AxisInterface (外部轴)

External axis API interface. More...

Functions
int	arcs::common_interface::AxisInterface::poweronExtAxis ()
	Power on.
int	arcs::common_interface::AxisInterface::poweroffExtAxis ()
	Power off.
int	arcs::common_interface::AxisInterface::enableExtAxis ()
	Enable.
int	arcs::common_interface::AxisInterface::setExtAxisMountingPose (const std::vector< double > &pose)
	Set mounting pose of external axis (wrt world frame).
int	arcs::common_interface::AxisInterface::moveExtJoint (double pos, double v, double a, double duration)
	move to pos, rotation or linear
int	arcs::common_interface::AxisInterface::speedExtJoint (double v, double a, double duration)
	Set target speed, acceleration and duration
int	arcs::common_interface::AxisInterface::stopExtJoint (double a)
	stop ext joint
int	arcs::common_interface::AxisInterface::getExtAxisType ()
	Get external axis type: 0 for rotation, 1 for linear.
int	arcs::common_interface::AxisInterface::setExtAxisType (int type)
	Set external axis type.
AxisModeType	arcs::common_interface::AxisInterface::getAxisModeType ()
	Get external axis status
std::vector< double >	arcs::common_interface::AxisInterface::getExtAxisMountingPose ()
	Get external axis mounting pose
std::vector< double >	arcs::common_interface::AxisInterface::getExtAxisPose ()
	Get pose wrt mounting coordinate system, axis can be positioner or linear rail
double	arcs::common_interface::AxisInterface::getExtAxisPosition ()
	Get external axis position
double	arcs::common_interface::AxisInterface::getExtAxisVelocity ()
	Get external axis speed
int	arcs::common_interface::AxisInterface::setExtAxisVelocity (double velocity)
	Set external axis speed
double	arcs::common_interface::AxisInterface::getExtAxisAcceleration ()
	Get external axis acceleration
int	arcs::common_interface::AxisInterface::setExtAxisAcceleration (double acc)
	Set external axis acceleration
double	arcs::common_interface::AxisInterface::getExtAxisCurrent ()
	Get external axis current
double	arcs::common_interface::AxisInterface::getExtAxisTemperature ()
	Get external axis temperature
double	arcs::common_interface::AxisInterface::getExtAxisBusVoltage ()
	Get external axis voltage
double	arcs::common_interface::AxisInterface::getExtAxisBusCurrent ()
	Get external axis current
double	arcs::common_interface::AxisInterface::getExtAxisMaxPosition ()
	Get external axis max position
int	arcs::common_interface::AxisInterface::setExtAxisMaxPositionLimit (double q)
	Set external axis max position
double	arcs::common_interface::AxisInterface::getExtAxisMaxPositionLimit ()
	Get external axis max position
double	arcs::common_interface::AxisInterface::getExtMinPosition ()
	Get external axis min position
int	arcs::common_interface::AxisInterface::setExtMinPositionLimit (double q)
	Set external axis min position
double	arcs::common_interface::AxisInterface::getExtMinPositionLimit ()
	Get external axis min position
double	arcs::common_interface::AxisInterface::getExtAxisMaxVelocity ()
	Get external axis max speed
int	arcs::common_interface::AxisInterface::setExtAxisMaxVelocityLimit (double v)
	Set external axis max speed
double	arcs::common_interface::AxisInterface::getExtAxisMaxVelocityLimit ()
	Get external axis max speed
double	arcs::common_interface::AxisInterface::getExtAxisMaxAcceleration ()
	Get external axis max acceleration
int	arcs::common_interface::AxisInterface::setExtAxisMaxAccelerationLimit (double acc)
	Set external axis max acceleration
double	arcs::common_interface::AxisInterface::getExtAxisMaxAccelerationLimit ()
	Get external axis max acceleration
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）
int	arcs::common_interface::AxisInterface::stopFollowAnotherAxis ()
	stopFollowAnotherAxis(not to be used during motion)
int	arcs::common_interface::AxisInterface::getErrorCode ()
	getErrorCode(Get raw external axis error code)
int	arcs::common_interface::AxisInterface::clearAxisError ()
	Reset axis error
int	arcs::common_interface::AxisInterface::setReductionRatio (double ratio)
	Set axis reduction ratio
double	arcs::common_interface::AxisInterface::getReductionRatio ()
	Get axis reduction ratio

Detailed Description

External axis API interface.

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

(

)

getErrorCode(Get raw external axis error code)

Returns

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

getExtAxisMaxAccelerationLimit()

double arcs::common_interface::AxisInterface::getExtAxisMaxAccelerationLimit

(

)

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

getExtAxisMaxPositionLimit()

double arcs::common_interface::AxisInterface::getExtAxisMaxPositionLimit

(

)

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

getExtAxisMaxVelocityLimit()

double arcs::common_interface::AxisInterface::getExtAxisMaxVelocityLimit

(

)

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

getExtMinPositionLimit()

double arcs::common_interface::AxisInterface::getExtMinPositionLimit

(

)

Get external axis min position

Returns

External axis min position

getReductionRatio()

double arcs::common_interface::AxisInterface::getReductionRatio

(

)

Get axis reduction ratio

Returns

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

setExtAxisAcceleration()

int arcs::common_interface::AxisInterface::setExtAxisAcceleration

(

double

acc

)

Set external axis acceleration

Parameters

acc

Returns

setExtAxisMaxAccelerationLimit()

int arcs::common_interface::AxisInterface::setExtAxisMaxAccelerationLimit

(

double

acc

)

Set external axis max acceleration

Parameters

acc

Returns

setExtAxisMaxPositionLimit()

int arcs::common_interface::AxisInterface::setExtAxisMaxPositionLimit

(

double

q

)

Set external axis max position

Parameters

q

Returns

setExtAxisMaxVelocityLimit()

int arcs::common_interface::AxisInterface::setExtAxisMaxVelocityLimit

(

double

v

)

Set external axis max speed

Parameters

v

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

setExtAxisType()

int arcs::common_interface::AxisInterface::setExtAxisType

(

int

type

)

Set external axis type.

Parameters

type	0 for rotation, 1 for linear

Returns

setExtAxisVelocity()

int arcs::common_interface::AxisInterface::setExtAxisVelocity

(

double

velocity

)

Set external axis speed

Returns

setExtMinPositionLimit()

int arcs::common_interface::AxisInterface::setExtMinPositionLimit

(

double

q

)

Set external axis min position

Parameters

q

Returns

setReductionRatio()

int arcs::common_interface::AxisInterface::setReductionRatio

(

double

ratio

)

Set axis reduction ratio

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

)

stop ext joint

Parameters

a

Returns

stopFollowAnotherAxis()

int arcs::common_interface::AxisInterface::stopFollowAnotherAxis

(

)

stopFollowAnotherAxis(not to be used during motion)

Returns