| ApossC SDK V01.15

SDK_VirtualModule_MasterSetup.mc
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1
10 #pragma once
11
12 #include "SDK_VirtualModule_MasterSetup.mh"
13
28 long sdkSetupVirtualMasterMode(long master, long mode)
29 {
30 VIRTMAST_PARAM(master,VIRTMAST_MODE) = mode;
31
32 return(1);
33 }
34
45 long sdkSetupVirtualMasterAxisLink(long master, long axis)
46 {
47
48 // Axis master module = axis module number + max axis module
49 VIRTCOUNTIN_PARAM(axis + SYS_PROCESS(SYS_MAXAX), VIRTCNTIN_PISRC_COUNTER) = VIRTMAST_PROCESS_SRCINDEX(master,PO_VIRTMAST_POS);
50
51 return(1);
52 }
53
67 long sdkSetupVirtualMasterScale(long master, long numerator, long denominator)
68 {
69 VIRTMAST_PARAM(master,VIRTMAST_UUFACT_INCNO) = numerator;
70 VIRTMAST_PARAM(master,VIRTMAST_UUFACT_UNITNO) = denominator;
71
72 return(1);
73 }
74
88 long sdkSetVirtualMasterProfile(long master, long acc, long dec)
89 {
90 VIRTMAST_PARAM(master,VIRTMAST_ACC) = acc;
91 VIRTMAST_PARAM(master,VIRTMAST_DEC) = dec;
92
93 return(1);
94 }
95
108 long sdkStartVirtualMasterProfile(long master, long vel)
109 {
110 VIRTMAST_PARAM(master,VIRTMAST_VEL) = vel;
111
112 return(1);
113 }
124 long sdkStopVirtualMasterProfile(long master)
125 {
126 VIRTMAST_PARAM(master,VIRTMAST_VEL) = 0;
127
128 return(1);
129 }
VIRTCOUNTIN_PARAM
#define VIRTCOUNTIN_PARAM(modno, parno)
Virtual Counter Inputs parameters: Setter.
Definition: SdoDictionary.mh:4985
VIRTMAST_UUFACT_UNITNO
#define VIRTMAST_UUFACT_UNITNO
Conversion factor uu to 1/1000 Hz, number of user units.
Definition: SdoDictionary.mh:4944
VIRTMAST_DEC
#define VIRTMAST_DEC
Deceleration to reach target velocity.
Definition: SdoDictionary.mh:4935
sdkStopVirtualMasterProfile
long sdkStopVirtualMasterProfile(long master)
Stops a virtual master in profile mode.
Definition: SDK_VirtualModule_MasterSetup.mc:124
sdkSetupVirtualMasterScale
long sdkSetupVirtualMasterScale(long master, long numerator, long denominator)
Scale the input parameters of the virtual master.
Definition: SDK_VirtualModule_MasterSetup.mc:67
VIRTMAST_ACC
#define VIRTMAST_ACC
Acceleration to reach target velocity.
Definition: SdoDictionary.mh:4924
VIRTMAST_PROCESS_SRCINDEX
#define VIRTMAST_PROCESS_SRCINDEX(modno, parno)
Virtual Master Process Data: Source Index.
Definition: SdoDictionary.mh:6113
VIRTMAST_VEL
#define VIRTMAST_VEL
Target velocity.
Definition: SdoDictionary.mh:4913
PO_VIRTMAST_POS
#define PO_VIRTMAST_POS
Cumulated position value of the master.
Definition: SdoDictionary.mh:6137
sdkSetVirtualMasterProfile
long sdkSetVirtualMasterProfile(long master, long acc, long dec)
Set a virtual master profile.
Definition: SDK_VirtualModule_MasterSetup.mc:88
VIRTMAST_MODE
#define VIRTMAST_MODE
Enable / Disable / mode.
Definition: SdoDictionary.mh:4879
SYS_PROCESS
#define SYS_PROCESS(parno)
System Process Data: Setter.
Definition: SdoDictionary.mh:271
VIRTMAST_UUFACT_INCNO
#define VIRTMAST_UUFACT_INCNO
Conversion factor uu to 1/1000 Hz, number of increments.
Definition: SdoDictionary.mh:4953
VIRTMAST_PARAM
#define VIRTMAST_PARAM(modno, parno)
Virtual Master Parameters: Setter.
Definition: SdoDictionary.mh:4868
sdkStartVirtualMasterProfile
long sdkStartVirtualMasterProfile(long master, long vel)
Starts a virtual master in profile mode.
Definition: SDK_VirtualModule_MasterSetup.mc:108
SYS_MAXAX
#define SYS_MAXAX
Maximum number of axes.
Definition: SdoDictionary.mh:415
sdkSetupVirtualMasterMode
long sdkSetupVirtualMasterMode(long master, long mode)
Setup a virtual master.
Definition: SDK_VirtualModule_MasterSetup.mc:28
SDK_VirtualModule_MasterSetup.mh
Declaration of the virtual master functions.
sdkSetupVirtualMasterAxisLink
long sdkSetupVirtualMasterAxisLink(long master, long axis)
Set the virtual master as master of an axis.
Definition: SDK_VirtualModule_MasterSetup.mc:45
VIRTCNTIN_PISRC_COUNTER
#define VIRTCNTIN_PISRC_COUNTER
Index/subindex of counter source.
Definition: SdoDictionary.mh:5030

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