sync_move.h 文件参考

同步运行 更多...

#include <vector>
#include <unordered_set>
#include <string>
#include <memory>
#include <aubo/global_config.h>

sync_move.h 的引用(Include)关系图:

此图展示该文件直接或间接的被哪些文件引用了:

浏览源代码.

类
class	arcs::common_interface::SyncMove

命名空间
	arcs
	arcs::common_interface

宏定义
#define	SyncMove_DECLARES

类型定义
typedef std::unordered_set< std::string >	arcs::common_interface::TaskSet
using	arcs::common_interface::SyncMovePtr = std::shared_ptr< SyncMove >

详细描述

同步运行

1. Independent movements If the different task programs, and their robots, work independently, no synchronization or coordination is needed. Each task program is then written as if it was the program for a single robot system.
2. Semi coordinated movements Several robots can work with the same work object, without synchronized movements, as long as the work object is not moving. A positioner can move the work object when the robots are not coordinated to it, and the robots can be coordinated to the work object when it is not moving. Switching between moving the object and coordinating the robots is called semi coordinated movements.
3. Coordinated synchronized movements Several robots can work with the same moving work object. The positioner or robot that holds the work object and the robots that work with the work object must have synchronized movements. This means that the RAPID task programs, that handle one mechanical unit each, execute their move instructions simultaneously.

在文件 sync_move.h 中定义.

宏定义说明

#define SyncMove_DECLARES

值:

_INST(SyncMove, 0, sync)                               \
    _INST(SyncMove, 2, syncMoveOn, syncident, taskset)     \
    _INST(SyncMove, 1, syncMoveSegment, id)                \
    _INST(SyncMove, 1, syncMoveOff, syncident)             \
    _INST(SyncMove, 0, syncMoveUndo)                       \
    _INST(SyncMove, 2, waitSyncTasks, syncident, taskset)  \
    _FUNC(SyncMove, 0, isSyncMoveOn)                       \
    _INST(SyncMove, 0, syncMoveSuspend)                    \
    _INST(SyncMove, 0, syncMoveResume)

在文件 sync_move.h 第 216 行定义.