Descriptor structure used to configure a physical axis. It is usually defined in a corresponding xxx.axis.dt2 configuration file. see also Axis. More...

#include <cinosphysicalaxis.h>

Inheritance diagram for SINOSPhysicalAxis:

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Public Attributes
inosName32	m_cControlType
	Controller type name. Valid types are INOSPosControl, INOSCurControl or a customer specific controller type name.

inosName32	m_cMotorType
	Motor type name. Currently only INOSBaseMotor is a valid name.

inosName32	m_cForceType
	Force control type name.

real64	m_rBorderLimit
	Border limit. If working with border methods like CINOSPhysicalAxis::MoveToBorder this value defines the corresponding limit value, which triggers the border detection. It has different meanings depending on the border type. If the border type is e.g. CINOSPhysicalAxis::eBorderPosition, then the value contains the max. allowed position check error [units].

real64	m_rBorderRelax
	This value defines the move away distance [units] after border detection before reactivating position check supervision.

uint32	m_uBorderType
	Defines the type of border detection or in other words, tells the system what kind of border detection it should use, see CINOSPhysicalAxis::EBorderType.

uint32	m_uBorderDelay
	Defines the time [ms] to wait at the border till controller settled.

uint32	m_uBorderStop
	Defines how to stop a move after a border detection, see CINOSPhysicalAxis::EBorderStop.

Public Attributes inherited from SINOSBaseAxis
inosName64	m_cName
	Axis name.

inosName32	m_cRampType
	Trajectory generator name. Valid types are INOSJerkRamp, INOSJerkTrqRamp, INOSTrapezeRamp or a customer specific ramp type name.

uint16	m_uNumber
	Optional axis number. This value is only used on specific Indel targets like e.g. a GIN-AX4x4 to define the behaviour between axis name and axis number on the board. In the configuration file do not define this value or set it to 0xFFFF if not used.

uint8	m_uCoreId
	Id of core the axis has to run on. In the configuration file do not define this value or set it to 0xFF if not used.

uint8	m_uReserved
	Reserved for future use.

uint32	m_uOptions
	Axis options, see DF_INOS_BASE_AXIS_OPT_EARLY_DONE, DF_INOS_BASE_AXIS_OPT_AUTO_ACCEPT, DF_INOS_BASE_AXIS_OPT_LIMITS_IF_SNCD, DF_INOS_BASE_AXIS_OPT_MAPPING_DISABLED, DF_INOS_BASE_AXIS_OPT_NORM_ENABLED, DF_INOS_BASE_AXIS_OPT_CHECK_LIMITS, DF_INOS_BASE_AXIS_OPT_LIFETIME, DF_INOS_BASE_AXIS_OPT_SETPOS_DISABLED, DF_INOS_BASE_AXIS_OPT_EMGSTOP_PULL.

uint8	m_uSafetyType
	Defines the behaviour in case of an SOS request DF_INOS_AXIS_SAFETY_EMGSTOP, DF_INOS_AXIS_SAFETY_AUTO, DF_INOS_AXIS_SAFETY_NONE.

uint8	m_uEmergencyType
	Defines the default behaviour in case of an emergency stop of the axis. An emergency stop is either initiated by an axis error or by an explicit call of CINOSPhysicalAxis::EmergencyStop, see DF_INOS_AXIS_EMGT_STOP, DF_INOS_AXIS_EMGT_STOP_INACTIVATE, DF_INOS_AXIS_EMGT_INACTIVATE, DF_INOS_AXIS_EMGT_NONE DF_INOS_AXIS_EMGT_STOP_POSITION DF_INOS_AXIS_EMGT_STOP_POSITION_INACTIVATE.

uint16	m_uEmergencyDelay
	The required default delay [ms] if working with emergency type DF_INOS_AXIS_EMGT_STOP_INACTIVATE.

uint32	m_uTestDelay
	For testing purposes, an axis provides a test folder in the INCO tree where one can toggle the axis between two positions with an intermediate waiting time. The time is defined by this parameter.

real64	m_rTestPos1
	Test mode position 1, see also m_rTestPos2 and m_uTestDelay.

real64	m_rTestPos1Max
	Test mode position 1 maximum, see also m_rTestPos1.

real64	m_rTestPos2
	Test mode position 2, see also m_rTestPos1 and m_uTestDelay.

real64	m_rTestPos2Max
	Test mode position 2 maximum, see also m_rTestPos2.

real64	m_rEmergencyPosition
	Emergency stop position (used in emergency types DF_INOS_AXIS_EMGT_STOP_POSITION and DF_INOS_AXIS_EMGT_STOP_POSITION_INACTIVATE.

real64	m_rTrackFactor
	Defines the default tracking factor.

uint32	m_uTrackFilterLength
	Defines the default tracking filter length.

uint32	m_uPosType
	Tells the system how an end of a move is defined. There are three different type available, see DF_INOS_AXIS_PST_STANDARD, DF_INOS_AXIS_PST_WINDOW, DF_INOS_AXIS_PST_WINDOW_OPT. This is just the default behaviour and can be overwritten by every speed set.

uint32	m_uPosTime
	Default positioning time [ms] for types DF_INOS_AXIS_PST_WINDOW and DF_INOS_AXIS_PST_WINDOW_OPT.

uint32	m_uPosTimeout
	Default positioning timeout [ms] for types DF_INOS_AXIS_PST_WINDOW and DF_INOS_AXIS_PST_WINDOW_OPT.

real64	m_rPosTolerance
	Default positioning tolerance [unit] for types DF_INOS_AXIS_PST_WINDOW and DF_INOS_AXIS_PST_WINDOW_OPT.

uint32	m_uCacheSize
	Used to define a cache size for the special safe move commands. Currently only used on a special customer machine.

uint16	m_cShort
	Gives the user the possibility to define a short one character based axis alias. This option is deprecated and should not be used anymore.

uint8	m_uNormMode
	Used to define the default axis norming mode, e.g. norm an turn axis to 0..360° see DF_INOS_AXIS_NORM_AFTER, DF_INOS_AXIS_NORM_LIVE, DF_INOS_AXIS_NORM_POSITIVE, DF_INOS_AXIS_NORM_ROUND.

uint8	m_uNormMoveDir
	Used to define the default axis norm moving direction, e.g. move always in positive direction, see 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, DF_INOS_AXIS_NORM_MOVE_DIR_SHORT_EX.

real64	m_rNormPos
	Defines the default norming position, e.g. 360.0 for a turning axis.

inosName32	m_cDefaultParam
	If this string is not empty and the axis ramps A,V,J are set to 0.0 (means undefined) then the speed set with the specified name will be searched and its values (A,V,J,...) are set to the axis ramp during CINOSPhysicalAxis::Activate(). This can help to avoid dt2/stream file redundancy.

inosName32	m_cEmergencyParam
	Name of the speed set to be used for emergency stops.

inosName64	m_cDescription
	Axis description.

Detailed Description

Descriptor structure used to configure a physical axis. It is usually defined in a corresponding xxx.axis.dt2 configuration file. see also Axis.

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

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

Public Attributes

Detailed Description