Provides axis functionality. More...

#include <cinosbaseaxis.h>

Inheritance diagram for CINOSBaseAxis:

Public Types
enum	{ eFlgParamSetNone = 0x00000000, eFlgParamSetSearchGlobal = 0x00000001, eFlgParamSetIgnoreOverwrite = 0x00000002 }

enum	EActualType { eActInput, eActActual, eActOutput }

Public Member Functions
	CINOSBaseAxis (SINOSBaseAxis *apDesc)
	Create an axis based on a descriptor (usually not used because this is done by the configuration system). More...

	CINOSBaseAxis (SINOSBaseAxis apDesc, CINOSBaseRamp apRamp)
	Create an axis based on a descriptor (usually not used because this is done by the configuration system). More...

virtual	~CINOSBaseAxis ()
	Destroy the axis (usually not used)

virtual uint32	WaitTicks (uint32 auTicks=1)
	Wait for the given axis control cycle ticks. This method can be useful if it is necessary to synchronize an application task somehow to the axis control cycle, e.g. auTicks = 1 means, the task returns after at least one axis control cycle occured. More...

virtual uint32	Connect ()
	Connect axis to hardware. More...

virtual uint32	Enable (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Enables a previously disabled axis. Only enabled axis can be activated. More...

virtual uint32	Disable (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Disables an enabled axis. Only inactivated axis can be disabled. Use 'Enable' to reenable the axis. More...

void	InitializeLimitChecker ()
	Initializes the limit checker if requested.

virtual uint32	Activate (bool abCheckPos=true, bool abSimulatePos=false, bool abSimulateOut=false, bool abSimulateAct=false, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Activate axis in a given mode, e.g Activate(true,true,true,true) enables the axis in a full simulated manner. More...

virtual uint32	InActivate (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Inactivate axis. More...

virtual uint32	Relax (uint32 auTimeMs, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Relax a coupled slave axis for a given time. More...

virtual uint32	Sync (real64 arPosition, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search reference mark till arPosition and set actual position to 0.0 at mark. More...

virtual uint32	Sync (real64 arPosition, SINOSRampParam apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Search reference mark till arPosition and set actual position to 0.0 at mark. More...

virtual uint32	Sync (real64 arPosition, const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Search reference mark till arPosition and set actual position to 0.0 at mark. More...

virtual uint32	Sync (real64 arPosition, real64 arSyncPos, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search reference mark till arPosition and set actual position to arSyncPos at mark. More...

virtual uint32	Sync (real64 arPosition, real64 arSyncPos, SINOSRampParam apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Search reference mark till arPosition and set actual position to arSyncPos at mark. More...

virtual uint32	Sync (real64 arPosition, real64 arSyncPos, const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Search reference mark till arPosition and set actual position to arSyncPos at mark. More...

virtual uint32	Sync (real64 arSyncPos, const char apParam, CINCOObject apObject, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search reference mark and set actual position to arSyncPos at mark. More...

virtual uint32	Move (real64 arPosition, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with actual commanded jerk, acc/deceleration and velocity. More...

virtual uint32	Move (real64 arPosition, SINOSRampParam apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with speed set apParam. More...

virtual uint32	Move (real64 arPosition, const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with speed set apParam. More...

virtual uint32	MoveTime (real64 arPosition, real64 arTime, bool abUseP5=true, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition within the given time arTime. Actual commanded jerk, acc/deceleration and velocity are treated as max. values. If the required values would exceed the commanded ones an error is returned and the move is not started. More...

virtual uint32	MoveTime (real64 arPosition, real64 arTime, bool abUseP5, SINOSRampParam apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition within the given time arTime and the speedset apParam. The speed set values are treated as max. values. If the required values would exceed the speedset ones an error is returned and the move is not started. More...

virtual uint32	MoveTime (real64 arPosition, real64 arTime, bool abUseP5, const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition within the given time arTime and the speedset apParam. The speed set values are treated as max. values. If the required values would exceed the speedset ones an error is returned and the move is not started. More...

virtual uint32	Move (real64 arPosition, real64 arSafe1, real64 arSafe2, SINOSRampParam apParam1, SINOSRampParam apParam2, real64 arPartner, SINOSRampParam apPartner, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with speed set apParam. The move is done in a so called safe way (backward -> partner -> forward). The partner axis has to be defined with the method SetPartner. More...

virtual uint32	Move (real64 arPosition, real64 arSave1, real64 arSave2, const char apParam1, const char apParam2, real64 arPartner, const char apPartner, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with speed set apParam. The move is done in a so called safe way (backward -> partner -> forward). The partner axis has to be defined with the method SetPartner. More...

virtual uint32	MoveApp (real64 arPosition, real64 arPositionVel, real64 arVelocity, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with actual commanded jerk, acc/deceleration and velocity. Ensure after arPositionVel a velocity that is smaller than or equal to arVelocity. More...

virtual uint32	MoveApp (real64 arPosition, real64 arPositionVel, real64 arVelocity, SINOSRampParam apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with speed set apParam. Ensure after arPositionVel a velocity that is smaller than or equal to arVelocity. More...

virtual uint32	MoveApp (real64 arPosition, real64 arPositionVel, real64 arVelocity, const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with speed set apParam. Ensure after arPositionVel a velocity that is smaller than or equal to arVelocity. More...

virtual uint32	MoveDep (real64 arPosition, real64 arPositionVel, real64 arVelocity, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with actual commanded jerk, acc/deceleration and velocity. Ensure befor arPositionVel a velocity that is smaller than or equal to arVelocity. More...

virtual uint32	MoveDep (real64 arPosition, real64 arPositionVel, real64 arVelocity, SINOSRampParam apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with speed set apParam. Ensure befor arPositionVel a velocity that is smaller than or equal to arVelocity. More...

virtual uint32	MoveDep (real64 arPosition, real64 arPositionVel, real64 arVelocity, const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with speed set apParam. Ensure before arPositionVel a velocity that is smaller than or equal to arVelocity. More...

virtual uint32	Toggle (real64 arPosition1, real64 arPosition2)
	Start an endless toggle between arPosition1 and arPosition2 with actual commanded a jerk, acc/deceleration and velocity. More...

virtual uint32	ToggleSection (real64 arPos1Min, real64 arPos1Max, real64 arPos2Min, real64 arPos2Max, uint32 auDelayMin, uint32 auDelayMax)
	Start an endless section toggle between arPosition1 and arPosition2 with actual commanded a jerk, acc/deceleration and velocity. More...

virtual uint32	Track (const char *apVarName, real64 arFactor, uint32 auFilterLength, uint32 auDirection=0)
	Track the variable with name apVarName. More...

virtual uint32	Track (const char apVarName, real64 arFactor, uint32 auFilterLength, uint32 auDirection, const char apParam)
	Track the variable with name apVarName. More...

virtual uint32	Track (const char *apVarName, real64 arCmdValue, real64 arFactor, uint32 auFilterLength)
	Track the variable with name apVarName to the commanded value arCmdValue. More...

virtual uint32	SetTrackFactor (real64 arFactor)
	Allows to live change the tracking factor of an active 'Track'. More...

virtual uint32	Endless (bool abPositive=true)
	Start and endless move in the requested direction with actual commanded acc/dec and velocity. More...

virtual uint32	Endless (bool abPositive, SINOSRampParam apParam, CINOSSync apSync=DF_INOS_ASYNCHRONOUS)
	Start and endless move in the requested direction with speed set apParam. More...

virtual uint32	Endless (bool abPositive, const char apParam, CINOSSync apSync=DF_INOS_ASYNCHRONOUS)
	Start and endless move in the requested direction with speed set apParam. More...

virtual uint32	Cursor (bool abPositive=true)
	Moves one 'inc' in the requested direction, waits 500ms and starts an endless move to the defined software limit. This move is usually stopped with the Stop command. More...

virtual uint32	Cursor (real64 arPosition)
	Moves one 'inc' in 'arPosition' direction, waits 500ms and then moves to arPosition. This move is usually stopped with the Stop command. More...

virtual uint32	Cursor (bool abPositive, uint32 auWaitTime)
	Moves one 'inc' in the requested direction, waits auWaitTime ms and starts an endless move to the defined software limit. This move is usually stopped with the Stop command. More...

virtual uint32	Cursor (real64 arPosition, uint32 auWaitTime)
	Moves one 'inc' in 'arPosition' direction, waits auWaitTime ms and then moves to arPosition. This move is usually stopped with the Stop command. More...

virtual uint32	Cursor (bool abPositive, uint32 auWaitTime, real64 arStep)
	Moves one arStep in the requested direction, waits auWaitTime ms and starts an endless move to the defined software limit. This move is usually stopped with the Stop command. More...

virtual uint32	Cursor (real64 arPosition, uint32 auWaitTime, real64 arStep)
	Moves one step in 'arPosition' direction, waits auWaitTime ms and then moves to arPosition. This move is usually stopped with the Stop command. More...

virtual uint32	Cursor (bool abPositive, uint32 auWaitTime, real64 arStep, SINOSRampParam *apParam)
	Moves one arStep in the requested direction, waits auWaitTime ms and starts an endless move to the defined software limit. This move is usually stopped with the Stop command. More...

virtual uint32	Cursor (real64 arPosition, uint32 auWaitTime, real64 arStep, SINOSRampParam *apParam)
	Moves one step in 'arPosition' direction, waits auWaitTime ms and then moves to arPosition. This move is usually stopped with the Stop command. More...

virtual uint32	Cursor (bool abPositive, uint32 auWaitTime, real64 arStep, const char *apParam)
	Moves one arStep in the requested direction, waits auWaitTime ms and starts an endless move to the defined software limit. This move is usually stopped with the Stop command. More...

virtual uint32	Cursor (real64 arbPosition, uint32 auWaitTime, real64 arStep, const char *apParam)
	Moves one step in 'arPosition' direction, waits auWaitTime ms and then moves to arPosition. This move is usually stopped with the Stop command. More...

virtual uint32	Update (CINOSSync *apSync=DF_INOS_ASYNCHRONOUS)
	Update a running Move to actual commanded values (acc,dec,vel,jerk) Signal apSync if constant velocity reached (acc = 0). More...

virtual uint32	Update (SINOSRampParam apParam, CINOSSync apSync=DF_INOS_ASYNCHRONOUS)
	Update a running Move to speed set apParam. Signal apSync if constant velocity reached (acc = 0). More...

virtual uint32	Update (const char apParam, CINOSSync apSync=DF_INOS_ASYNCHRONOUS)
	Update a running Move to speed set apParam. Signal apSync if constant velocity reached (acc = 0). More...

virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arPosition)
	Calculate time characteristics of a move. More...

virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arPosition, SINOSRampParam *apParam)
	Calculate time characteristics of a move. More...

virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arPosition, const char *apParam)
	Calculate time characteristics of a move. More...

virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arPosition, real64 arDelta)
	Calculate time characteristics of a move. More...

virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calculate time characteristics of a move. More...

virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arPosition, real64 arDelta, const char *apParam)
	Calculate time characteristics of a move. More...

virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calculate time characteristics of a move. More...

virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam)
	Calculate time characteristics of a move. More...

virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arStartPosition, real64 arEndPosition, real64 arDelta, const char *apParam)
	Calculate time characteristics of a move. More...

virtual real64	GetMoveTime (real64 arPosition)
	Calc time [sec] a Move(adPosition) needs until arPosition. More...

virtual real64	GetAccelerationTime (real64 arPosition)
	Calc time [sec] a Move(adPosition) needs for the acceleration part. More...

virtual real64	GetConstTime (real64 arPosition)
	Calc time [sec] a Move(adPosition) needs for the constant part. More...

virtual real64	GetDecelerationTime (real64 arPosition)
	Calc time [sec] a Move(adPosition) needs for the deceleration part. More...

virtual real64	GetMoveTime (real64 arPosition, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs until arPosition. More...

virtual real64	GetAccelerationTime (real64 arPosition, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs for the acceleration part. More...

virtual real64	GetConstTime (real64 arPosition, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs for the constant part. More...

virtual real64	GetDecelerationTime (real64 arPosition, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs for the deceleration part. More...

virtual real64	GetMoveTime (real64 arPosition, const char *apParam)
	Calc time [sec] a Move(adPosition) needs until arPosition. More...

virtual real64	GetAccelerationTime (real64 arPosition, const char *apParam)
	Calc time [sec] a Move(adPosition) needs for the acceleration part. More...

virtual real64	GetConstTime (real64 arPosition, const char *apParam)
	Calc time [sec] a Move(adPosition) needs for the constant part. More...

virtual real64	GetDecelerationTime (real64 arPosition, const char *apParam)
	Calc time [sec] a Move(adPosition) needs for the deceleration part. More...

virtual real64	GetMoveTime (real64 arPosition, real64 arDelta)
	Calc time [sec] a Move(adPosition) needs until arPosition-arDelta. More...

virtual real64	GetAccelerationTime (real64 arPosition, real64 arDelta)
	Calc time [sec] a Move(adPosition) needs for the acceleration part. More...

virtual real64	GetConstTime (real64 arPosition, real64 arDelta)
	Calc time [sec] a Move(adPosition) needs for the constant part. More...

virtual real64	GetDecelerationTime (real64 arPosition, real64 arDelta)
	Calc time [sec] a Move(adPosition) needs for the deceleration part. More...

virtual real64	GetMoveTime (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs until arPosition-arDelta. More...

virtual real64	GetAccelerationTime (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs for the acceleration part. More...

virtual real64	GetConstTime (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs for the constant part. More...

virtual real64	GetDecelerationTime (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs for the deceleration part. More...

virtual real64	GetMoveTime (real64 arPosition, real64 arDelta, const char *apParam)
	Calc time [sec] a Move(adPosition) needs until arPosition-arDelta. More...

virtual real64	GetAccelerationTime (real64 arPosition, real64 arDelta, const char *apParam)
	Calc time [sec] a Move(adPosition) needs for the acceleration part. More...

virtual real64	GetConstTime (real64 arPosition, real64 arDelta, const char *apParam)
	Calc time [sec] a Move(adPosition) needs for the constant part. More...

virtual real64	GetDecelerationTime (real64 arPosition, real64 arDelta, const char *apParam)
	Calc time [sec] a Move(adPosition) needs for the deceleration part. More...

virtual real64	GetMoveTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc time [sec] a Move needs from arStartPosition until arEndPosition-arDelta. More...

virtual real64	GetAccelerationTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc time [sec] a Move from arStartPosition until arEndPosition needs for the acceleration part. More...

virtual real64	GetConstTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc time [sec] a Move from arStartPosition until arEndPosition needs for the const part. More...

virtual real64	GetDecelerationTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc time [sec] a Move from arStartPosition until arEndPosition needs for the deceleration part. More...

virtual real64	GetMoveTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] a Move needs from arStartPosition until arEndPosition-arDelta. More...

virtual real64	GetAccelerationTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] a Move from arStartPosition until arEndPosition needs for the acceleration part. More...

virtual real64	GetConstTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] a Move from arStartPosition until arEndPosition needs for the const part. More...

virtual real64	GetDecelerationTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] a Move from arStartPosition until arEndPosition needs for the deceleration part. More...

virtual real64	GetMoveTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, const char *apParam)
	Calc time [sec] a Move needs from arStartPosition until arEndPosition-arDelta. More...

virtual real64	GetAccelerationTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, const char *apParam)
	Calc time [sec] a Move from arStartPosition until arEndPosition needs for the acceleration part. More...

virtual real64	GetConstTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, const char *apParam)
	Calc time [sec] a Move from arStartPosition until arEndPosition needs for the const part. More...

virtual real64	GetDecelerationTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, const char *apParam)
	Calc time [sec] a Move from arStartPosition until arEndPosition needs for the deceleration part. More...

virtual real64	GetMoveAppTime (real64 arPosition, real64 arPositionVel, real64 arVelocity)
	Calc time [sec] an according MoveApp needs. More...

virtual real64	GetMoveAppTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, SINOSRampParam *apParam)
	Calc time [sec] an according MoveApp needs. More...

virtual real64	GetMoveAppTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam)
	Calc time [sec] an according MoveApp needs. More...

virtual real64	GetMoveAppTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta)
	Calc time [sec] an according MoveApp needs until arPosition-arDelta. More...

virtual real64	GetMoveAppTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] an according MoveApp needs until arPosition-arDelta. More...

virtual real64	GetMoveAppTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, const char *apParam)
	Calc time [sec] an according MoveApp needs until arPosition-arDelta. More...

virtual real64	GetMoveAppTime (real64 arStartPosition, real64 arEndPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta)
	Calc time [sec] an according MoveApp needs until arEndPosition-arDelta. More...

virtual real64	GetMoveAppTime (real64 arStartPosition, real64 arEndPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] an according MoveApp needs until arEndPosition-arDelta. More...

virtual real64	GetMoveAppTime (real64 arStartPosition, real64 arEndPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, const char *apParam)
	Calc time [sec] an according MoveApp needs until arEndPosition-arDelta. More...

virtual real64	GetMoveDepTime (real64 arPosition, real64 arPositionVel, real64 arVelocity)
	Calc time [sec] an according MoveDep needs. More...

virtual real64	GetMoveDepTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, SINOSRampParam *apParam)
	Calc time [sec] an according MoveDep needs. More...

virtual real64	GetMoveDepTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam)
	Calc time [sec] an according MoveDep needs. More...

virtual real64	GetMoveDepTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta)
	Calc time [sec] an according MoveDep needs until arPosition-arDelta. More...

virtual real64	GetMoveDepTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] an according MoveDep needs until arPosition-arDelta. More...

virtual real64	GetMoveDepTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, const char *apParam)
	Calc time [sec] an according MoveDep needs until arPosition-arDelta. More...

virtual real64	GetMoveDepTime (real64 arStartPosition, real64 arEndPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta)
	Calc time [sec] an according MoveDep needs until arEndPosition-arDelta. More...

virtual real64	GetMoveDepTime (real64 arStartPosition, real64 arEndPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] an according MoveDep needs until arEndPosition-arDelta. More...

virtual real64	GetMoveDepTime (real64 arStartPosition, real64 arEndPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, const char *apParam)
	Calc time [sec] an according MoveDep needs until arEndPosition-arDelta. More...

virtual int32	GetMoveTicks (real64 arPosition)
	Calc bus ticks a Move(adPosition) needs until arPosition. More...

virtual int32	GetAccelerationTicks (real64 arPosition)
	Calc bus ticks a Move(adPosition) needs for the acceleration part. More...

virtual int32	GetConstTicks (real64 arPosition)
	Calc bus ticks a Move(adPosition) needs for the constant part. More...

virtual int32	GetDecelerationTicks (real64 arPosition)
	Calc bus ticks a Move(adPosition) needs for the deceleration part. More...

virtual int32	GetMoveTicks (real64 arPosition, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs until arPosition. More...

virtual int32	GetAccelerationTicks (real64 arPosition, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs for the acceleration part. More...

virtual int32	GetConstTicks (real64 arPosition, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs for the constant part. More...

virtual int32	GetDecelerationTicks (real64 arPosition, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs for the deceleration part. More...

virtual int32	GetMoveTicks (real64 arPosition, const char *apParam)
	Calc bus ticks a Move(adPosition) needs until arPosition. More...

virtual int32	GetAccelerationTicks (real64 arPosition, const char *apParam)
	Calc bus ticks a Move(adPosition) needs for the acceleration part. More...

virtual int32	GetConstTicks (real64 arPosition, const char *apParam)
	Calc bus ticks a Move(adPosition) needs for the constant part. More...

virtual int32	GetDecelerationTicks (real64 arPosition, const char *apParam)
	Calc bus ticks a Move(adPosition) needs for the deceleration part. More...

virtual int32	GetMoveTicks (real64 arPosition, real64 arDelta)
	Calc bus ticks a Move(adPosition) needs until arPosition-arDelta. More...

virtual int32	GetAccelerationTicks (real64 arPosition, real64 arDelta)
	Calc bus ticks a Move(adPosition) needs for the acceleration part. More...

virtual int32	GetConstTicks (real64 arPosition, real64 arDelta)
	Calc bus ticks a Move(adPosition) needs for the constant part. More...

virtual int32	GetDecelerationTicks (real64 arPosition, real64 arDelta)
	Calc bus ticks a Move(adPosition) needs for the deceleration part. More...

virtual int32	GetMoveTicks (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs until arPosition-arDelta. More...

virtual int32	GetAccelerationTicks (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs for the acceleration part. More...

virtual int32	GetConstTicks (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs for the constant part. More...

virtual int32	GetDecelerationTicks (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs for the deceleration part. More...

virtual int32	GetMoveTicks (real64 arPosition, real64 arDelta, const char *apParam)
	Calc bus ticks a Move(adPosition) needs until arPosition-arDelta. More...

virtual int32	GetAccelerationTicks (real64 arPosition, real64 arDelta, const char *apParam)
	Calc bus ticks a Move(adPosition) needs for the acceleration part. More...

virtual int32	GetConstTicks (real64 arPosition, real64 arDelta, const char *apParam)
	Calc bus ticks a Move(adPosition) needs for the constant part. More...

virtual int32	GetDecelerationTicks (real64 arPosition, real64 arDelta, const char *apParam)
	Calc bus ticks a Move(adPosition) needs for the deceleration part. More...

virtual int32	GetMoveTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc bus ticks a Move needs from arStartPosition until arEndPosition-arDelta. More...

virtual int32	GetAccelerationTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc bus ticks a Move from arStartPosition until arEndPosition needs for the acceleration part. More...

virtual int32	GetConstTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc bus ticks a Move from arStartPosition until arEndPosition needs for the const part. More...

virtual int32	GetDecelerationTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc bus ticks a Move from arStartPosition until arEndPosition needs for the deceleration part. More...

virtual int32	GetMoveTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc bus ticks a Move needs from arStartPosition until arEndPosition-arDelta. More...

virtual int32	GetAccelerationTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc bus ticks a Move from arStartPosition until arEndPosition needs for the acceleration part. More...

virtual int32	GetConstTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc bus ticks a Move from arStartPosition until arEndPosition needs for the const part. More...

virtual int32	GetDecelerationTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc bus ticks a Move from arStartPosition until arEndPosition needs for the deceleration part. More...

virtual int32	GetMoveTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta, const char *apParam)
	Calc bus ticks a Move needs from arStartPosition until arEndPosition-arDelta. More...

virtual int32	GetAccelerationTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta, const char *apParam)
	Calc bus ticks a Move from arStartPosition until arEndPosition needs for the acceleration part. More...

virtual int32	GetConstTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta, const char *apParam)
	Calc bus ticks a Move from arStartPosition until arEndPosition needs for the const part. More...

virtual int32	GetDecelerationTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta, const char *apParam)
	Calc bus ticks a Move from arStartPosition until arEndPosition needs for the deceleration part. More...

virtual int32	GetExitTicks ()
	Calc bus ticks needed till exit in a safe move. More...

virtual real64	GetMoveDist (real64 arTime)
	Calc distance [unit] a Move progresses in arTime [sec]. More...

virtual real64	GetMoveDist (real64 arPosition, real64 arTime)
	Calc distance [unit] a Move(arPosition) progresses in arTime [sec]. More...

virtual real64	GetMoveDist (real64 arTime, SINOSRampParam *apParam)
	Calc distance [unit] a Move progresses in arTime [sec]. More...

virtual real64	GetMoveDist (real64 arPosition, real64 arTime, SINOSRampParam *apParam)
	Calc distance [unit] a Move(arPosition) progresses in arTime [sec]. More...

virtual real64	GetMoveDist (real64 arTime, const char *apParam)
	Calc distance [unit] a Move progresses in arTime [sec]. More...

virtual real64	GetMoveDist (real64 arPosition, real64 arTime, const char *apParam)
	Calc distance [unit] a Move(arPosition) progresses in arTime [sec]. More...

virtual real64	GetMoveDist (real64 arPosition, uint32 auTicks)
	Calc distance [unit] a Move(arPosition) progresses in auTicks [bus ticks]. More...

virtual real64	GetMoveDist (real64 arPosition, uint32 auTicks, SINOSRampParam *apParam)
	Calc distance [unit] a Move(arPosition) progresses in auTicks [bus ticks]. More...

virtual real64	GetMoveDist (real64 arPosition, uint32 auTicks, const char *apParam)
	Calc distance [unit] a Move(arPosition) progresses in auTicks [bus ticks]. More...

virtual real64	GetMoveDist (real64 arStartPosition, real64 arEndPosition, real64 arTime)
	Calc distance [unit] a move from arStartPosition to arEndPosition progresses in arTime [sec]. More...

virtual real64	GetMoveDist (real64 arStartPosition, real64 arEndPosition, real64 arTime, SINOSRampParam *apParam)
	Calc distance [unit] a move from arStartPosition to arEndPosition progresses in arTime [sec]. More...

virtual real64	GetMoveDist (real64 arStartPosition, real64 arEndPosition, real64 arTime, const char *apParam)
	Calc distance [unit] a move from arStartPosition to arEndPosition progresses in arTime [sec]. More...

virtual real64	GetMoveDist (real64 arStartPosition, real64 arEndPosition, uint32 auTicks)
	Calc distance [unit] a move from arStartPosition to arEndPosition progresses in auTicks [bus ticks]. More...

virtual real64	GetMoveDist (real64 arStartPosition, real64 arEndPosition, uint32 auTicks, SINOSRampParam *apParam)
	Calc distance [unit] a move from arStartPosition to arEndPosition progresses in auTicks [bus ticks]. More...

virtual real64	GetMoveDist (real64 arStartPosition, real64 arEndPosition, uint32 auTicks, const char *apParam)
	Calc distance [unit] a move from arStartPosition to arEndPosition progresses in auTicks [bus ticks]. More...

virtual uint64	GetStartTicks (real64 arDelta)
	Get absolut bus ticks the actual move reaches the start position + arDelta. More...

virtual uint64	GetTargetTicks ()
	Get absolut bus ticks the actual move reaches the target position. More...

virtual uint64	GetTargetTicks (real64 arDelta)
	Get absolut bus ticks the actual move reaches the target position - arDelta. More...

virtual uint32	SegBegin (real64 arSlowMotion=REAL64(1.0), real64 arStartVelocity=REAL64(0.0))
	Create a new segmentation move. More...

virtual uint32	SegBegin (real64 arSlowMotion, real64 arStartPosition, real64 arStartVelocity)
	Create a new segmentation move at given position. More...

virtual uint32	SegMove (real64 arPosition)
	Add a move to arPosition. Velocity and acceleration in arPosition have to be 0.0. More...

virtual uint32	SegMove (real64 arPosition, SINOSRampParam *apParam)
	Add a move to arPosition. Velocity and acceleration in arPosition have to be 0.0. More...

virtual uint32	SegMove (real64 arPosition, const char *apParam)
	Add a move to arPosition. Velocity and acceleration in arPosition have to be 0.0. More...

virtual uint32	SegMove (real64 arPosition, real64 arVelocity)
	Add a move to arPosition. Requested velocity in arPosition is arVelocity, the acceleration is 0.0.. More...

virtual uint32	SegMove (real64 arPosition, real64 arVelocity, SINOSRampParam *apParam)
	Add a move to arPosition. Requested velocity in arPosition is arVelocity, the acceleration is 0.0.. More...

virtual uint32	SegMove (real64 arPosition, real64 arVelocity, const char *apParam)
	Add a move to arPosition. Requested velocity in arPosition is arVelocity, the acceleration is 0.0.. More...

virtual uint32	SegConst (real64 arPosition)
	Add a move to arPosition with actual velocity. More...

virtual uint32	SegPos (real64 arTime)
	stay at actual position for arTime [sec]. More...

virtual uint32	SegPosSetTime (real64 arTime)
	Sets the time of the last added segpos segment [sec]. Can be used to adjust a previous added pos segment More...

virtual uint32	SegVelocity (real64 arVelocity, SINOSRampParam *apParam)
	Directly change velocity to the new value. More...

virtual uint32	SegVelocity (real64 arVelocity, const char *apParam)
	Directly change velocity to the new value. More...

virtual real64	SegTime ()
	Returns time the actual segment move takes. More...

virtual uint32	SegRun (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Run actual segments. More...

virtual uint32	WaitInPosition ()
	Wait for any move to finish. More...

virtual uint32	GetBusTicksPerAxisTick ()
	Get number of bus ticks an axis tick takes. More...

virtual uint32	Pull (real64 arS, real64 arV, real64 arA, real64 arJ)
	Add a path point to the actual pull list and start pull mode if not et done. If one is running an axis in pull mode, one has to provide a new path point for every axis sample, e.g. if the axis is sampled over the fieldbus with 4kHz, dT between two points is 0.000250 s. More...

virtual uint32	Pull (SINOSRampData &aData)
	Add a path point to the actual pull list and start pull mode if not et done. If one is running an axis in pull mode, one has to provide a new path point for every axis sample, e.g. if the axis is sampled over the fieldbus with 4kHz, dT between two points is 0.000250 s. More...

virtual uint32	Pull (SINOSRampDataEx *apData)
	Add a path point to the actual pull list and start pull mode if not et done. If one is running an axis in pull mode, one has to provide a new path point for every axis sample, e.g. if the axis is sampled over the fieldbus with 4kHz, dT between two points is 0.000250 s. More...

void	EnableRamp ()
	Enable a recently disabled trajectory generator. More...

void	DisableRamp ()
	Disable the axis trajectory generator. Can be used to fill up a pull list without staring immediately. More...

virtual uint32	Stop (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop a running move with the currently selected speed set. More...

virtual uint32	Stop (SINOSRampParam apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Stop a running move with the given speed set. More...

virtual uint32	Stop (const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Stop a running move with the given speed set. More...

virtual uint32	Stop (real64 arPosition, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop a running move with the currently selected speed set at requested position. More...

virtual uint32	Stop (real64 arPosition, SINOSRampParam apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Stop a running move with the given speed set at requested position. More...

virtual uint32	Stop (real64 arPosition, const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Stop a running move with the given speed set at requested position. More...

virtual uint32	StopLive ()
	Stop a running move with the currently selected speed set. The stop is calculated live and therefore the most efficient way to stop an axis. This command should be used if one needs to stop an axis from within a high prio task (e.g. a fieldbus hook). More...

virtual uint32	StopLive (real64 arSlowMotion, SINOSRampParam *apParam)
	Stop a running move with the given speed set and required slowmotion factor. The stop is calculated live and therefore the most efficient way to stop an axis. This command should be used if one needs to stop an axis from within a high prio task (e.g. a fieldbus hook). More...

virtual uint32	StopLiveDelta (real64 arDelta, real64 arSlowMotion, SINOSRampParam *apParam=nullptr)
	Stop a running move with the given speed set and required slowmotion factor. The stop is calculated live and therefore the most efficient way to stop an axis. This command should be used if one needs to stop an axis from within a high prio task (e.g. a fieldbus hook). More...

virtual uint32	Break (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Pause a running move with the currently selected speed set. The move is still pending and can be continued with Continue. More...

virtual uint32	Break (SINOSRampParam apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Pause a running move with the given speed set. The move is still pending and can be continued with Continue. More...

virtual uint32	Break (const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Pause a running move with the given speed set. The move is still pending and can be continued with Continue. More...

virtual uint32	Break (real64 arPosition, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Pause a running move with the currently selected speed set at requested position. The move is still pending and can be continued with Continue. More...

virtual uint32	Break (real64 arPosition, SINOSRampParam apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Pause a running move with the given speed set at requested position. The move is still pending and can be continued with Continue. More...

virtual uint32	Break (real64 arPosition, const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Pause a running move with the given speed set at requested position. The move is still pending and can be continued with Continue. More...

virtual uint32	Continue (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Continue a pause move. More...

virtual uint32	Continue (SINOSRampParam apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Continue a pause move with the given speed set. More...

virtual uint32	Continue (const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Continue a pause move with the given speed set. More...

virtual uint32	EmergencyStop (CINOSSync *apSync)
	Stop a running move with the defined emergency deceleration/jerk. More...

virtual uint32	EmergencyStop (uint16 auType=0xffff, uint16 auDelay=0xffff, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop a running move with the defined emergency deceleration/jerk. More...

virtual uint32	EmergencyStopLive ()
	Stop a running move with the defined emergency deceleration/jerk. The stop is calculated live and therefore the most efficient way to stop an axis. This command should be used if one needs to emergency stop an axis from within a high priority task (e.g. a fieldbus hook). More...

virtual uint32	EmergencyStopLive (uint16 auType, uint16 auDelay=0xffff)
	Stop a running move with the defined emergency deceleration/jerk. The stop is calculated live and therefore the most efficient way to stop an axis. This command should be used if one needs to emergency stop an axis from within a high priority task (e.g. a fieldbus hook). More...

virtual const char *	GetName ()

virtual const char *	GetType ()

virtual const char *	GetUnit ()

virtual uint32	GetCharacteristics ()

virtual uint8	GetNumber ()

virtual uint32	GetOptions ()

virtual char	GetShort ()

virtual void	SetShort (char acShort)

virtual void	SetPartner (const char *apPartner)

virtual void	SetPartner (CINOSBaseAxis *apPartner)

virtual void	SetCmdPosition (real64 arPosition)

virtual void	SetPathPosition (real64 arPosition)

virtual void	GetCmdPosition (real64 &arPosition)

virtual void	SetCmdVelocity (real64 arVelocity)

virtual void	GetCmdVelocity (real64 &arVelocity, CINOSBaseRamp::ECmdFlags aeFlags=CINOSBaseRamp::eFlgCmdNone)

virtual void	SetCmdAcceleration (real64 arAcceleration)

virtual void	GetCmdAcceleration (real64 &arAcceleration, CINOSBaseRamp::ECmdFlags aeFlags=CINOSBaseRamp::eFlgCmdNone)

virtual void	SetCmdDeceleration (real64 arDeceleration)

virtual void	GetCmdDeceleration (real64 &arDeceleration, CINOSBaseRamp::ECmdFlags aeFlags=CINOSBaseRamp::eFlgCmdNone)

virtual void	SetCmdCruiseleration (real64 arCruiseleration)

virtual void	GetCmdCruiseleration (real64 &arCruiseleration)

virtual void	SetCmdJerk (real64 arJerk, uint32 auNumber=DF_INOS_RAMP_JERK_ALL)

virtual void	GetCmdJerk (real64 &arJerk, uint32 auNumber=0)

virtual void	SetCmdCruiseJerk (real64 arCruiseJerk)

virtual void	GetCmdCruiseJerk (real64 &arCruiseJerk)

virtual void	GetCmdRealJerk (real64 &arJerk, uint32 auNumber=0)

virtual void	SetCmdSlowMotion (real64 arSlowMotion, bool abUpdate=false)

virtual void	GetCmdSlowMotion (real64 &arSlowMotion, const char *apParam=0)

virtual void	GetActSlowMotion (real64 &arSlowMotion, const char *apParam=0)

virtual void	SetCmdRelaxTime (real64 arRelaxTime)

virtual void	GetCmdRelaxTime (real64 &arRelaxTime)

virtual void	SetEmgDeceleration (real64 arDeceleration)

virtual void	GetEmgDeceleration (real64 &arDeceleration)

virtual void	SetEmgPosition (real64 arPosition)

virtual void	GetEmgPosition (real64 &arPosition)

virtual uint32	SetActPosition (real64 arPosition)
	Sets the actual axis position. This method doesn't change a current following error and it is therefore allowed to change the axis position during a running move. More...

virtual void	GetActPosition (real64 &arPosition, bool abRamp=true)
	Gets the actual axis position. More...

double	NormPosition (real64 arPosition) const
	Returned the 'normed' value of arPosition. More...

virtual void	GetActPosition (real64 &arPosition, uint64 auTicks)

virtual uint32	NrmActPosition (real64 arRange=REAL64(0.0), bool abRound=false)

virtual void	GetActVelocity (real64 &arVelocity, bool abMapped=true)

virtual void	GetActAcceleration (real64 &arAcceleration, bool abRamp=true)

virtual void	GetActJerk (real64 &arJerk, bool abRamp=true)

virtual uint32	AdjActTime (real64 arDelta)

virtual uint32	SetRealPosition (real64 arPosition)
	Sets the real axis position. This method ignores a current following error and should therefore NOT be used during a running move, as this leads to following error jumps. It is also important to mention, that one looses precision if this method is called (e.g. multiple times) on an axis that has a following error that is not equal to zero! More...

virtual void	GetRealPosition (real64 &arPosition, bool abMapped=true)
	Gets the real axis position. More...

virtual void	GetRealVelocity (real64 &arVelocity)

virtual void	GetRealAcceleration (real64 &arAcceleration)

virtual void	GetRealJerk (real64 &arJerk)

virtual void	GetActPosError (real64 &arPosError)

virtual void	GetActVelocityError (real64 &arVelocityError, bool abFiltered=false)

virtual void	GetUnitsPerInc (double &adUnits)

virtual void	GetIncsPerUnit (double &adIncs)

virtual void	SetMinPosition (real64 arPosition)

virtual void	GetMinPosition (real64 &apPosition) const

virtual void	SetMaxPosition (real64 arPosition)

virtual void	GetMaxPosition (real64 &arPosition) const

virtual bool	CheckPosition (real64 &arPosition, bool abIgnoreMapping=false, SINOSRampParam *apParam=nullptr)

virtual void	SetMinVelocity (real64 arVelocity)

virtual void	SetMaxVelocity (real64 arVelocity)

virtual void	SetMaxSetupVelocity (real64 arVelocity)

virtual void	SetMaxInitVelocity (real64 arVelocity)

virtual void	GetMinVelocity (real64 &arVelocity)

virtual void	GetMaxVelocity (real64 &arVelocity, uint32 auFlags=eMaxVelocityNone)

virtual void	GetTrqVelocity (real64 &arVelocity)

virtual void	GetMaxSetupVelocity (real64 &arVelocity)

virtual void	GetMaxInitVelocity (real64 &arVelocity)

virtual void	SetMinAcceleration (real64 arAcceleration)

virtual void	SetMaxAcceleration (real64 arAcceleration)

virtual void	SetMaxAccelerationPull (real64 arAcceleration)

virtual void	GetMinAcceleration (real64 &arAcceleration)

virtual void	GetMaxAcceleration (real64 &arAcceleration)

virtual void	GetMaxAccelerationPull (real64 &arAcceleration)

virtual void	GetTrqAcceleration (real64 &arAcceleration)

virtual void	SetMinDeceleration (real64 arDeceleration)

virtual void	SetMaxDeceleration (real64 arDeceleration)

virtual void	GetMinDeceleration (real64 &arDeceleration)

virtual void	GetMaxDeceleration (real64 &arDeceleration)

virtual void	GetTrqDeceleration (real64 &arDeceleration)

virtual void	SetMinCruiseleration (real64 arCruiseleration)

virtual void	SetMaxCruiseleration (real64 arCruiseleration)

virtual void	GetMinCruiseleration (real64 &arCruiseleration)

virtual void	GetMaxCruiseleration (real64 &arCruiseleration)

virtual void	SetMinJerk (real64 arJerk)

virtual void	SetMaxJerk (real64 arJerk)

virtual void	GetMinJerk (real64 &arJerk)

virtual void	GetMaxJerk (real64 &arJerk)

virtual void	GetEpsilon (real64 &arEpsilon)

virtual void	GetCycleTime (real64 &arCycleTime, bool abOversampled=false)

virtual void	GetCycleTimeUs (uint32 &auCycleTime)

virtual void	GetCycleTimeNs (uint32 &auCycleTime)

virtual uint8	GetOversampling ()

virtual uint16	GetCycleNumber ()

virtual uint16	GetCycleId ()

virtual void	UpdateCycleId (uint16 auCycleId)

virtual uint8	GetBusId ()

virtual uint32	SetParam (const char *apName, real64 arValue)

virtual uint32	SetParam (const char *apName, uint64 auValue)

virtual uint32	GetParam (const char *apName, real64 &arResult)

virtual uint32	GetParam (const char *apName, uint64 &auResult)

virtual volatile real64 *	GetParamAdr (const char *apName)

void	SetFlag (uint32 auFlag)

void	ClrFlag (uint32 auFlag)

uint32	GetFlag ()

void	Absolute ()

void	Incremental ()

virtual uint32	SetState (uint32 auState)

virtual int32	GetState ()

virtual int32	GetState (uint32 &auRampState)

const char *	GetStateText () const

virtual bool	IsBusy () const

virtual uint32	GetError (bool abResolveExternal=false)

virtual uint64	GetErrorEx (bool abResolveExternal=false)

virtual uint32	GetError (uint32 &auRampError, bool abResolveExternal=false)

virtual uint64	GetErrorEx (uint64 &auRampError, bool abResolveExternal=false)

virtual uint32	GetErrorHook ()

virtual bool	IsErrorFatal ()

virtual uint32	GetWarning (bool abResolveExternal=false)

virtual uint64	GetWarningEx (bool abResolveExternal=false)

virtual uint32	GetWarning (uint32 &auRampWarning, bool abResolveExternal=false)

virtual uint64	GetWarningEx (uint64 &auRampWarning, bool abResolveExternal=false)

virtual uint32	GetLimitViolation ()

virtual void	SetErrorMask (uint32 auMask)

virtual void	SetWarningMask (uint32 auMask)

virtual void	SetLimitViolation (uint32 auLimitViolation)

virtual uint32	GetErrorMask ()

virtual uint32	GetWarningMask ()

virtual uint32	AcceptError ()

virtual uint32	AcceptError (uint32 auError)

virtual uint32	AcceptError (uint32 auError, uint32 auRampError)

virtual uint32	AcceptWarning ()

virtual uint32	AcceptWarning (uint32 auWarning)

virtual uint32	AcceptWarning (uint32 auWarning, uint32 auRampWarning)

virtual uint32	AcceptLimitViolation ()

virtual void	eCreateParamSet (const char *apSetName)

virtual CINOSBaseAxisParamSet *	CreateParamSet (const char *apSetName)

virtual void	DestroyParamSet (const char *apSetName)

virtual bool	SelectParamSet (const char *apSetName)

virtual CINOSBaseAxisParamSet *	GetParamSet (const char *apSetName, uint32 auFlags=eFlgParamSetSearchGlobal)

virtual SINOSRampParam *	GetRampParam (const char *apSetName, uint32 auFlags=eFlgParamSetSearchGlobal)

virtual bool	GetRampParam (const char apSetName, char apResult, uint32 auSize, SINOSRampParam &aResult, uint32 auFlags=eFlgParamSetSearchGlobal)

virtual void	PreDestroyRampParam (SINOSRampParam *apParam)

virtual void	SetPosType (uint32 auPosType)

virtual void	SetPosTime (uint32 auPosTime)

virtual void	SetPosTimeout (uint32 auPosTimeout)

virtual void	SetPosTolerance (real64 arPosTolerance)

void	EnableCache (uint32 auSize=32)

CINOSRampCache *	EnableCache (CINOSRampCache *apCache)

CINOSRampCache *	DisableCache ()

void	ReEnableCache ()

void	FlushCache ()

void	SetCacheEpsilon (real64 arEpsilon)

virtual CINCOObject *	GetRegister ()

virtual void	SetRamp (CINOSBaseRamp *apRamp)

CINOSBaseRamp *	GetRamp ()

virtual CINOSMapping *	GetMapping ()

uint32	GetMappingIndex ()

virtual uint32	RegisterHook (uintid &auHookId, void apHandler, void apObject, int32 aiOrder, bool abEnabled=true)

virtual uint32	UnRegisterHook (uintid auHookId)

virtual uint32	EnableHook (uintid auHookId)

virtual uint32	DisableHook (uintid auHookId)

virtual uint32	RegisterPostHook (uintid &auHookId, void apHandler, void apObject, int32 aiOrder, bool abEnabled=true)

virtual uint32	UnRegisterPostHook (uintid auHookId)

virtual uintid	RegisterErrorHook (void apHandler, void apObject=0)

virtual void	UnRegisterErrorHook (uintid auHookId)

virtual uintid	RegisterWarningHook (void apHandler, void apObject=0)

virtual void	UnRegisterWarningHook (uintid auHookId)

virtual void	EnableSync (real64 arPosition=REAL64(0.0), uint8 auMode=0x00)

virtual void	DisableSync ()

virtual void	GetSyncCount (uint32 &auSyncCount)

virtual void	SetSyncCount (uint32 auSyncCount)

virtual void	EnableNorm (uint8 auMode=0x00, uint8 auMoveDir=0x00, real64 arNormPos=REAL64(0.0))

virtual void	DisableNorm ()

virtual uint8	GetNormMoveDir ()

virtual void	SetNormMoveDir (uint8 auNormMoveDir)

virtual uint8	GetNormMode ()

virtual void	SetNormMode (uint8 auNormMode)

virtual void	EnableCurLimit ()

virtual void	DisableCurLimit ()

virtual bool	GetCurLimit ()

SINOSRampData *	GetActual (EActualType aeType=eActOutput, bool abCopy=true)
	get pointer to actual control values

SINOSRampData *	GetRealVrt ()
	get pointer to real values

SINOSRampData *	GetActVrt ()
	deprecated

SINOSRampData *	GetActPhy ()
	deprecated

virtual void	SetMoveSafeMin (real64 arMin, real64 arFact1=REAL64(0.0), real64 arFact2=REAL64(0.0))

virtual void	ResetMoveSafeMin ()

void	EnableSetupMode ()

void	DisableSetupMode ()

virtual bool	CheckSetupMode ()

virtual uint32	GetToggleCnt ()
	get current toggle counter

virtual void	SetToggleCnt (uint32 auSetVal)
	set toggle counter to given value

SINOSBaseRampTrqLimit *	GetTrqLimitAcceleration ()
	get torque limit acceleration

SINOSBaseRampTrqLimit *	GetTrqLimitDeceleration ()
	get torque limit deceleration

uint8	GetCoreId ()
	get core id the axis is running on

Static Public Member Functions
static CINOSBaseAxis *	GetAxis (const char *apAxisName)
	Get pointer to axis with name apAxisName. More...

static CINOSBaseAxis *	GetAxis (uint32 auNumber)
	Get pointer to axis with a given number. More...

static uint8	GetNumber (const char *apAxisName)
	Get number of axis apAxisName. More...

static void	eCreateGlobalParamSet (const char *apSetName)

static CINOSBaseAxisParamSet *	CreateGlobalParamSet (const char *apSetName)

static void	DestroyGlobalParamSet (const char *apSetName)

static CINOSBaseAxisParamSet *	GetGlobalParamSet (const char *apSetName)

static SINOSRampParam *	GetGlobalRampParam (const char *apSetName)

Protected Member Functions
void	Create ()

real64	iNormPosition (real64 arPosition, real64 arRange=REAL64(0.0), bool abRound=false) const

void	Signal (CINOSSync *&apSync)

virtual void	SignalSync (CINOSSync &apSync)

virtual void	SetError (uint32 auErrors)

virtual void	SetWarning (uint32 auWarnings)

bool	Enter (uint32 auCommand, CINOSSync *apSync=0)

void	Exit ()

void	Exit (CINOSSync &apCmdSync, CINOSSync apSync)

bool	IsCritical ()

virtual void	iInActivate ()

virtual void	iStop (SINOSRampParam *apParam)

virtual void	iEmergencyStop (bool abLive=false)

virtual uint32	iCursor (bool abPositive, uint32 auWaitTime, real64 arStep, SINOSRampParam *apParam)

virtual uint32	iCursor (real64 arPosition, uint32 auWaitTime, real64 arStep, SINOSRampParam *apParam)

real64	iGetAbsPosition (real64 arRelPosition)

real64	iGetNrmAbsPosition (real64 arRelPosition, SINOSRampParam *apParam=nullptr, bool abConsiderStop=false)

virtual void	iSetCycleTime (real64 arCycleTime)

virtual void	iRegisterAxis ()

virtual ICACHE void	iPreMap ()

virtual ICACHE void	iPostMap ()

ICACHE void	iCheckRampLimits ()

virtual ICACHE void	iPostWrite ()

void	SetMapping (CINOSMapping *apMapping, uint32 auIndex)

void	ResetMapping ()

virtual bool	iInPosition (bool abEarlyDone)

virtual bool	iInPosition ()

virtual void	iAdjPreviousPositions (real64 arDifference)

virtual void	iSetActRampPosition (real64 arPosition)

virtual bool	IsCheckPositionRequired ()

void	SetDefaultParamIfRequired ()

void	iSetupPositionType (SINOSRampParam *apParam=0)

virtual void	iResetTrajectory ()

void	iCoreMismatchError ()

INOS_INLINE void	AtomicEnter (uint32 &auToken)

INOS_INLINE bool	AtomicExit (uint32 auToken)

Protected Attributes
int32	m_uState

uint32	m_uSubState

uint32	m_uNxtState

uint32	m_uPrvState

uint32	m_uBrkState

uint32	m_uRmpState

uint32	m_uError

uint32	m_uErrorMask

uint32	m_uErrorHook

uint32	m_uWarning

uint32	m_uWarningMask

uint32	m_uLimitViolation

uint32	m_uFlag

uint32	m_uFlagEnb

const char *	m_pName

const char *	m_pType

char	m_cShort [2]

CINOSBaseAxis *	m_pPartner

CINCOObject *	m_pRegister

CINCOObject *	m_pCommand

CINCOObject *	m_pTest

CINCOObject *	m_pError

CINCOObject *	m_pWarning

CINCOObject *	m_pLimitViolation

CINCOObject *	m_pFlag

CINCOObject *	m_pState

CINOSBaseRamp *	m_pRamp

CINOSLimitChecker *	m_pLimitChecker

CINOSMapping *	m_pMapping

uint32	m_uMappingIndex

SINOSBaseAxis *	m_pDesc

CINOSMutex	m_CmdLock

CINOSSync *	m_pActivate

CINOSSync *	m_pInActivate

CINOSSync *	m_pMove

CINOSSync *	m_pEndless

CINOSSync *	m_pStop

CINOSSync *	m_pEmStop

CINOSSync *	m_pBreak

CINOSSync *	m_pVelocity

CINOSSync *	m_pContinue

CINOSSync *	m_pWaitInPosition

CINOSSync *	m_pWaitInPositionDyn

CINOSSync *	m_pWaitTicks

uint32	m_uWaitTicks

uintid	m_uPreMapHookId

uintid	m_uPostMapHookId

uintid	m_uPostWriteHookId

uintid	m_uPreHookId

uintid	m_uPostHookId

SINOSBaseAxisHook *	m_pErrorHooks

SINOSBaseAxisHook *	m_pWarningHooks

TINOSNameBalancedBinaryTree< CINOSBaseAxisParamSet > *	m_pParamSets

SINOSRampDataEx *	m_pActual
	actual commanded values (handed over to control)

SINOSRampDataEx *	m_pActRamp
	actual commanded values from ramp geni

SINOSRampDataEx *	m_pActControl
	actual commanded values (valid if mapping active or after a SetActual)

SINOSRampDataEx *	m_pRealVrt
	actual real virtual values

SINOSRampData	m_sPreviousVrt [3]

real64	m_rPos1

real64	m_rPos1Max

real64	m_rPos2

real64	m_rPos2Max

uint32	m_uDelay

uint32	m_uDelayMax

uint32	m_uDelayAct

int32	m_iTicks

uint32	m_uToggleCnt

real64	m_rFeedPerTurn

real64	m_rFeedPerTurn_1

real64	m_rInertia

inosName32	m_cSelectedParamName

uint32	m_uEmergencyType

uint32	m_uEmergencyDelay

real64	m_rEmergencyPosition

uint16	m_uIntEmergencyType

uint16	m_uIntEmergencyDelay

SINOSRampParam *	m_pEmergency

uint32	m_uCurWaitTime

real64	m_rCurPosition

SINOSRampParam *	m_pCurParam

uint8	m_uSyncMode

bool	m_bSyncAvailable = true

uint8	m_uNormMode

uint8	m_uNormMoveDir

real64	m_rNormPos

uint8	m_uCoreId = DF_INOS_CORE_DEFAULT
	id of core the axis is handled in

uint16	m_uTrackValType

uint16	m_uTrackDir

void *	m_pTrackVal

real64	m_rTrackCyc

real64	m_rTrackFct

real64	m_rTrackPos

real64	m_rTrackVel

real64	m_rTrackCmd

real64	m_rTrackSum

uint16	m_uTrackLen

uint16	m_uTrackInd

int32	m_iTrackLst

int32	m_iTrackOld

real64 *	m_pTrackBuf

tpGetter	m_pTrackGet

real64	m_rTrackVmax

real64	m_rTrackAmax

real64	m_rTrackBmax

uint32	m_uPosType

uint32	m_uPosTime

uint32	m_uPosTimeout

int32	m_iPosTicks

int32	m_iPosTimeout

real64	m_rPosTolerance

real64	m_rExitTime

bool	m_bPartnerMoving

uint32	m_uBusTicksPerAxisTick
	number of bus ticks an axis tick takes

uint16	m_uCycleId
	cycle id

uint32	m_ueActivateCheckPos

uint32	m_ueActivateSimulatePos

uint32	m_ueActivateSimulateOut

uint32	m_ueActivateSimulateAct

real64	m_rePosition

real64	m_rePositionVel {}

real64	m_reVelocity {}

real64	m_reSyncPosition

inosName32	m_ceParam

char	m_ceVariable [64]

real64	m_reFactor

real64	m_reValue

uint32	m_ueFilter

uint32	m_ueTrackDir

uint32	m_ueDirection

uint32	m_ueWait

real64	m_reStep

real64	m_reReturn

real64	m_reDelta

real64	m_reStart

real64	m_reEnd

uint32	m_ueReturn

uint32	m_ueTicks

real64	m_reTime

real64	m_reSlowMotion

Static Protected Attributes
static CINOSMutex	m_GlobalParamSetsMutex

static TINOSNameBalancedBinaryTree< CINOSBaseAxisParamSet > *	m_pGlobalParamSets

Friends
class	CINOSRegisterBaseAxis

class	CINOSMapping

class	CINOSPhysicalAxis

class	CINOSBaseAxisTest

class	CINOSMovePathResourcePosAxis

class	CINOSMcRobotCmdMove

class	CINOSMcRobotCmdInit

class	CINOSMcRobotCmdCalib

class	CINOSMcTargetAxis

void	_INI_0000_CINOSBaseAxis ()

void	_INI_0400_CINOSBaseAxis ()

void	_INI_0400_INFO_DCM ()

Detailed Description

Provides axis functionality.

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         : INOS
language        : GNU C++
system          : Indel Targets

Provides axis functionality.

Constructor & Destructor Documentation

◆ CINOSBaseAxis() [1/2]

CINOSBaseAxis::CINOSBaseAxis ( SINOSBaseAxis * apDesc )

explicit

Create an axis based on a descriptor (usually not used because this is done by the configuration system).

Parameters

apDesc A pointer to a descriptor describing the axis

◆ CINOSBaseAxis() [2/2]

CINOSBaseAxis::CINOSBaseAxis	(	SINOSBaseAxis *	apDesc,
		CINOSBaseRamp *	apRamp
	)

Create an axis based on a descriptor (usually not used because this is done by the configuration system).

Parameters

apDesc	A pointer to a descriptor describing the axis
apRamp	A pointer to a descriptor describing the trajectory generator.

Member Function Documentation

◆ Activate()

virtual uint32 CINOSBaseAxis::Activate	(	bool	abCheckPos = `true`,
		bool	abSimulatePos = `false`,
		bool	abSimulateOut = `false`,
		bool	abSimulateAct = `false`,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Activate axis in a given mode, e.g Activate(true,true,true,true) enables the axis in a full simulated manner.

Parameters

abCheckPos	Enable following position check
abSimulatePos	Actual position is simulated
abSimulateOut	No speed to external controller
abSimulateAct	No power to real axis
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

Reimplemented in CINOSPhysicalAxis.

◆ Break() [1/6]

virtual uint32 CINOSBaseAxis::Break ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Pause a running move with the currently selected speed set. The move is still pending and can be continued with Continue.

Parameters

apSync A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

See also: Continue

◆ Break() [2/6]

virtual uint32 CINOSBaseAxis::Break	(	const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Pause a running move with the given speed set. The move is still pending and can be continued with Continue.

Parameters

apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

See also: Continue

◆ Break() [3/6]

virtual uint32 CINOSBaseAxis::Break	(	real64	arPosition,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Pause a running move with the currently selected speed set at requested position. The move is still pending and can be continued with Continue.

Parameters

arPosition	Requested position [unit] to pause at.
apSync	A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

◆ Break() [4/6]

virtual uint32 CINOSBaseAxis::Break	(	real64	arPosition,
		const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Pause a running move with the given speed set at requested position. The move is still pending and can be continued with Continue.

Parameters

arPosition	Requested position [unit] to pause at.
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

◆ Break() [5/6]

virtual uint32 CINOSBaseAxis::Break	(	real64	arPosition,
		SINOSRampParam *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Pause a running move with the given speed set at requested position. The move is still pending and can be continued with Continue.

Parameters

arPosition	Requested position [unit] to pause at.
apParam	Pointer to structure containing the requested speed set.
apSync	A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

◆ Break() [6/6]

virtual uint32 CINOSBaseAxis::Break	(	SINOSRampParam *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Pause a running move with the given speed set. The move is still pending and can be continued with Continue.

Parameters

apParam	Pointer to structure containing the requested speed set.
apSync	A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

See also: Continue

◆ Connect()

virtual uint32 CINOSBaseAxis::Connect ( )

inlinevirtual

Connect axis to hardware.

Returns: Returns an according error code or 0 in case of success

Reimplemented in CINOSPhysicalAxis.

◆ Continue() [1/3]

virtual uint32 CINOSBaseAxis::Continue ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Continue a pause move.

Parameters

apSync A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

See also: Break

◆ Continue() [2/3]

virtual uint32 CINOSBaseAxis::Continue	(	const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Continue a pause move with the given speed set.

Parameters

apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

See also: Break

◆ Continue() [3/3]

virtual uint32 CINOSBaseAxis::Continue	(	SINOSRampParam *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Continue a pause move with the given speed set.

Parameters

apParam	Pointer to structure containing the requested speed set.
apSync	A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

See also: Break

◆ Cursor() [1/10]

virtual uint32 CINOSBaseAxis::Cursor	(	bool	abPositive,
		uint32	auWaitTime
	)

virtual

Moves one 'inc' in the requested direction, waits auWaitTime ms and starts an endless move to the defined software limit. This move is usually stopped with the Stop command.

Parameters

abPositive	Requested direction (true-positive, false-negative).
auWaitTime	Requested waiting time [ms].

Returns: Returns an according error code or 0 in case of success

◆ Cursor() [2/10]

virtual uint32 CINOSBaseAxis::Cursor	(	bool	abPositive,
		uint32	auWaitTime,
		real64	arStep
	)

virtual

Moves one arStep in the requested direction, waits auWaitTime ms and starts an endless move to the defined software limit. This move is usually stopped with the Stop command.

Parameters

abPositive	Requested direction (true-positive, false-negative).
auWaitTime	Requested waiting time [ms].
arStep	Requested first step [unit].

Returns: Returns an according error code or 0 in case of success

◆ Cursor() [3/10]

virtual uint32 CINOSBaseAxis::Cursor	(	bool	abPositive,
		uint32	auWaitTime,
		real64	arStep,
		const char *	apParam
	)

virtual

Moves one arStep in the requested direction, waits auWaitTime ms and starts an endless move to the defined software limit. This move is usually stopped with the Stop command.

Parameters

abPositive	Requested direction (true-positive, false-negative).
auWaitTime	Requested waiting time [ms].
arStep	Requested first step [unit].
apParam	Name of requested speed set.

Returns: Returns an according error code or 0 in case of success

◆ Cursor() [4/10]

virtual uint32 CINOSBaseAxis::Cursor	(	bool	abPositive,
		uint32	auWaitTime,
		real64	arStep,
		SINOSRampParam *	apParam
	)

virtual

Moves one arStep in the requested direction, waits auWaitTime ms and starts an endless move to the defined software limit. This move is usually stopped with the Stop command.

Parameters

abPositive	Requested direction (true-positive, false-negative).
auWaitTime	Requested waiting time [ms].
arStep	Requested first step [unit].
apParam	Pointer to structure containing the requested spped set.

Returns: Returns an according error code or 0 in case of success

◆ Cursor() [5/10]

virtual uint32 CINOSBaseAxis::Cursor ( bool abPositive = true )

virtual

Moves one 'inc' in the requested direction, waits 500ms and starts an endless move to the defined software limit. This move is usually stopped with the Stop command.

Parameters

abPositive Requested direction (true-positive, false-negative).

Returns: Returns an according error code or 0 in case of success

◆ Cursor() [6/10]

virtual uint32 CINOSBaseAxis::Cursor	(	real64	arbPosition,
		uint32	auWaitTime,
		real64	arStep,
		const char *	apParam
	)

virtual

Moves one step in 'arPosition' direction, waits auWaitTime ms and then moves to arPosition. This move is usually stopped with the Stop command.

Parameters

arPosition	Requested end position.
auWaitTime	Requested waiting time [ms].
arStep	Requested first step [unit].
apParam	Name of requested speed set.

Returns: Returns an according error code or 0 in case of success

◆ Cursor() [7/10]

virtual uint32 CINOSBaseAxis::Cursor ( real64 arPosition )

virtual

Moves one 'inc' in 'arPosition' direction, waits 500ms and then moves to arPosition. This move is usually stopped with the Stop command.

Parameters

arPosition Requested end position.

Returns: Returns an according error code or 0 in case of success

◆ Cursor() [8/10]

virtual uint32 CINOSBaseAxis::Cursor	(	real64	arPosition,
		uint32	auWaitTime
	)

virtual

Moves one 'inc' in 'arPosition' direction, waits auWaitTime ms and then moves to arPosition. This move is usually stopped with the Stop command.

Parameters

arPosition Requested end position.

Returns: Returns an according error code or 0 in case of success

◆ Cursor() [9/10]

virtual uint32 CINOSBaseAxis::Cursor	(	real64	arPosition,
		uint32	auWaitTime,
		real64	arStep
	)

virtual

Moves one step in 'arPosition' direction, waits auWaitTime ms and then moves to arPosition. This move is usually stopped with the Stop command.

Parameters

arPosition	Requested end position.
auWaitTime	Requested waiting time [ms].
arStep	Requested first step [unit].

Returns: Returns an according error code or 0 in case of success

◆ Cursor() [10/10]

virtual uint32 CINOSBaseAxis::Cursor	(	real64	arPosition,
		uint32	auWaitTime,
		real64	arStep,
		SINOSRampParam *	apParam
	)

virtual

Moves one step in 'arPosition' direction, waits auWaitTime ms and then moves to arPosition. This move is usually stopped with the Stop command.

Parameters

arPosition	Requested end position.
auWaitTime	Requested waiting time [ms].
arStep	Requested first step [unit].
apParam	Pointer to structure containing the requested spped set.

Returns: Returns an according error code or 0 in case of success

◆ Disable()

virtual uint32 CINOSBaseAxis::Disable ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Disables an enabled axis. Only inactivated axis can be disabled. Use 'Enable' to reenable the axis.

Parameters

apSync A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ DisableNorm()

virtual void CINOSBaseAxis::DisableNorm ( )

virtual

disable auto norm

Reimplemented in CINOSPhysicalAxis.

◆ DisableRamp()

void CINOSBaseAxis::DisableRamp ( )

inline

Disable the axis trajectory generator. Can be used to fill up a pull list without staring immediately.

See also: EnableRamp()

◆ EmergencyStop() [1/2]

virtual uint32 CINOSBaseAxis::EmergencyStop ( CINOSSync * apSync )

virtual

Stop a running move with the defined emergency deceleration/jerk.

Parameters

apSync A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

◆ EmergencyStop() [2/2]

virtual uint32 CINOSBaseAxis::EmergencyStop	(	uint16	auType = `0xffff`,
		uint16	auDelay = `0xffff`,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Stop a running move with the defined emergency deceleration/jerk.

Parameters

auType	Defines the requested emergency stop type.
auDelay	Defines the requested emergency stop delay.
apSync	A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

◆ EmergencyStopLive() [1/2]

virtual uint32 CINOSBaseAxis::EmergencyStopLive ( )

virtual

Stop a running move with the defined emergency deceleration/jerk. The stop is calculated live and therefore the most efficient way to stop an axis. This command should be used if one needs to emergency stop an axis from within a high priority task (e.g. a fieldbus hook).

Returns: Returns an according error code or 0 in case of success

◆ EmergencyStopLive() [2/2]

virtual uint32 CINOSBaseAxis::EmergencyStopLive	(	uint16	auType,
		uint16	auDelay = `0xffff`
	)

virtual

Stop a running move with the defined emergency deceleration/jerk. The stop is calculated live and therefore the most efficient way to stop an axis. This command should be used if one needs to emergency stop an axis from within a high priority task (e.g. a fieldbus hook).

Parameters

auType	Defines the requested emergency stop type.
auDelay	Defines the requested emergency stop delay.

Returns: Returns an according error code or 0 in case of success

◆ Enable()

virtual uint32 CINOSBaseAxis::Enable ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Enables a previously disabled axis. Only enabled axis can be activated.

Parameters

apSync A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ EnableNorm()

virtual void CINOSBaseAxis::EnableNorm	(	uint8	auMode = `0x00`,
		uint8	auMoveDir = `0x00`,
		real64	arNormPos = `REAL64(0.0)`
	)

virtual

Enable auto norm of position. This is often used on rotative axis which may be endlessly moved: Whenever the axis reaches 360.0 degree, you may want to "reset" the position to 0.0 degree. That's what "norming" does.

Parameters

auMode	The norming mode. Possible values are DF_INOS_AXIS_NORM_AFTER, DF_INOS_AXIS_NORM_LIVE, DF_INOS_AXIS_NORM_POSITIVE and DF_INOS_AXIS_NORM_ROUND
auMoveDir	Possible values are DF_INOS_AXIS_NORM_MOVE_DIR_NO, DF_INOS_AXIS_NORM_MOVE_DIR_POS DF_INOS_AXIS_NORM_MOVE_DIR_NEG, DF_INOS_AXIS_NORM_MOVE_DIR_SHORT and DF_INOS_AXIS_NORM_MOVE_DIR_SHORT_EX
arNormPos	By default, this param is set to 0.0, which means the function takes the "feed per turn" as norm position. Often, for rotative axes, the position shall be normed after "each turn" (which is often 360.0 degree) and therefore this is often what the caller expects. arNormPos can take any value and may therefore even be used for linear axes. E.g. to reset the position of a feeder after every 10mm.

◆ EnableRamp()

void CINOSBaseAxis::EnableRamp ( )

inline

Enable a recently disabled trajectory generator.

See also: DisableRamp()

◆ Endless() [1/3]

virtual uint32 CINOSBaseAxis::Endless	(	bool	abPositive,
		const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_ASYNCHRONOUS`
	)

virtual

Start and endless move in the requested direction with speed set apParam.

Parameters

abPositive	Requested direction (true-positive, false-negative).
apParam	Name of requested speed set.

Returns: Returns an according error code or 0 in case of success

◆ Endless() [2/3]

virtual uint32 CINOSBaseAxis::Endless	(	bool	abPositive,
		SINOSRampParam *	apParam,
		CINOSSync *	apSync = `DF_INOS_ASYNCHRONOUS`
	)

virtual

Start and endless move in the requested direction with speed set apParam.

Parameters

abPositive	Requested direction (true-positive, false-negative).
apParam	Pointer to a structure containing the requested speed set.

Returns: Returns an according error code or 0 in case of success

◆ Endless() [3/3]

virtual uint32 CINOSBaseAxis::Endless ( bool abPositive = true )

virtual

Start and endless move in the requested direction with actual commanded acc/dec and velocity.

Parameters

abPositive Requested direction (true-positive, false-negative).

Returns: Returns an according error code or 0 in case of success

◆ GetAccelerationTicks() [1/9]

virtual int32 CINOSBaseAxis::GetAccelerationTicks ( real64 arPosition )

virtual

Calc bus ticks a Move(adPosition) needs for the acceleration part.

Parameters

arPosition Requested position

Returns: Returns the needed number of fieldbus ticks.

◆ GetAccelerationTicks() [2/9]

virtual int32 CINOSBaseAxis::GetAccelerationTicks	(	real64	arPosition,
		const char *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs for the acceleration part.

Parameters

arPosition	Requested position
apParam	Name of requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetAccelerationTicks() [3/9]

virtual int32 CINOSBaseAxis::GetAccelerationTicks	(	real64	arPosition,
		real64	arDelta
	)

virtual

Calc bus ticks a Move(adPosition) needs for the acceleration part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)

Returns: Returns the needed number of fieldbus ticks.

◆ GetAccelerationTicks() [4/9]

virtual int32 CINOSBaseAxis::GetAccelerationTicks	(	real64	arPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs for the acceleration part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetAccelerationTicks() [5/9]

virtual int32 CINOSBaseAxis::GetAccelerationTicks	(	real64	arPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs for the acceleration part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetAccelerationTicks() [6/9]

virtual int32 CINOSBaseAxis::GetAccelerationTicks	(	real64	arPosition,
		SINOSRampParam *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs for the acceleration part.

Parameters

arPosition	Requested position
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetAccelerationTicks() [7/9]

virtual int32 CINOSBaseAxis::GetAccelerationTicks	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta
	)

virtual

Calc bus ticks a Move from arStartPosition until arEndPosition needs for the acceleration part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)

Returns: Returns the needed number of fieldbus ticks.

◆ GetAccelerationTicks() [8/9]

virtual int32 CINOSBaseAxis::GetAccelerationTicks	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc bus ticks a Move from arStartPosition until arEndPosition needs for the acceleration part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetAccelerationTicks() [9/9]

virtual int32 CINOSBaseAxis::GetAccelerationTicks	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc bus ticks a Move from arStartPosition until arEndPosition needs for the acceleration part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetAccelerationTime() [1/9]

virtual real64 CINOSBaseAxis::GetAccelerationTime ( real64 arPosition )

virtual

Calc time [sec] a Move(adPosition) needs for the acceleration part.

Parameters

arPosition Requested position

Returns: Returns the needed time [sec].

◆ GetAccelerationTime() [2/9]

virtual real64 CINOSBaseAxis::GetAccelerationTime	(	real64	arPosition,
		const char *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs for the acceleration part.

Parameters

arPosition	Requested position
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetAccelerationTime() [3/9]

virtual real64 CINOSBaseAxis::GetAccelerationTime	(	real64	arPosition,
		real64	arDelta
	)

virtual

Calc time [sec] a Move(adPosition) needs for the acceleration part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)

Returns: Returns the needed time [sec].

◆ GetAccelerationTime() [4/9]

virtual real64 CINOSBaseAxis::GetAccelerationTime	(	real64	arPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs for the acceleration part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetAccelerationTime() [5/9]

virtual real64 CINOSBaseAxis::GetAccelerationTime	(	real64	arPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs for the acceleration part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetAccelerationTime() [6/9]

virtual real64 CINOSBaseAxis::GetAccelerationTime	(	real64	arPosition,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs for the acceleration part.

Parameters

arPosition	Requested position
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetAccelerationTime() [7/9]

virtual real64 CINOSBaseAxis::GetAccelerationTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta
	)

virtual

Calc time [sec] a Move from arStartPosition until arEndPosition needs for the acceleration part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)

Returns: Returns the needed time [sec].

◆ GetAccelerationTime() [8/9]

virtual real64 CINOSBaseAxis::GetAccelerationTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc time [sec] a Move from arStartPosition until arEndPosition needs for the acceleration part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetAccelerationTime() [9/9]

virtual real64 CINOSBaseAxis::GetAccelerationTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] a Move from arStartPosition until arEndPosition needs for the acceleration part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetActPosition()

virtual void CINOSBaseAxis::GetActPosition	(	real64 &	arPosition,
		bool	abRamp = `true`
	)

virtual

Gets the actual axis position.

An axis has three different positions :

commanded the requested target position of a current or the last move
actual represents the calculated (ramp) and commanded (control loop) position at a certain point in time (e.g. now) during the move
real represents the actual (physical) position fed back from (or calculated by) the position channel

Parameters

arPosition	Actual axis position
abRamp	True if the position has to be get from the trajectory generator

◆ GetAxis() [1/2]

static CINOSBaseAxis* CINOSBaseAxis::GetAxis ( const char * apAxisName )

static

Get pointer to axis with name apAxisName.

Parameters

apAxisName Name of requested axis

Returns: Returns the pointer to the requested axis or NULL if not found

◆ GetAxis() [2/2]

static CINOSBaseAxis* CINOSBaseAxis::GetAxis ( uint32 auNumber )

inlinestatic

Get pointer to axis with a given number.

Parameters

auNumber Number of requested axis

Returns: Returns the pointer to the requested axis or NULL if not found

◆ GetBusTicksPerAxisTick()

virtual uint32 CINOSBaseAxis::GetBusTicksPerAxisTick ( )

virtual

Get number of bus ticks an axis tick takes.

Returns: Returns the number of fieldbus ticks one axis tick takes

◆ GetConstTicks() [1/9]

virtual int32 CINOSBaseAxis::GetConstTicks ( real64 arPosition )

virtual

Calc bus ticks a Move(adPosition) needs for the constant part.

Parameters

arPosition Requested position

Returns: Returns the needed number of fieldbus ticks.

◆ GetConstTicks() [2/9]

virtual int32 CINOSBaseAxis::GetConstTicks	(	real64	arPosition,
		const char *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs for the constant part.

Parameters

arPosition	Requested position
apParam	Name of requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetConstTicks() [3/9]

virtual int32 CINOSBaseAxis::GetConstTicks	(	real64	arPosition,
		real64	arDelta
	)

virtual

Calc bus ticks a Move(adPosition) needs for the constant part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)

Returns: Returns the needed number of fieldbus ticks.

◆ GetConstTicks() [4/9]

virtual int32 CINOSBaseAxis::GetConstTicks	(	real64	arPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs for the constant part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetConstTicks() [5/9]

virtual int32 CINOSBaseAxis::GetConstTicks	(	real64	arPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs for the constant part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetConstTicks() [6/9]

virtual int32 CINOSBaseAxis::GetConstTicks	(	real64	arPosition,
		SINOSRampParam *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs for the constant part.

Parameters

arPosition	Requested position
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetConstTicks() [7/9]

virtual int32 CINOSBaseAxis::GetConstTicks	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta
	)

virtual

Calc bus ticks a Move from arStartPosition until arEndPosition needs for the const part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)

Returns: Returns the needed number of fieldbus ticks.

◆ GetConstTicks() [8/9]

virtual int32 CINOSBaseAxis::GetConstTicks	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc bus ticks a Move from arStartPosition until arEndPosition needs for the const part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetConstTicks() [9/9]

virtual int32 CINOSBaseAxis::GetConstTicks	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc bus ticks a Move from arStartPosition until arEndPosition needs for the const part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetConstTime() [1/9]

virtual real64 CINOSBaseAxis::GetConstTime ( real64 arPosition )

virtual

Calc time [sec] a Move(adPosition) needs for the constant part.

Parameters

arPosition Requested position

Returns: Returns the needed time [sec].

◆ GetConstTime() [2/9]

virtual real64 CINOSBaseAxis::GetConstTime	(	real64	arPosition,
		const char *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs for the constant part.

Parameters

arPosition	Requested position
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetConstTime() [3/9]

virtual real64 CINOSBaseAxis::GetConstTime	(	real64	arPosition,
		real64	arDelta
	)

virtual

Calc time [sec] a Move(adPosition) needs for the constant part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)

Returns: Returns the needed time [sec].

◆ GetConstTime() [4/9]

virtual real64 CINOSBaseAxis::GetConstTime	(	real64	arPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs for the constant part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetConstTime() [5/9]

virtual real64 CINOSBaseAxis::GetConstTime	(	real64	arPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs for the constant part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetConstTime() [6/9]

virtual real64 CINOSBaseAxis::GetConstTime	(	real64	arPosition,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs for the constant part.

Parameters

arPosition	Requested position
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetConstTime() [7/9]

virtual real64 CINOSBaseAxis::GetConstTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta
	)

virtual

Calc time [sec] a Move from arStartPosition until arEndPosition needs for the const part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)

Returns: Returns the needed time [sec].

◆ GetConstTime() [8/9]

virtual real64 CINOSBaseAxis::GetConstTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc time [sec] a Move from arStartPosition until arEndPosition needs for the const part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetConstTime() [9/9]

virtual real64 CINOSBaseAxis::GetConstTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] a Move from arStartPosition until arEndPosition needs for the const part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetDecelerationTicks() [1/9]

virtual int32 CINOSBaseAxis::GetDecelerationTicks ( real64 arPosition )

virtual

Calc bus ticks a Move(adPosition) needs for the deceleration part.

Parameters

arPosition Requested position

Returns: Returns the needed number of fieldbus ticks.

◆ GetDecelerationTicks() [2/9]

virtual int32 CINOSBaseAxis::GetDecelerationTicks	(	real64	arPosition,
		const char *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs for the deceleration part.

Parameters

arPosition	Requested position
apParam	Name of requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetDecelerationTicks() [3/9]

virtual int32 CINOSBaseAxis::GetDecelerationTicks	(	real64	arPosition,
		real64	arDelta
	)

virtual

Calc bus ticks a Move(adPosition) needs for the deceleration part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)

Returns: Returns the needed number of fieldbus ticks.

◆ GetDecelerationTicks() [4/9]

virtual int32 CINOSBaseAxis::GetDecelerationTicks	(	real64	arPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs for the deceleration part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetDecelerationTicks() [5/9]

virtual int32 CINOSBaseAxis::GetDecelerationTicks	(	real64	arPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs for the deceleration part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetDecelerationTicks() [6/9]

virtual int32 CINOSBaseAxis::GetDecelerationTicks	(	real64	arPosition,
		SINOSRampParam *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs for the deceleration part.

Parameters

arPosition	Requested position
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetDecelerationTicks() [7/9]

virtual int32 CINOSBaseAxis::GetDecelerationTicks	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta
	)

virtual

Calc bus ticks a Move from arStartPosition until arEndPosition needs for the deceleration part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)

Returns: Returns the needed number of fieldbus ticks.

◆ GetDecelerationTicks() [8/9]

virtual int32 CINOSBaseAxis::GetDecelerationTicks	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc bus ticks a Move from arStartPosition until arEndPosition needs for the deceleration part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetDecelerationTicks() [9/9]

virtual int32 CINOSBaseAxis::GetDecelerationTicks	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc bus ticks a Move from arStartPosition until arEndPosition needs for the deceleration part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetDecelerationTime() [1/9]

virtual real64 CINOSBaseAxis::GetDecelerationTime ( real64 arPosition )

virtual

Calc time [sec] a Move(adPosition) needs for the deceleration part.

Parameters

arPosition Requested position

Returns: Returns the needed time [sec].

◆ GetDecelerationTime() [2/9]

virtual real64 CINOSBaseAxis::GetDecelerationTime	(	real64	arPosition,
		const char *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs for the deceleration part.

Parameters

arPosition	Requested position
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetDecelerationTime() [3/9]

virtual real64 CINOSBaseAxis::GetDecelerationTime	(	real64	arPosition,
		real64	arDelta
	)

virtual

Calc time [sec] a Move(adPosition) needs for the deceleration part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)

Returns: Returns the needed time [sec].

◆ GetDecelerationTime() [4/9]

virtual real64 CINOSBaseAxis::GetDecelerationTime	(	real64	arPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs for the deceleration part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetDecelerationTime() [5/9]

virtual real64 CINOSBaseAxis::GetDecelerationTime	(	real64	arPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs for the deceleration part.

Parameters

arPosition	Requested position
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetDecelerationTime() [6/9]

virtual real64 CINOSBaseAxis::GetDecelerationTime	(	real64	arPosition,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs for the deceleration part.

Parameters

arPosition	Requested position
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetDecelerationTime() [7/9]

virtual real64 CINOSBaseAxis::GetDecelerationTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta
	)

virtual

Calc time [sec] a Move from arStartPosition until arEndPosition needs for the deceleration part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)

Returns: Returns the needed time [sec].

◆ GetDecelerationTime() [8/9]

virtual real64 CINOSBaseAxis::GetDecelerationTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc time [sec] a Move from arStartPosition until arEndPosition needs for the deceleration part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetDecelerationTime() [9/9]

virtual real64 CINOSBaseAxis::GetDecelerationTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] a Move from arStartPosition until arEndPosition needs for the deceleration part.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetExitTicks()

virtual int32 CINOSBaseAxis::GetExitTicks ( )

virtual

Calc bus ticks needed till exit in a safe move.

Returns: Returns the needed number of fieldbus ticks.

◆ GetMoveAppTime() [1/9]

virtual real64 CINOSBaseAxis::GetMoveAppTime	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity
	)

virtual

Calc time [sec] an according MoveApp needs.

Parameters

arPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel

Returns: Returns the needed time [sec].

◆ GetMoveAppTime() [2/9]

virtual real64 CINOSBaseAxis::GetMoveAppTime	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		const char *	apParam
	)

virtual

Calc time [sec] an according MoveApp needs.

Parameters

arPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveAppTime() [3/9]

virtual real64 CINOSBaseAxis::GetMoveAppTime	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		real64	arDelta
	)

virtual

Calc time [sec] an according MoveApp needs until arPosition-arDelta.

Parameters

arPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel
arDelta	Requested delta

Returns: Returns the needed time [sec].

◆ GetMoveAppTime() [4/9]

virtual real64 CINOSBaseAxis::GetMoveAppTime	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc time [sec] an according MoveApp needs until arPosition-arDelta.

Parameters

arPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel
arDelta	Requested delta
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveAppTime() [5/9]

virtual real64 CINOSBaseAxis::GetMoveAppTime	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] an according MoveApp needs until arPosition-arDelta.

Parameters

arPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel
arDelta	Requested delta
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveAppTime() [6/9]

virtual real64 CINOSBaseAxis::GetMoveAppTime	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] an according MoveApp needs.

Parameters

arPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveAppTime() [7/9]

virtual real64 CINOSBaseAxis::GetMoveAppTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arPositionVel,
		real64	arVelocity,
		real64	arDelta
	)

virtual

Calc time [sec] an according MoveApp needs until arEndPosition-arDelta.

Parameters

arStartPosition	The start position.
arEndPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel
arDelta	Requested delta

Returns: Returns the needed time [sec].

◆ GetMoveAppTime() [8/9]

virtual real64 CINOSBaseAxis::GetMoveAppTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arPositionVel,
		real64	arVelocity,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc time [sec] an according MoveApp needs until arEndPosition-arDelta.

Parameters

arStartPosition	The start position.
arEndPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel
arDelta	Requested delta
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveAppTime() [9/9]

virtual real64 CINOSBaseAxis::GetMoveAppTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arPositionVel,
		real64	arVelocity,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] an according MoveApp needs until arEndPosition-arDelta.

Parameters

arStartPosition	The start position.
arEndPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel
arDelta	Requested delta
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveDepTime() [1/9]

virtual real64 CINOSBaseAxis::GetMoveDepTime	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity
	)

virtual

Calc time [sec] an according MoveDep needs.

Parameters

arPosition	The position where to move to.
arPositionVel	Before this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity before arPositionVel

Returns: Returns the needed time [sec].

◆ GetMoveDepTime() [2/9]

virtual real64 CINOSBaseAxis::GetMoveDepTime	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		const char *	apParam
	)

virtual

Calc time [sec] an according MoveDep needs.

Parameters

arPosition	The position where to move to.
arPositionVel	Before this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity before arPositionVel
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveDepTime() [3/9]

virtual real64 CINOSBaseAxis::GetMoveDepTime	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		real64	arDelta
	)

virtual

Calc time [sec] an according MoveDep needs until arPosition-arDelta.

Parameters

arPosition	The position where to move to.
arPositionVel	Before this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity before arPositionVel
arDelta	Requested delta

Returns: Returns the needed time [sec].

◆ GetMoveDepTime() [4/9]

virtual real64 CINOSBaseAxis::GetMoveDepTime	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc time [sec] an according MoveDep needs until arPosition-arDelta.

Parameters

arPosition	The position where to move to.
arPositionVel	Before this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity before arPositionVel
arDelta	Requested delta
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveDepTime() [5/9]

virtual real64 CINOSBaseAxis::GetMoveDepTime	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] an according MoveDep needs until arPosition-arDelta.

Parameters

arPosition	The position where to move to.
arPositionVel	Before this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity before arPositionVel
arDelta	Requested delta
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveDepTime() [6/9]

virtual real64 CINOSBaseAxis::GetMoveDepTime	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] an according MoveDep needs.

Parameters

arPosition	The position where to move to.
arPositionVel	Before this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity before arPositionVel
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveDepTime() [7/9]

virtual real64 CINOSBaseAxis::GetMoveDepTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arPositionVel,
		real64	arVelocity,
		real64	arDelta
	)

virtual

Calc time [sec] an according MoveDep needs until arEndPosition-arDelta.

Parameters

arStartPosition	The start position.
arEndPosition	The position where to move to.
arPositionVel	Before this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity before arPositionVel
arDelta	Requested delta

Returns: Returns the needed time [sec].

◆ GetMoveDepTime() [8/9]

virtual real64 CINOSBaseAxis::GetMoveDepTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arPositionVel,
		real64	arVelocity,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc time [sec] an according MoveDep needs until arEndPosition-arDelta.

Parameters

arStartPosition	The start position.
arEndPosition	The position where to move to.
arPositionVel	Before this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity before arPositionVel
arDelta	Requested delta
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveDepTime() [9/9]

virtual real64 CINOSBaseAxis::GetMoveDepTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arPositionVel,
		real64	arVelocity,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] an according MoveDep needs until arEndPosition-arDelta.

Parameters

arStartPosition	The start position.
arEndPosition	The position where to move to.
arPositionVel	Before this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity before arPositionVel
arDelta	Requested delta
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveDist() [1/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arPosition,
		real64	arTime
	)

virtual

Calc distance [unit] a Move(arPosition) progresses in arTime [sec].

Parameters

arPosition	Requested position
arTime	Given time

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [2/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arPosition,
		real64	arTime,
		const char *	apParam
	)

virtual

Calc distance [unit] a Move(arPosition) progresses in arTime [sec].

Parameters

arPosition	Requested position
arTime	Given time
apParam	Name of requested speed set.

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [3/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arPosition,
		real64	arTime,
		SINOSRampParam *	apParam
	)

virtual

Calc distance [unit] a Move(arPosition) progresses in arTime [sec].

Parameters

arPosition	Requested position
arTime	Given time
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [4/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arPosition,
		uint32	auTicks
	)

virtual

Calc distance [unit] a Move(arPosition) progresses in auTicks [bus ticks].

Parameters

arPosition	Requested position
auTicks	Given number of fieldbus ticks

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [5/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arPosition,
		uint32	auTicks,
		const char *	apParam
	)

virtual

Calc distance [unit] a Move(arPosition) progresses in auTicks [bus ticks].

Parameters

arPosition	Requested position
auTicks	Given number of fieldbus ticks
apParam	Name of requested speed set.

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [6/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arPosition,
		uint32	auTicks,
		SINOSRampParam *	apParam
	)

virtual

Calc distance [unit] a Move(arPosition) progresses in auTicks [bus ticks].

Parameters

arPosition	Requested position
auTicks	Given number of fieldbus ticks
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [7/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arTime
	)

virtual

Calc distance [unit] a move from arStartPosition to arEndPosition progresses in arTime [sec].

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arTime	Given time

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [8/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arTime,
		const char *	apParam
	)

virtual

Calc distance [unit] a move from arStartPosition to arEndPosition progresses in arTime [sec].

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arTime	Given time
apParam	Name of requested speed set.

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [9/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arTime,
		SINOSRampParam *	apParam
	)

virtual

Calc distance [unit] a move from arStartPosition to arEndPosition progresses in arTime [sec].

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arTime	Given time
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [10/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arStartPosition,
		real64	arEndPosition,
		uint32	auTicks
	)

virtual

Calc distance [unit] a move from arStartPosition to arEndPosition progresses in auTicks [bus ticks].

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arTime	Given time

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [11/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arStartPosition,
		real64	arEndPosition,
		uint32	auTicks,
		const char *	apParam
	)

virtual

Calc distance [unit] a move from arStartPosition to arEndPosition progresses in auTicks [bus ticks].

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arTime	Given time
apParam	Name of requested speed set.

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [12/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arStartPosition,
		real64	arEndPosition,
		uint32	auTicks,
		SINOSRampParam *	apParam
	)

virtual

Calc distance [unit] a move from arStartPosition to arEndPosition progresses in auTicks [bus ticks].

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arTime	Given time
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [13/15]

virtual real64 CINOSBaseAxis::GetMoveDist ( real64 arTime )

virtual

Calc distance [unit] a Move progresses in arTime [sec].

Parameters

arTime Given time

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [14/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arTime,
		const char *	apParam
	)

virtual

Calc distance [unit] a Move progresses in arTime [sec].

Parameters

arTime	Given time
apParam	Name of requested speed set.

Returns: Returns the calculated distance [unit]

◆ GetMoveDist() [15/15]

virtual real64 CINOSBaseAxis::GetMoveDist	(	real64	arTime,
		SINOSRampParam *	apParam
	)

virtual

Calc distance [unit] a Move progresses in arTime [sec].

Parameters

arTime	Given time
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the calculated distance [unit]

◆ GetMoveTicks() [1/9]

virtual int32 CINOSBaseAxis::GetMoveTicks ( real64 arPosition )

virtual

Calc bus ticks a Move(adPosition) needs until arPosition.

Parameters

arPosition Requested position

Returns: Returns the needed time [sec].

◆ GetMoveTicks() [2/9]

virtual int32 CINOSBaseAxis::GetMoveTicks	(	real64	arPosition,
		const char *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs until arPosition.

Parameters

arPosition	Requested position
apParam	Name of requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetMoveTicks() [3/9]

virtual int32 CINOSBaseAxis::GetMoveTicks	(	real64	arPosition,
		real64	arDelta
	)

virtual

Calc bus ticks a Move(adPosition) needs until arPosition-arDelta.

Parameters

arPosition	Requested position
arDelta	Requested delta

Returns: Returns the needed number of fieldbus ticks.

◆ GetMoveTicks() [4/9]

virtual int32 CINOSBaseAxis::GetMoveTicks	(	real64	arPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs until arPosition-arDelta.

Parameters

arPosition	Requested position
arDelta	Requested delta
apParam	Name of requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetMoveTicks() [5/9]

virtual int32 CINOSBaseAxis::GetMoveTicks	(	real64	arPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs until arPosition-arDelta.

Parameters

arPosition	Requested position
arDelta	Requested delta
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetMoveTicks() [6/9]

virtual int32 CINOSBaseAxis::GetMoveTicks	(	real64	arPosition,
		SINOSRampParam *	apParam
	)

virtual

Calc bus ticks a Move(adPosition) needs until arPosition.

Parameters

arPosition	Requested position
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetMoveTicks() [7/9]

virtual int32 CINOSBaseAxis::GetMoveTicks	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta
	)

virtual

Calc bus ticks a Move needs from arStartPosition until arEndPosition-arDelta.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)

Returns: Returns the needed number of fieldbus ticks.

◆ GetMoveTicks() [8/9]

virtual int32 CINOSBaseAxis::GetMoveTicks	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc bus ticks a Move needs from arStartPosition until arEndPosition-arDelta.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetMoveTicks() [9/9]

virtual int32 CINOSBaseAxis::GetMoveTicks	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc bus ticks a Move needs from arStartPosition until arEndPosition-arDelta.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed number of fieldbus ticks.

◆ GetMoveTime() [1/9]

virtual real64 CINOSBaseAxis::GetMoveTime ( real64 arPosition )

virtual

Calc time [sec] a Move(adPosition) needs until arPosition.

Parameters

arPosition Requested position

Returns: Returns the needed time [sec].

◆ GetMoveTime() [2/9]

virtual real64 CINOSBaseAxis::GetMoveTime	(	real64	arPosition,
		const char *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs until arPosition.

Parameters

arPosition	Requested position
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveTime() [3/9]

virtual real64 CINOSBaseAxis::GetMoveTime	(	real64	arPosition,
		real64	arDelta
	)

virtual

Calc time [sec] a Move(adPosition) needs until arPosition-arDelta.

Parameters

arPosition	Requested position
arDelta	Requested delta

Returns: Returns the needed time [sec].

◆ GetMoveTime() [4/9]

virtual real64 CINOSBaseAxis::GetMoveTime	(	real64	arPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs until arPosition-arDelta.

Parameters

arPosition	Requested position
arDelta	Requested delta
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveTime() [5/9]

virtual real64 CINOSBaseAxis::GetMoveTime	(	real64	arPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs until arPosition-arDelta.

Parameters

arPosition	Requested position
arDelta	Requested delta
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveTime() [6/9]

virtual real64 CINOSBaseAxis::GetMoveTime	(	real64	arPosition,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] a Move(adPosition) needs until arPosition.

Parameters

arPosition	Requested position
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveTime() [7/9]

virtual real64 CINOSBaseAxis::GetMoveTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta
	)

virtual

Calc time [sec] a Move needs from arStartPosition until arEndPosition-arDelta.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)

Returns: Returns the needed time [sec].

◆ GetMoveTime() [8/9]

virtual real64 CINOSBaseAxis::GetMoveTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calc time [sec] a Move needs from arStartPosition until arEndPosition-arDelta.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Name of requested speed set.

Returns: Returns the needed time [sec].

◆ GetMoveTime() [9/9]

virtual real64 CINOSBaseAxis::GetMoveTime	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calc time [sec] a Move needs from arStartPosition until arEndPosition-arDelta.

Parameters

arStartPosition	Requested startposition
arEndPosition	Requested startposition
arDelta	Requested delta (not used)
apParam	Pointer to structure containing the requested speed set.

Returns: Returns the needed time [sec].

◆ GetName()

virtual const char* CINOSBaseAxis::GetName ( )

virtual

Note on Cmd vs. Act vs. Real values

Cmd: Represents pos/v/a/j commanded by the application, so for example the final position of a move. Act: Represents the calculated (ramp) and commanded (control loop) pos/v/a/j at a certain point in time (e.g. now) during the move. Real: Represents the actual (physical) pos/v/a/j fed back from (or calculated by) the position channel.

◆ GetNormMode()

virtual uint8 CINOSBaseAxis::GetNormMode ( )

inlinevirtual

get currently selected norm mode

◆ GetNormMoveDir()

virtual uint8 CINOSBaseAxis::GetNormMoveDir ( )

inlinevirtual

get currently selected norm move direction

◆ GetNumber()

static uint8 CINOSBaseAxis::GetNumber ( const char * apAxisName )

static

Get number of axis apAxisName.

Parameters

apAxisName Name of axis

Returns: Returns the number of the given axis

◆ GetRealPosition()

virtual void CINOSBaseAxis::GetRealPosition	(	real64 &	arPosition,
		bool	abMapped = `true`
	)

virtual

Gets the real axis position.

An axis has three different positions :

commanded the requested target position of a current or the last move
actual represents the calculated (ramp) and commanded (control loop) position at a certain point in time (e.g. now) during the move
real represents the actual (physical) position fed back from (or calculated by) the position channel

Parameters

arPosition	Real axis position
abMapped	True if a currently active mapping should be taken into account

◆ GetStartTicks()

virtual uint64 CINOSBaseAxis::GetStartTicks ( real64 arDelta )

virtual

Get absolut bus ticks the actual move reaches the start position + arDelta.

Returns: Returns the absolute fieldbus ticks

◆ GetTargetTicks() [1/2]

virtual uint64 CINOSBaseAxis::GetTargetTicks ( )

virtual

Get absolut bus ticks the actual move reaches the target position.

Returns: Returns the absolute fieldbus ticks

◆ GetTargetTicks() [2/2]

virtual uint64 CINOSBaseAxis::GetTargetTicks ( real64 arDelta )

virtual

Get absolut bus ticks the actual move reaches the target position - arDelta.

Returns: Returns the absolute fieldbus ticks

◆ GetTimeCharacteristics() [1/9]

virtual SINOSTimeCharacteristics CINOSBaseAxis::GetTimeCharacteristics ( real64 arPosition )

virtual

Calculate time characteristics of a move.

Parameters

arPosition Requested position

Returns: Returns a struct containing the characteristics.

◆ GetTimeCharacteristics() [2/9]

virtual SINOSTimeCharacteristics CINOSBaseAxis::GetTimeCharacteristics	(	real64	arPosition,
		const char *	apParam
	)

virtual

Calculate time characteristics of a move.

Parameters

arPosition Requested position

Returns: Returns a struct containing the characteristics.

◆ GetTimeCharacteristics() [3/9]

virtual SINOSTimeCharacteristics CINOSBaseAxis::GetTimeCharacteristics	(	real64	arPosition,
		real64	arDelta
	)

virtual

Calculate time characteristics of a move.

Parameters

arPosition Requested position

Returns: Returns a struct containing the characteristics.

◆ GetTimeCharacteristics() [4/9]

virtual SINOSTimeCharacteristics CINOSBaseAxis::GetTimeCharacteristics	(	real64	arPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calculate time characteristics of a move.

Parameters

arPosition Requested position

Returns: Returns a struct containing the characteristics.

◆ GetTimeCharacteristics() [5/9]

virtual SINOSTimeCharacteristics CINOSBaseAxis::GetTimeCharacteristics	(	real64	arPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calculate time characteristics of a move.

Parameters

arPosition Requested position

Returns: Returns a struct containing the characteristics.

◆ GetTimeCharacteristics() [6/9]

virtual SINOSTimeCharacteristics CINOSBaseAxis::GetTimeCharacteristics	(	real64	arPosition,
		SINOSRampParam *	apParam
	)

virtual

Calculate time characteristics of a move.

Parameters

arPosition Requested position

Returns: Returns a struct containing the characteristics.

◆ GetTimeCharacteristics() [7/9]

virtual SINOSTimeCharacteristics CINOSBaseAxis::GetTimeCharacteristics	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta
	)

virtual

Calculate time characteristics of a move.

Parameters

arPosition Requested position

Returns: Returns a struct containing the characteristics.

◆ GetTimeCharacteristics() [8/9]

virtual SINOSTimeCharacteristics CINOSBaseAxis::GetTimeCharacteristics	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		const char *	apParam
	)

virtual

Calculate time characteristics of a move.

Parameters

arPosition Requested position

Returns: Returns a struct containing the characteristics.

◆ GetTimeCharacteristics() [9/9]

virtual SINOSTimeCharacteristics CINOSBaseAxis::GetTimeCharacteristics	(	real64	arStartPosition,
		real64	arEndPosition,
		real64	arDelta,
		SINOSRampParam *	apParam
	)

virtual

Calculate time characteristics of a move.

Parameters

arPosition Requested position

Returns: Returns a struct containing the characteristics.

◆ InActivate()

virtual uint32 CINOSBaseAxis::InActivate ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Inactivate axis.

Parameters

apSync A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

Reimplemented in CINOSPhysicalAxis.

◆ Move() [1/5]

virtual uint32 CINOSBaseAxis::Move	(	real64	arPosition,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition with actual commanded jerk, acc/deceleration and velocity.

Parameters

arPosition	The position where to move to.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ Move() [2/5]

virtual uint32 CINOSBaseAxis::Move	(	real64	arPosition,
		const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition with speed set apParam.

Parameters

arPosition	The position where to move to.
apParam	Name of the requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ Move() [3/5]

virtual uint32 CINOSBaseAxis::Move	(	real64	arPosition,
		real64	arSafe1,
		real64	arSafe2,
		SINOSRampParam *	apParam1,
		SINOSRampParam *	apParam2,
		real64	arPartner,
		SINOSRampParam *	apPartner,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition with speed set apParam. The move is done in a so called safe way (backward -> partner -> forward). The partner axis has to be defined with the method SetPartner.

Parameters

arPosition	The position where to move to.
arSafe1	The axis first moves this distance backward
arSafe2	At the end the axis moves this distance forward
apParam1	Pointer to a structure containing the requested speed set for safe1 move
apParam2	Pointer to a structure containing the requested speed set for safe2 move
arPartner	Requested position of the partner axis
apPatner	Pointer to a structure containing the requested partner speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ Move() [4/5]

virtual uint32 CINOSBaseAxis::Move	(	real64	arPosition,
		real64	arSave1,
		real64	arSave2,
		const char *	apParam1,
		const char *	apParam2,
		real64	arPartner,
		const char *	apPartner,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition with speed set apParam. The move is done in a so called safe way (backward -> partner -> forward). The partner axis has to be defined with the method SetPartner.

Parameters

arPosition	The position where to move to.
arSafe1	The axis first moves this distance backward
arSafe2	At the end the axis moves this distance forward
apParam1	Name of the requested speed set for safe1 move
apParam2	Name of the requested speed set for safe2 move
arPartner	Requested position of the partner axis
apPatner	Name of the requested partner speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ Move() [5/5]

virtual uint32 CINOSBaseAxis::Move	(	real64	arPosition,
		SINOSRampParam *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition with speed set apParam.

Parameters

arPosition	The position where to move to.
apParam	Pointer to a structure containing the requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ MoveApp() [1/3]

virtual uint32 CINOSBaseAxis::MoveApp	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition with actual commanded jerk, acc/deceleration and velocity. Ensure after arPositionVel a velocity that is smaller than or equal to arVelocity.

Parameters

arPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ MoveApp() [2/3]

virtual uint32 CINOSBaseAxis::MoveApp	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition with speed set apParam. Ensure after arPositionVel a velocity that is smaller than or equal to arVelocity.

Parameters

arPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel. Note that this speed will be adjusted by this move's slow motion factor. That is, if slow motion is unequal 1.0, arVelocity will be adjusted accordingly
apParam	Name of the requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ MoveApp() [3/3]

virtual uint32 CINOSBaseAxis::MoveApp	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		SINOSRampParam *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition with speed set apParam. Ensure after arPositionVel a velocity that is smaller than or equal to arVelocity.

Parameters

arPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel. Note that this speed will be adjusted by this move's slow motion factor. That is, if slow motion is unequal 1.0, arVelocity will be adjusted accordingly
apParam	Pointer to a structure containing the requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ MoveDep() [1/3]

virtual uint32 CINOSBaseAxis::MoveDep	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition with actual commanded jerk, acc/deceleration and velocity. Ensure befor arPositionVel a velocity that is smaller than or equal to arVelocity.

Parameters

arPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel. Note that this speed will be adjusted by this move's slow motion factor. That is, if slow motion is unequal 1.0, arVelocity will be adjusted accordingly
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ MoveDep() [2/3]

virtual uint32 CINOSBaseAxis::MoveDep	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition with speed set apParam. Ensure before arPositionVel a velocity that is smaller than or equal to arVelocity.

Parameters

arPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel. Note that this speed will be adjusted by this move's slow motion factor. That is, if slow motion is unequal 1.0, arVelocity will be adjusted accordingly
apParam	Name of the requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ MoveDep() [3/3]

virtual uint32 CINOSBaseAxis::MoveDep	(	real64	arPosition,
		real64	arPositionVel,
		real64	arVelocity,
		SINOSRampParam *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition with speed set apParam. Ensure befor arPositionVel a velocity that is smaller than or equal to arVelocity.

Parameters

arPosition	The position where to move to.
arPositionVel	After this position the velocity is smaller than or equal to arVelocity
arVelocity	The requested maximal velocity after arPositionVel. Note that this speed will be adjusted by this move's slow motion factor. That is, if slow motion is unequal 1.0, arVelocity will be adjusted accordingly
apParam	Pointer to a structure containing the requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ MoveTime() [1/3]

virtual uint32 CINOSBaseAxis::MoveTime	(	real64	arPosition,
		real64	arTime,
		bool	abUseP5,
		const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition within the given time arTime and the speedset apParam. The speed set values are treated as max. values. If the required values would exceed the speedset ones an error is returned and the move is not started.

Parameters

arPosition	The position where to move to.
arTime	The time [sec] for the move.
abUseP5	if true the system uses a P5 law algorithm for the move.
apParam	Name of the requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ MoveTime() [2/3]

virtual uint32 CINOSBaseAxis::MoveTime	(	real64	arPosition,
		real64	arTime,
		bool	abUseP5,
		SINOSRampParam *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition within the given time arTime and the speedset apParam. The speed set values are treated as max. values. If the required values would exceed the speedset ones an error is returned and the move is not started.

Parameters

arPosition	The position where to move to.
arTime	The time [sec] for the move.
abUseP5	if true the system uses a P5 law algorithm for the move.
apParam	Pointer to a structure containing the requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ MoveTime() [3/3]

virtual uint32 CINOSBaseAxis::MoveTime	(	real64	arPosition,
		real64	arTime,
		bool	abUseP5 = `true`,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Move to arPosition within the given time arTime. Actual commanded jerk, acc/deceleration and velocity are treated as max. values. If the required values would exceed the commanded ones an error is returned and the move is not started.

Parameters

arPosition	The position where to move to.
arTime	The time [sec] for the move.
abUseP5	if true the system uses a P5 law algorithm for the move.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ NormPosition()

double CINOSBaseAxis::NormPosition ( real64 arPosition ) const

inline

Returned the 'normed' value of arPosition.

Calculate the normed value of the given arPosition. To calc the normed value, the actual axis properties are taken. If norming is not active, the given value is returned.

Parameters

arPosition Position to be normed

◆ Pull() [1/3]

virtual uint32 CINOSBaseAxis::Pull	(	real64	arS,
		real64	arV,
		real64	arA,
		real64	arJ
	)

virtual

Add a path point to the actual pull list and start pull mode if not et done. If one is running an axis in pull mode, one has to provide a new path point for every axis sample, e.g. if the axis is sampled over the fieldbus with 4kHz, dT between two points is 0.000250 s.

Parameters

arS	Requested position [unit] at time [t]
arV	Requested velocity [unit/s] at time [t]
arA	Requested acceleration [unit/s^2] at time [t]
arJ	Requested jerk [unit/s^3] at time [t]

Returns: Returns an according error code or 0 in case of success

◆ Pull() [2/3]

virtual uint32 CINOSBaseAxis::Pull ( SINOSRampData & aData )

virtual

Add a path point to the actual pull list and start pull mode if not et done. If one is running an axis in pull mode, one has to provide a new path point for every axis sample, e.g. if the axis is sampled over the fieldbus with 4kHz, dT between two points is 0.000250 s.

Parameters

aData Requested position [unit], velocity [unit/s], acceleration [unit/s^2] and jerk [unit/s^3] at time [t]

Returns: Returns an according error code or 0 in case of success

◆ Pull() [3/3]

virtual uint32 CINOSBaseAxis::Pull ( SINOSRampDataEx * apData )

virtual

Add a path point to the actual pull list and start pull mode if not et done. If one is running an axis in pull mode, one has to provide a new path point for every axis sample, e.g. if the axis is sampled over the fieldbus with 4kHz, dT between two points is 0.000250 s.

Parameters

apData Requested position [unit], velocity [unit/s], acceleration [unit/s^2] and jerk [unit/s^3] at time [t]. IMPORTANT : apData is deleted after processed

Returns: Returns an according error code or 0 in case of success

◆ Relax()

virtual uint32 CINOSBaseAxis::Relax	(	uint32	auTimeMs,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Relax a coupled slave axis for a given time.

Parameters

apTimeMs	Requested relax time [ms]
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

Reimplemented in CINOSPhysicalAxis.

◆ SegBegin() [1/2]

virtual uint32 CINOSBaseAxis::SegBegin	(	real64	arSlowMotion,
		real64	arStartPosition,
		real64	arStartVelocity
	)

virtual

Create a new segmentation move at given position.

Parameters

arSlowMotion	Requested slowmotion factor
arStartPosition	Requested startposition
arStartVelocity	Requested startvelocity

Returns: Returns an according error code or 0 in case of success

◆ SegBegin() [2/2]

virtual uint32 CINOSBaseAxis::SegBegin	(	real64	arSlowMotion = `REAL64(1.0)`,
		real64	arStartVelocity = `REAL64(0.0)`
	)

virtual

Create a new segmentation move.

Parameters

arSlowMotion	Requested slowmotion factor
arVelocity	Requested start velocity

Returns: Returns an according error code or 0 in case of success

◆ SegConst()

virtual uint32 CINOSBaseAxis::SegConst ( real64 arPosition )

virtual

Add a move to arPosition with actual velocity.

Parameters

arPosition Requested endposition of segment

Returns: Returns an according error code or 0 in case of success

◆ SegMove() [1/6]

virtual uint32 CINOSBaseAxis::SegMove ( real64 arPosition )

virtual

Add a move to arPosition. Velocity and acceleration in arPosition have to be 0.0.

Parameters

arPosition Requested endposition of segment

Returns: Returns an according error code or 0 in case of success

◆ SegMove() [2/6]

virtual uint32 CINOSBaseAxis::SegMove	(	real64	arPosition,
		const char *	apParam
	)

virtual

Add a move to arPosition. Velocity and acceleration in arPosition have to be 0.0.

Parameters

arPosition	Requested endposition of segment
apParam	Name of requested speed set.

Returns: Returns an according error code or 0 in case of success

◆ SegMove() [3/6]

virtual uint32 CINOSBaseAxis::SegMove	(	real64	arPosition,
		real64	arVelocity
	)

virtual

Add a move to arPosition. Requested velocity in arPosition is arVelocity, the acceleration is 0.0..

Parameters

arPosition	Requested endposition of segment
arVelocity	Requested endvelocity of segment

Returns: Returns an according error code or 0 in case of success

◆ SegMove() [4/6]

virtual uint32 CINOSBaseAxis::SegMove	(	real64	arPosition,
		real64	arVelocity,
		const char *	apParam
	)

virtual

Add a move to arPosition. Requested velocity in arPosition is arVelocity, the acceleration is 0.0..

Parameters

arPosition	Requested endposition of segment
arVelocity	Requested endvelocity of segment
apParam	Name of requested speed set.

Returns: Returns an according error code or 0 in case of success

◆ SegMove() [5/6]

virtual uint32 CINOSBaseAxis::SegMove	(	real64	arPosition,
		real64	arVelocity,
		SINOSRampParam *	apParam
	)

virtual

Add a move to arPosition. Requested velocity in arPosition is arVelocity, the acceleration is 0.0..

Parameters

arPosition	Requested endposition of segment
arVelocity	Requested endvelocity of segment
apParam	Pointer to structure containing the requested speed set.

Returns: Returns an according error code or 0 in case of success

◆ SegMove() [6/6]

virtual uint32 CINOSBaseAxis::SegMove	(	real64	arPosition,
		SINOSRampParam *	apParam
	)

virtual

Add a move to arPosition. Velocity and acceleration in arPosition have to be 0.0.

Parameters

arPosition	Requested endposition of segment
apParam	Pointer to structure containing the requested speed set.

Returns: Returns an according error code or 0 in case of success

◆ SegPos()

virtual uint32 CINOSBaseAxis::SegPos ( real64 arTime )

virtual

stay at actual position for arTime [sec].

Parameters

arPosition Requested time [sec]

Returns: Returns an according error code or 0 in case of success

◆ SegPosSetTime()

virtual uint32 CINOSBaseAxis::SegPosSetTime ( real64 arTime )

virtual

Sets the time of the last added segpos segment [sec]. Can be used to adjust a previous added pos segment

Parameters

arPosition Requested time [sec]

Returns: Returns an according error code or 0 in case of success

◆ SegRun()

virtual uint32 CINOSBaseAxis::SegRun ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Run actual segments.

Parameters

apSync A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ SegTime()

virtual real64 CINOSBaseAxis::SegTime ( )

virtual

Returns time the actual segment move takes.

Returns: Returns the requested time [sec]

◆ SegVelocity() [1/2]

virtual uint32 CINOSBaseAxis::SegVelocity	(	real64	arVelocity,
		const char *	apParam
	)

virtual

Directly change velocity to the new value.

Parameters

arVelocity	Requested new velocity
apParam	Name of requested speed set.

Returns: Returns an according error code or 0 in case of success

◆ SegVelocity() [2/2]

virtual uint32 CINOSBaseAxis::SegVelocity	(	real64	arVelocity,
		SINOSRampParam *	apParam
	)

virtual

Directly change velocity to the new value.

Parameters

arVelocity	Requested new velocity
apParam	Pointer to structure containing the requested speed set.

Returns: Returns an according error code or 0 in case of success

◆ SetActPosition()

virtual uint32 CINOSBaseAxis::SetActPosition ( real64 arPosition )

virtual

Sets the actual axis position. This method doesn't change a current following error and it is therefore allowed to change the axis position during a running move.

An axis has three different positions :

commanded the requested target position of a current or the last move
actual represents the calculated (ramp) and commanded (control loop) position at a certain point in time (e.g. now) during the move
real represents the actual (physical) position fed back from (or calculated by) the position channel

Parameters

arPosition Requested actual axis position

Returns: Returns an according error code or 0 in case of success

◆ SetNormMode()

virtual void CINOSBaseAxis::SetNormMode ( uint8 auNormMode )

inlinevirtual

set norm mode

Reimplemented in CINOSPhysicalAxis.

◆ SetNormMoveDir()

virtual void CINOSBaseAxis::SetNormMoveDir ( uint8 auNormMoveDir )

inlinevirtual

set norm move direction

◆ SetRealPosition()

virtual uint32 CINOSBaseAxis::SetRealPosition ( real64 arPosition )

virtual

Sets the real axis position. This method ignores a current following error and should therefore NOT be used during a running move, as this leads to following error jumps. It is also important to mention, that one looses precision if this method is called (e.g. multiple times) on an axis that has a following error that is not equal to zero!

An axis has three different positions :

commanded the requested target position of a current or the last move
actual represents the calculated (ramp) and commanded (control loop) position at a certain point in time (e.g. now) during the move
real represents the actual (physical) position fed back from (or calculated by) the position channel

Parameters

arPosition Requested real axis position

Returns: Returns an according error code or 0 in case of success

◆ SetTrackFactor()

virtual uint32 CINOSBaseAxis::SetTrackFactor ( real64 arFactor )

virtual

Allows to live change the tracking factor of an active 'Track'.

Parameters

arFactor The new tracking factor.

Returns: Returns an according error code or 0 in case of success

◆ Stop() [1/6]

virtual uint32 CINOSBaseAxis::Stop ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Stop a running move with the currently selected speed set.

Parameters

apSync A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

◆ Stop() [2/6]

virtual uint32 CINOSBaseAxis::Stop	(	const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Stop a running move with the given speed set.

Parameters

apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

◆ Stop() [3/6]

virtual uint32 CINOSBaseAxis::Stop	(	real64	arPosition,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Stop a running move with the currently selected speed set at requested position.

Parameters

arPosition	Requested position [unit] to stop at.
apSync	A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

◆ Stop() [4/6]

virtual uint32 CINOSBaseAxis::Stop	(	real64	arPosition,
		const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Stop a running move with the given speed set at requested position.

Parameters

arPosition	Requested position [unit] to stop at.
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

◆ Stop() [5/6]

virtual uint32 CINOSBaseAxis::Stop	(	real64	arPosition,
		SINOSRampParam *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Stop a running move with the given speed set at requested position.

Parameters

arPosition	Requested position [unit] to stop at.
apParam	Pointer to structure containing the requested speed set.
apSync	A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

◆ Stop() [6/6]

virtual uint32 CINOSBaseAxis::Stop	(	SINOSRampParam *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Stop a running move with the given speed set.

Parameters

apParam	Pointer to structure containing the requested speed set.
apSync	A pointer to a sync object if used asynchronous.

Returns: Returns an according error code or 0 in case of success

◆ StopLive() [1/2]

virtual uint32 CINOSBaseAxis::StopLive ( )

virtual

Stop a running move with the currently selected speed set. The stop is calculated live and therefore the most efficient way to stop an axis. This command should be used if one needs to stop an axis from within a high prio task (e.g. a fieldbus hook).

Returns: Returns an according error code or 0 in case of success

◆ StopLive() [2/2]

virtual uint32 CINOSBaseAxis::StopLive	(	real64	arSlowMotion,
		SINOSRampParam *	apParam
	)

virtual

Stop a running move with the given speed set and required slowmotion factor. The stop is calculated live and therefore the most efficient way to stop an axis. This command should be used if one needs to stop an axis from within a high prio task (e.g. a fieldbus hook).

Parameters

arSlowMotion	Requested slowmotion factor to stop with.
apParam	Pointer to structure containing the requested speed set.

Returns: Returns an according error code or 0 in case of success

◆ StopLiveDelta()

virtual uint32 CINOSBaseAxis::StopLiveDelta	(	real64	arDelta,
		real64	arSlowMotion,
		SINOSRampParam *	apParam = `nullptr`
	)

virtual

Stop a running move with the given speed set and required slowmotion factor. The stop is calculated live and therefore the most efficient way to stop an axis. This command should be used if one needs to stop an axis from within a high prio task (e.g. a fieldbus hook).

Parameters

arDelta	Stop arDelta after current position.
arSlowMotion	Requested slowmotion factor to stop with.
apParam	Pointer to structure containing the requested speed set.

Returns: Returns an according error code or 0 in case of success

◆ Sync() [1/7]

virtual uint32 CINOSBaseAxis::Sync	(	real64	arPosition,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Search reference mark till arPosition and set actual position to 0.0 at mark.

Parameters

arPosition	The position where to move to.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ Sync() [2/7]

virtual uint32 CINOSBaseAxis::Sync	(	real64	arPosition,
		const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Search reference mark till arPosition and set actual position to 0.0 at mark.

Parameters

arPosition	The position where to move to.
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ Sync() [3/7]

virtual uint32 CINOSBaseAxis::Sync	(	real64	arPosition,
		real64	arSyncPos,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Search reference mark till arPosition and set actual position to arSyncPos at mark.

Parameters

arPosition	The position where to move to.
arSyncPos	Requested position at reference mark.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ Sync() [4/7]

virtual uint32 CINOSBaseAxis::Sync	(	real64	arPosition,
		real64	arSyncPos,
		const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Search reference mark till arPosition and set actual position to arSyncPos at mark.

Parameters

arPosition	The position where to move to.
arSyncPos	Requested position at reference mark.
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ Sync() [5/7]

virtual uint32 CINOSBaseAxis::Sync	(	real64	arPosition,
		real64	arSyncPos,
		SINOSRampParam *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Search reference mark till arPosition and set actual position to arSyncPos at mark.

Parameters

arPosition	The position where to move to.
arSyncPos	Requested position at reference mark.
apParam	Pointer to a structure containing the requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ Sync() [6/7]

virtual uint32 CINOSBaseAxis::Sync	(	real64	arPosition,
		SINOSRampParam *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Search reference mark till arPosition and set actual position to 0.0 at mark.

Parameters

arPosition	The position where to move to.
apParam	Pointer to a structure containing the requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ Sync() [7/7]

virtual uint32 CINOSBaseAxis::Sync	(	real64	arSyncPos,
		const char *	apParam,
		CINCOObject *	apObject,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Search reference mark and set actual position to arSyncPos at mark.

Parameters

arSyncPos	Requested position at reference mark.
apParam	Name of requested speed set.
apObject	Pointer to inco object with additional parameters.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ Toggle()

virtual uint32 CINOSBaseAxis::Toggle	(	real64	arPosition1,
		real64	arPosition2
	)

virtual

Start an endless toggle between arPosition1 and arPosition2 with actual commanded a jerk, acc/deceleration and velocity.

Parameters

arPosition1	First toggle position.
arPosition2	Second toggle position.

Returns: Returns an according error code or 0 in case of success

◆ ToggleSection()

virtual uint32 CINOSBaseAxis::ToggleSection	(	real64	arPos1Min,
		real64	arPos1Max,
		real64	arPos2Min,
		real64	arPos2Max,
		uint32	auDelayMin,
		uint32	auDelayMax
	)

virtual

Start an endless section toggle between arPosition1 and arPosition2 with actual commanded a jerk, acc/deceleration and velocity.

Parameters

arPos1Min	Requested minimum of first toggle position.
arPos1Max	Requested maximum of first toggle position.
arPos2Min	Requested minimum of second toggle position.
arPos2Max	Requested maximum of second toggle position.
auDelayMin	Requested minimum delay [ms] between two moves
auDelayMax	Requested maximum delay [ms] between two moves

Returns: Returns an according error code or 0 in case of success

◆ Track() [1/3]

virtual uint32 CINOSBaseAxis::Track	(	const char *	apVarName,
		real64	arCmdValue,
		real64	arFactor,
		uint32	auFilterLength
	)

virtual

Track the variable with name apVarName to the commanded value arCmdValue.

Parameters

apVarName	Name of the variable in the inco tree.
arCmdValue	Requested commanded value.
arFactor	Value of variable * arFactor is taken as commanded axis position.
auFilterLength	Provides the possibility to filter the input value.

Returns: Returns an according error code or 0 in case of success

◆ Track() [2/3]

virtual uint32 CINOSBaseAxis::Track	(	const char *	apVarName,
		real64	arFactor,
		uint32	auFilterLength,
		uint32	auDirection,
		const char *	apParam
	)

virtual

Track the variable with name apVarName.

Parameters

apVarName	Name of the variable in the inco tree.
arFactor	Value of variable * arFactor is taken as commanded axis position.
auFilterLength	Provides the possibility to filter the input value.
auDirection	0-pos and neg, 1-only pos, 2-only negative direction
apParam	Name of limiting speed set (if any)

Returns: Returns an according error code or 0 in case of success

◆ Track() [3/3]

virtual uint32 CINOSBaseAxis::Track	(	const char *	apVarName,
		real64	arFactor,
		uint32	auFilterLength,
		uint32	auDirection = `0`
	)

virtual

Track the variable with name apVarName.

Parameters

apVarName	Name of the variable in the inco tree.
arFactor	Value of variable * arFactor is taken as commanded axis position.
auFilterLength	Provides the possibility to filter the input value.
auDirection	0-pos and neg, 1-only pos, 2-only negative direction

Returns: Returns an according error code or 0 in case of success

◆ Update() [1/3]

virtual uint32 CINOSBaseAxis::Update ( CINOSSync * apSync = DF_INOS_ASYNCHRONOUS )

virtual

Update a running Move to actual commanded values (acc,dec,vel,jerk) Signal apSync if constant velocity reached (acc = 0).

Parameters

apSync A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ Update() [2/3]

virtual uint32 CINOSBaseAxis::Update	(	const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_ASYNCHRONOUS`
	)

virtual

Update a running Move to speed set apParam. Signal apSync if constant velocity reached (acc = 0).

Parameters

apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ Update() [3/3]

virtual uint32 CINOSBaseAxis::Update	(	SINOSRampParam *	apParam,
		CINOSSync *	apSync = `DF_INOS_ASYNCHRONOUS`
	)

virtual

Update a running Move to speed set apParam. Signal apSync if constant velocity reached (acc = 0).

Parameters

apParam	Pointer to structure containing the requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns: Returns an according error code or 0 in case of success

◆ WaitInPosition()

virtual uint32 CINOSBaseAxis::WaitInPosition ( )

virtual

Wait for any move to finish.

Returns: Returns an according error code or 0 in case of success

◆ WaitTicks()

virtual uint32 CINOSBaseAxis::WaitTicks ( uint32 auTicks = 1 )

virtual

Wait for the given axis control cycle ticks. This method can be useful if it is necessary to synchronize an application task somehow to the axis control cycle, e.g. auTicks = 1 means, the task returns after at least one axis control cycle occured.

Parameters

auTicks Number of ticks to wait

Returns: Returns an according error code or 0 in case of success

The documentation for this class was generated from the following file:

/home/jenkins/workspace/inos_doxygen/os/inos/inc/cinosbaseaxis.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ CINOSBaseAxis() [1/2]

◆ CINOSBaseAxis() [2/2]

Member Function Documentation

◆ Activate()

◆ Break() [1/6]

◆ Break() [2/6]

◆ Break() [3/6]

◆ Break() [4/6]

◆ Break() [5/6]

◆ Break() [6/6]

◆ Connect()

◆ Continue() [1/3]

◆ Continue() [2/3]

◆ Continue() [3/3]

◆ Cursor() [1/10]

◆ Cursor() [2/10]

◆ Cursor() [3/10]

◆ Cursor() [4/10]

◆ Cursor() [5/10]

◆ Cursor() [6/10]

◆ Cursor() [7/10]

◆ Cursor() [8/10]

◆ Cursor() [9/10]

◆ Cursor() [10/10]

◆ Disable()

◆ DisableNorm()

◆ DisableRamp()

◆ EmergencyStop() [1/2]

◆ EmergencyStop() [2/2]

◆ EmergencyStopLive() [1/2]

◆ EmergencyStopLive() [2/2]

◆ Enable()

◆ EnableNorm()

◆ EnableRamp()

◆ Endless() [1/3]

◆ Endless() [2/3]

◆ Endless() [3/3]

◆ GetAccelerationTicks() [1/9]

◆ GetAccelerationTicks() [2/9]

◆ GetAccelerationTicks() [3/9]

◆ GetAccelerationTicks() [4/9]

◆ GetAccelerationTicks() [5/9]

◆ GetAccelerationTicks() [6/9]

◆ GetAccelerationTicks() [7/9]

◆ GetAccelerationTicks() [8/9]

◆ GetAccelerationTicks() [9/9]

◆ GetAccelerationTime() [1/9]

◆ GetAccelerationTime() [2/9]

◆ GetAccelerationTime() [3/9]

◆ GetAccelerationTime() [4/9]

◆ GetAccelerationTime() [5/9]

◆ GetAccelerationTime() [6/9]

◆ GetAccelerationTime() [7/9]

◆ GetAccelerationTime() [8/9]

◆ GetAccelerationTime() [9/9]

◆ GetActPosition()

◆ GetAxis() [1/2]

◆ GetAxis() [2/2]

◆ GetBusTicksPerAxisTick()

◆ GetConstTicks() [1/9]

◆ GetConstTicks() [2/9]

◆ GetConstTicks() [3/9]

◆ GetConstTicks() [4/9]

◆ GetConstTicks() [5/9]

◆ GetConstTicks() [6/9]

◆ GetConstTicks() [7/9]

◆ GetConstTicks() [8/9]

◆ GetConstTicks() [9/9]

◆ GetConstTime() [1/9]

◆ GetConstTime() [2/9]

◆ GetConstTime() [3/9]