SDK_VirtualModule_MasterSetup.mh File Reference

Declaration of the virtual master functions. More...

Go to the source code of this file.

Functions
long	sdkSetupVirtualMasterMode (long master, long mode)
	Setup a virtual master. More...
long	sdkSetupVirtualMasterAxisLink (long master, long axis)
	Set the virtual master as master of an axis. More...
long	sdkSetupVirtualMasterScale (long master, long numerator, long denominator)
	Scale the input parameters of the virtual master. More...
long	sdkSetVirtualMasterProfile (long master, long acc, long dec)
	Set a virtual master profile. More...
long	sdkStartVirtualMasterProfile (long master, long vel)
	Starts a virtual master in profile mode. More...
long	sdkStopVirtualMasterProfile (long master)
	Stops a virtual master in profile mode. More...

Detailed Description

Declaration of the virtual master functions.

Revision

155

Definition in file SDK_VirtualModule_MasterSetup.mh.

Function Documentation

sdkSetupVirtualMasterAxisLink()

long sdkSetupVirtualMasterAxisLink	(	long	master,
		long	axis
	)

Set the virtual master as master of an axis.

Set the virtual master as master of an axis.

Parameters

master	Master module number
axis	Axis module number

Returns

value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 45 of file SDK_VirtualModule_MasterSetup.mc.

{
 
    // Axis master module = axis module number + max axis module
    VIRTCOUNTIN_PARAM(axis + SYS_PROCESS(SYS_MAXAX), VIRTCNTIN_PISRC_COUNTER) = VIRTMAST_PROCESS_SRCINDEX(master,PO_VIRTMAST_POS);
 
    return(1);
}

sdkSetupVirtualMasterMode()

long sdkSetupVirtualMasterMode	(	long	master,
		long	mode
	)

Setup a virtual master.

The virtual master module generates a virtual speed and position signal. There are two modes to operate the module (see VIRTMAST_MODE):

Parameters

master	Master module number
mode	Axis module number 0 VIRTMAST_MODE_DISABLED: Disabled, output velocity is zero 1 VIRTMAST_MODE_VELOCITY: Velocity mode, PO_VIRTMAST_VEL is taken directly from VIRTMAST_PISRC_CMDVEL 3 VIRTMAST_MODE_PROFILE: Velocity profile mode, PO_VIRTMAST_VEL is generated using VIRTMAST_VEL/ACC/DEC

Returns

value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 28 of file SDK_VirtualModule_MasterSetup.mc.

{
    VIRTMAST_PARAM(master,VIRTMAST_MODE)    = mode;
 
    return(1);
}

sdkSetupVirtualMasterScale()

long sdkSetupVirtualMasterScale	(	long	master,
		long	numerator,
		long	denominator
	)

Scale the input parameters of the virtual master.

This function converts user units into increments (increments * (numerator/denominator))
The parameters VIRTMAST_VEL, VIRTMAST_ACC, VIRTMAST_DEC, VIRTMAST_PISRC_CMDVEL and the output PO_VIRTMAST_VEL are changed according to this scaling.

Parameters

master	Master module number
numerator	User factor numerator to scale to increments
denominator	User factor denominator to scale to increments

Returns

value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 67 of file SDK_VirtualModule_MasterSetup.mc.

{
    VIRTMAST_PARAM(master,VIRTMAST_UUFACT_INCNO) = numerator;
    VIRTMAST_PARAM(master,VIRTMAST_UUFACT_UNITNO) = denominator;
 
    return(1);
}

sdkSetVirtualMasterProfile()

long sdkSetVirtualMasterProfile	(	long	master,
		long	acc,
		long	dec
	)

Set a virtual master profile.

Only if the virtual master is in profile mode (sdkSetupVirtualMasterMode()).
Definition of the profile parameters of the master. The scaling can be adjusted with the sdkSetupVirtualMasterScale() function.

Parameters

master	Master module number
acc	Acceleration to reach target velocity [uu/ms]
dec	Deceleration to reach target velocity [uu/ms]

Returns

value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 88 of file SDK_VirtualModule_MasterSetup.mc.

{
    VIRTMAST_PARAM(master,VIRTMAST_ACC)     = acc;
    VIRTMAST_PARAM(master,VIRTMAST_DEC)     = dec;
 
    return(1);
}

sdkStartVirtualMasterProfile()

long sdkStartVirtualMasterProfile	(	long	master,
		long	vel
	)

Starts a virtual master in profile mode.

Only if the virtual master is in profile mode (sdkSetupVirtualMasterMode()).
Starts a virtual master in profile mode, where the speed is transferred. The scaling can be adjusted with the sdkSetupVirtualMasterScale() function.

Parameters

master	Master module number
vel	Target velocity [uu/ms]

Returns

value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 108 of file SDK_VirtualModule_MasterSetup.mc.

{
    VIRTMAST_PARAM(master,VIRTMAST_VEL)     = vel;
 
    return(1);
}

sdkStopVirtualMasterProfile()

long sdkStopVirtualMasterProfile

(

long

master

)

Stops a virtual master in profile mode.

Only if the virtual master is in profile mode (sdkSetupVirtualMasterMode()).
Stops a virtual master in profile mode.

Parameters

master

Master module number

Returns

value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 124 of file SDK_VirtualModule_MasterSetup.mc.

{
    VIRTMAST_PARAM(master,VIRTMAST_VEL)     = 0;
 
    return(1);
}