XPS_lib.h File Reference

#include <ace/INET_Addr.h>
#include <ace/SOCK_Stream.h>
#include <ace/SOCK_Connector.h>
#include <ace/OS.h>
#include <ace/Log_Msg.h>

Defines

#define SIZE_BUFFER   512

Functions

int FirmwareVersionGet (XPS_axis *axis, char *Version)
int GroupHomeSearch (XPS_axis *axis)
int GroupJogParametersSet (XPS_axis *axis, int NbElements, double Velocity[], double Acceleration[])
int GroupJogCurrentGet (XPS_axis *axis, int NbElements, double Velocity[], double Acceleration[])
int GroupJogModeEnable (XPS_axis *axis)
int GroupJogModeDisable (XPS_axis *axis)
int GroupKill (XPS_axis *axis)
int GroupInitialize (XPS_axis *axis)
int GroupMoveAbort (XPS_axis *axis)
int GroupMoveAbsolute (XPS_axis *axis, int NbElements, double TargetPosition[])
int GroupMoveRelative (XPS_axis *axis, int NbElements, double TargetDisplacement[])
int GroupMotionDisable (XPS_axis *axis)
int GroupMotionEnable (XPS_axis *axis)
int GroupPositionCurrentGet (XPS_axis *axis, int NbElements, double CurrentEncoderPosition[])
int GroupStatusGet (XPS_axis *axis, int *Status)
int GroupStatusStringGet (XPS_axis *axis, int GroupStatusCode, char *GroupStatusString)
int KillAll (XPS_axis *axis)
int PositionerErrorGet (XPS_axis *axis, int *ErrorCode)
int PositionerErrorStringGet (XPS_axis *axis, int PositionerErrorCode, char *PositionerErrorString)
int PositionerHardwareStatusGet (XPS_axis *axis, int *HardwareStatus)
int PositionerHardwareStatusStringGet (XPS_axis *axis, int PositionerHardwareStatus, char *PositonerHardwareStatusString)
int PositionerUserTravelLimitsGet (XPS_axis *axis, double *UserMinimumTarget, double *UserMaximumTarget)
int PositionerUserTravelLimitsSet (XPS_axis *axis, double UserMinimumTarget, double UserMaximumTarget)
int ErrorListGet (XPS_axis *axis, char *ErrorsList)
int GroupStatusListGet (XPS_axis *axis, char *GroupStatusList)
int PositionerSGammaParametersGet (XPS_axis *axis, double *Velocity, double *Acceleration, double *MinimumTjerkTime, double *MaximumTjerkTime)
int PositionerSGammaParametersSet (XPS_axis *axis, double Velocity, double Acceleration, double MinimumTjerkTime, double MaximumTjerkTime)
int ErrorStringGet (XPS_axis *axis, int ErrorCode, char *ErrorString)
int StatusStringGet (XPS_axis *axis, int StatusCode, char *StatusString)

Define Documentation

#define SIZE_BUFFER   512
 


Function Documentation

int ErrorListGet XPS_axis axis,
char *  ErrorsList
 

Read the list of error codes of an axis

int ErrorStringGet XPS_axis axis,
int  ErrorCode,
char *  ErrorString
 

Give the code of an error to the XPS and get an almost_human traduction in english

int FirmwareVersionGet XPS_axis axis,
char *  Version
 

This command provides the version of the XPS firmware.
For maintenance purpose only.

int GroupHomeSearch XPS_axis axis  ) 
 

Activates the selected home search, configured in the Stages.ini,
for the selected group.

int GroupInitialize XPS_axis axis  ) 
 

Initialize the motors and activate the servo loop of each positioner of the selected group.

int GroupJogCurrentGet XPS_axis axis,
int  NbElements,
double  Velocity[],
double  Acceleration[]
 

This returns the user velocity and the user acceleration changed with the
GroupJogParametersSet.

int GroupJogModeDisable XPS_axis axis  ) 
 

Disable the Jog mode : Exit JOGGING status to come back in READY status.
The group must be in JOGGING status and the positioner must be idle (velocity
must be NULL).

int GroupJogModeEnable XPS_axis axis  ) 
 

The group must be in ready status (after initialization and home search) and if OK
the group is setting in JOG mode (JOGGING status).

int GroupJogParametersSet XPS_axis axis,
int  NbElements,
double  Velocity[],
double  Acceleration[]
 

This allows to change on fly the velocity and the acceleration used by the JOG
mode. If an error is occurred, the positioner and all axes from the same group are
stopped with a velocity NULL.
Note: The JOG mode must be activated (after the call of GroupJogModeEnable)

int GroupKill XPS_axis axis  ) 
 

Kills and resets the group. The group comes back to the not initialized status.

int GroupMotionDisable XPS_axis axis  ) 
 

Turn motor OFF and set the MotionEnable status to FALSE for the selected SingleAxis.

int GroupMotionEnable XPS_axis axis  ) 
 

Turn motor ON and set the MotionEnable status to TRUE for the selected SingleAxis.

int GroupMoveAbort XPS_axis axis  ) 
 

Aborts motion : stops the motion in progress on the selected group.

int GroupMoveAbsolute XPS_axis axis,
int  NbElements,
double  TargetPosition[]
 

The selected positioner moves to the target position.
The absolute move refers to the acceleration, velocity, minimumTjerkTime and
maximumTjerkTime predefined in the Stages.ini or redefined with the
PositionerSGammaParametersSet command.

int GroupMoveRelative XPS_axis axis,
int  NbElements,
double  TargetDisplacement[]
 

The selected positioner moves to the target position
: TargetPosition = CurrentPosition + TargetDisplacement
The relative move refers to the acceleration, velocity, minimumTjerkTime and
maximumTjerkTime predefined in the Stages.ini or redefined with the
PositionerSGammaParametersSet.

int GroupPositionCurrentGet XPS_axis axis,
int  NbElements,
double  CurrentEncoderPosition[]
 

Reads the SingleAxis current position

int GroupStatusGet XPS_axis axis,
int *  Status
 

Reads SingleAxis group status and returns the group status code.
Call the GroupStatusStringGet API to get the group status description from the group status code.
in a human-like language ;-)

int GroupStatusListGet XPS_axis axis,
char *  GroupStatusList
 

Read the list of error codes of a group

int GroupStatusStringGet XPS_axis axis,
int  GroupStatusCode,
char *  GroupStatusString
 

Returns the group status string corresponding to the group status code

int KillAll XPS_axis axis  ) 
 

A 3D shooter video game?
No:Kills and resets all groups. All groups come back to the not initialised status.

int PositionerErrorGet XPS_axis axis,
int *  ErrorCode
 

Returns the positioner error code and clears the positioner error. To get the error
code description, call the PositionerErrorStringGet command.
The positioner error is composed of the corrector error, the profile generator error
and the servitudes error.

int PositionerErrorStringGet XPS_axis axis,
int  PositionerErrorCode,
char *  PositionerErrorString
 

Returns the positioner error description in relation to a positioner error code, in a simili-human way

int PositionerHardwareStatusGet XPS_axis axis,
int *  HardwareStatus
 

Returns the positioner hardware status
Positioner hardware status is composed of corrector and servitudes hardware status:
PositionerHardwareStatus = CorrectorHardwareStatus or ServitudesHardwareStatus
or INTGlobalServitudesHardwareStatus

int PositionerHardwareStatusStringGet XPS_axis axis,
int  PositionerHardwareStatus,
char *  PositonerHardwareStatusString
 

Returns the positioner hardware status description in relation to a positioner
hardware status

int PositionerSGammaParametersGet XPS_axis axis,
double *  Velocity,
double *  Acceleration,
double *  MinimumTjerkTime,
double *  MaximumTjerkTime
 

Returns the dynamic parameters of the positioner for a future motion:
UserVelocity, UserAcceleration, UserMinimumJerkTime and
UserMaximumJerkTime.

int PositionerSGammaParametersSet XPS_axis axis,
double  Velocity,
double  Acceleration,
double  MinimumTjerkTime,
double  MaximumTjerkTime
 

Updates positioner dynamic parameters for a future displacement:
UserVelocity = NewVelocity
UserAcceleration = NewAcceleration
UserMinimumJerkTime = NewMinimumJerkTime
UserMaximumJerkTime = NewMaximumJerkTime

int PositionerUserTravelLimitsGet XPS_axis axis,
double *  UserMinimumTarget,
double *  UserMaximumTarget
 

Read user travel limits:
UserMinimumTargetPosition and UserMaximumTargetPosition.

int PositionerUserTravelLimitsSet XPS_axis axis,
double  UserMinimumTarget,
double  UserMaximumTarget
 

Updates user travel limits' parameters and saves travel limits parameters:
UserMinimumTargetPosition = NewUserMinimumTargetPosition;
UserMaximumTargetPosition = NewUserMaximumTargetPosition;

int StatusStringGet XPS_axis axis,
int  StatusCode,
char *  StatusString
 

Returns the positioner hardware status description (in a not_so_far_away_from_human_blabla)
in relation to a positioner hardware status code


Generated on Wed Jan 4 14:53:06 2006 for class_xps_axis by  doxygen 1.4.5