Movement.java

Go to the documentation of this file.

// -----------------------------------------------------------------------
// MLPI - <Movement.java>
// -----------------------------------------------------------------------
// Copyright (c) 2012 Bosch Rexroth. All rights reserved.
// Redistribution and use in source and binary forms of this MLPI software
// (SW) provided to you, with or without modification, are permitted
// without prior approval provided that the following conditions are met:
//
// 1. Redistributions of source code of SW must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form of SW must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// 3. User recognizes and acknowledges that it acquires no right,
// title or interest in or to any of the names or trademarks used in
// connection with the SW ("names") by virtue of this License and waives
// any right to or interest in the names. User recognizes and acknowledges
// that names of companies or names or products of companies displayed
// in the documentation of SW to indicate the interoperability of products
// with the SW are the names of their respective owners. The use of such
// names in the documentation of SW does not imply any sponsorship,
// approval, or endorsement by such companies of this product.
//
// 4. Modified code versions, i.e. any addition to or deletion from
// the substance or structure of the original code of the SW running
// the MLPI must be plainly marked as such and must not be misrepresented
// as being original SW.
//
// 5. The SW may only be used in connection with a Bosch Rexroth product.
//
// THIS INFORMATION IS PROVIDED BY BOSCH REXROTH CORPORATION "AS IS"
// AND WITHOUT WARRANTY OF ANY KIND, EXPRESSED OR IMPLIED, INCLUDING
// (BUT NOTLIMITED TO) ANY IMPLIED WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR ANY PARTICULAR PURPOSE, OR NON-INFRINGEMENT. WHILE THE
// INFORMATION PROVIDED IS BELIEVED TO BE ACCURATE, IT MAY INCLUDE
// ERRORS OR INACCURACIES.
// SUBJECT TO COMPULSORY STATUTORY PROVISIONS OF THE GERMAN LAW AS
// THE APPLICABLE LAW FOR THIS LICENSE BOSCH REXROTH CORPORATION WILL
// NOT BE LIABLE FOR ANY DAMAGES OF ANY KIND ARISING FROM THE USE OF
// THE  SOFTWARE  DISTRIBUTED HEREUNDER, INCLUDING BUT NOT LIMITED TO
// DIRECT, INDIRECT, INCIDENTAL, PUNITIVE, AND CONSEQUENTIAL DAMAGES.
// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------
package com.boschrexroth.mlpi;

public class Movement extends MlpiComponent {
  /*
   * Fields
   */
  private final Motion.AxisRef _axisRef;
  private long _motionHandle;

  /*
   * Methods
   */
  Movement(MlpiHandle connection, Motion.AxisRef axisRef) {
    super(connection);
    _axisRef = axisRef;
  }
  public native void home();
  
  public native void setAbsoluteMeasurement();
  
  public native void power(boolean power);
  
  public native void moveVelocity(double velocity, double acceleration, double deceleration, double jerk);
  
  public native void moveAbsolute(double position, double velocity, double acceleration, double deceleration, double jerk);
  
  public native void moveRelative(double distance, double velocity, double acceleration, double deceleration, double jerk);
  
  public native void moveAdditive(double distance, double velocity, double acceleration, double deceleration, double jerk);
  
  public native void stop(boolean stop, double deceleration, double jerk);
  
  public native void gearIn(Motion.AxisRef masterAxis, int numerator, int denominator, double fineadjust);
  
  public native void gearInPos(Motion.AxisRef masterAxis, int numerator, int denominator, double fineadjust, Motion.StartMode startMode,  Motion.SyncDirection syncMode);
  
  public native void flexProfile(Motion.AxisRef masterAxis, int numerator, int denominator, double fineadjust, int setSelection, boolean useSwitchingPos, double switchingPosition,  Motion.ProfileStartPoint profileEntry, double masterOffset, double slaveOffset, Motion.SyncType syncMode, double syncVelocity, double syncAcceleration, Motion.ProfileExecutionMode executionMode);
  
  public native void wait(int timeout);
  
  public native void phasingSlave(double phaseShift, double velocity, double acceleration, double deceleration);
  
  public native void phasing(double phaseShift, double velocity, double acceleration, double deceleration);
  
  public native void torqueControl(double torque, double torqueRamp);
  
  public native void camIn(Motion.AxisRef masterAxis, int numerator,  int denominator, double fineadjust, double camShaftDistance,  Motion.SyncDirection syncMode,  Motion.StartMode startMode,  Motion.CamTableId camId);
  
  public native void synchronOut();
  
  public native void openCyclicPositionChannel();
  
  public native void openCyclicVelocityChannel();
  
  public native void openCyclicAnalogChannel();
  
  public native void openCyclicTorqueChannel();
  
  public native void writeCyclicPosition(double cyclicValue);
  
  public native void writeCyclicVelocity(double cyclicValue);
  
  public native void writeCyclicAnalog(double cyclicValue);
  
  public native void writeCyclicTorque(double cyclicValue);
  
  public native void moveContinuousAbsolute(double position, double endVelocity, double velocity, double acceleration, double deceleration, double jerk);
  
  public native void moveContinuousRelative(double distance, double endVelocity, double velocity, double acceleration, double deceleration, double jerk);

  //public native void status();
}