Inheritance diagram for CINOSBaseRamp:

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Public Types
enum	EMoveFlags { eFlgMoveNone = 0x00000000 , eFlgMoveWithoutDec1 = 0x00000001 , eFlgMoveWithoutDec2 = 0x00000002 , eFlgMoveWithoutDec3 = 0x00000004 }

enum	ECmdFlags { eFlgCmdNone = 0x00000000 , eFlgCmdPeak = 0x00000001 }

enum	ECalcMoveResult { eClcMoveResOk = 0 , eClcMoveResAdjusted = 1 , eClcMoveResShrinked = 2 , eClcMoveResFailed = 3 }

enum	ECalcSegTraType { eClcSegTraCompatible = 0 , eClcSegTraAccelerate = 1 , eClcSegTraDecelerate = 2 , eClcSegTraMiddle = 3 }

Public Member Functions
	CINOSBaseRamp (SINOSBaseRamp *apDesc)

const char *	GetName ()

const char *	GetType ()

virtual bool	Move (real64 arPosition, SINOSRampParam *apParam=0)

virtual bool	Move (real64 arPosition, real64 arSave1, real64 arSave2, real64 &arTime, SINOSRampParam apParam1=0, SINOSRampParam apParam2=0)

virtual bool	MoveApp (real64 arPosition, real64 arPositionVel, real64 arVelocity, SINOSRampParam *apParam=0, EMoveFlags aeFlags=eFlgMoveNone)

virtual bool	MoveDep (real64 arPosition, real64 arPositionVel, real64 arVelocity, SINOSRampParam *apParam=0)

virtual bool	Endless (bool abPositive=true, SINOSRampParam *apParam=0)

virtual bool	Update (SINOSRampParam *apParam=0)

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

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

virtual real64	GetMoveTime (real64 arPosition, real64 arDelta=REAL64(0.0), SINOSRampParam *apParam=0)

virtual real64	GetAccelerationTime (real64 arPosition, real64 arDelta=REAL64(0.0), SINOSRampParam *apParam=0)

virtual real64	GetConstTime (real64 arPosition, real64 arDelta=REAL64(0.0), SINOSRampParam *apParam=0)

virtual real64	GetDecelerationTime (real64 arPosition, real64 arDelta=REAL64(0.0), SINOSRampParam *apParam=0)

virtual real64	GetMoveTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam=0)

virtual real64	GetAccelerationTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam=0)

virtual real64	GetConstTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam=0)

virtual real64	GetDecelerationTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam=0)

virtual real64	GetMoveTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, real64 &arDeltaTime, SINOSRampParam *apParam=0)

virtual real64	GetMoveAppTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta=REAL64(0.0), SINOSRampParam *apParam=0)

virtual real64	GetMoveAppTime (real64 arStartPosition, real64 arEndPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, SINOSRampParam *apParam=0)

virtual real64	GetMoveDepTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta=REAL64(0.0), SINOSRampParam *apParam=0)

virtual real64	GetMoveDepTime (real64 arStartPosition, real64 arEndPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, SINOSRampParam *apParam=0)

virtual real64	GetMoveDist (real64 arTime, SINOSRampParam *apParam=0)

virtual real64	GetMoveDist (real64 arPosition, real64 arTime, SINOSRampParam *apParam=0)

virtual real64	GetMoveDist (real64 arStartPosition, real64 arEndPosition, real64 arTime, SINOSRampParam *apParam=0)

virtual uint64	GetStartTicks (real64 arDelta)

virtual uint64	GetTargetTicks ()

virtual uint64	GetTargetTicks (real64 arDelta)

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

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

virtual uint32	SegMove (real64 arPosition, real64 arVelocity=REAL64(0.0), SINOSRampParam *apParam=0, real64 arAcceleration=REAL64(0.0), real64 arDuration=REAL64(-1.0))

virtual uint32	SegMoveResult ()

virtual uint32	SegConst (real64 arPosition)

virtual uint32	SegPos (real64 arTime)

virtual uint32	SegPosSetTime (real64 arTime)

virtual uint32	SegVelocity (real64 arVelocity, SINOSRampParam *apParam=0)

virtual real64	SegTime (bool abRoundedtoCycleTime=true)

virtual uint32	GetSegEnd (real64 &arS)

virtual void	SegJobMustFitInCycle (bool abMustFitInCycle)

virtual uint32	SegRun ()

virtual CINOSRampJob *	GetSegJob ()

virtual void	Pull (real64 arS, real64 arV, real64 arA, real64 arJ)

virtual void	Pull (SINOSRampData &aData)

virtual void	Pull (SINOSRampDataEx *apData)

virtual void	FlushPull ()

void	Enable ()

void	Disable ()

virtual bool	Stop (SINOSRampParam *apParam=0)

virtual bool	StopLive (real64 arSlowMotion=1.0, SINOSRampParam *apParam=0)

virtual bool	StopLiveDelta (real64 arDelta, real64 arSlowMotion=1.0, SINOSRampParam *apParam=0)

virtual bool	Stop (real64 arPosition, SINOSRampParam *apParam=0)

virtual bool	Break (SINOSRampParam *apParam=0)

virtual bool	BreakLive (SINOSRampParam *apParam=0)

virtual bool	Break (real64 arPosition, SINOSRampParam *apParam=0)

virtual bool	EmergencyStop ()

virtual bool	EmergencyStop (SINOSRampParam *apParam)

virtual bool	EmergencyStop (real64 arPosition, SINOSRampParam *apParam, bool abPosValid=true)

virtual void	EmergencyStopLive ()

virtual void	EmergencyStopLive (SINOSRampParam *apParam)

virtual bool	Continue (SINOSRampParam *apParam=0)

virtual void	SetCmdFlags (uint32 auFlags)

virtual ICACHE void	SetCmdPosition (real64 arPosition)

virtual ICACHE void	GetCmdPosition (real64 &arPosition)

virtual void	SetCmdVelocity (real64 arVelocity)

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

virtual void	SetCmdAcceleration (real64 arAcceleration)

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

virtual void	SetCmdDeceleration (real64 arDeceleration)

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

virtual void	SetCmdCruiseleration (real64 arCruiseleration)

virtual void	GetCmdCruiseleration (real64 &arCruiseleration)

virtual void	SetCmdJerk (real64 arJerk, uint32 auNumber=0xFFFFFFFF)

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	SetCmdSlowMotion (real64 arSlowMotion, bool abUpdate, bool abStopping)

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

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

virtual void	SetCmdRelaxTime (real64 arRelaxTime)

virtual void	GetCmdRelaxTime (real64 &arRelaxTime)

virtual void	SetEmgDeceleration (real64 arDeceleration)

virtual void	GetEmgDeceleration (real64 &arDeceleration)

virtual void	SetEmgJerk (real64 arJerk)

virtual void	GetEmgJerk (real64 &arJerk)

virtual void	SetCmdParam (SINOSRampParam *apParam)

virtual SINOSRampParam *	GetCmdParam ()

virtual ICACHE void	SetActPosition (real64 arPosition)

virtual ICACHE void	AdjActPosition (real64 arPosition)

virtual ICACHE void	GetActPosition (real64 &arPosition)

virtual ICACHE void	GetActPosition (real64 &arPosition, uint64 auTicks)

virtual void	GetStopPosition (real64 &arPosition, SINOSRampParam *apParam)

virtual void	GetBgnPosition (real64 &arPosition)

virtual void	SetActVelocity (real64 arVelocity)

virtual void	GetActVelocity (real64 &arVelocity)

virtual void	SetActAcceleration (real64 arAcceleration)

virtual void	GetActAcceleration (real64 &arAcceleration)

virtual void	SetActJerk (real64 arJerk)

virtual void	GetActJerk (real64 &arJerk)

virtual void	GetActSVAJ (SINOSRampData &arData, bool abIrqSafe=true)

virtual void	AdjActTime (real64 arDelta)

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	SetMaxVelocity (real64 arVelocity)

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

virtual void	SetMaxSetupVelocity (real64 arVelocity)

virtual void	GetMaxSetupVelocity (real64 &arVelocity)

virtual void	SetMaxInitVelocity (real64 arVelocity)

virtual void	GetMaxInitVelocity (real64 &arVelocity)

virtual void	SetMinVelocity (real64 arVelocity)

virtual void	GetMinVelocity (real64 &arVelocity)

virtual void	SetTrqVelocity (real64 arVelocity)

virtual void	GetTrqVelocity (real64 &arVelocity)

virtual void	AdjustMinMaxValues (real64 arFactor)

virtual void	SetMinAcceleration (real64 arAcceleration)

virtual void	GetMinAcceleration (real64 &arAcceleration)

virtual void	SetMaxAcceleration (real64 arAcceleration)

virtual void	GetMaxAcceleration (real64 &arAcceleration)

virtual void	SetMaxAccelerationPull (real64 arAcceleration)

virtual void	GetMaxAccelerationPull (real64 &arAcceleration)

virtual void	SetTrqAcceleration (real64 arAcceleration)

virtual void	GetTrqAcceleration (real64 &arAcceleration)

virtual void	SetMinDeceleration (real64 arDeceleration)

virtual void	GetMinDeceleration (real64 &arDeceleration)

virtual void	SetMaxDeceleration (real64 arDeceleration)

virtual void	GetMaxDeceleration (real64 &arDeceleration)

virtual void	SetTrqDeceleration (real64 arDeceleration)

virtual void	GetTrqDeceleration (real64 &arDeceleration)

virtual void	SetMinCruiseleration (real64 arCruiseleration)

virtual void	GetMinCruiseleration (real64 &arCruiseleration)

virtual void	SetMaxCruiseleration (real64 arCruiseleration)

virtual void	GetMaxCruiseleration (real64 &arCruiseleration)

virtual void	SetMinJerk (real64 arJerk)

virtual void	GetMinJerk (real64 &arJerk)

virtual void	SetMaxJerk (real64 arJerk)

virtual void	GetMaxJerk (real64 &arJerk)

virtual void	GetCycleTime (real64 &arCycleTime)

virtual void	SetCycleTime (real64 arCycleTime)

virtual uint8	GetOversampling ()

virtual void	SetOversampling (uint8 auOversampling)

virtual void	GetCycleTimeUs (uint32 &auCycleTime)

virtual void	GetCycleTimeNs (uint32 &auCycleTime)

virtual const char *	GetUnit ()

virtual void	SetUnit (const char *apUnit)

virtual uint32	GetCharacteristics ()

virtual void	SetCharacteristics (uint32 auCharacteristics)

virtual uint8	GetTypeChar ()

virtual void	SetTypeChar (uint8 auTypeChar)

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

virtual volatile real64 *	GetParamAdr (const char *apName)

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

void	SetFlag (uint32 auFlag)

void	ClrFlag (uint32 auFlag)

uint32	GetFlag ()

void	EnbFlag (uint32 auFlag)

void	DisFlag (uint32 auFlag)

ICACHE void	SetState (uint32 auState)

ICACHE uint32	GetState ()

virtual uint32	GetError ()

virtual uint64	GetErrorEx ()

virtual uint32	GetWarning ()

virtual uint64	GetWarningEx ()

virtual void	AcceptError (uint32 auError=0xffffffff)

virtual void	AcceptWarning (uint32 auWarning=0xffffffff)

virtual ICACHE void	GetS (real64 &arS)

virtual ICACHE void	GetSV (real64 &arS, real64 &arV)

virtual ICACHE void	GetSVA (real64 &arS, real64 &arV, real64 &arA)

virtual ICACHE void	GetSVAJ (real64 &arS, real64 &arV, real64 &arA, real64 &arJ)

virtual ICACHE SINOSRampDataEx *	GetData ()

virtual void	GetData (SINOSRampDataEx *apData, bool abSingleSample=false)

virtual CINOSBaseRampParamSet *	CloneParamSet ()

virtual void	SelectParamSet (CINOSBaseRampParamSet *apSet)

virtual void	PreDestroyRampParam (SINOSRampParam *apParam)

void	EnableCache (uint32 auSize=32)

CINOSRampCache *	EnableCache (CINOSRampCache *apCache)

CINOSRampCache *	DisableCache ()

void	ReEnableCache ()

void	FlushCache ()

void	SetEpsilon (real64 arEpsilon)

void	GetEpsilon (real64 &arEpsilon)

void	SetCacheEpsilon (real64 arEpsilon)

virtual CINOSBaseRamp *	Clone ()

SINOSBaseRamp *	GetRampDesc ()

virtual CINCOObject *	GetRegister (const char *apName="Ramp")

void	RegisterFlags (CINCOObject apParent, uint32 auBase)

virtual CINCOObject *	GetParamSetRegister (CINOSBaseRampParamSet *apSet)

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

virtual void	ResetMoveSafeMin ()

void	SetMapping (CINOSMapping *apMapping, uint32 auIndex)

void	ResetMapping ()

void	EnableSetupMode ()

void	DisableSetupMode ()

bool	CheckSetupMode ()

bool	CheckPullUnderrun ()
	return true if pull would underrun

void	SetTrqLimitAcceleration (SINOSBaseRampTrqLimit *apLimit)
	set torque limit acceleration

SINOSBaseRampTrqLimit *	GetTrqLimitAcceleration ()
	get torque limit acceleration

void	SetTrqLimitDeceleration (SINOSBaseRampTrqLimit *apLimit)
	set torque limit deceleration

SINOSBaseRampTrqLimit *	GetTrqLimitDeceleration ()
	get torque limit deceleration

void	UpdateTrqLimit ()
	update torque limit configuration

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

virtual const char *	GetStateText ()

virtual CINOSRampJob *	iMove (real64 arSbgn, real64 arSend, bool abReturnError, SINOSRampParam *apParam)

virtual CINOSRampJob *	iMove (real64 arPosition, real64 arSave1, real64 arSave2, real64 &arTime, SINOSRampParam apParam1, SINOSRampParam apParam2)

virtual CINOSRampJob *	iMoveApp (real64 arSbgn, real64 arSend, real64 arSvel, real64 arVelocity, bool abReturnError, SINOSRampParam *apParam, EMoveFlags aeFlags)

virtual CINOSRampJob *	iMoveDep (real64 arSbgn, real64 arSend, real64 arSvel, real64 arVelocity, bool abReturnError, SINOSRampParam *apParam)

virtual SINOSRampParam *	CheckParam (SINOSRampParam apOrgParam, SINOSRampParam apTmpParam)

virtual void	CopyParam (SINOSRampParam apDstParam, SINOSRampParam &apSrcParam)

virtual ECalcMoveResult	CalcMove (real64 arSlen, SINOSRampParam apParam, CINOSRampSegTra &apSegAcc, CINOSRampSegCns &apSegCns, CINOSRampSegTra &apSegDec, real64 arVbgn=REAL64(0.0), real64 arVend=REAL64(0.0), real64 arAbgn=REAL64(0.0), real64 arAend=REAL64(0.0), real64 arDuration=REAL64(-1.0))

virtual void	CalcMoveApp (real64 arS, real64 arSred, real64 arVred, SINOSRampParam apParam, CINOSRampSegTra &apAcc, CINOSRampSegCns &apCns, CINOSRampSegTra &apDec1, CINOSRampSegCns &apDec2, CINOSRampSegTra &apDec3)

virtual void	CalcMoveDep (real64 arS, real64 arSred, real64 arVred, SINOSRampParam apParam, CINOSRampSegTra &apAcc1, CINOSRampSegCns &apAcc2, CINOSRampSegTra &apAcc3, CINOSRampSegCns &apCns, CINOSRampSegTra &apDec)

virtual bool	CalcStop (uint32 auNxtState, SINOSRampParam *apParam, bool abEmergency=false)

virtual bool	CalcStopLive (uint32 auNxtState, SINOSRampParam *apParam, bool abEmergency=false)

virtual bool	CalcStop (real64 arS, uint32 auNxtState, SINOSRampParam *apParam, bool abEmergency=false)

virtual real64	CalcEscape (real64 arSlen, SINOSRampParam *apParam)

virtual bool	iCalcApp (real64 arS, real64 arSred, real64 arVred, SINOSRampParam *apParam)

virtual void	iStopping ()

virtual CINOSRampSegTra *	CalcSegTra (real64 arVb, real64 arAb, real64 arVe, SINOSRampParam apParam, CINOSRampSegTra apResult=0, real64 arJb=REAL64(-1.0), real64 arJe=REAL64(-1.0), ECalcSegTraType aeType=eClcSegTraCompatible)

virtual void	CalcSegApp (real64 arSr, real64 arVr, real64 arVb, SINOSRampParam apParam, CINOSRampSegTra &apResult1, CINOSRampSegCns &apResult2, CINOSRampSegTra &apResult3, uint32 auMoveInMove=0)

virtual void	CalcSegDep (real64 arSr, real64 arVr, real64 arVe, SINOSRampParam apParam, CINOSRampSegTra &apResult1, CINOSRampSegCns &apResult2, CINOSRampSegTra &apResult3)

CINOSRampSegCns *	CalcSegCns (real64 arS, real64 arV, CINOSRampSegCns *aResult=0)

CINOSRampSegPos *	CalcSegPos (real64 arS, real64 arT, CINOSRampSegPos *aResult=0)

bool	StartJob (CINOSRampJob *apJob)

bool	ReleaseJob (CINOSRampJob *apJob)

bool	RestartJob ()

CINOSRampJob *	SwitchJob (CINOSRampJob *apJob, uint32 auNxtState, uint32 auBusTicks, bool bLookAhead=false)

CINOSRampJob *	GetActJob (bool abIncRefCounter=true)

real64	RoundUpToCycleTime (real64 arTime)

real64	RoundToCycleTime (real64 arTime)

uint64	RoundUpToBusTicks (real64 arTime)

void	SetBusTicksPerAxisTick (uint32 auBusTicksPerAxisTick)

real64	CalcVmax (real64 adS, SINOSRampParam *apParam)

double	_vx (double p, double s, SINOSRampParam *apParam)

double	_vy (double s, SINOSRampParam *apParam)

double	_vz (double s, SINOSRampParam *apParam)

bool	IsGreater (real64 arA, real64 arB, bool bPos)

bool	Enter (uint32 auState, bool abEqual=true)

bool	Exit (bool abExitCode)

void	SaveActParam (SINOSRampParam *apParam)

bool	Sign (real64 &arValue)

void	SetupTrqLimit (real64 arAmax, real64 arVmax, real64 arAtrq, real64 arVtrq, class CINCOTable apPoints, SINOSBaseRampTrqLimit &apLimit)
	setup torque limit

void	UpdatedMaximum (real64 *apValue, real64 rOld, real64 rNew)
	called whenever a max value was changed

void	UpdateSlowMotion (real64 arFactor=REAL64(0.0))
	update job slowmotion if nessecary

real64	GetRequestedJobSlowMotion (CINOSRampJob *apJob)
	get requested job slowmotion

uint32	GetJobOptions (bool abPositive)
	get job options from given parameters

uint32	GetJobOptions (real64 arSbgn, real64 arSend)
	get job options from given parameters

bool	PrepareBacklash (bool abPositiveMoveDirection, real64 &arBacklash)
	prepare backlash compensation

void	AppendBacklash (CINOSRampJob apJob, SINOSRampParam apParam, real64 arBacklash)
	calculate backlash compensation

Static Public Member Functions
static uint32	GetVersion ()

static CINOSBaseRamp *	GetRamp (const char apAxisName, const char apRampType)

static CINOSBaseRamp *	GetRamp (const char *apType)

static CINCOObject *	GetBaseParamSetRegister (CINOSBaseRampParamSet *apSet)

Protected Types
enum	{ eFlgBacklashCompensationRequired = 0x00000001 }
	backlash flags

Protected Member Functions
void	iCoreMismatchError ()

void	iCoreMismatchWarning ()

	DECLARE_DYNAMIC (CINOSBaseRamp)

Protected Attributes
uint32	m_uState

uint32	m_uNxtState

uint32	m_uError

uint32	m_uWarning

uint32	m_uFlag

uint32	m_uFlagEnb

uint32	m_uFlagOld

volatile uint32	m_uAlive

CINOSRampJob *	m_pActJob

CINOSRampJob *	m_pNxtJob

CINOSRampJob *	m_pBrkJob

CINOSRampJob *	m_pSegJob

CINOSRampSegPos *	m_pSegPosLast

CINOSRampCache *	m_pCache

bool	m_bCacheable

bool	m_bSetupModeOk

SINOSRampDataEx *	m_pFstData

SINOSRampDataEx *	m_pLstData

bool	m_bDataValid

SINOSBaseRamp *	m_pDesc

CINCOObject *	m_pRegister

CINCOObject *	m_pCmd

CINCOObject *	m_pAct

CINCOObject *	m_pMax

CINCOObject *	m_pProp

CINCOObject *	m_pError

CINCOObject *	m_pWarning

CINCOObject *	m_pFlag

CINCOObject *	m_pFlagEnb

uint32	m_uCharacteristics

uint8	m_uTypeChar

const char *	m_pType

inosName32	m_cName

inosName	m_cUnit

real64	m_rCycleTime

real64	m_rCycleTimeOversampled

real64	m_rCycleTime_1

uint32	m_uCycleTimeUs

uint32	m_uCycleTimeNs

uint8	m_uOversampling

real64	m_rMiMTol

real64	m_rLastOvrs

real64	m_rScmd

real64	m_rBemg

real64	m_rJemg

real64	m_rJeemg

real64	m_rPausedEnd

SINOSRampParam *	m_pParam

SINOSRampParam *	m_pActParam

SINOSRampParam *	m_pStartParam

SINOSRampParam	m_sSavParam

real64	m_rVpeak

real64	m_rApeak

real64	m_rBpeak

real64	m_rSseg

real64	m_rVseg

real64	m_rAseg

ECalcMoveResult	m_eSegMoveResult

real64	m_rAdjPos

SINOSRampDataEx *	m_Act

real64	m_rSbgn

real64	m_rSmin

real64	m_rSmax

real64	m_rVmin

real64	m_rVmax

real64	m_rVmaxSetup

real64	m_rVmaxInit

real64	m_rVmaxLimit

real64	m_rVtrq

real64	m_rAmin

real64	m_rAmax

real64	m_rAmaxPull

real64	m_rArms

real64	m_rAtrq

real64	m_rBmin

real64	m_rBmax

real64	m_rBtrq

real64	m_rCmin

real64	m_rCmax

real64	m_rJmin

real64	m_rJmax

real64	m_rEpsilon

SINOSBaseRampTrqLimit *	m_pTrqLimitAcc
	torque limit points acceleration

SINOSBaseRampTrqLimit *	m_pTrqLimitDec
	torque limit points deceleration

uint64	m_uTickCount

uint64	m_uTargetTicks

uint64	m_uStartTicks

uint64	m_uStartTicks_

uint32	m_uBusTicksPerAxisTick

uint32	m_uNxtTicks

uint16	m_uIterCount

uint16	m_uIterCountMax

uint16	m_uStopAliveDelta

uint16	m_uStopAliveDeltaMax

int16	m_iStoppingState

real64	m_rStoppingJerk

CINOSRampSegTra *	m_pStopLiveSeg
	current stop live tra seg

real64	m_rStopLiveSegV
	current stop live tra seg V

real64	m_rStopLiveSegB
	current stop live tra seg B

real64	m_rStopLiveSegJ2
	current stop live tra seg J2

real64	m_rStopLiveSegJ3
	current stop live tra seg J3

real64	m_rStopLiveSegDelta
	current stop live tra seg delta

real64	m_rStopLiveTime
	current stop live time

real64	m_rStopLivePos
	current stop live pos

real64	m_rStopLiveDelta
	current stop live delta

real64	m_rStopLiveSlowMotion
	current stop live slowmotion

bool	m_bMoveSafeMin

real64	m_rMoveSafeMin

real64	m_rMoveSafeFact1

real64	m_rMoveSafeFact2

uint32	m_uBacklashFlags
	backlash flags

real64	m_rBacklash
	configured backlash

real64	m_rBacklashSlowmotion
	configured backlash slowmotion

CINOSMapping *	m_pMapping

uint32	m_uMappingIndex

uint32	m_uTimMoveCalcAct
	actual number of ticks used for CalcMove

uint32	m_uTimMoveCalcMin
	minimal number of ticks used for CalcMove

uint32	m_uTimMoveCalcMax
	maximal number of ticks used for CalcMove

uint32	m_uTimStopCalcAct
	actual number of ticks used for CalcStop

uint32	m_uTimStopCalcMin
	minimal number of ticks used for CalcStop

uint32	m_uTimStopCalcMax
	maximal number of ticks used for CalcStop

uint8	m_uCoreId = DF_INOS_CORE_DEFAULT

Static Protected Attributes
static char	m_cStateCombo [494]

Friends
class	CINOSMapping

class	CINOSShape

class	CINOSBaseAxis

class	CINOSPhysicalAxis

class	CINOSBaseRampTest

class	CINOSMcRobotCmdLinear

class	CINOSRemoteControlWorker

void	_INI_0400_CINOSBaseRamp ()

Member Function Documentation

◆ CalcMove()

virtual ECalcMoveResult CINOSBaseRamp::CalcMove	(	real64	arSlen,
		SINOSRampParam *	apParam,
		CINOSRampSegTra *&	apSegAcc,
		CINOSRampSegCns *&	apSegCns,
		CINOSRampSegTra *&	apSegDec,
		real64	arVbgn = `REAL64(0.0)`,
		real64	arVend = `REAL64(0.0)`,
		real64	arAbgn = `REAL64(0.0)`,
		real64	arAend = `REAL64(0.0)`,
		real64	arDuration = `REAL64(-1.0)`
	)

virtual

Reimplemented in CINOSTrapezeRamp.

◆ CalcSegTra()

virtual CINOSRampSegTra * CINOSBaseRamp::CalcSegTra	(	real64	arVb,
		real64	arAb,
		real64	arVe,
		SINOSRampParam *	apParam,
		CINOSRampSegTra *	apResult = `0`,
		real64	arJb = `REAL64(-1.0)`,
		real64	arJe = `REAL64(-1.0)`,
		ECalcSegTraType	aeType = `eClcSegTraCompatible`
	)

virtual

Reimplemented in CINOSTrapezeRamp.

◆ Clone()

virtual CINOSBaseRamp * CINOSBaseRamp::Clone ( )

virtual

Reimplemented in CINOSJerkRamp, CINOSJerkRmsRamp, and CINOSTrapezeRamp.

◆ GetParamSetRegister()

virtual CINCOObject * CINOSBaseRamp::GetParamSetRegister ( CINOSBaseRampParamSet * apSet )

virtual

Reimplemented in CINOSTrapezeRamp.

◆ GetRegister()

virtual CINCOObject * CINOSBaseRamp::GetRegister ( const char * apName = "Ramp" )

virtual

Reimplemented in CINOSJerkRmsRamp, and CINOSTrapezeRamp.

◆ GetTimeCharacteristics() [1/2]

virtual SINOSTimeCharacteristics CINOSBaseRamp::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() [2/2]

virtual SINOSTimeCharacteristics CINOSBaseRamp::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.

◆ iMove()

virtual CINOSRampJob * CINOSBaseRamp::iMove	(	real64	arSbgn,
		real64	arSend,
		bool	abReturnError,
		SINOSRampParam *	apParam
	)

virtual

Reimplemented in CINOSJerkRmsRamp.

The documentation for this class was generated from the following file:

/home/jenkins/workspace/inos_doxygen/os/inos/inc/cinosbaseramp.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Member Function Documentation

◆ CalcMove()

◆ CalcSegTra()

◆ Clone()

◆ GetParamSetRegister()

◆ GetRegister()

◆ GetTimeCharacteristics() [1/2]

◆ GetTimeCharacteristics() [2/2]

◆ iMove()