mlpiMotionHelper.h File Reference

Include dependency graph for mlpiMotionHelper.h:

Go to the source code of this file.

Classes
struct	MlpiAxisStateDecoder
struct	MlpiAxisStateExtendedDecoder
struct	MlpiAxisTypeDecoder
struct	MlpiAxisScalingPosition
struct	MlpiAxisScalingVelocity
struct	MlpiAxisScalingAcceleration
struct	MlpiAxisScalingTorque

Typedefs
typedef struct MlpiAxisStateDecoder	MlpiAxisStateDecoder
typedef struct MlpiAxisStateExtendedDecoder	MlpiAxisStateExtendedDecoder
typedef struct MlpiAxisTypeDecoder	MlpiAxisTypeDecoder
typedef struct MlpiAxisConditionDecoder	MlpiAxisConditionDecoder
typedef struct MlpiAxisScalingPosition	MlpiAxisScalingPosition
typedef struct MlpiAxisScalingVelocity	MlpiAxisScalingVelocity
typedef struct MlpiAxisScalingAcceleration	MlpiAxisScalingAcceleration
typedef struct MlpiAxisScalingTorque	MlpiAxisScalingTorque

Enumerations

Functions
MLPIRESULT	utilMotionWait (MLPIHANDLE connection, MlpiAxisRef axis, MLPIMOTIONHANDLE motionHandle, ULONG timeout=MLPI_INFINITE)
MLPIRESULT	utilMotionWaitAxisInterrupted (MLPIHANDLE connection, MlpiAxisRef axis, const ULONG timeout=MLPI_INFINITE)

Detailed Description

Author

DC-IA/EAM1 (SK, JR)

Copyright

Bosch Rexroth Corporation http://www.boschrexroth.com/oce

Version

1.26.2

Date

2013

Definition in file mlpiMotionHelper.h.

Typedef Documentation

typedef struct MlpiAxisStateDecoder MlpiAxisStateDecoder

The following struct helps to decode the axis state as given by mlpiMotionGetAxisState or mlpiMotionGetAxisValues.

Example:

See mlpiMotionGetState

typedef struct MlpiAxisStateExtendedDecoder MlpiAxisStateExtendedDecoder

The following struct helps to decode the extended axis state as given by mlpiMotionGetAxisStateExtended or mlpiMotionGetAxisValues.

Example:

See mlpiMotionGetStateExtended

typedef struct MlpiAxisTypeDecoder MlpiAxisTypeDecoder

The following struct helps to decode the axis type as given by mlpiMotionGetAxisType.

Example:

See mlpiMotionGetAxisType

MlpiAxisConditionDecoder

The following struct helps to decode the axis condition as given by mlpiMotionGetCondition.

Example:

See mlpiMotionGetCondition

typedef struct MlpiAxisScalingPosition MlpiAxisScalingPosition

The following struct helps to encode or decode the position scaling settings of the axis given or set by mlpiMotionGetPositionScaling or mlpiMotionSetPositionScaling.

Example:

See mlpiMotionGetPositionScaling mlpiMotionSetPositionScaling

typedef struct MlpiAxisScalingVelocity MlpiAxisScalingVelocity

The following struct helps to encode or decode the velocity scaling settings of the axis given or set by mlpiMotionGetVelocityScaling or mlpiMotionSetVelocityScaling.

Example:

See mlpiMotionGetVelocityScaling mlpiMotionSetVelocityScaling

typedef struct MlpiAxisScalingAcceleration MlpiAxisScalingAcceleration

The following struct helps to encode or decode the velocity scaling settings of the axis given or set by mlpiMotionGetAccelerationScaling or mlpiMotionSetAccelerationScaling.

Example:

See mlpiMotionGetAccelerationScaling mlpiMotionSetAccelerationScaling

typedef struct MlpiAxisScalingTorque MlpiAxisScalingTorque

The following struct helps to encode or decode the torque scaling settings of the axis given or set by mlpiMotionGetTorqueScaling or mlpiMotionSetTorqueScaling.

Example:

See mlpiMotionGetTorqueScaling mlpiMotionSetTorqueScaling

Enumeration Type Documentation

enum MlpiAxisCondition

This enumeration defines the state of an axis.

• When disabled, the device connected to the axis cannot physically be in the sercos ring. A-parameter can not be accessed.
• When an axis is parked, the connected device must be in the ring, S and P parameters can be read, but the axis cannot be moved.
• When an axis is in parametrization, then it can be parameterized even if control mode and communication are in mode 'BB'.

Enumerator
MLPI_AXIS_CONDITION_ACTIVE	Drive in Ring; Setpoint calculation active.
MLPI_AXIS_CONDITION_PARKING	Drive in Ring; Setpoint calculation not active.
MLPI_AXIS_CONDITION_DEACTIVATED	Drive not in Ring; Setpoint calculation not active.
MLPI_AXIS_CONDITION_ACTIVE_DECOUPLED	Drive in Ring; Setpoint calculation active; No setpoint evaluation in drive.
MLPI_AXIS_CONDITION_PARKING_DECOUPLED	Drive in Ring; Setpoint calculation not active; No setpoint evaluation in drive.
MLPI_AXIS_CONDITION_DEACTIVATED_DECOUPLED	Drive not in Ring; Setpoint calculation not active; No setpoint evaluation in drive.
MLPI_AXIS_CONDITION_ACTIVE_PARAMETERIZATION	Drive in Ring; Setpoint calculation active; axis in parameterization.
MLPI_AXIS_CONDITION_PARKING_PARAMETERIZATION	Drive in Ring; Setpoint calculation not active; axis in parameterization.
MLPI_AXIS_CONDITION_DEACTIVATED_PARAMETERIZATION	Drive not in Ring; Setpoint calculation not active; axis in parameterization.
MLPI_AXIS_CONDITION_ACTIVE_DECOUPLED_PARAMETERIZATION	Drive in Ring; Setpoint calculation active; No setpoint evaluation in drive; axis in parameterization.
MLPI_AXIS_CONDITION_PARKING_DECOUPLED_PARAMETERIZATION	Drive in Ring; Setpoint calculation not active; No setpoint evaluation in drive; axis in parameterization.
MLPI_AXIS_CONDITION_DEACTIVATED_DECOUPLED_PARAMETERIZATION	Drive not in Ring; Setpoint calculation not active; No setpoint evaluation in drive; axis in parameterization.

Definition at line 123 of file mlpiMotionHelper.h.