| ApossC SDK V01.15

SDK_Miscellaneous_Recording.mc
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1
8 #pragma once
9
10 #include <SysDef.mh>
11 #include "SDK_Miscellaneous_Recording.mh"
12
13
25 long sdkRecordGeneralAxisParam_1Ax(long axis)
26 {
27 RecordTime(1); // Sampling period in milliseconds.
28 RecordIndex( AXE_PROCESS_INDEX(axis,REG_COMPOS),
29 AXE_PROCESS_INDEX(axis,REG_ACTPOS),
30 AXE_PROCESS_INDEX(axis,REG_TRACKERR),
31 AXE_PROCESS_INDEX(axis,REG_AVEL),
32 HWAMP_PROCESS_INDEX(axis, PO_HWAMP_CURRENT)
33 );
34
35 RecordDest (DYNMEM); // DYNMEM for recording data into free memory.
36 RecordType(1); // 1 = cyclic recording
37 RecordStart(0); // Start recording
38
39 return(1);
40 }
41
42
57 long sdkRecordGeneralAxisParam_4Ax(long axis1, long axis2, long axis3, long axis4)
58 {
59 RecordTime(1); // Sampling period in milliseconds.
60 RecordIndex( AXE_PROCESS_INDEX(axis1,REG_COMPOS),
61 AXE_PROCESS_INDEX(axis1,REG_ACTPOS),
62 AXE_PROCESS_INDEX(axis1,REG_TRACKERR),
63 AXE_PROCESS_INDEX(axis1,REG_AVEL),
64 HWAMP_PROCESS_INDEX(axis1, PO_HWAMP_CURRENT),
65 AXE_PROCESS_INDEX(axis2,REG_COMPOS),
66 AXE_PROCESS_INDEX(axis2,REG_ACTPOS),
67 AXE_PROCESS_INDEX(axis2,REG_TRACKERR),
68 AXE_PROCESS_INDEX(axis2,REG_AVEL),
69 HWAMP_PROCESS_INDEX(axis2, PO_HWAMP_CURRENT),
70 AXE_PROCESS_INDEX(axis3,REG_COMPOS),
71 AXE_PROCESS_INDEX(axis3,REG_ACTPOS),
72 AXE_PROCESS_INDEX(axis3,REG_TRACKERR),
73 AXE_PROCESS_INDEX(axis3,REG_AVEL),
74 HWAMP_PROCESS_INDEX(axis3, PO_HWAMP_CURRENT),
75 AXE_PROCESS_INDEX(axis4,REG_COMPOS),
76 AXE_PROCESS_INDEX(axis4,REG_ACTPOS),
77 AXE_PROCESS_INDEX(axis4,REG_TRACKERR),
78 AXE_PROCESS_INDEX(axis4,REG_AVEL),
79 HWAMP_PROCESS_INDEX(axis4, PO_HWAMP_CURRENT)
80 );
81
82 RecordDest (DYNMEM); // DYNMEM for recording data into free memory.
83 RecordType(1); // 1 = cyclic recording
84 RecordStart(1); // Start recording
85
86 return(1);
87 }
SDK_Miscellaneous_Recording.mh
Declaration of the recording functions.
sdkRecordGeneralAxisParam_1Ax
long sdkRecordGeneralAxisParam_1Ax(long axis)
Starts a recording of general axis parameter of a single axis.
Definition: SDK_Miscellaneous_Recording.mc:25
PO_HWAMP_CURRENT
#define PO_HWAMP_CURRENT
Actual current.
Definition: SdoDictionary.mh:11357
REG_ACTPOS
#define REG_ACTPOS
Actual position value.
Definition: SdoDictionary.mh:3199
REG_AVEL
#define REG_AVEL
Actual velocity.
Definition: SdoDictionary.mh:3223
AXE_PROCESS_INDEX
#define AXE_PROCESS_INDEX(modno, parno)
Axis Process Data: Getter.
Definition: SdoDictionary.mh:3175
sdkRecordGeneralAxisParam_4Ax
long sdkRecordGeneralAxisParam_4Ax(long axis1, long axis2, long axis3, long axis4)
Starts a recording of general axis parameter of four axes.
Definition: SDK_Miscellaneous_Recording.mc:57
REG_COMPOS
#define REG_COMPOS
Set-point position value.
Definition: SdoDictionary.mh:3207
HWAMP_PROCESS_INDEX
#define HWAMP_PROCESS_INDEX(modno, parno)
HW Amplifier Process Data: Getter.
Definition: SdoDictionary.mh:11329
REG_TRACKERR
#define REG_TRACKERR
Actual position tracking error.
Definition: SdoDictionary.mh:3239

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