Inheritance diagram for CINOSPosControl:

Public Member Functions
	CINOSPosControl (SINOSPosControl *apDesc)

virtual void	Activate (bool abCheckPos=true, bool abSimulatePos=false, bool abSimulateOut=false, bool abSimulateAct=false) override

virtual void	SetCycleTime (real64 arCycleTime) override

virtual void	OnGearRatioChanged () override

virtual void	BorderRelaxStart () override

virtual void	BorderRelaxStop () override

virtual CINCOObject *	GetRegister () override

real64	GetVff ()
	Get current feed forward V. More...

void	SetVff (real64 arVff)
	Set current feed forward V. More...

Public Member Functions inherited from CINOSBaseControl
	CINOSBaseControl (SINOSBaseControl *apDesc)

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

virtual void	InActivate ()

virtual ICACHE uint32	Pull (SINOSRampDataEx *apData)

virtual ICACHE uint32	Pull (real64 arPosition, real64 arVelocity, real64 arAcceleration, real64 arJerk)

virtual void	GetCmdPosition (real64 &arPosition)

virtual void	GetCmdVelocity (real64 &arVelocity)

virtual void	GetCmdAcceleration (real64 &arAcceleration)

virtual void	GetCmdJerk (real64 &arJerk)

virtual ICACHE void	SetActPosition (real64 arPosition)

virtual ICACHE void	AdjActPosition (real64 arPosition)

virtual ICACHE void	GetActPosition (real64 &arPosition)

virtual ICACHE void	GetActPositionEx (real64 &arPosition)

INOS_INLINE void	GetActPositionFst (real64 &arPosition)

virtual void	GetActVelocity (real64 &arVelocity, bool abFiltered=false)
	get actual position fast

virtual void	GetActAcceleration (real64 &arAcceleration)

virtual void	GetActJerk (real64 &arJerk)

virtual void	GetActPosError (real64 &arPosError)

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

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

virtual volatile real64 *	GetParamAdr (const char *apName)

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

virtual void	SetIncsPerUnit (real64 arIncs)

virtual void	SetUnitsPerInc (real64 arUnits)

void	SetFlag (uint32 auFlag)

void	ClrFlag (uint32 auFlag)

uint32	GetFlag () const

const char *	GetType ()

virtual ICACHE uint32	GetState ()

virtual ICACHE uint32	GetState (uint32 &auSubState)

virtual uint32	SetError (uint32 auError)

virtual ICACHE uint32	GetError (bool abResolveExternal=false)

virtual ICACHE uint64	GetErrorEx (bool abResolveExternal=false)

virtual ICACHE real64	GetPosError ()

virtual bool	IsErrorFatal ()

virtual uint32	GetWarning (bool abResolveExternal=false)

virtual uint64	GetWarningEx (bool abResolveExternal=false)

virtual void	AcceptError (uint64 auError=0xffffffffffffffffLL)

virtual void	AcceptWarning (uint64 auWarning=0xffffffffffffffffLL)

virtual bool	Sync (real64 arPosition)

virtual ICACHE void	AbortSync ()

virtual bool	GetZeroImpuls ()

virtual void	GetSyncPos (real64 &arSyncPos)

virtual void	SetSyncPos (real64 arSyncPos)

virtual void	GetSyncCnt (uint32 &auSyncCnt)

virtual void	SetSyncCnt (uint32 auSyncCnt)

virtual void	GetSyncCor (real64 &arSyncCor)

virtual void	SetNormPos (real64 arNormPos)

void	SetPathS (real64 arSpath)

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 ICACHE void	SetAxisEnable (bool abEnable)

virtual ICACHE bool	GetAxisEnable ()

virtual ICACHE bool	GetAxisEnabled ()

virtual ICACHE bool	GetAxisReady ()

virtual ICACHE void	SetSyncEnable (bool abEnable)

virtual ICACHE bool	GetSyncEnabled ()

virtual ICACHE void	ResetSync ()

virtual ICACHE void	ResetEnabled ()

virtual ICACHE void	SetControlOut (real64 arControl)

virtual ICACHE void	SetSerrorOut (real64 arError)

virtual bool	GetAutoComRequested ()

virtual void	OnActivated ()

virtual void	OnInActivated ()

virtual ICACHE void	SetCoupled (bool abCoupled)

virtual ICACHE bool	GetCoupled ()

virtual bool	SafeSyncEnable ()

virtual void	SafeSyncDisable ()

virtual bool	SafeSyncCheck ()

virtual bool	SafeSyncAvailable ()

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

virtual uint8	GetOversampling ()

virtual uint16	GetCycleNumber ()

virtual uint16	GetCycleId ()

virtual uint8	GetBusId ()

virtual void	SetDeadTime (real64 arDeadTime)

virtual void	GetDeadTime (real64 &arDeadTime)

virtual CINOSPosChannel *	GetPosChannel ()

virtual CINOSBit *	GetOutActivate ()

virtual CINOSBit *	GetPowerReady ()

virtual bool	IsOnline () const

virtual uint32	GetMcRobotBaseCode ()

const char *	GetAxisName () 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

virtual const char *	GetStateText ()

Protected Member Functions
virtual void	Reset () override

virtual ICACHE void	Control () override

void	CalcVff ()

	DECLARE_DYNAMIC_CACHE (CINOSPosControl)

Protected Member Functions inherited from CINOSBaseControl
virtual void	Activating ()

virtual void	InActivating ()

void	iCalcDeadTime ()

real64	GetSyncCor ()

int64	iCalcSinc (real64 arPosition)

ICACHE real64	iCalcSact (int64 aiPosition)

ICACHE real64	iCalcSactEx (int64 aiPositionEx)

ICACHE void	iCalcSerr ()

bool	HasExtendedErrorWarning ()

ICACHE uint32	iGetError ()

ICACHE uint32	iGetWarning ()

void	iRegisterTrqCurrent ()

virtual void	UpdateCycleId (uint16 auCycleId)

void	SetMaxVelocity (real64 arVmax)

bool	iSetAxisEnableInput ()
	set name of axis enable input

	DECLARE_DYNAMIC (CINOSBaseControl)

Protected Attributes
uint8	m_uActSet

SPidPos	m_Pid [2]

real64	m_rSintMax

real64	m_rVff

real64	m_rSerrInc

real64	m_rSerrIncMax = 0x7fffffff

real64	m_rSintInc

real64	m_rVerrInc

Protected Attributes inherited from CINOSBaseControl
uint32	m_uState

uint32	m_uSubState

uint64	m_uError

uint64	m_uWarning

uint32	m_uFlag

uint32	m_uFlagCpy

bool	m_bStartup

CINCOObject *	m_pRegister

CINCOObject *	m_pError

CINCOObject *	m_pWarning

CINCOObject *	m_pFlag

CINCOObject *	m_pCmd

CINCOObject *	m_pAct

CINCOObject *	m_pLife

CINCOObject *	m_pErr

CINCOObject *	m_pMax

CINCOObject *	m_pMisc

CINOSPosChannel *	m_pPosChannel

CINOSPosChannel *	m_pPosChannelEx

uint32 *	m_pPosConfig

uint32 *	m_pPosOffline

int32 *	m_pPosPosition

int32 *	m_pPosPositionEx

SINOSBaseControl *	m_pDesc

const char *	m_pType

CINOSBus *	m_pBus {}

uint8	m_uBusCategory {}

CINOSBit *	m_pOutActivate
	pointer to activate output

CINOSBit *	m_pOutSyncEnb
	pointer to sync enable output

CINOSBit *	m_pOutSyncEnbEx
	pointer to extended sync enable output

CINOSBit *	m_pOutCurLimit
	pointer to currentlimit bit

CINOSBit *	m_pOutCurAdd
	pointer to current add bit

CINOSBit *	m_pOutCurCmd
	pointer to current cmd bit

CINOSBit *	m_pOutPosRelax
	pointer to pos relax (used at border)

CINOSBit *	m_pOutCoupled
	pointer to coupled

CINOSBit *	m_pInpActivated
	pointer to activated input

CINOSBit *	m_pInpAutoCom
	pointer to autocom input

CINOSBit *	m_pInpWarning
	pointer to warning input

CINOSBit *	m_pInpError
	pointer to error input

CINOSBit *	m_pInpFatalError
	pointer to fatal error input

CINOSBit *	m_pInpSynced
	pointer to synced input

CINOSBit *	m_pInpSyncDeltaOk
	pointer to syncdeltaok input

CINOSBit *	m_pInpSync
	pointer to sync input

CINOSBit *	m_pInpUccOk
	pointer to ucc ok input

CINOSDacChannel *	m_pOutSpeed
	pointer to speed output

void *	m_pOutSpeedRaw
	pointer to speed output

real64	m_rOutSpeedRawGain
	speed raw gain

CINOSDacChannel *	m_pOutSerror
	pointer to error output

void *	m_pOutSerrorRaw
	pointer to error output

real64	m_rOutSerrorRawGain
	serror raw gain

CINOSDacChannel *	m_pOutTrqCurrent
	pointer to trqcurrent output

CINOSAdcChannel *	m_pInpTrqCurrent
	pointer to trqcurrent input

uint32	m_uMaskCfgError
	error mask

uint32	m_uMaskCfgWarning
	warning mask

uint32	m_uMaskCfgSynced
	synced mask

real64	m_rCycleTime

real64	m_rCycleTimeMs

real64	m_rDeadTime

real64	m_rDeadTimeMs

real64	m_rDelayToHalt

uint16	m_uCycleId

uint8	m_uOversampling

real64	m_rScmd

real64	m_rVcmd

real64	m_rAcmd

real64	m_rJcmd

real64	m_rSpath

real64	m_rSact

real64	m_rSactEx

real64	m_rSactExOffset

real64	m_rSactDiff

real64	m_rVact

real64	m_rVactFiltered

real64	m_rAact

real64	m_rJact

int64	m_iLifetimeDistance
	lifetime distance in inc

real64	m_rSerr

real64	m_rVerr

real64	m_rVerrFiltered

real64	m_rSmax

real64	m_rSmaxRun

real64	m_rSmaxAct

real64	m_rVmax_1

real64	m_rSerrMax

real64	m_rSerrMin

real64	m_rSerrMaxPos

real64	m_rSerrMinPos

real64	m_rSerrMaxNeg

real64	m_rSerrMinNeg

uint16	m_uCmdMsk {}

uint16	m_uCmdWrt {}

uint16	m_uCmdDdT {}

uint16	m_uCmdWait {}

real64	m_rCmdT {}

SINOSRampData *	m_pCmdBuf {}

real64	m_rKnf_s

real64	m_rKnf_1s

real64	m_rKnf_1sEx

real64	m_rKnf_1v

real64	m_rKnf_1vf

real64	m_rKnf_1a

int64	m_iPosition

real64	m_rPositionFract

int64	m_iPositionEx

int32	m_iOldS

int32	m_iOldSEx

int32	m_iOlderS

int32 *	m_pSarray

uint16	m_uSarraySize

uint16	m_uSarrayIndex

uint32	m_uCharacteristics

uint32	m_uDelayToHalt

int32	m_iDelayToHalt

real64	m_rSyncPos

real64	m_rSyncCor

uint32	m_uSyncCnt

int32	m_iSyncInc

real64	m_rNormPos

uint32	m_uNormInc

enum CINOSBaseControl:: { ... }	m_eExtErWr

bool	m_bSyncEnb

CINOSOscillationDetector *	m_pOsciChk

uint32 *	m_pDiEnable = nullptr

uint32	m_uDiEnableMask = 0

inosName64	m_cDiEnable {}

Friends
class	CINCOPosCtrPar

Additional Inherited Members
Static Public Member Functions inherited from CINOSBaseControl
static CINOSBaseControl *	GetControl (const char apAxisName, const char apControlType)

Protected Types inherited from CINOSBaseControl
enum	{ eExtErWrUnknown, eExtErWrNo, eExtErWrYes }

Static Protected Attributes inherited from CINOSBaseControl
static char	m_cStateCombo [494]

Member Function Documentation

◆ GetVff()

real64 CINOSPosControl::GetVff ( )

inline

Get current feed forward V.

Returns: Returns the current Vff factor

◆ SetVff()

void CINOSPosControl::SetVff ( real64 arVff )

inline

Set current feed forward V.

Parameters

The	new requested Vff factor

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Function Documentation

◆ GetVff()

◆ SetVff()