Public Member Functions |
Static Public Member Functions |
Protected Member Functions |
List of all members
CINOSJerkRamp Class Reference
definition of the CINOSJerkRamp class More...
#include <cinosjerkramp.h>
Inheritance diagram for CINOSJerkRamp:
Public Member Functions | |
| CINOSJerkRamp (SINOSJerkRamp *apDesc=0) | |
| constructor | |
| virtual | ~CINOSJerkRamp () |
| destructor | |
| virtual CINOSBaseRamp * | Clone () |
| clone myself and return pointer to it | |
 Public Member Functions inherited from CINOSBaseRamp | |
| 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) |
| 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 () |
| get ramp generator version | |
| Static Public Member Functions inherited from CINOSBaseRamp | |
| static uint32 | GetVersion () |
| static CINOSBaseRamp * | GetRamp (const char *apAxisName, const char *apRampType) |
| static CINOSBaseRamp * | GetRamp (const char *apType) |
| static CINCOObject * | GetBaseParamSetRegister (CINOSBaseRampParamSet *apSet) |
Protected Member Functions | |
| DECLARE_DYNAMIC_CACHE (CINOSJerkRamp) | |
| Protected Member Functions inherited from CINOSBaseRamp | |
| void | iCoreMismatchError () |
| void | iCoreMismatchWarning () |
| DECLARE_DYNAMIC (CINOSBaseRamp) | |
Additional Inherited Members | |
| Public Types inherited from CINOSBaseRamp | |
| 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 } |
| Protected Types inherited from CINOSBaseRamp | |
| enum | { eFlgBacklashCompensationRequired = 0x00000001 } |
| backlash flags | |
| Protected Attributes inherited from CINOSBaseRamp | |
| 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 inherited from CINOSBaseRamp | |
| static char | m_cStateCombo [494] |
Detailed Description
definition of the CINOSJerkRamp class
Member Function Documentation
◆ Clone()
|
virtual |
clone myself and return pointer to it
Reimplemented from CINOSBaseRamp.
The documentation for this class was generated from the following file:
- /home/jenkins/workspace/inos_doxygen/os/inos/inc/cinosjerkramp.h
