Public Member Functions | Private Attributes
DriveParam Class Reference

#include <DriveParam.h>

List of all members.

Public Member Functions

 DriveParam ()
double getBeltRatio ()
double getCurrMax ()
double getCurrToTorque ()
int getDriveIdent ()
int getEncIncrPerRevMot ()
int getEncOffset ()
double getGearRatio ()
int getHomingDigIn ()
bool getIsSteer ()
double getMaxAcc ()
double getMaxDec ()
double getMaxVel ()
int getSign ()
double getVelMax ()
int PosGearRadToPosMotIncr (double dPosGearRad)
double PosMotIncrToPosGearRad (int iPosIncr)
 Conversions of encoder increments to gear position in radians.
void PosVelRadToIncr (double dPosRad, double dVelRadS, int *piPosIncr, int *piVelIncrPeriod)
void setHomingDigIn (int HomingDigIn)
void setMaxAcc (double dMaxAcc)
void setMaxDec (double dMaxDec)
void setMaxVel (double dMaxVel)
void setParam (int iDriveIdent, int iEncIncrPerRevMot, double dVelMeasFrqHz, double dBeltRatio, double dGearRatio, int iSign, double dVelMaxEncIncrS, double dAccIncrS2, double dDecIncrS2)
void setParam (int iDriveIdent, int iEncIncrPerRevMot, double dVelMeasFrqHz, double dBeltRatio, double dGearRatio, int iSign, double dVelMaxEncIncrS, double dAccIncrS2, double dDecIncrS2, int iEncOffsetIncr, bool bIsSteer, double dCurrToTorque, double dCurrMax)
void setParam (int iDriveIdent, int iEncIncrPerRevMot, double dVelMeasFrqHz, double dBeltRatio, double dGearRatio, int iSign, double dVelMaxEncIncrS, double dAccIncrS2, double dDecIncrS2, int iEncOffsetIncr, bool bIsSteer, double dCurrToTorque, double dCurrMax, int iHomingDigIn)
int TempMeasIncrToGradCel (int iTempIncr)
int VelGearRadSToVelMotIncrPeriod (double dVelGearRadS)
 Conversions of gear velocity in rad/s to encoder increments per measurment period.
double VelMotIncrPeriodToVelGearRadS (int iVelMotIncrPeriod)
 Conversions of encoder increments per measurment period to gear velocity in rad/s.

Private Attributes

bool m_bIsSteer
double m_dAccIncrS2
double m_dBeltRatio
double m_dCurrMax
double m_dCurrToTorque
double m_dDecIncrS2
double m_dGearRatio
double m_dPosGearRadToPosMotIncr
double m_dVelMaxEncIncrS
double m_dVelMeasFrqHz
int m_iDriveIdent
int m_iEncIncrPerRevMot
int m_iEncOffsetIncr
int m_iHomingDigIn
int m_iSign

Detailed Description

Parameters and conversion functionality of a motor drive.

Definition at line 65 of file DriveParam.h.


Constructor & Destructor Documentation

DriveParam::DriveParam ( ) [inline]

Default constructor.

Definition at line 92 of file DriveParam.h.


Member Function Documentation

double DriveParam::getBeltRatio ( ) [inline]

Get the belt ratio.

Returns:
The belt ratio.

Definition at line 365 of file DriveParam.h.

double DriveParam::getCurrMax ( ) [inline]

Get maximum current allowed

Definition at line 405 of file DriveParam.h.

double DriveParam::getCurrToTorque ( ) [inline]

Get factor to convert motor active current [A] into torque [Nm]

Definition at line 398 of file DriveParam.h.

int DriveParam::getDriveIdent ( ) [inline]

Returns the identifier of the drive.

Definition at line 224 of file DriveParam.h.

Get the DriveType - If it's a Steering or Driving Motor

Returns:
the Encoderoffset

Definition at line 391 of file DriveParam.h.

int DriveParam::getEncOffset ( ) [inline]

Get the EncoderOffset

Returns:
the Encoderoffset

Definition at line 374 of file DriveParam.h.

double DriveParam::getGearRatio ( ) [inline]

Get the gear ratio.

Returns:
The gear ratio.

Definition at line 357 of file DriveParam.h.

int DriveParam::getHomingDigIn ( ) [inline]

Get digital Input for Homing signal

Definition at line 412 of file DriveParam.h.

bool DriveParam::getIsSteer ( ) [inline]

Get the DriveType - If it's a Steering or Driving Motor

Returns:
the Encoderoffset

Definition at line 383 of file DriveParam.h.

double DriveParam::getMaxAcc ( ) [inline]

Get the maximum acceleration.

Returns:
Maximum acceleration

Definition at line 312 of file DriveParam.h.

double DriveParam::getMaxDec ( ) [inline]

Get the maximum deceleration.

Returns:
Maximum deceleration

Definition at line 330 of file DriveParam.h.

double DriveParam::getMaxVel ( ) [inline]

Get the maximum velocity in increments per second.

Returns:
Maximum velocity [inc/sec].

Definition at line 348 of file DriveParam.h.

int DriveParam::getSign ( ) [inline]

Returns the sign for the motion direction.

Definition at line 232 of file DriveParam.h.

double DriveParam::getVelMax ( ) [inline]

Gets the maximum velocity of the drive in increments per second.

Definition at line 240 of file DriveParam.h.

int DriveParam::PosGearRadToPosMotIncr ( double  dPosGearRad) [inline]

Converts revolution angle form radian to encoder increments.

Parameters:
dPosGearRadangle in radian

Definition at line 276 of file DriveParam.h.

double DriveParam::PosMotIncrToPosGearRad ( int  iPosIncr) [inline]

Conversions of encoder increments to gear position in radians.

Definition at line 282 of file DriveParam.h.

void DriveParam::PosVelRadToIncr ( double  dPosRad,
double  dVelRadS,
int *  piPosIncr,
int *  piVelIncrPeriod 
) [inline]

Converts position and velocity.

Parameters:
dPosRadposition in radiant
dVelRadSvelocity in radiant per seconds
piPosIncrconverted position in increments
piVelIncrPeriodconverted velocity in increments of period

Definition at line 252 of file DriveParam.h.

void DriveParam::setHomingDigIn ( int  HomingDigIn) [inline]

Set digital Input for Homing signal

Definition at line 419 of file DriveParam.h.

void DriveParam::setMaxAcc ( double  dMaxAcc) [inline]

Set the maximum acceleration.

Parameters:
dMaxAccMaximum acceleration

Definition at line 303 of file DriveParam.h.

void DriveParam::setMaxDec ( double  dMaxDec) [inline]

Set the maximum deceleration.

Parameters:
dMaxAccMaximum deceleration

Definition at line 321 of file DriveParam.h.

void DriveParam::setMaxVel ( double  dMaxVel) [inline]

Set the maximum velocity.

Parameters:
dMaxVelMaximum velocity

Definition at line 339 of file DriveParam.h.

void DriveParam::setParam ( int  iDriveIdent,
int  iEncIncrPerRevMot,
double  dVelMeasFrqHz,
double  dBeltRatio,
double  dGearRatio,
int  iSign,
double  dVelMaxEncIncrS,
double  dAccIncrS2,
double  dDecIncrS2 
) [inline]

Sets the drive parameters.

Parameters:
iDriveIdentidentifier for the drive
iEncIncrPerRevMotencoder increments per revolution of the motor shaft
dVelMeasFrqHzset this value to 1
dGearRatioratio of the gear
iSignchange -1 for changing the motion direction
dVelMaxEncIncrSmaximum velocity given in encoder increments per second
dAccIncrS2acceleration in encoder increments per s^2
dDecIncrS2deceleration in encoder increments per s^2

Definition at line 111 of file DriveParam.h.

void DriveParam::setParam ( int  iDriveIdent,
int  iEncIncrPerRevMot,
double  dVelMeasFrqHz,
double  dBeltRatio,
double  dGearRatio,
int  iSign,
double  dVelMaxEncIncrS,
double  dAccIncrS2,
double  dDecIncrS2,
int  iEncOffsetIncr,
bool  bIsSteer,
double  dCurrToTorque,
double  dCurrMax 
) [inline]

Definition at line 142 of file DriveParam.h.

void DriveParam::setParam ( int  iDriveIdent,
int  iEncIncrPerRevMot,
double  dVelMeasFrqHz,
double  dBeltRatio,
double  dGearRatio,
int  iSign,
double  dVelMaxEncIncrS,
double  dAccIncrS2,
double  dDecIncrS2,
int  iEncOffsetIncr,
bool  bIsSteer,
double  dCurrToTorque,
double  dCurrMax,
int  iHomingDigIn 
) [inline]

Definition at line 182 of file DriveParam.h.

int DriveParam::TempMeasIncrToGradCel ( int  iTempIncr) [inline]

Converts the temperature in degree Celsius. The temperature measure is only supported for the drive neo.

Parameters:
iTempIncrtemperature in a special internal unit

Definition at line 263 of file DriveParam.h.

int DriveParam::VelGearRadSToVelMotIncrPeriod ( double  dVelGearRadS) [inline]

Conversions of gear velocity in rad/s to encoder increments per measurment period.

Definition at line 288 of file DriveParam.h.

double DriveParam::VelMotIncrPeriodToVelGearRadS ( int  iVelMotIncrPeriod) [inline]

Conversions of encoder increments per measurment period to gear velocity in rad/s.

Definition at line 294 of file DriveParam.h.


Member Data Documentation

bool DriveParam::m_bIsSteer [private]

Definition at line 83 of file DriveParam.h.

double DriveParam::m_dAccIncrS2 [private]

Definition at line 77 of file DriveParam.h.

double DriveParam::m_dBeltRatio [private]

Definition at line 74 of file DriveParam.h.

double DriveParam::m_dCurrMax [private]

Definition at line 85 of file DriveParam.h.

double DriveParam::m_dCurrToTorque [private]

Definition at line 84 of file DriveParam.h.

double DriveParam::m_dDecIncrS2 [private]

Definition at line 78 of file DriveParam.h.

double DriveParam::m_dGearRatio [private]

Definition at line 73 of file DriveParam.h.

Definition at line 79 of file DriveParam.h.

Definition at line 76 of file DriveParam.h.

double DriveParam::m_dVelMeasFrqHz [private]

Definition at line 72 of file DriveParam.h.

Definition at line 70 of file DriveParam.h.

Definition at line 71 of file DriveParam.h.

Definition at line 80 of file DriveParam.h.

Definition at line 82 of file DriveParam.h.

int DriveParam::m_iSign [private]

Definition at line 75 of file DriveParam.h.


The documentation for this class was generated from the following file:


cob_canopen_motor
Author(s): Christian Connette
autogenerated on Sun Oct 5 2014 23:02:12