External axis API interface. More...

#include <axis_interface.h>

Public Member Functions
	AxisInterface ()

virtual	~AxisInterface ()

int	poweronExtAxis ()
	Power on.

int	poweroffExtAxis ()
	Power off.

int	enableExtAxis ()
	Enable.

int	setExtAxisMountingPose (const std::vector< double > &pose)
	Set mounting pose of external axis (wrt world frame)

int	moveExtJoint (double pos, double v, double a, double duration)
	move to pos, rotation or linear

int	speedExtJoint (double v, double a, double duration)
	Set target speed, acceleration and duration

int	stopExtJoint (double a)

int	getExtAxisType ()
	Get external axis type: 0 for rotation, 1 for linear.

AxisModeType	getAxisModeType ()
	Get external axis status

std::vector< double >	getExtAxisMountingPose ()
	Get external axis mounting pose

std::vector< double >	getExtAxisPose ()
	Get pose wrt mounting coordinate system, axis can be positioner or linear rail

double	getExtAxisPosition ()
	Get external axis position

double	getExtAxisVelocity ()
	Get external axis speed

double	getExtAxisAcceleration ()
	Get external axis acceleration

double	getExtAxisCurrent ()
	Get external axis current

double	getExtAxisTemperature ()
	Get external axis temperature

double	getExtAxisBusVoltage ()
	Get external axis voltage

double	getExtAxisBusCurrent ()
	Get external axis current

double	getExtAxisMaxPosition ()
	Get external axis max position

double	getExtMinPosition ()
	Get external axis min position

double	getExtAxisMaxVelocity ()
	Get external axis max speed

double	getExtAxisMaxAcceleration ()
	Get external axis max acceleration

int	followAnotherAxis (const std::string &target_name, double phase, double err)
	Follow motion of another external axis （not to be used during motion）

int	stopFollowAnotherAxis ()
	stopFollowAnotherAxis(not to be used during motion)

int	getErrorCode ()
	Get external axis error code

int	clearAxisError ()
	Reset axis error

Protected Attributes
void *	d_

Detailed Description

External axis API interface.

Definition at line 17 of file axis_interface.h.

Constructor & Destructor Documentation

◆ AxisInterface()

arcs::common_interface::AxisInterface::AxisInterface ( )

◆ ~AxisInterface()

virtual arcs::common_interface::AxisInterface::~AxisInterface ( )

virtual

Member Function Documentation

◆ clearAxisError()

int arcs::common_interface::AxisInterface::clearAxisError ( )

Reset axis error

Returns

◆ enableExtAxis()

int arcs::common_interface::AxisInterface::enableExtAxis ( )

Enable.

Returns

◆ followAnotherAxis()

int arcs::common_interface::AxisInterface::followAnotherAxis	(	const std::string &	target_name,
		double	phase,
		double	err
	)

Follow motion of another external axis （not to be used during motion）

Parameters

target_name	name of target axis
phase	phase difference
err	max error when following motion

Returns

◆ getAxisModeType()

AxisModeType arcs::common_interface::AxisInterface::getAxisModeType ( )

Get external axis status

Returns: Current exteral axis status

◆ getErrorCode()

int arcs::common_interface::AxisInterface::getErrorCode ( )

Get external axis error code

Returns: External axis error code

◆ getExtAxisAcceleration()

double arcs::common_interface::AxisInterface::getExtAxisAcceleration ( )

Get external axis acceleration

Returns: External axis acceleration

◆ getExtAxisBusCurrent()

double arcs::common_interface::AxisInterface::getExtAxisBusCurrent ( )

Get external axis current

Returns: external axis current

◆ getExtAxisBusVoltage()

double arcs::common_interface::AxisInterface::getExtAxisBusVoltage ( )

Get external axis voltage

Returns: External axis voltage

◆ getExtAxisCurrent()

double arcs::common_interface::AxisInterface::getExtAxisCurrent ( )

Get external axis current

Returns: External axis current

◆ getExtAxisMaxAcceleration()

double arcs::common_interface::AxisInterface::getExtAxisMaxAcceleration ( )

Get external axis max acceleration

Returns: External axis max acceleration

◆ getExtAxisMaxPosition()

double arcs::common_interface::AxisInterface::getExtAxisMaxPosition ( )

Get external axis max position

Returns: External axis max position

◆ getExtAxisMaxVelocity()

double arcs::common_interface::AxisInterface::getExtAxisMaxVelocity ( )

Get external axis max speed

Returns: External axis max speed

◆ getExtAxisMountingPose()

std::vector< double > arcs::common_interface::AxisInterface::getExtAxisMountingPose ( )

Get external axis mounting pose

Returns: External axis pose

◆ getExtAxisPose()

std::vector< double > arcs::common_interface::AxisInterface::getExtAxisPose ( )

Get pose wrt mounting coordinate system, axis can be positioner or linear rail

Returns: Pose wrt mounting coordinate system

◆ getExtAxisPosition()

double arcs::common_interface::AxisInterface::getExtAxisPosition ( )

Get external axis position

Returns: External axis position

◆ getExtAxisTemperature()

double arcs::common_interface::AxisInterface::getExtAxisTemperature ( )

Get external axis temperature

Returns: External axis temperature

◆ getExtAxisType()

int arcs::common_interface::AxisInterface::getExtAxisType ( )

Get external axis type: 0 for rotation, 1 for linear.

Returns

◆ getExtAxisVelocity()

double arcs::common_interface::AxisInterface::getExtAxisVelocity ( )

Get external axis speed

Returns: External axis speed

◆ getExtMinPosition()

double arcs::common_interface::AxisInterface::getExtMinPosition ( )

Get external axis min position

Returns: External axis min position

◆ moveExtJoint()

int arcs::common_interface::AxisInterface::moveExtJoint	(	double	pos,
		double	v,
		double	a,
		double	duration
	)

move to pos, rotation or linear

Parameters

pos
v
a
duration

Returns

◆ poweroffExtAxis()

int arcs::common_interface::AxisInterface::poweroffExtAxis ( )

Power off.

Returns

◆ poweronExtAxis()

int arcs::common_interface::AxisInterface::poweronExtAxis ( )

Power on.

Returns

◆ setExtAxisMountingPose()

int arcs::common_interface::AxisInterface::setExtAxisMountingPose ( const std::vector< double > & pose )

Set mounting pose of external axis (wrt world frame)

Parameters

pose

Returns

◆ speedExtJoint()

int arcs::common_interface::AxisInterface::speedExtJoint	(	double	v,
		double	a,
		double	duration
	)

Set target speed, acceleration and duration

Parameters

v
a
duration

Returns

◆ stopExtJoint()

int arcs::common_interface::AxisInterface::stopExtJoint ( double a )

◆ stopFollowAnotherAxis()

int arcs::common_interface::AxisInterface::stopFollowAnotherAxis ( )

stopFollowAnotherAxis(not to be used during motion)

Returns

Member Data Documentation

◆ d_

void* arcs::common_interface::AxisInterface::d_

protected

Definition at line 374 of file axis_interface.h.

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

include/aubo/axis_interface.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AxisInterface()

◆ ~AxisInterface()

Member Function Documentation

◆ clearAxisError()

◆ enableExtAxis()

◆ followAnotherAxis()

◆ getAxisModeType()

◆ getErrorCode()

◆ getExtAxisAcceleration()

◆ getExtAxisBusCurrent()

◆ getExtAxisBusVoltage()

◆ getExtAxisCurrent()

◆ getExtAxisMaxAcceleration()

◆ getExtAxisMaxPosition()

◆ getExtAxisMaxVelocity()

◆ getExtAxisMountingPose()

◆ getExtAxisPose()

◆ getExtAxisPosition()

◆ getExtAxisTemperature()

◆ getExtAxisType()

◆ getExtAxisVelocity()

◆ getExtMinPosition()

◆ moveExtJoint()

◆ poweroffExtAxis()

◆ poweronExtAxis()

◆ setExtAxisMountingPose()

◆ speedExtJoint()

◆ stopExtJoint()

◆ stopFollowAnotherAxis()

Member Data Documentation

◆ d_