SINOSBaseRamp Struct Reference
Descriptor structure used to configure a ramp. It is usually defined in a corresponding xxx.xxxramp.dt2 configuration file. see also Ramp. More...
#include <cinosbaseramp.h>
Inheritance diagram for SINOSBaseRamp:
Public Attributes | |
| inosName64 | m_cName |
| Axis name. | |
| inosName | m_cUnit |
| Axis unit, e.g. m, mm, deg, ... The string has no special meaning and is just for displaying purposes. | |
| real64 | m_rCycleTime |
| Axis cycletime the trajectory generator should work with [ms]. Do not configure this value in modern applications (e.g. GinLink based) as the axis cycletime there is category based and configured in the corresponding fieldbus configuration file (e.g. ginlink.dt2) | |
| real64 | m_rScmd |
| The default commanded position [units]. | |
| real64 | m_rVcmd |
| The default commanded velocity [units]. Used if one starts a move without any given speed set. | |
| real64 | m_rAcmd |
| The default commanded acceleration [units/s]. Used if one starts a move without any given speed set. | |
| real64 | m_rBcmd |
| The default commanded deceleration [units/s^2]. Used if one starts a move without any given speed set. | |
| real64 | m_rCcmd |
| The default commanded cruiseleration [units/s^2]. The cruiseleration is used in move in move or speed set update situations and defines the acc/deceleration used to calculate the new trajectory. | |
| real64 | m_rJcmd |
| The default commanded jerk [units/s^3]. Used if one starts a move without any given speed set. | |
| real64 | m_rJbcmd |
| The default commanded begin jerk [units/s^3]. Used if one starts a move without any given speed set. A move can have four jerks, begin, middle1, middle2 and end. | |
| real64 | m_rJm1cmd |
| The default commanded middle1 jerk [units/s^3]. Used if one starts a move without any given speed set. A move can have four jerks, begin, middle1, middle2 and end. | |
| real64 | m_rJm2cmd |
| The default commanded middle2 jerk [units/s^3]. Used if one starts a move without any given speed set. A move can have four jerks, begin, middle1, middle2 and end. | |
| real64 | m_rJecmd |
| The default commanded end jerk [units/s^3]. Used if one starts a move without any given speed set. A move can have four jerks, begin, middle1, middle2 and end. | |
| real64 | m_rBemg |
| The deceleration [units/s^2] used in all emergency stop situations. | |
| real64 | m_rJemg |
| The jerk [units/s^3] used in all emergency stop situations before the deceleration phase. Set this value to 0.0 to immediately start the deceleration phase. | |
| real64 | m_rJeemg |
| The end jerk [units/s^3] used in all emergency stop situations after the constant deceleration phase. Set this value to 0.0 to have a constant deceleration phase till stop. | |
| real64 | m_rSmin |
| Minimal allowed position [units]. If m_rSmin and m_rSmax are both 0.0, the software limits are switched off. | |
| real64 | m_rSmax |
| Maximal allowed position [units]. If m_rSmin and m_rSmax are both 0.0, the software limits are switched off. | |
| real64 | m_rVmin |
| Minimal allowed velocity [units/s]. | |
| real64 | m_rVmax |
| Maximal allowed velocity [units/s]. | |
| real64 | m_rVmaxSetup |
| Maximal allowed velocity [units/s] in all setup modes. | |
| real64 | m_rVmaxInit |
| Maximal allowed velocity [units/s] during initialisation. | |
| real64 | m_rVtrq |
| Maximal allowed torque velocity [units/s]. This parameter is deprecated. One should work with torque limitation tables instead (see SINOSBaseMotor::m_cTrqLimitAcc). | |
| real64 | m_rAmin |
| Minimal allowed acceleration [units/s]. | |
| real64 | m_rAmax |
| Maximal allowed acceleration [units/s^2]. | |
| real64 | m_rAmaxPull |
| Maximal allowed acceleration during pull [units/s^2] This value is also used to detect pull underruns, means if one stops pulling an axis with a V > m_rAmaxPull*cycletime then a pull underrun is set and an emergency stop ramp is done. If m_rAmaxPull is not set, the standard m_rAmax is used to detect the underrun. | |
| real64 | m_rArms |
| Maximal allowed rms acceleration [units/s^2]. | |
| real64 | m_rAtrq |
| Maximal allowed torque acceleration [units/s^2]. This parameter is deprecated. One should work with torque limitation tables instead (see SINOSBaseMotor::m_cTrqLimitAcc). | |
| real64 | m_rBmin |
| Minimal allowed deceleration [units/s]. | |
| real64 | m_rBmax |
| Maximal allowed deceleration [units/s]. | |
| real64 | m_rBtrq |
| Maximal allowed torque deceleration [units/s^2]. This parameter is deprecated. One should work with torque limitation tables instead (see SINOSBaseMotor::m_cTrqLimitDec). | |
| real64 | m_rCmin |
| Minimal allowed cruiseleration [units/s^2], see also m_rCcmd. | |
| real64 | m_rCmax |
| Maximal allowed cruiseleration [units/s^2], see also m_rCcmd. | |
| real64 | m_rJmin |
| Minimal allowed jerk [units/s^3]. | |
| real64 | m_rJmax |
| Maximal allowed jerk [units/s^3]. | |
| real64 | m_rMiMTol |
| Move in move constant speed tolerance [sec]. In 'Move in Move' situations the internal optimisation algorithm tries to search for a solution where the time length of the used constant segment is <= the axis cycle time. This can end up up in 'no solution' situations, especially if working with active torque limitation and small cycle times. To avoid these situations, one can spread the tolerance to a bigger value (default is 0.001 sec, if torque limitation enabled). | |
| real64 | m_rBacklash |
| If backlash compensation is enabled, see also DF_INOS_BASE_RAMP_OPT_BACKLASH this parameter defines the backlash [unit] of the system. The value can be either positive or negative. If it is e.g. positive, the trajectory generator ensures that every move approaches the required end point in positive direction. Additionaly one can configure a backlash compensation move slowmotion factor (e.g. m_rBacklashSlowmotion = 0.5). This factor is taken into account for the final backlash compensation move. | |
| real64 | m_rBacklashSlowmotion |
| : Backlash compensation slowmotion factor, see also m_rBacklash | |
| real64 | m_rSLSValue |
| : SLS reduction value, see also http://doc.indel.ch/doku.php?id=software:embedded:inos:safety | |
| real64 | m_rSLSJerk |
| : SLS jerk reduction value, see also http://doc.indel.ch/doku.php?id=software:embedded:inos:safety | |
| uint32 | m_uOptions |
| Ramp options, see DF_INOS_BASE_RAMP_OPT_CHK_LIMITS, DF_INOS_BASE_RAMP_OPT_ENB_BASE, DF_INOS_BASE_RAMP_OPT_ENB_TRQLIMIT, DF_INOS_BASE_RAMP_OPT_DIS_MIM, DF_INOS_BASE_RAMP_OPT_LIMIT_MOVE, DF_INOS_BASE_RAMP_OPT_DIS_MIM_DEC, DF_INOS_BASE_RAMP_OPT_OPT_MIM, DF_INOS_BASE_RAMP_OPT_TRQ_LIMIT, DF_INOS_BASE_RAMP_OPT_BACKLASH, DF_INOS_BASE_RAMP_OPT_FORCE_BACKLASH DF_INOS_BASE_RAMP_OPT_IGNORE_LIMITS_AT_STOP DF_INOS_BASE_RAMP_OPT_LOOK_AHEAD. | |
| uint8 | m_uDigits |
| Number of digits to use in INCO explorer. This parameter has no functional meaning and has just displaying character. | |
| uint8 | m_uCacheSize |
| Internal moving cache size. Calculating a requested trajectory can be time consuming To reduce the used time, the system is able to cache already calculated moves and reuse the trajectory. This parameter defines the requested cache size. | |
| uint8 | m_uSLSType |
| : SLS reduction type, see also http://doc.indel.ch/doku.php?id=software:embedded:inos:safety | |
Detailed Description
Descriptor structure used to configure a ramp. It is usually defined in a corresponding xxx.xxxramp.dt2 configuration file. see also Ramp.
The documentation for this struct was generated from the following file:
- /home/jenkins/workspace/inos_doxygen/os/inos/inc/cinosbaseramp.h
