|
| | 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) |
| | stop ext joint
|
| int | getExtAxisType () |
| | Get external axis type: 0 for rotation, 1 for linear.
|
| int | setExtAxisType (int type) |
| | Set external axis type.
|
| 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
|
| int | setExtAxisVelocity (double velocity) |
| | Set external axis speed
|
| double | getExtAxisAcceleration () |
| | Get external axis acceleration
|
| int | setExtAxisAcceleration (double acc) |
| | Set 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
|
| int | setExtAxisMaxPositionLimit (double q) |
| | Set external axis max position
|
| double | getExtAxisMaxPositionLimit () |
| | Get external axis max position
|
| double | getExtMinPosition () |
| | Get external axis min position
|
| int | setExtMinPositionLimit (double q) |
| | Set external axis min position
|
| double | getExtMinPositionLimit () |
| | Get external axis min position
|
| double | getExtAxisMaxVelocity () |
| | Get external axis max speed
|
| int | setExtAxisMaxVelocityLimit (double v) |
| | Set external axis max speed
|
| double | getExtAxisMaxVelocityLimit () |
| | Get external axis max speed
|
| double | getExtAxisMaxAcceleration () |
| | Get external axis max acceleration
|
| int | setExtAxisMaxAccelerationLimit (double acc) |
| | Set external axis max acceleration
|
| double | getExtAxisMaxAccelerationLimit () |
| | 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 () |
| | getErrorCode(Get raw external axis error code)
|
| int | clearAxisError () |
| | Reset axis error
|
| int | setReductionRatio (double ratio) |
| | Set axis reduction ratio
|
| double | getReductionRatio () |
| | Get axis reduction ratio
|
Definition at line 18 of file axis_interface.h.
1.16.1