOSRampParam
	ramp parameters More...

struct	SINOSRampData
	ramp data More...

struct	SINOSRampDataEx
	extended ramp data More...

struct	SINOSTimeCharacteristics
	time characteristics of a move More...

struct	SINOSBaseRampTrqLimitPoint
	torque limitation point More...

struct	SINOSBaseRampTrqLimitPointAcc
	torque limitation point acceleration More...

struct	SINOSBaseRampTrqLimitPointDec
	torque limitation point deceleration More...

struct	SINOSBaseRampTrqLimit
	torque limitation More...

class	CINOSBaseRampParamSet

class	CINOSBaseRamp

class	CINOSRegisterBaseRamp

Macros
#define	DF_INOS_BASE_RAMP_DBT "INOS-BASE-RAMP"

#define	DF_INOS_BASE_RAMP_TRQ_LIMIT_ACC_DBT "INOS-BASE-RAMP-TRQ-LIMIT-ACC"

#define	DF_INOS_BASE_RAMP_TRQ_LIMIT_DEC_DBT "INOS-BASE-RAMP-TRQ-LIMIT-DEC"

#define	DF_INOS_RAMP_MAX_JERK 4

#define	DF_INOS_RAMP_STATE_PEACE 0

#define	DF_INOS_RAMP_STATE_BREAK 1

#define	DF_INOS_RAMP_STATE_RUNNING 2

#define	DF_INOS_RAMP_STATE_PULLING 3

#define	DF_INOS_RAMP_STATE_STOPPING 4

#define	ER_INOS_RAMP_POSRANGE 0x00000001

#define	ER_INOS_RAMP_FAILED 0x00000002

#define	ER_INOS_RAMP_MIM_RANGE 0x00000004

#define	ER_INOS_RAMP_OVERSAMPLING 0x00000008

#define	ER_INOS_RAMP_VMAX_REACHED 0x00000010

#define	ER_INOS_RAMP_MOVE_NOT_IN_CACHE 0x00000020

#define	ER_INOS_RAMP_CORE_MISMATCH 0x00000040

#define	DF_INOS_RAMP_MAX_ERR 32

#define	WR_INOS_RAMP_MIM_DEC 0x00000001

#define	WR_INOS_RAMP_CORE_MISMATCH 0x00000002

#define	DF_INOS_BASE_RAMP_FLAG_CHK_LIMITS 0x00000001

#define	DF_INOS_BASE_RAMP_FLAG_ENB_BASE 0x00000002

#define	DF_INOS_BASE_RAMP_FLAG_ENB_TRQLIMIT 0x00000004

#define	DF_INOS_BASE_RAMP_FLAG_DIS_MIM 0x00000008

#define	DF_INOS_BASE_RAMP_FLAG_LIMIT_MOVE 0x00000010

#define	DF_INOS_BASE_RAMP_FLAG_DIS_MIM_DEC 0x00000020

#define	DF_INOS_BASE_RAMP_FLAG_SET_CACHE_EPSILON 0x00000040

#define	DF_INOS_BASE_RAMP_FLAG_OPT_MIM 0x00000080

#define	DF_INOS_BASE_RAMP_FLAG_CHK_LIMITS_IN_SEG 0x00000200

#define	DF_INOS_BASE_RAMP_FLAG_BACKLASH 0x00000400

#define	DF_INOS_BASE_RAMP_FLAG_FORCE_BACKLASH 0x00000800

#define	DF_INOS_BASE_RAMP_FLAG_IGNORE_LIMITS_AT_STOP 0x00001000

#define	DF_INOS_BASE_RAMP_FLAG_LOOK_AHEAD 0x00002000

#define	DF_INOS_BASE_RAMP_FLAG_CACHE_ONLY 0x00004000

#define	DF_INOS_BASE_RAMP_FLAG_IGNORE_VMAX 0x00008000

#define	DF_INOS_BASE_RAMP_FLAG_IGNORE_JERK 0x00010000

#define	DF_INOS_BASE_RAMP_FLAG_IGNORE_CORE 0x00020000

#define	DF_INOS_BASE_RAMP_FLAG_OVRS_LAST 0x00800000

#define	DF_INOS_BASE_RAMP_FLAG_SLOW_SPEED 0x01000000

#define	DF_INOS_BASE_RAMP_FLAG_SHAPE_CALC 0x02000000

#define	DF_INOS_BASE_RAMP_FLAG_SETUPMODE 0x04000000

#define	DF_INOS_BASE_RAMP_FLAG_JOB_SLOW 0x08000000

#define	DF_INOS_BASE_RAMP_FLAG_CACHE_FLUSH 0x10000000

#define	DF_INOS_BASE_RAMP_FLAG_CRS_PEACE 0x20000000

#define	DF_INOS_BASE_RAMP_FLAG_CRS_ACTIVE 0x40000000

#define	DF_INOS_BASE_RAMP_FLAG_ENABLED 0x80000000

#define	DF_INOS_BASE_RAMP_FLAG_NO_CACHE (DF_INOS_BASE_RAMP_FLAG_SETUPMODE\|DF_INOS_BASE_RAMP_FLAG_BACKLASH)

#define	DF_INOS_BASE_RAMP_FLAG_CACHE_CRITICAL (DF_INOS_BASE_RAMP_FLAG_ENB_BASE \| DF_INOS_BASE_RAMP_FLAG_ENB_TRQLIMIT \| DF_INOS_BASE_RAMP_FLAG_CACHE_FLUSH)

#define	DF_INOS_BASE_RAMP_OPT_CHK_LIMITS 0x00000001

#define	DF_INOS_BASE_RAMP_OPT_ENB_BASE 0x00000002

#define	DF_INOS_BASE_RAMP_OPT_ENB_TRQLIMIT 0x00000004

#define	DF_INOS_BASE_RAMP_OPT_DIS_MIM 0x00000008

#define	DF_INOS_BASE_RAMP_OPT_LIMIT_MOVE 0x00000010

#define	DF_INOS_BASE_RAMP_OPT_DIS_MIM_DEC 0x00000020

#define	DF_INOS_BASE_RAMP_OPT_OPT_MIM 0x00000080

#define	DF_INOS_BASE_RAMP_OPT_TRQ_LIMIT 0x00000100

#define	DF_INOS_BASE_RAMP_OPT_BACKLASH 0x00000400

#define	DF_INOS_BASE_RAMP_OPT_FORCE_BACKLASH 0x00000800

#define	DF_INOS_BASE_RAMP_OPT_IGNORE_LIMITS_AT_STOP 0x00001000

#define	DF_INOS_BASE_RAMP_OPT_LOOK_AHEAD 0x00002000

#define	DF_INOS_BASE_RAMP_OPT_IGNORE_VMAX 0x00008000

#define	DF_INOS_BASE_RAMP_OPT_IGNORE_CORE 0x00020000

#define	DF_INOS_BASE_RAMP_DATA_FLAG_DEL 0x00000001

#define	DF_INOS_BASE_RAMP_DATA_FLAG_LST 0x00000002

#define	DF_INOS_RAMP_JERK_ALL 0xFFFFFFFF

#define	DF_INOS_RAMP_MIN_SLOW REAL64(0.0001)

#define	DF_INOS_RAMP_MAX_SLOW REAL64(2.0000)

#define	DF_INOS_RAMP_EPS_V_STOP REAL64(1.0e-6)

#define	INOS_RAMP_CORE_MISMATCH_IS_ERROR(ret)

#define	INOS_RAMP_CORE_MISMATCH_IS_WARNING(ret)

Typedefs
typedef CINOSBaseRamp (	TCreateRamp) (const char *apAxisName)

Enumerations
enum	{ eMaxVelocityNone = 0x00000000 , eMaxVelocityIgnoreSetup = 0x00000001 , eMaxVelocityIgnoreSLS = 0x00000002 }

Functions
double	inos_sqrt (double adValue)

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_RAMP_OPT_BACKLASH

#define DF_INOS_BASE_RAMP_OPT_BACKLASH 0x00000400

Enable backlash compensation, see also SINOSBaseRamp::m_rBacklash

◆ DF_INOS_BASE_RAMP_OPT_CHK_LIMITS

#define DF_INOS_BASE_RAMP_OPT_CHK_LIMITS 0x00000001

Always check for software limits before starting a move

◆ DF_INOS_BASE_RAMP_OPT_DIS_MIM

#define DF_INOS_BASE_RAMP_OPT_DIS_MIM 0x00000008

Disable all kind of move in move's

◆ DF_INOS_BASE_RAMP_OPT_DIS_MIM_DEC

#define DF_INOS_BASE_RAMP_OPT_DIS_MIM_DEC 0x00000020

Disable move in move if the axis is decelerating already

◆ DF_INOS_BASE_RAMP_OPT_ENB_BASE

#define DF_INOS_BASE_RAMP_OPT_ENB_BASE 0x00000002

Tell the system to use base class functionality although the axis is currently running with a derived trajectory generator

◆ DF_INOS_BASE_RAMP_OPT_ENB_TRQLIMIT

#define DF_INOS_BASE_RAMP_OPT_ENB_TRQLIMIT 0x00000004

Enable torque limitated trajectory generation

◆ DF_INOS_BASE_RAMP_OPT_FORCE_BACKLASH

#define DF_INOS_BASE_RAMP_OPT_FORCE_BACKLASH 0x00000800

Do always a backlash move at target position, see also SINOSBaseRamp::m_rBacklash

◆ DF_INOS_BASE_RAMP_OPT_IGNORE_CORE

#define DF_INOS_BASE_RAMP_OPT_IGNORE_CORE 0x00020000

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_RAMP_OPT_IGNORE_LIMITS_AT_STOP

#define DF_INOS_BASE_RAMP_OPT_IGNORE_LIMITS_AT_STOP 0x00001000

Always ignore soft limits at stop

◆ DF_INOS_BASE_RAMP_OPT_IGNORE_VMAX

#define DF_INOS_BASE_RAMP_OPT_IGNORE_VMAX 0x00008000

Ignore Vmax reached errors (should only be used for testing purposes)

◆ DF_INOS_BASE_RAMP_OPT_LIMIT_MOVE

#define DF_INOS_BASE_RAMP_OPT_LIMIT_MOVE 0x00000010

Instead of emitting a range error if one tries to move behind the software limits, the system adjusts the target position to the allowed limit. This option is normally only useful in testing situations and can be really dangerous.

◆ DF_INOS_BASE_RAMP_OPT_LOOK_AHEAD

#define DF_INOS_BASE_RAMP_OPT_LOOK_AHEAD 0x00002000

Enable look ahead. Used to improve move in move calculations on slow targets. Setting this option tells the system to precalculate always 16 points of a running move. This allows the move in move algorithm to take a future point as a starting point of its new trajectory calculation and therefore helps to avoid overruns. The points are cycletime based, if an axis is running with e.g. 4kHz, the precalculation is 4ms

◆ DF_INOS_BASE_RAMP_OPT_OPT_MIM

#define DF_INOS_BASE_RAMP_OPT_OPT_MIM 0x00000080

Use optimised move in move algorithms. Setting this option can improve performance in special situations

◆ DF_INOS_BASE_RAMP_OPT_TRQ_LIMIT

#define DF_INOS_BASE_RAMP_OPT_TRQ_LIMIT 0x00000100

Setup torque limitation at ramp creation

Classes

Macros

Typedefs

Enumerations

Functions