CINOSPhysicalAxis Class Reference

Provides physical aka real axis functionality. More...

#include <cinosphysicalaxis.h>

Inheritance diagram for CINOSPhysicalAxis:

Public Types
enum	EBorderType { eBorderPosition , eBorderSpeed , eBorderSensor , eBorderSpeedAbs }
	The different border types the system supports. More...
enum	EBorderStop { eBorderStopHard =0 , eBorderStopRamp =1 }
	The different border stopping types the system supports. More...
Public Types inherited from CINOSBaseAxis
enum	{ eFlgParamSetNone = 0x00000000 , eFlgParamSetSearchGlobal = 0x00000001 , eFlgParamSetIgnoreOverwrite = 0x00000002 }
enum	EActualType { eActInput , eActActual , eActOutput }

Public Member Functions
	CINOSPhysicalAxis (SINOSPhysicalAxis *apDesc)
	CINOSPhysicalAxis (SINOSPhysicalAxis *apDesc, CINOSBaseRamp *apRamp, CINOSBaseControl *apControl, CINOSBaseMotor *apMoto)
virtual uint32	Connect () override
	Connect axis to hardware.
virtual uint32	Activate (bool abCheckPos=true, bool abSimulatePos=false, bool abSimulateOut=false, bool abSimulateAct=false, CINOSSync *apSync=DF_INOS_SYNCHRONOUS) override
	Activate axis in a given mode, e.g Activate(true,true,true,true) enables the axis in a full simulated manner.
virtual uint32	InActivate (CINOSSync *apSync=DF_INOS_SYNCHRONOUS) override
	Inactivate axis.
virtual uint32	Relax (uint32 auTimeMs, CINOSSync *apSync=DF_INOS_SYNCHRONOUS) override
	Relax a coupled slave axis for a given time.
virtual uint32	Commutate ()
virtual uint32	ForceCommutate (bool abAlways=false)
virtual uint32	ReActivate (uint32 auDelayMs=100)
virtual uint32	Sync (real64 arPosition, CINOSSync *apSync=DF_INOS_SYNCHRONOUS) override
	Search reference mark till arPosition and set actual position to 0.0 at mark.
virtual uint32	Sync (real64 arPosition, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS) override
	Search reference mark till arPosition and set actual position to 0.0 at mark.
virtual uint32	Sync (real64 arPosition, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS) override
	Search reference mark till arPosition and set actual position to 0.0 at mark.
virtual uint32	Sync (real64 arPosition, real64 arSyncPos, CINOSSync *apSync=DF_INOS_SYNCHRONOUS) override
	Search reference mark till arPosition and set actual position to arSyncPos at mark.
virtual uint32	Sync (real64 arPosition, real64 arSyncPos, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS) override
	Search reference mark till arPosition and set actual position to arSyncPos at mark.
virtual uint32	Sync (real64 arPosition, real64 arSyncPos, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS) override
	Search reference mark till arPosition and set actual position to arSyncPos at mark.
virtual uint32	Sync (real64 arSyncPos, const char *apParam, CINCOObject *apObject, CINOSSync *apSync=DF_INOS_SYNCHRONOUS) override
	Search reference mark and set actual position to arSyncPos at mark.
virtual uint32	Sync (real64 arPosition, real64 arSyncPos, uint32 auFlags, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
virtual uint32	Sync (real64 arPosition, real64 arSyncPos, uint32 auFlags, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
virtual uint32	Sync (real64 arPosition, real64 arSyncPos, uint32 auFlags, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
virtual uint32	SyncMove (real64 arPosition, real64 arSyncPos, real64 arMovePos, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search reference till max. arPosition. If reference found, set position at reference to arSyncPos and finally move to arMovePos without an intermediate stop.
virtual uint32	SyncMove (real64 arPosition, real64 arSyncPos, real64 arMovePos, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search reference till max. arPosition. If reference found, set position at reference to arSyncPos and finally move to arMovePos without an intermediate stop.
virtual uint32	SyncMove (real64 arPosition, real64 arSyncPos, real64 arMovePos, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search reference till max. arPosition. If reference found, set position at reference to arSyncPos and finally move to arMovePos without an intermediate stop.
virtual uint32	MoveEx (real64 arPosition, real64 &arTrgPos, uint32 auFlags, const char *apTrgName, real64 arTrgLevel, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
virtual uint32	MoveEx (real64 arPosition, real64 &arTrgPos, uint32 auFlags, const char *apTrgName, real64 arTrgLevel, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
virtual uint32	MoveEx (real64 arPosition, real64 &arTrgPos, uint32 auFlags, const char *apTrgName, real64 arTrgLevel, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
virtual uint32	MoveExApp (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 &arTrgPos, uint32 auFlags, const char *apTrgName, real64 arTrgLevel, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
virtual uint32	MoveExApp (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 &arTrgPos, uint32 auFlags, const char *apTrgName, real64 arTrgLevel, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
virtual uint32	MoveExApp (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 &arTrgPos, uint32 auFlags, const char *apTrgName, real64 arTrgLevel, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
virtual void	SetBorderType (EBorderType auType)
	Set border limit type (used in MoveToBorder method)
virtual void	GetBorderType (EBorderType &auType)
	Get border limit type (used in MoveToBorder method)
virtual void	SetBorderLimit (real64 arLimit)
	Set border limit value (used in MoveToBorder method)
virtual void	GetBorderLimit (real64 &arLimit)
	Get border limit value (used in MoveToBorder method)
virtual void	SetBorderRelax (real64 arRelax)
	Set border relax value (used in MoveToBorder method)
virtual void	GetBorderRelax (real64 &arRelax)
	Get border relax value (used in MoveToBorder method)
virtual uint32	ReleaseFromBorder ()
	Release from border (used after MoveToBorder)
virtual uint32	MoveToBorder (real64 arPosition, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search border till arPosition and stop if found (use ReleaseFromBorder before other moves are initiated)
virtual uint32	MoveToBorder (real64 arPosition, real64 &arResult, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search border till arPosition and stop if found (use ReleaseFromBorder before other moves are initiated)
virtual uint32	MoveToBorderApp (real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search border till arPosition and stop if found. The current limitation is switched on at the reduced velocity point (use ReleaseFromBorder before other moves are initiated)
virtual uint32	MoveToBorderApp (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 &arResult, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search border till arPosition and stop if found. The current limitation is switched on at the reduced velocity point (use ReleaseFromBorder before other moves are initiated)
virtual uint32	MoveToBorderApp (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 &arResult, uint32 auFlags, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search border till arPosition and stop if found. The current limitation is switched on at the reduced velocity point (use ReleaseFromBorder before other moves are initiated)
virtual uint32	MoveToDigitalSensor (const char *apName, real64 arPosition, bool abSet, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search digital sensor till arPosition and stop if found. If not found, the axis will go into "Failed" error state and requires to be recovered before it can be used again.
virtual uint32	MoveToDigitalSensor (const char *apName, real64 arPosition, bool abSet, real64 &arResult, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search digital sensor till arPosition and stop if found. If not found, the axis will go into "Failed" error state and requires to be recovered before it can be used again.
virtual uint32	MoveToDigitalSensor (const char *apName, real64 arPosition, bool abSet, real64 &arResult, uint32 auFlags, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search digital sensor till arPosition and stop if found. This overload allows to specify arbitrary MoveEx flags see auFlags. Among other use cases, use this overload if setting the axis to an error state when no sensor is found is undesired. In that case, pass in DF_MOVEEX_NO_ERROR (probably along with DF_MOVEEX_STOP_AT_EVENT, DF_MOVEEX_TRG_EQ and DF_MOVEEX_SET_TRG_POS).
virtual uint32	MoveToDigitalSensorApp (const char *apName, real64 arPosition, bool abSet, real64 arPositionVel, real64 arVelocity, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search digital sensor till arPosition and stop if found.
virtual uint32	MoveToDigitalSensorApp (const char *apName, real64 arPosition, bool abSet, real64 arPositionVel, real64 arVelocity, real64 &arResult, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search digital sensor till arPosition and stop if found.
virtual uint32	MoveToDigitalSensorApp (const char *apName, real64 arPosition, bool abSet, real64 arPositionVel, real64 arVelocity, real64 &arResult, uint32 auFlags, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search digital sensor till arPosition and stop if found.
virtual uint32	MoveToAnalogSensor (const char *apName, real64 arPosition, real64 arLevel, bool abGreater, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search analog sensor till arPosition and stop if found.
virtual uint32	MoveToAnalogSensor (const char *apName, real64 arPosition, real64 arLevel, bool abGreater, real64 &arResult, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search analog sensor till arPosition and stop if found.
virtual uint32	MoveToAnalogSensor (const char *apName, real64 arPosition, real64 arLevel, bool abGreater, real64 &arResult, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search analog sensor till arPosition and stop if found.
virtual uint32	MoveToAnalogSensor (const char *apName, real64 arPosition, real64 arLevel, bool abGreater, real64 &arResult, uint32 auFlags, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search analog sensor till arPosition and stop if found.
virtual uint32	MoveToAnalogSensor (const char *apName, real64 arPosition, real64 arLevel, bool abGreater, real64 &arResult, uint32 auFlags, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search analog sensor till arPosition and stop if found.
virtual uint32	MoveToAnalogSensorApp (const char *apName, real64 arPosition, real64 arLevel, bool abGreater, real64 arPositionVel, real64 arVelocity, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search analog sensor till arPosition and stop if found.
virtual uint32	MoveToAnalogSensorApp (const char *apName, real64 arPosition, real64 arLevel, bool abGreater, real64 arPositionVel, real64 arVelocity, real64 &arResult, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search analog sensor till arPosition and stop if found.
virtual uint32	MoveToAnalogSensorApp (const char *apName, real64 arPosition, real64 arLevel, bool abGreater, real64 arPositionVel, real64 arVelocity, real64 &arResult, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search analog sensor till arPosition and stop if found.
virtual uint32	MoveToAnalogSensorApp (const char *apName, real64 arPosition, real64 arLevel, bool abGreater, real64 arPositionVel, real64 arVelocity, real64 &arResult, uint32 auFlags, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search analog sensor till arPosition and stop if found.
virtual uint32	MoveToAnalogSensorApp (const char *apName, real64 arPosition, real64 arLevel, bool abGreater, real64 arPositionVel, real64 arVelocity, real64 &arResult, uint32 auFlags, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search analog sensor till arPosition and stop if found.
virtual uint32	ForceActivate (const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Switch from position to force mode.
virtual uint32	ForceInactivate (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Switch from force to position mode.
virtual uint32	ForceInactivate (double adLimit, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Switch from force to position mode but still limit force to given value [N].
virtual uint32	ForceApproach (double adPosition, double adPositionVel, double adVelocity, double adForce, double adForcelimit, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search requested force [N], stop if found and switch to force mode.
virtual uint32	ForceDepart (double adPosition, double adPositionVel, double adVelocity, double adForceLimit, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Switch to position mode and depart from force point.
virtual uint32	ForceMove (double adForce, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Ramp the commanded force to the requested value [N] with the given param set.
virtual uint32	ForceMoveStop (const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop a running ForceMove with the given param set.
virtual uint32	ForceBreak (double adForce, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Ramp the commanded force to the requested value [N] with the given param set. Expect a collapse before the commanded force is reached.
virtual uint32	ForceTara (double adForce=0.0, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Set current force [N] to given value.
virtual uint32	ForceSelect (const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Select given param set.
virtual uint32	ForcePull (double adForce)
	Set a new force point start force pull mode if not et done. If one is running an axis in force pull mode, one has to provide a new force for every axis sample, e.g. if the axis is sampled over the fieldbus with 4kHz, dT between two points is 0.000250 s.
virtual uint32	EnableForceLimit (double adLimit)
	Enable force limitation to given limit.
virtual uint32	DisableForceLimit ()
	Disable force limitation.
virtual uint32	ForceCancel ()
	Cancels force controller.
virtual void	SetPathPosition (real64 arPosition) override
virtual uint32	SetActPosition (real64 arPosition) override
	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.
virtual void	GetActPosition (real64 &arPosition, bool abRamp=true) override
	Gets the actual axis position.
virtual void	GetActPosition (real64 &arPosition, uint64 auTicks) override
virtual void	GetActPosition (real64 &arCmdPosition, real64 &arRealPosition)
virtual void	GetActVelocity (real64 &arVelocity, bool abRamp=true) override
virtual void	GetActVelocity (real64 &arCmdVelocity, real64 &arRealVelocity)
virtual void	GetActAcceleration (real64 &arAcceleration, bool abRamp=true) override
virtual void	GetActAcceleration (real64 &arCmdAcceleration, real64 &arRealAcceleration)
virtual void	GetActJerk (real64 &arJerk, bool abRamp=true) override
virtual void	GetActPosError (real64 &arPosError) override
virtual void	GetActVelocityError (real64 &arVelocityError, bool abFiltered=false) override
virtual void	GetPosErrorAtEvent (real64 &arPosError)
virtual uint32	SetRealPosition (real64 arPosition) override
	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!
virtual void	GetRealPosition (real64 &arPosition, bool abMapped=true) override
	Gets the real axis position.
virtual void	GetRealVelocity (real64 &arVelocity) override
virtual void	GetRealVelocityFiltered (real64 &arVelocity)
virtual void	GetRealAcceleration (real64 &arAcceleration) override
virtual void	GetRealJerk (real64 &arJerk) override
void	SetLifetimeDistance (real64 arDistance)
	set lifetime distance (only used at startup by either mcrobot or user code)
void	GetLifetimeDistance (real64 &arDistance)
	get current lifetime distance
virtual void	GetUnitsPerInc (double &adUnits) override
virtual void	SetIncsPerUnit (double adIncs)
virtual void	GetIncsPerUnit (double &adIncs) override
virtual void	SetGearRatio (double adGearRatio)
virtual void	GetGearRatio (double &adGearRatio)
virtual void	SetFeedPerTurn (double adFeedPerTurn)
virtual void	GetFeedPerTurn (double &adFeedPerTurn)
virtual void	SetIncsPerTurn (double adIncsPerTurn)
virtual void	GetIncsPerTurn (double &adIncsPerTurn)
virtual void	GetTurnsPerMin (double &adTurnsPerMin)
virtual void	GetIncPosition (uint8 &auIncPosition)
virtual void	SetInertia (double adInertia)
virtual void	GetInertia (double &adInertia)
virtual void	GetCycleTime (real64 &arCycleTime, bool abOversampled=false) override
virtual uint8	GetOversampling () override
virtual uint16	GetCycleNumber () override
virtual uint16	GetCycleId () override
virtual void	UpdateCycleId (uint16 auCycleId) override
virtual uint8	GetBusId () override
virtual uint32	SetParam (const char *apName, real64 arValue) override
virtual uint32	GetParam (const char *apName, real64 &arResult) override
virtual int32	GetState () override
virtual int32	GetState (uint32 &auRampState) override
virtual int32	GetState (uint32 &auRampState, uint32 &auControlState)
virtual uint32	GetError (bool abResolveExternal=false) override
virtual uint64	GetErrorEx (bool abResolveExternal=false) override
virtual uint32	GetError (uint32 &auRampError, bool abResolveExternal=false) override
virtual uint64	GetErrorEx (uint64 &auRampError, bool abResolveExternal=false) override
virtual uint32	GetError (uint32 &auRampError, uint32 &auControlError, bool abResolveExternal=false)
virtual uint64	GetErrorEx (uint64 &auRampError, uint64 &auControlError, bool abResolveExternal=false)
virtual bool	IsErrorFatal () override
virtual uint32	GetWarning (bool abResolveExternal=false) override
virtual uint64	GetWarningEx (bool abResolveExternal=false) override
virtual uint32	GetWarning (uint32 &auRampWarning, bool abResolveExternal=false) override
virtual uint64	GetWarningEx (uint64 &auRampWarning, bool abResolveExternal=false) override
virtual uint32	GetWarning (uint32 &auRampWarning, uint32 &auControlWarning, bool abResolveExternal=false)
virtual uint64	GetWarningEx (uint64 &auRampWarning, uint64 &auControlWarning, bool abResolveExternal=false)
virtual uint32	AcceptError () override
virtual uint32	AcceptError (uint32 auError) override
virtual uint32	AcceptError (uint32 auError, uint32 auRampError) override
virtual uint32	AcceptError (uint32 auError, uint32 auRampError, uint32 auControlError)
virtual uint32	AcceptWarning () override
virtual uint32	AcceptWarning (uint32 auWarning) override
virtual uint32	AcceptWarning (uint32 auWarning, uint32 auRampWarning) override
virtual uint32	AcceptWarning (uint32 auWarning, uint32 auRampWarning, uint32 auControlWarning)
virtual uint32	SetParam (const char *apName, uint64 auValue) override
virtual uint32	GetParam (const char *apName, uint64 &auResult) override
virtual CINCOObject *	GetRegister () override
virtual CINOSBaseControl *	GetControl ()
virtual CINOSBaseMotor *	GetMotor ()
virtual class CINOSForceControl *	GetForce ()
virtual bool	IsEmgInActivating ()
virtual void	EnableSync (real64 arPosition=REAL64(0.0), uint8 auSyncMode=DF_INOS_AXIS_SYNC_NOADJ) override
virtual void	DisableSync () override
virtual void	GetSyncCount (uint32 &auSyncCount) override
virtual void	SetSyncCount (uint32 auSyncCount) override
virtual void	GetSyncCorr (real64 &arSyncCorr)
virtual bool	EnableSafeSync ()
virtual void	DisableSafeSync ()
virtual void	EnableNorm (uint8 auMode=DF_INOS_AXIS_NORM_AFTER, uint8 auMoveDir=DF_INOS_AXIS_NORM_MOVE_DIR_NO, real64 arNormPos=REAL64(0.0)) override
virtual void	DisableNorm () override
virtual void	SetNormMode (uint8 auNormMode) override
virtual void	EnableCurLimit () override
virtual void	DisableCurLimit () override
virtual void	SetCurLimit (bool abEnable)
virtual bool	GetCurLimit () override
virtual void	SetMaxCurrent (real64 arMaxCurrent)
virtual void	GetMaxCurrent (real64 &arMaxCurrent)
CINOSPhysicalAxis *	GetCoupledAxis ()
uint32	GetCoupledOptions ()
virtual bool	IsCouplingEnabled ()
virtual uint32	EnableCoupling (const char *apAxis, uint32 auOptions, real64 arMaxDelta)
virtual uint32	EnableCoupling (const char *apAxis, uint32 auOptions, real64 arMaxDelta, real64 arMaxCorr)
virtual uint32	EnableCoupling ()
virtual uint32	DisableCoupling ()
virtual uint32	EnableLoadBalancing (const char *apAxis, real64 arFactor)
virtual uint32	DisableLoadBalancing ()
virtual void	SetCpdOption (uint32 auOption)
virtual void	ClrCpdOption (uint32 auOption)
virtual void	SetBorderLimit (CINOSBit *apLimitPos, CINOSBit *apLimitNeg, bool abInverted=false)
virtual void	ResetBorderLimit ()
virtual CINOSBit *	GetPowerReady ()
virtual bool	IsPowerReady ()
virtual bool	IsOnline () const
void	SetAxisEnableInput (const char *apInputName)
	set name of axis enable input
void	GetAxisEnableInput (char *apResult, uint32 auSize) const
	get name of axis enable input
Public Member Functions inherited from CINOSBaseAxis
	CINOSBaseAxis (SINOSBaseAxis *apDesc)
	Create an axis based on a descriptor (usually not used because this is done by the configuration system).
	CINOSBaseAxis (SINOSBaseAxis *apDesc, CINOSBaseRamp *apRamp)
	Create an axis based on a descriptor (usually not used because this is done by the configuration system).
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.
virtual uint32	Enable (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Enables a previously disabled axis. Only enabled axis can be activated.
virtual uint32	Disable (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Disables an enabled axis. Only inactivated axis can be disabled. Use 'Enable' to reenable the axis.
void	InitializeLimitChecker ()
	Initializes the limit checker if requested.
virtual uint32	Move (real64 arPosition, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with actual commanded jerk, acc/deceleration and velocity.
virtual uint32	Move (real64 arPosition, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with speed set apParam.
virtual uint32	Move (real64 arPosition, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Move to arPosition with speed set apParam.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
virtual uint32	Toggle (real64 arPosition1, real64 arPosition2)
	Start an endless toggle between arPosition1 and arPosition2 with actual commanded a jerk, acc/deceleration and velocity.
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.
virtual uint32	Track (const char *apVarName, real64 arFactor, uint32 auFilterLength, uint32 auDirection=0)
	Track the variable with name apVarName.
virtual uint32	Track (const char *apVarName, real64 arFactor, uint32 auFilterLength, uint32 auDirection, const char *apParam)
	Track the variable with name apVarName.
virtual uint32	Track (const char *apVarName, real64 arCmdValue, real64 arFactor, uint32 auFilterLength)
	Track the variable with name apVarName to the commanded value arCmdValue.
virtual uint32	SetTrackFactor (real64 arFactor)
	Allows to live change the tracking factor of an active 'Track'.
virtual uint32	Endless (bool abPositive=true)
	Start and endless move in the requested direction with actual commanded acc/dec and velocity.
virtual uint32	Endless (bool abPositive, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_ASYNCHRONOUS)
	Start and endless move in the requested direction with speed set apParam.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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).
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).
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).
virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arPosition)
	Calculate time characteristics of a move.
virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arPosition, SINOSRampParam *apParam)
	Calculate time characteristics of a move.
virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arPosition, const char *apParam)
	Calculate time characteristics of a move.
virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arPosition, real64 arDelta)
	Calculate time characteristics of a move.
virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calculate time characteristics of a move.
virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arPosition, real64 arDelta, const char *apParam)
	Calculate time characteristics of a move.
virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calculate time characteristics of a move.
virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam)
	Calculate time characteristics of a move.
virtual SINOSTimeCharacteristics	GetTimeCharacteristics (real64 arStartPosition, real64 arEndPosition, real64 arDelta, const char *apParam)
	Calculate time characteristics of a move.
virtual real64	GetMoveTime (real64 arPosition)
	Calc time [sec] a Move(adPosition) needs until arPosition.
virtual real64	GetAccelerationTime (real64 arPosition)
	Calc time [sec] a Move(adPosition) needs for the acceleration part.
virtual real64	GetConstTime (real64 arPosition)
	Calc time [sec] a Move(adPosition) needs for the constant part.
virtual real64	GetDecelerationTime (real64 arPosition)
	Calc time [sec] a Move(adPosition) needs for the deceleration part.
virtual real64	GetMoveTime (real64 arPosition, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs until arPosition.
virtual real64	GetAccelerationTime (real64 arPosition, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs for the acceleration part.
virtual real64	GetConstTime (real64 arPosition, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs for the constant part.
virtual real64	GetDecelerationTime (real64 arPosition, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs for the deceleration part.
virtual real64	GetMoveTime (real64 arPosition, const char *apParam)
	Calc time [sec] a Move(adPosition) needs until arPosition.
virtual real64	GetAccelerationTime (real64 arPosition, const char *apParam)
	Calc time [sec] a Move(adPosition) needs for the acceleration part.
virtual real64	GetConstTime (real64 arPosition, const char *apParam)
	Calc time [sec] a Move(adPosition) needs for the constant part.
virtual real64	GetDecelerationTime (real64 arPosition, const char *apParam)
	Calc time [sec] a Move(adPosition) needs for the deceleration part.
virtual real64	GetMoveTime (real64 arPosition, real64 arDelta)
	Calc time [sec] a Move(adPosition) needs until arPosition-arDelta.
virtual real64	GetAccelerationTime (real64 arPosition, real64 arDelta)
	Calc time [sec] a Move(adPosition) needs for the acceleration part.
virtual real64	GetConstTime (real64 arPosition, real64 arDelta)
	Calc time [sec] a Move(adPosition) needs for the constant part.
virtual real64	GetDecelerationTime (real64 arPosition, real64 arDelta)
	Calc time [sec] a Move(adPosition) needs for the deceleration part.
virtual real64	GetMoveTime (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs until arPosition-arDelta.
virtual real64	GetAccelerationTime (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs for the acceleration part.
virtual real64	GetConstTime (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs for the constant part.
virtual real64	GetDecelerationTime (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] a Move(adPosition) needs for the deceleration part.
virtual real64	GetMoveTime (real64 arPosition, real64 arDelta, const char *apParam)
	Calc time [sec] a Move(adPosition) needs until arPosition-arDelta.
virtual real64	GetAccelerationTime (real64 arPosition, real64 arDelta, const char *apParam)
	Calc time [sec] a Move(adPosition) needs for the acceleration part.
virtual real64	GetConstTime (real64 arPosition, real64 arDelta, const char *apParam)
	Calc time [sec] a Move(adPosition) needs for the constant part.
virtual real64	GetDecelerationTime (real64 arPosition, real64 arDelta, const char *apParam)
	Calc time [sec] a Move(adPosition) needs for the deceleration part.
virtual real64	GetMoveTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc time [sec] a Move needs from arStartPosition until arEndPosition-arDelta.
virtual real64	GetAccelerationTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc time [sec] a Move from arStartPosition until arEndPosition needs for the acceleration part.
virtual real64	GetConstTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc time [sec] a Move from arStartPosition until arEndPosition needs for the const part.
virtual real64	GetDecelerationTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc time [sec] a Move from arStartPosition until arEndPosition needs for the deceleration part.
virtual real64	GetMoveTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] a Move needs from arStartPosition until arEndPosition-arDelta.
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.
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.
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.
virtual real64	GetMoveTime (real64 arStartPosition, real64 arEndPosition, real64 arDelta, const char *apParam)
	Calc time [sec] a Move needs from arStartPosition until arEndPosition-arDelta.
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.
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.
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.
virtual real64	GetMoveAppTime (real64 arPosition, real64 arPositionVel, real64 arVelocity)
	Calc time [sec] an according MoveApp needs.
virtual real64	GetMoveAppTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, SINOSRampParam *apParam)
	Calc time [sec] an according MoveApp needs.
virtual real64	GetMoveAppTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam)
	Calc time [sec] an according MoveApp needs.
virtual real64	GetMoveAppTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta)
	Calc time [sec] an according MoveApp needs until arPosition-arDelta.
virtual real64	GetMoveAppTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] an according MoveApp needs until arPosition-arDelta.
virtual real64	GetMoveAppTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, const char *apParam)
	Calc time [sec] an according MoveApp needs until arPosition-arDelta.
virtual real64	GetMoveAppTime (real64 arStartPosition, real64 arEndPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta)
	Calc time [sec] an according MoveApp needs until arEndPosition-arDelta.
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.
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.
virtual real64	GetMoveDepTime (real64 arPosition, real64 arPositionVel, real64 arVelocity)
	Calc time [sec] an according MoveDep needs.
virtual real64	GetMoveDepTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, SINOSRampParam *apParam)
	Calc time [sec] an according MoveDep needs.
virtual real64	GetMoveDepTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam)
	Calc time [sec] an according MoveDep needs.
virtual real64	GetMoveDepTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta)
	Calc time [sec] an according MoveDep needs until arPosition-arDelta.
virtual real64	GetMoveDepTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, SINOSRampParam *apParam)
	Calc time [sec] an according MoveDep needs until arPosition-arDelta.
virtual real64	GetMoveDepTime (real64 arPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta, const char *apParam)
	Calc time [sec] an according MoveDep needs until arPosition-arDelta.
virtual real64	GetMoveDepTime (real64 arStartPosition, real64 arEndPosition, real64 arPositionVel, real64 arVelocity, real64 arDelta)
	Calc time [sec] an according MoveDep needs until arEndPosition-arDelta.
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.
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.
virtual int32	GetMoveTicks (real64 arPosition)
	Calc bus ticks a Move(adPosition) needs until arPosition.
virtual int32	GetAccelerationTicks (real64 arPosition)
	Calc bus ticks a Move(adPosition) needs for the acceleration part.
virtual int32	GetConstTicks (real64 arPosition)
	Calc bus ticks a Move(adPosition) needs for the constant part.
virtual int32	GetDecelerationTicks (real64 arPosition)
	Calc bus ticks a Move(adPosition) needs for the deceleration part.
virtual int32	GetMoveTicks (real64 arPosition, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs until arPosition.
virtual int32	GetAccelerationTicks (real64 arPosition, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs for the acceleration part.
virtual int32	GetConstTicks (real64 arPosition, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs for the constant part.
virtual int32	GetDecelerationTicks (real64 arPosition, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs for the deceleration part.
virtual int32	GetMoveTicks (real64 arPosition, const char *apParam)
	Calc bus ticks a Move(adPosition) needs until arPosition.
virtual int32	GetAccelerationTicks (real64 arPosition, const char *apParam)
	Calc bus ticks a Move(adPosition) needs for the acceleration part.
virtual int32	GetConstTicks (real64 arPosition, const char *apParam)
	Calc bus ticks a Move(adPosition) needs for the constant part.
virtual int32	GetDecelerationTicks (real64 arPosition, const char *apParam)
	Calc bus ticks a Move(adPosition) needs for the deceleration part.
virtual int32	GetMoveTicks (real64 arPosition, real64 arDelta)
	Calc bus ticks a Move(adPosition) needs until arPosition-arDelta.
virtual int32	GetAccelerationTicks (real64 arPosition, real64 arDelta)
	Calc bus ticks a Move(adPosition) needs for the acceleration part.
virtual int32	GetConstTicks (real64 arPosition, real64 arDelta)
	Calc bus ticks a Move(adPosition) needs for the constant part.
virtual int32	GetDecelerationTicks (real64 arPosition, real64 arDelta)
	Calc bus ticks a Move(adPosition) needs for the deceleration part.
virtual int32	GetMoveTicks (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs until arPosition-arDelta.
virtual int32	GetAccelerationTicks (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs for the acceleration part.
virtual int32	GetConstTicks (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs for the constant part.
virtual int32	GetDecelerationTicks (real64 arPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc bus ticks a Move(adPosition) needs for the deceleration part.
virtual int32	GetMoveTicks (real64 arPosition, real64 arDelta, const char *apParam)
	Calc bus ticks a Move(adPosition) needs until arPosition-arDelta.
virtual int32	GetAccelerationTicks (real64 arPosition, real64 arDelta, const char *apParam)
	Calc bus ticks a Move(adPosition) needs for the acceleration part.
virtual int32	GetConstTicks (real64 arPosition, real64 arDelta, const char *apParam)
	Calc bus ticks a Move(adPosition) needs for the constant part.
virtual int32	GetDecelerationTicks (real64 arPosition, real64 arDelta, const char *apParam)
	Calc bus ticks a Move(adPosition) needs for the deceleration part.
virtual int32	GetMoveTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc bus ticks a Move needs from arStartPosition until arEndPosition-arDelta.
virtual int32	GetAccelerationTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc bus ticks a Move from arStartPosition until arEndPosition needs for the acceleration part.
virtual int32	GetConstTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc bus ticks a Move from arStartPosition until arEndPosition needs for the const part.
virtual int32	GetDecelerationTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta)
	Calc bus ticks a Move from arStartPosition until arEndPosition needs for the deceleration part.
virtual int32	GetMoveTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta, SINOSRampParam *apParam)
	Calc bus ticks a Move needs from arStartPosition until arEndPosition-arDelta.
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.
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.
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.
virtual int32	GetMoveTicks (real64 arStartPosition, real64 arEndPosition, real64 arDelta, const char *apParam)
	Calc bus ticks a Move needs from arStartPosition until arEndPosition-arDelta.
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.
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.
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.
virtual int32	GetExitTicks ()
	Calc bus ticks needed till exit in a safe move.
virtual real64	GetMoveDist (real64 arTime)
	Calc distance [unit] a Move progresses in arTime [sec].
virtual real64	GetMoveDist (real64 arPosition, real64 arTime)
	Calc distance [unit] a Move(arPosition) progresses in arTime [sec].
virtual real64	GetMoveDist (real64 arTime, SINOSRampParam *apParam)
	Calc distance [unit] a Move progresses in arTime [sec].
virtual real64	GetMoveDist (real64 arPosition, real64 arTime, SINOSRampParam *apParam)
	Calc distance [unit] a Move(arPosition) progresses in arTime [sec].
virtual real64	GetMoveDist (real64 arTime, const char *apParam)
	Calc distance [unit] a Move progresses in arTime [sec].
virtual real64	GetMoveDist (real64 arPosition, real64 arTime, const char *apParam)
	Calc distance [unit] a Move(arPosition) progresses in arTime [sec].
virtual real64	GetMoveDist (real64 arPosition, uint32 auTicks)
	Calc distance [unit] a Move(arPosition) progresses in auTicks [bus ticks].
virtual real64	GetMoveDist (real64 arPosition, uint32 auTicks, SINOSRampParam *apParam)
	Calc distance [unit] a Move(arPosition) progresses in auTicks [bus ticks].
virtual real64	GetMoveDist (real64 arPosition, uint32 auTicks, const char *apParam)
	Calc distance [unit] a Move(arPosition) progresses in auTicks [bus ticks].
virtual real64	GetMoveDist (real64 arStartPosition, real64 arEndPosition, real64 arTime)
	Calc distance [unit] a move from arStartPosition to arEndPosition progresses in arTime [sec].
virtual real64	GetMoveDist (real64 arStartPosition, real64 arEndPosition, real64 arTime, SINOSRampParam *apParam)
	Calc distance [unit] a move from arStartPosition to arEndPosition progresses in arTime [sec].
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].
virtual real64	GetMoveDist (real64 arStartPosition, real64 arEndPosition, uint32 auTicks)
	Calc distance [unit] a move from arStartPosition to arEndPosition progresses in auTicks [bus ticks].
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].
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].
virtual uint64	GetStartTicks (real64 arDelta)
	Get absolut bus ticks the actual move reaches the start position + arDelta.
virtual uint64	GetTargetTicks ()
	Get absolut bus ticks the actual move reaches the target position.
virtual uint64	GetTargetTicks (real64 arDelta)
	Get absolut bus ticks the actual move reaches the target position - arDelta.
virtual uint32	SegBegin (real64 arSlowMotion=REAL64(1.0), real64 arStartVelocity=REAL64(0.0))
	Create a new segmentation move.
virtual uint32	SegBegin (real64 arSlowMotion, real64 arStartPosition, real64 arStartVelocity)
	Create a new segmentation move at given position.
virtual uint32	SegMove (real64 arPosition)
	Add a move to arPosition. Velocity and acceleration in arPosition have to be 0.0.
virtual uint32	SegMove (real64 arPosition, SINOSRampParam *apParam)
	Add a move to arPosition. Velocity and acceleration in arPosition have to be 0.0.
virtual uint32	SegMove (real64 arPosition, const char *apParam)
	Add a move to arPosition. Velocity and acceleration in arPosition have to be 0.0.
virtual uint32	SegMove (real64 arPosition, real64 arVelocity)
	Add a move to arPosition. Requested velocity in arPosition is arVelocity, the acceleration is 0.0..
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..
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..
virtual uint32	SegConst (real64 arPosition)
	Add a move to arPosition with actual velocity.
virtual uint32	SegPos (real64 arTime)
	stay at actual position for arTime [sec].
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
virtual uint32	SegVelocity (real64 arVelocity, SINOSRampParam *apParam)
	Directly change velocity to the new value.
virtual uint32	SegVelocity (real64 arVelocity, const char *apParam)
	Directly change velocity to the new value.
virtual real64	SegTime ()
	Returns time the actual segment move takes.
virtual uint32	SegRun (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Run actual segments.
virtual uint32	WaitInPosition ()
	Wait for any move to finish.
virtual uint32	GetBusTicksPerAxisTick ()
	Get number of bus ticks an axis tick takes.
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.
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.
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.
void	EnableRamp ()
	Enable a recently disabled trajectory generator.
void	DisableRamp ()
	Disable the axis trajectory generator. Can be used to fill up a pull list without staring immediately.
virtual uint32	Stop (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop a running move with the currently selected speed set.
virtual uint32	Stop (SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop a running move with the given speed set.
virtual uint32	Stop (const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop a running move with the given speed set.
virtual uint32	Stop (real64 arPosition, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop a running move with the currently selected speed set at requested position.
virtual uint32	Stop (real64 arPosition, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop a running move with the given speed set at requested position.
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.
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).
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).
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).
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.
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.
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.
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.
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.
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.
virtual uint32	Continue (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Continue a pause move.
virtual uint32	Continue (SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Continue a pause move with the given speed set.
virtual uint32	Continue (const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Continue a pause move with the given speed set.
virtual uint32	EmergencyStop (CINOSSync *apSync)
	Stop a running move with the defined emergency deceleration/jerk.
virtual uint32	EmergencyStop (uint16 auType=0xffff, uint16 auDelay=0xffff, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop a running move with the defined emergency deceleration/jerk.
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).
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).
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	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)
double	NormPosition (real64 arPosition) const
	Returned the 'normed' value of arPosition.
virtual uint32	NrmActPosition (real64 arRange=REAL64(0.0), bool abRound=false)
virtual uint32	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	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	GetCycleTimeUs (uint32 &auCycleTime)
virtual void	GetCycleTimeNs (uint32 &auCycleTime)
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)
const char *	GetStateText () const
virtual bool	IsBusy () const
virtual uint32	GetErrorHook ()
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	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 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 uint8	GetNormMoveDir ()
virtual void	SetNormMoveDir (uint8 auNormMoveDir)
virtual uint8	GetNormMode ()
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 CINOSPhysicalAxis *	GetAxis (const char *apAxisName)
static CINOSPhysicalAxis *	GetAxis (uint32 auNumber)
Static Public Member Functions inherited from CINOSBaseAxis
static CINOSBaseAxis *	GetAxis (const char *apAxisName)
	Get pointer to axis with name apAxisName.
static CINOSBaseAxis *	GetAxis (uint32 auNumber)
	Get pointer to axis with a given number.
static uint8	GetNumber (const char *apAxisName)
	Get number of axis apAxisName.
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 ()
SINOSBaseRampTrqLimit *	CreateTrqLimit (SINOSMotorTrqLimit *apLimit, real64 arAmax)
virtual void	iInActivate () override
virtual void	iStop (SINOSRampParam *apParam) override
virtual void	iEmergencyStop (bool abLive=false) override
virtual void	iSetCycleTime (real64 arCycleTime) override
virtual void	iRegisterAxis () override
virtual uint32	iMoveEx (real64 arPosition, real64 &arTrgPos, uint32 auFlags, const char *apTrgName, real64 arTrgLevel, SINOSRampParam *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
void	iiMoveEx ()
bool	iMoveExSetupTrigger (const char *apTrgName, real64 arTrgLevel)
bool	iMoveExBorderReached ()
bool	iMoveExBorder ()
bool	iMoveExTriggerOccured ()
void	iMoveExRestoreControl ()
void	iMoveExCleanup ()
void	iMoveExWaitForBorderDelayDone ()
void	iMoveExWaitForEventBorderDelayDone ()
void	iMoveExBorderOccured ()
void	iMoveExBorderRelaxStart ()
void	iMoveExBorderRelaxStop ()
virtual ICACHE void	iPostMap () override
virtual ICACHE void	iPostMapCpd ()
virtual ICACHE void	iPostWrite () override
virtual ICACHE void	iPostWriteCpd ()
virtual uint32	iEnableCoupling ()
virtual void	iActivateCoupling ()
virtual void	iInActivateCoupling ()
void	iCheckErrors ()
void	iCheckWarnings ()
virtual void	iSetActRampPosition (real64 arPosition) override
uint32	eMoveEx (real64 arPosition, real64 arTrgPosition, uint32 auFlags, char *apTrgName, real64 arTrgLevel)
uint32	eMoveEx (real64 arPosition, real64 arTrgPosition, uint32 auFlags, char *apTrgName, real64 arTrgLevel, char *apParam)
uint32	eMoveToBorder (real64 arPosition, char *apParam)
uint32	eSync (real64 arPosition, real64 arSyncPosition, uint32 auFlags)
uint32	eSync (real64 arPosition, real64 arSyncPosition, uint32 auFlags, char *apParam)
void	iLoadBalancingHook ()
void	ForceSignal ()
void	ForceSignal (CINOSSync *apSync)
void	ForcePosition ()
void	ForceHook ()
void	ForceHookEnable ()
void	ForceHookDisable ()
	DECLARE_DYNAMIC (CINOSPhysicalAxis)
Protected Member Functions inherited from CINOSBaseAxis
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 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 ICACHE void	iPreMap ()
ICACHE void	iCheckRampLimits ()
void	SetMapping (CINOSMapping *apMapping, uint32 auIndex)
void	ResetMapping ()
virtual bool	iInPosition (bool abEarlyDone)
virtual bool	iInPosition ()
virtual void	iAdjPreviousPositions (real64 arDifference)
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)

Static Protected Member Functions
static bool	TestBit_0 (void *apAddress, void *apNumber)
static bool	TestBit_1 (void *apAddress, void *apNumber)
static bool	TestBit_true (void *apAddress, void *apNumber)

Protected Attributes
CINOSBaseMotor *	m_pMotor
CINOSBaseControl *	m_pControl
bool	m_bSyncStop
bool	m_bPowerOnCtr0
uint32	m_uMeFlags
SINOSRampParam *	m_pMeParam
uint32	m_uMeCtrFlag
uint32	m_uMeRmpFlag
real64	m_rMePosS
real64	m_rMePosErr
real64	m_rMePos1
real64	m_rMePos2
real64 *	m_pMePosT
EBorderType	m_eBorderType
EBorderStop	m_eBorderStop
real64	m_rBorderLimit
real64	m_rBorderRelax
uint32	m_uBorderDelay
bool	m_bBorderRelaxActive
void *	m_pMeTrgSrcAdr
uint64	m_uMeTrgLevel
tpMeTrgFct	m_pMeTrgFct
uint16	m_uMeTrgSrcTyp
uint16	m_uMeTrgSrcBit
real64	m_rMePositionVel
real64	m_rMeVelocity
real64	m_rMePositionMove
bool	m_bMeMoveApp
bool	m_bMeCurrentLimit
bool	m_bMeRestoreControlFlags
bool	m_bMeTriggerMasked
real64	m_rMePositionAtBorder
uint32	m_uCpdOptions
CINOSPhysicalAxis *	m_pCpdAxis
CINOSBaseControl *	m_pCpdControl
uint16	m_uCpdWait
uint16	m_uCpdWaitCns
real64	m_rCpdOffset
real64	m_rCpdMaxDelta
real64	m_rCpdMaxCorr
real64	m_rCpdDelta
uint32	m_uRelaxTime
SINOSLoadBalancing	m_CpdLoadBalancing
bool	m_bLimitInv
CINOSBit *	m_pLimitPos
CINOSBit *	m_pLimitNeg
Protected Attributes inherited from CINOSBaseAxis
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

Additional Inherited Members
Static Protected Attributes inherited from CINOSBaseAxis
static CINOSMutex	m_GlobalParamSetsMutex
static TINOSNameBalancedBinaryTree< CINOSBaseAxisParamSet > *	m_pGlobalParamSets

Detailed Description

Provides physical aka real 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

Long comment on this file.

Member Enumeration Documentation

EBorderStop

enum CINOSPhysicalAxis::EBorderStop

The different border stopping types the system supports.

Enumerator
eBorderStopHard	immediately stop the trajectory by setting cmdV = 0.0
eBorderStopRamp	stop the move with a stopping ramp (cmdB)

EBorderType

enum CINOSPhysicalAxis::EBorderType

The different border types the system supports.

Enumerator
eBorderPosition	use the current position check error to detect border
eBorderSpeed	use the current speed error to detect border
eBorderSensor	use a digital input to detect border
eBorderSpeedAbs	use real speed to detect border

Member Function Documentation

AcceptError() [1/3]

virtual uint32 CINOSPhysicalAxis::AcceptError ( )

overridevirtual

Reimplemented from CINOSBaseAxis.

AcceptError() [2/3]

virtual uint32 CINOSPhysicalAxis::AcceptError ( uint32  auError )

overridevirtual

Reimplemented from CINOSBaseAxis.

AcceptError() [3/3]

virtual uint32 CINOSPhysicalAxis::AcceptError ( uint32  auError, uint32  auRampError  )

overridevirtual

Reimplemented from CINOSBaseAxis.

AcceptWarning() [1/3]

virtual uint32 CINOSPhysicalAxis::AcceptWarning ( )

overridevirtual

Reimplemented from CINOSBaseAxis.

AcceptWarning() [2/3]

virtual uint32 CINOSPhysicalAxis::AcceptWarning ( uint32  auWarning )

overridevirtual

Reimplemented from CINOSBaseAxis.

AcceptWarning() [3/3]

virtual uint32 CINOSPhysicalAxis::AcceptWarning ( uint32  auWarning, uint32  auRampWarning  )

overridevirtual

Reimplemented from CINOSBaseAxis.

Activate()

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

overridevirtual

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 from CINOSBaseAxis.

Connect()

virtual uint32 CINOSPhysicalAxis::Connect ( )

overridevirtual

Connect axis to hardware.

Returns

Returns an according error code or 0 in case of success

Reimplemented from CINOSBaseAxis.

DisableCurLimit()

virtual void CINOSPhysicalAxis::DisableCurLimit ( )

overridevirtual

Reimplemented from CINOSBaseAxis.

DisableForceLimit()

virtual uint32 CINOSPhysicalAxis::DisableForceLimit ( )

virtual

Disable force limitation.

Returns

Returns an according error code or 0 in case of success

DisableNorm()

virtual void CINOSPhysicalAxis::DisableNorm ( )

overridevirtual

disable auto norm

Reimplemented from CINOSBaseAxis.

DisableSync()

virtual void CINOSPhysicalAxis::DisableSync ( )

overridevirtual

Reimplemented from CINOSBaseAxis.

EnableCurLimit()

virtual void CINOSPhysicalAxis::EnableCurLimit ( )

overridevirtual

Reimplemented from CINOSBaseAxis.

EnableForceLimit()

virtual uint32 CINOSPhysicalAxis::EnableForceLimit ( double  adLimit )

virtual

Enable force limitation to given limit.

Parameters

adLimit

The requested force limit [N]

Returns

Returns an according error code or 0 in case of success

EnableNorm()

virtual void CINOSPhysicalAxis::EnableNorm ( uint8  auMode = DF_INOS_AXIS_NORM_AFTER, uint8  auMoveDir = DF_INOS_AXIS_NORM_MOVE_DIR_NO, real64  arNormPos = REAL64(0.0)  )

overridevirtual

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.

Reimplemented from CINOSBaseAxis.

EnableSync()

virtual void CINOSPhysicalAxis::EnableSync ( real64  arPosition = REAL64(0.0), uint8  auSyncMode = DF_INOS_AXIS_SYNC_NOADJ  )

overridevirtual

Reimplemented from CINOSBaseAxis.

ForceActivate()

virtual uint32 CINOSPhysicalAxis::ForceActivate ( const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Switch from position to force mode.

Parameters

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

Returns

Returns an according error code or 0 in case of success

ForceApproach()

virtual uint32 CINOSPhysicalAxis::ForceApproach ( double  adPosition, double  adPositionVel, double  adVelocity, double  adForce, double  adForcelimit, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search requested force [N], stop if found and switch to force mode.

Parameters

adPosition	The max. search position.
adPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
adVelocity	The requested velocity at point arPosition-arPositionVel
adForce	The requested force [N]
adForceLimit	The requested force limit [N]
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

ForceBreak()

virtual uint32 CINOSPhysicalAxis::ForceBreak ( double  adForce, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Ramp the commanded force to the requested value [N] with the given param set. Expect a collapse before the commanded force is reached.

Parameters

adForce	The commanded force [N]
apParam	Name of param set to use
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success

ForceCancel()

virtual uint32 CINOSPhysicalAxis::ForceCancel ( )

virtual

Cancels force controller.

Returns

Returns an according error code or 0 in case of success

ForceDepart()

virtual uint32 CINOSPhysicalAxis::ForceDepart ( double  adPosition, double  adPositionVel, double  adVelocity, double  adForceLimit, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Switch to position mode and depart from force point.

Parameters

arPosition	The position where to move to.
arPositionVel	Reduced velocity till this position
arVelocity	Requested reduced velocity
adForceLimit	The requested force limit [N]
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

ForceInactivate() [1/2]

virtual uint32 CINOSPhysicalAxis::ForceInactivate ( CINOSSync *  apSync = DF_INOS_SYNCHRONOUS )

virtual

Switch from force to position mode.

Parameters

apSync

A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success

ForceInactivate() [2/2]

virtual uint32 CINOSPhysicalAxis::ForceInactivate ( double  adLimit, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Switch from force to position mode but still limit force to given value [N].

Parameters

adLimit

The requested force limit [N]

Returns

Returns an according error code or 0 in case of success

ForceMove()

virtual uint32 CINOSPhysicalAxis::ForceMove ( double  adForce, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Ramp the commanded force to the requested value [N] with the given param set.

Parameters

adForce	The commanded force [N]
apParam	Name of param set to use
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success

ForceMoveStop()

virtual uint32 CINOSPhysicalAxis::ForceMoveStop ( const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Stop a running ForceMove with the given param set.

Parameters

apParam	Name of param set to use
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success

ForcePull()

virtual uint32 CINOSPhysicalAxis::ForcePull ( double  adForce )

virtual

Set a new force point start force pull mode if not et done. If one is running an axis in force pull mode, one has to provide a new force 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

adForce

Requested force [unit] at time [t]

Returns

Returns an according error code or 0 in case of success

ForceSelect()

virtual uint32 CINOSPhysicalAxis::ForceSelect ( const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Select given param set.

Parameters

apParam

Name of requested param set

Returns

Returns an according error code or 0 in case of success

ForceTara()

virtual uint32 CINOSPhysicalAxis::ForceTara ( double  adForce = 0.0, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Set current force [N] to given value.

Parameters

adForce

The requested force [N]

Returns

Returns an according error code or 0 in case of success

GetActAcceleration()

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

overridevirtual

Reimplemented from CINOSBaseAxis.

GetActJerk()

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

overridevirtual

Reimplemented from CINOSBaseAxis.

GetActPosError()

virtual void CINOSPhysicalAxis::GetActPosError ( real64 &  arPosError )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetActPosition() [1/2]

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

overridevirtual

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

Reimplemented from CINOSBaseAxis.

GetActPosition() [2/2]

virtual void CINOSPhysicalAxis::GetActPosition ( real64 &  arPosition, uint64  auTicks  )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetActVelocity()

virtual void CINOSPhysicalAxis::GetActVelocity ( real64 &  arVelocity, bool  abRamp = true  )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetActVelocityError()

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

overridevirtual

Reimplemented from CINOSBaseAxis.

GetBorderLimit()

virtual void CINOSPhysicalAxis::GetBorderLimit ( real64 &  arLimit )

inlinevirtual

Get border limit value (used in MoveToBorder method)

Parameters

arLimit

The actual limit value.

GetBorderRelax()

virtual void CINOSPhysicalAxis::GetBorderRelax ( real64 &  arRelax )

inlinevirtual

Get border relax value (used in MoveToBorder method)

Parameters

arRelax

The actual relax value.

GetBorderType()

virtual void CINOSPhysicalAxis::GetBorderType ( EBorderType &  auType )

inlinevirtual

Get border limit type (used in MoveToBorder method)

Parameters

auType

The actual border type (0-Serr, 1-V)

GetBusId()

virtual uint8 CINOSPhysicalAxis::GetBusId ( )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetCurLimit()

virtual bool CINOSPhysicalAxis::GetCurLimit ( )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetCycleId()

virtual uint16 CINOSPhysicalAxis::GetCycleId ( )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetCycleNumber()

virtual uint16 CINOSPhysicalAxis::GetCycleNumber ( )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetCycleTime()

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

overridevirtual

Reimplemented from CINOSBaseAxis.

GetError() [1/2]

virtual uint32 CINOSPhysicalAxis::GetError ( bool  abResolveExternal = false )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetError() [2/2]

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

overridevirtual

Reimplemented from CINOSBaseAxis.

GetErrorEx() [1/2]

virtual uint64 CINOSPhysicalAxis::GetErrorEx ( bool  abResolveExternal = false )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetErrorEx() [2/2]

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

overridevirtual

Reimplemented from CINOSBaseAxis.

GetIncsPerUnit()

virtual void CINOSPhysicalAxis::GetIncsPerUnit ( double &  adIncs )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetOversampling()

virtual uint8 CINOSPhysicalAxis::GetOversampling ( )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetParam() [1/2]

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

overridevirtual

Reimplemented from CINOSBaseAxis.

GetParam() [2/2]

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

inlineoverridevirtual

Reimplemented from CINOSBaseAxis.

GetRealAcceleration()

virtual void CINOSPhysicalAxis::GetRealAcceleration ( real64 &  arAcceleration )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetRealJerk()

virtual void CINOSPhysicalAxis::GetRealJerk ( real64 &  arJerk )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetRealPosition()

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

overridevirtual

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

Reimplemented from CINOSBaseAxis.

GetRealVelocity()

virtual void CINOSPhysicalAxis::GetRealVelocity ( real64 &  arVelocity )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetRegister()

virtual CINCOObject * CINOSPhysicalAxis::GetRegister ( )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetState() [1/2]

virtual int32 CINOSPhysicalAxis::GetState ( )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetState() [2/2]

virtual int32 CINOSPhysicalAxis::GetState ( uint32 &  auRampState )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetSyncCount()

virtual void CINOSPhysicalAxis::GetSyncCount ( uint32 &  auSyncCount )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetUnitsPerInc()

virtual void CINOSPhysicalAxis::GetUnitsPerInc ( double &  adUnits )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetWarning() [1/2]

virtual uint32 CINOSPhysicalAxis::GetWarning ( bool  abResolveExternal = false )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetWarning() [2/2]

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

overridevirtual

Reimplemented from CINOSBaseAxis.

GetWarningEx() [1/2]

virtual uint64 CINOSPhysicalAxis::GetWarningEx ( bool  abResolveExternal = false )

overridevirtual

Reimplemented from CINOSBaseAxis.

GetWarningEx() [2/2]

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

overridevirtual

Reimplemented from CINOSBaseAxis.

iEmergencyStop()

virtual void CINOSPhysicalAxis::iEmergencyStop ( bool  abLive = false )

overrideprotectedvirtual

Reimplemented from CINOSBaseAxis.

iInActivate()

virtual void CINOSPhysicalAxis::iInActivate ( )

overrideprotectedvirtual

Reimplemented from CINOSBaseAxis.

InActivate()

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

overridevirtual

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 from CINOSBaseAxis.

iPostMap()

virtual ICACHE void CINOSPhysicalAxis::iPostMap ( )

overrideprotectedvirtual

Reimplemented from CINOSBaseAxis.

iPostWrite()

virtual ICACHE void CINOSPhysicalAxis::iPostWrite ( )

overrideprotectedvirtual

Reimplemented from CINOSBaseAxis.

iRegisterAxis()

virtual void CINOSPhysicalAxis::iRegisterAxis ( )

overrideprotectedvirtual

Reimplemented from CINOSBaseAxis.

IsErrorFatal()

virtual bool CINOSPhysicalAxis::IsErrorFatal ( )

overridevirtual

Reimplemented from CINOSBaseAxis.

iSetActRampPosition()

virtual void CINOSPhysicalAxis::iSetActRampPosition ( real64  arPosition )

overrideprotectedvirtual

Reimplemented from CINOSBaseAxis.

iSetCycleTime()

virtual void CINOSPhysicalAxis::iSetCycleTime ( real64  arCycleTime )

overrideprotectedvirtual

Reimplemented from CINOSBaseAxis.

iStop()

virtual void CINOSPhysicalAxis::iStop ( SINOSRampParam *  apParam )

overrideprotectedvirtual

Reimplemented from CINOSBaseAxis.

MoveToAnalogSensor() [1/5]

virtual uint32 CINOSPhysicalAxis::MoveToAnalogSensor ( const char *  apName, real64  arPosition, real64  arLevel, bool  abGreater, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search analog sensor till arPosition and stop if found.

Parameters

apName	Name of analog input.
arPosition	The position where to move to.
arLevel	The requested level of the analog input.
abGreater	True if input needs to be greater than arLevel, false otherwise
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

MoveToAnalogSensor() [2/5]

virtual uint32 CINOSPhysicalAxis::MoveToAnalogSensor ( const char *  apName, real64  arPosition, real64  arLevel, bool  abGreater, real64 &  arResult, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search analog sensor till arPosition and stop if found.

Parameters

apName	Name of analog input.
arPosition	The position where to move to.
arLevel	The requested level of the analog input.
abGreater	True if input needs to be greater than arLevel, false otherwise
arResult	Position at which the sensor was found
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

MoveToAnalogSensor() [3/5]

virtual uint32 CINOSPhysicalAxis::MoveToAnalogSensor ( const char *  apName, real64  arPosition, real64  arLevel, bool  abGreater, real64 &  arResult, SINOSRampParam *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search analog sensor till arPosition and stop if found.

Parameters

apName	Name of analog input.
arPosition	The position where to move to.
arLevel	The requested level of the analog input.
abGreater	True if input needs to be greater than arLevel, false otherwise
arResult	Position at which the sensor was found
auFlags	Additional flags (see MoveEx command for details)
apParam	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

MoveToAnalogSensor() [4/5]

virtual uint32 CINOSPhysicalAxis::MoveToAnalogSensor ( const char *  apName, real64  arPosition, real64  arLevel, bool  abGreater, real64 &  arResult, uint32  auFlags, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search analog sensor till arPosition and stop if found.

Parameters

apName	Name of analog input.
arPosition	The position where to move to.
arLevel	The requested level of the analog input.
abGreater	True if input needs to be greater than arLevel, false otherwise
arResult	Position at which the sensor was found
auFlags	Additional flags (see MoveEx command for details)
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

MoveToAnalogSensor() [5/5]

virtual uint32 CINOSPhysicalAxis::MoveToAnalogSensor ( const char *  apName, real64  arPosition, real64  arLevel, bool  abGreater, real64 &  arResult, uint32  auFlags, SINOSRampParam *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search analog sensor till arPosition and stop if found.

Parameters

apName	Name of analog input.
arPosition	The position where to move to.
arLevel	The requested level of the analog input.
abGreater	True if input needs to be greater than arLevel, false otherwise
arResult	Position at which the sensor was found
auFlags	Additional flags (see MoveEx command for details)
apParam	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

MoveToAnalogSensorApp() [1/5]

virtual uint32 CINOSPhysicalAxis::MoveToAnalogSensorApp ( const char *  apName, real64  arPosition, real64  arLevel, bool  abGreater, real64  arPositionVel, real64  arVelocity, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search analog sensor till arPosition and stop if found.

Parameters

apName	Name of analog input.
arPosition	The position where to move to.
arLevel	The requested level of the analog input.
abGreater	True if input needs to be greater than arLevel, false otherwise
arPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
arVelocity	The requested velocity at point arPosition-arPositionVel
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

MoveToAnalogSensorApp() [2/5]

virtual uint32 CINOSPhysicalAxis::MoveToAnalogSensorApp ( const char *  apName, real64  arPosition, real64  arLevel, bool  abGreater, real64  arPositionVel, real64  arVelocity, real64 &  arResult, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search analog sensor till arPosition and stop if found.

Parameters

apName	Name of analog input.
arPosition	The position where to move to.
arLevel	The requested level of the analog input.
abGreater	True if input needs to be greater than arLevel, false otherwise
arPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
arVelocity	The requested velocity at point arPosition-arPositionVel
arResult	Position at which the sensor was found
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

MoveToAnalogSensorApp() [3/5]

virtual uint32 CINOSPhysicalAxis::MoveToAnalogSensorApp ( const char *  apName, real64  arPosition, real64  arLevel, bool  abGreater, real64  arPositionVel, real64  arVelocity, real64 &  arResult, SINOSRampParam *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search analog sensor till arPosition and stop if found.

Parameters

apName	Name of analog input.
arPosition	The position where to move to.
arLevel	The requested level of the analog input.
abGreater	True if input needs to be greater than arLevel, false otherwise
arPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
arVelocity	The requested velocity at point arPosition-arPositionVel
arResult	Position at which the sensor was found
apParam	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

MoveToAnalogSensorApp() [4/5]

virtual uint32 CINOSPhysicalAxis::MoveToAnalogSensorApp ( const char *  apName, real64  arPosition, real64  arLevel, bool  abGreater, real64  arPositionVel, real64  arVelocity, real64 &  arResult, uint32  auFlags, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search analog sensor till arPosition and stop if found.

Parameters

apName	Name of analog input.
arPosition	The position where to move to.
arLevel	The requested level of the analog input.
abGreater	True if input needs to be greater than arLevel, false otherwise
arPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
arVelocity	The requested velocity at point arPosition-arPositionVel
arResult	Position at which the sensor was found
auFlags	Additional flags (see MoveEx command for details)
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

MoveToAnalogSensorApp() [5/5]

virtual uint32 CINOSPhysicalAxis::MoveToAnalogSensorApp ( const char *  apName, real64  arPosition, real64  arLevel, bool  abGreater, real64  arPositionVel, real64  arVelocity, real64 &  arResult, uint32  auFlags, SINOSRampParam *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search analog sensor till arPosition and stop if found.

Parameters

apName	Name of analog input.
arPosition	The position where to move to.
arLevel	The requested level of the analog input.
abGreater	True if input needs to be greater than arLevel, false otherwise
arPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
arVelocity	The requested velocity at point arPosition-arPositionVel
arResult	Position at which the sensor was found
auFlags	Additional flags (see MoveEx command for details)
apParam	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

MoveToBorder() [1/2]

virtual uint32 CINOSPhysicalAxis::MoveToBorder ( real64  arPosition, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search border till arPosition and stop if found (use ReleaseFromBorder before other moves are initiated)

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

MoveToBorder() [2/2]

virtual uint32 CINOSPhysicalAxis::MoveToBorder ( real64  arPosition, real64 &  arResult, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search border till arPosition and stop if found (use ReleaseFromBorder before other moves are initiated)

Parameters

arPosition	The position where to move to.
arResult	Position at which the border was found
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

MoveToBorderApp() [1/3]

virtual uint32 CINOSPhysicalAxis::MoveToBorderApp ( real64  arPosition, real64  arPositionVel, real64  arVelocity, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search border till arPosition and stop if found. The current limitation is switched on at the reduced velocity point (use ReleaseFromBorder before other moves are initiated)

Parameters

arPosition	The position where to move to.
arPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
arVelocity	The requested velocity at point arPosition-arPositionVel
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

MoveToBorderApp() [2/3]

virtual uint32 CINOSPhysicalAxis::MoveToBorderApp ( real64  arPosition, real64  arPositionVel, real64  arVelocity, real64 &  arResult, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search border till arPosition and stop if found. The current limitation is switched on at the reduced velocity point (use ReleaseFromBorder before other moves are initiated)

Parameters

arPosition	The position where to move to.
arPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
arVelocity	The requested velocity at point arPosition-arPositionVel
arResult	Position at which the border was found
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

MoveToBorderApp() [3/3]

virtual uint32 CINOSPhysicalAxis::MoveToBorderApp ( real64  arPosition, real64  arPositionVel, real64  arVelocity, real64 &  arResult, uint32  auFlags, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search border till arPosition and stop if found. The current limitation is switched on at the reduced velocity point (use ReleaseFromBorder before other moves are initiated)

Parameters

arPosition	The position where to move to.
arPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
arVelocity	The requested velocity at point arPosition-arPositionVel
arResult	Position at which the border was found
auFlags	Additional flags (see MoveEx command for details)
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

MoveToDigitalSensor() [1/3]

virtual uint32 CINOSPhysicalAxis::MoveToDigitalSensor ( const char *  apName, real64  arPosition, bool  abSet, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search digital sensor till arPosition and stop if found. If not found, the axis will go into "Failed" error state and requires to be recovered before it can be used again.

Parameters

apName	Name of digital input.
arPosition	The position where to move to.
abSet	True if we want the input to be set, false otherwise
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

MoveToDigitalSensor() [2/3]

virtual uint32 CINOSPhysicalAxis::MoveToDigitalSensor ( const char *  apName, real64  arPosition, bool  abSet, real64 &  arResult, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search digital sensor till arPosition and stop if found. If not found, the axis will go into "Failed" error state and requires to be recovered before it can be used again.

Parameters

apName	Name of digital input.
arPosition	The position where to move to.
abSet	True if we want the input to be set, false otherwise
arResult	Position at which the sensor was found
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

MoveToDigitalSensor() [3/3]

virtual uint32 CINOSPhysicalAxis::MoveToDigitalSensor ( const char *  apName, real64  arPosition, bool  abSet, real64 &  arResult, uint32  auFlags, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search digital sensor till arPosition and stop if found. This overload allows to specify arbitrary MoveEx flags see auFlags. Among other use cases, use this overload if setting the axis to an error state when no sensor is found is undesired. In that case, pass in DF_MOVEEX_NO_ERROR (probably along with DF_MOVEEX_STOP_AT_EVENT, DF_MOVEEX_TRG_EQ and DF_MOVEEX_SET_TRG_POS).

Parameters

apName	Name of digital input.
arPosition	The position where to move to.
abSet	True if we want the input to be set, false otherwise
arResult	Position at which the sensor was found. The value of arResult will not be altered if the sensor was not found. Allowing the caller to decide whether the sensor has been found if e.g. the auFlags was set with DF_MOVEEX_NO_ERROR and thus the "sensor found"-check can't be done by checking for an axis error.
auFlags	Additional flags (see MoveEx command for details)
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

MoveToDigitalSensorApp() [1/3]

virtual uint32 CINOSPhysicalAxis::MoveToDigitalSensorApp ( const char *  apName, real64  arPosition, bool  abSet, real64  arPositionVel, real64  arVelocity, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search digital sensor till arPosition and stop if found.

Parameters

apName	Name of digital input.
arPosition	The position where to move to.
abSet	True if we want the input to be set, false otherwise
arPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
arVelocity	The requested velocity at point arPosition-arPositionVel
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

MoveToDigitalSensorApp() [2/3]

virtual uint32 CINOSPhysicalAxis::MoveToDigitalSensorApp ( const char *  apName, real64  arPosition, bool  abSet, real64  arPositionVel, real64  arVelocity, real64 &  arResult, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search digital sensor till arPosition and stop if found.

Parameters

apName	Name of digital input.
arPosition	The position where to move to.
abSet	True if we want the input to be set, false otherwise
arPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
arVelocity	The requested velocity at point arPosition-arPositionVel
arResult	Position at which the sensor was found. The value of arResult will not be altered if the sensor was not found.
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

MoveToDigitalSensorApp() [3/3]

virtual uint32 CINOSPhysicalAxis::MoveToDigitalSensorApp ( const char *  apName, real64  arPosition, bool  abSet, real64  arPositionVel, real64  arVelocity, real64 &  arResult, uint32  auFlags, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search digital sensor till arPosition and stop if found.

Parameters

apName	Name of digital input.
arPosition	The position where to move to.
abSet	True if we want the input to be set, false otherwise
arPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
arVelocity	The requested velocity at point arPosition-arPositionVel
arResult	Position at which the sensor was found. The value of arResult will not be altered if the sensor was not found.
auFlags	Additional flags (see MoveEx command for details)
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

Relax()

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

overridevirtual

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 from CINOSBaseAxis.

SetActPosition()

virtual uint32 CINOSPhysicalAxis::SetActPosition ( real64  arPosition )

overridevirtual

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

Reimplemented from CINOSBaseAxis.

SetBorderLimit()

virtual void CINOSPhysicalAxis::SetBorderLimit ( real64  arLimit )

inlinevirtual

Set border limit value (used in MoveToBorder method)

Parameters

arLimit

The requested limit value.

SetBorderRelax()

virtual void CINOSPhysicalAxis::SetBorderRelax ( real64  arRelax )

inlinevirtual

Set border relax value (used in MoveToBorder method)

Parameters

arRelax

The requested relax value.

SetBorderType()

virtual void CINOSPhysicalAxis::SetBorderType ( EBorderType  auType )

inlinevirtual

Set border limit type (used in MoveToBorder method)

Parameters

auType

The requested border type (0-Serr, 1-V)

SetNormMode()

virtual void CINOSPhysicalAxis::SetNormMode ( uint8  auNormMode )

overridevirtual

set norm mode

Reimplemented from CINOSBaseAxis.

SetParam() [1/2]

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

overridevirtual

Reimplemented from CINOSBaseAxis.

SetParam() [2/2]

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

inlineoverridevirtual

Reimplemented from CINOSBaseAxis.

SetPathPosition()

virtual void CINOSPhysicalAxis::SetPathPosition ( real64  arPosition )

inlineoverridevirtual

Reimplemented from CINOSBaseAxis.

SetRealPosition()

virtual uint32 CINOSPhysicalAxis::SetRealPosition ( real64  arPosition )

overridevirtual

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

Reimplemented from CINOSBaseAxis.

SetSyncCount()

virtual void CINOSPhysicalAxis::SetSyncCount ( uint32  auSyncCount )

overridevirtual

Reimplemented from CINOSBaseAxis.

Sync() [1/7]

virtual uint32 CINOSPhysicalAxis::Sync ( real64  arPosition, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

overridevirtual

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

Reimplemented from CINOSBaseAxis.

Sync() [2/7]

virtual uint32 CINOSPhysicalAxis::Sync ( real64  arPosition, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

overridevirtual

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

Reimplemented from CINOSBaseAxis.

Sync() [3/7]

virtual uint32 CINOSPhysicalAxis::Sync ( real64  arPosition, real64  arSyncPos, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

overridevirtual

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

Reimplemented from CINOSBaseAxis.

Sync() [4/7]

virtual uint32 CINOSPhysicalAxis::Sync ( real64  arPosition, real64  arSyncPos, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

overridevirtual

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

Reimplemented from CINOSBaseAxis.

Sync() [5/7]

virtual uint32 CINOSPhysicalAxis::Sync ( real64  arPosition, real64  arSyncPos, SINOSRampParam *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

overridevirtual

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

Reimplemented from CINOSBaseAxis.

Sync() [6/7]

virtual uint32 CINOSPhysicalAxis::Sync ( real64  arPosition, SINOSRampParam *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

overridevirtual

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

Reimplemented from CINOSBaseAxis.

Sync() [7/7]

virtual uint32 CINOSPhysicalAxis::Sync ( real64  arSyncPos, const char *  apParam, CINCOObject *  apObject, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

overridevirtual

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

Reimplemented from CINOSBaseAxis.

SyncMove() [1/3]

virtual uint32 CINOSPhysicalAxis::SyncMove ( real64  arPosition, real64  arSyncPos, real64  arMovePos, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search reference till max. arPosition. If reference found, set position at reference to arSyncPos and finally move to arMovePos without an intermediate stop.

Parameters

arPosition	The max. position till where to search reference.
arSyncPos	The requested position at the reference
arMovePos	The requested (synced) position where to finally move
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success

SyncMove() [2/3]

virtual uint32 CINOSPhysicalAxis::SyncMove ( real64  arPosition, real64  arSyncPos, real64  arMovePos, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search reference till max. arPosition. If reference found, set position at reference to arSyncPos and finally move to arMovePos without an intermediate stop.

Parameters

arPosition	The max. position till where to search reference.
arSyncPos	The requested position at the reference
arMovePos	The requested (synced) position where to finally move
apParam	Name of requested speedset
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success

SyncMove() [3/3]

virtual uint32 CINOSPhysicalAxis::SyncMove ( real64  arPosition, real64  arSyncPos, real64  arMovePos, SINOSRampParam *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search reference till max. arPosition. If reference found, set position at reference to arSyncPos and finally move to arMovePos without an intermediate stop.

Parameters

arPosition	The max. position till where to search reference.
arSyncPos	The requested position at the reference
arMovePos	The requested (synced) position where to finally move
apParam	Pointer to requested speedset
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success

UpdateCycleId()

virtual void CINOSPhysicalAxis::UpdateCycleId ( uint16  auCycleId )

overridevirtual

Reimplemented from CINOSBaseAxis.

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

• /home/jenkins/workspace/inos_doxygen/os/inos/inc/cinosphysicalaxis.h