#include <DriveParam.h>
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 |
Parameters and conversion functionality of a motor drive.
Definition at line 65 of file DriveParam.h.
DriveParam::DriveParam | ( | ) | [inline] |
Default constructor.
Definition at line 92 of file DriveParam.h.
double DriveParam::getBeltRatio | ( | ) | [inline] |
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.
int DriveParam::getEncIncrPerRevMot | ( | ) | [inline] |
Get the DriveType - If it's a Steering or Driving Motor
Definition at line 391 of file DriveParam.h.
int DriveParam::getEncOffset | ( | ) | [inline] |
double DriveParam::getGearRatio | ( | ) | [inline] |
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
Definition at line 383 of file DriveParam.h.
double DriveParam::getMaxAcc | ( | ) | [inline] |
Get the maximum acceleration.
Definition at line 312 of file DriveParam.h.
double DriveParam::getMaxDec | ( | ) | [inline] |
Get the maximum deceleration.
Definition at line 330 of file DriveParam.h.
double DriveParam::getMaxVel | ( | ) | [inline] |
Get the maximum velocity in increments per second.
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.
dPosGearRad | angle 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.
dPosRad | position in radiant |
dVelRadS | velocity in radiant per seconds |
piPosIncr | converted position in increments |
piVelIncrPeriod | converted 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.
dMaxAcc | Maximum acceleration |
Definition at line 303 of file DriveParam.h.
void DriveParam::setMaxDec | ( | double | dMaxDec | ) | [inline] |
Set the maximum deceleration.
dMaxAcc | Maximum deceleration |
Definition at line 321 of file DriveParam.h.
void DriveParam::setMaxVel | ( | double | dMaxVel | ) | [inline] |
Set the maximum velocity.
dMaxVel | Maximum 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.
iDriveIdent | identifier for the drive |
iEncIncrPerRevMot | encoder increments per revolution of the motor shaft |
dVelMeasFrqHz | set this value to 1 |
dGearRatio | ratio of the gear |
iSign | change -1 for changing the motion direction |
dVelMaxEncIncrS | maximum velocity given in encoder increments per second |
dAccIncrS2 | acceleration in encoder increments per s^2 |
dDecIncrS2 | deceleration 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.
iTempIncr | temperature 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.
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.
double DriveParam::m_dPosGearRadToPosMotIncr [private] |
Definition at line 79 of file DriveParam.h.
double DriveParam::m_dVelMaxEncIncrS [private] |
Definition at line 76 of file DriveParam.h.
double DriveParam::m_dVelMeasFrqHz [private] |
Definition at line 72 of file DriveParam.h.
int DriveParam::m_iDriveIdent [private] |
Definition at line 70 of file DriveParam.h.
int DriveParam::m_iEncIncrPerRevMot [private] |
Definition at line 71 of file DriveParam.h.
int DriveParam::m_iEncOffsetIncr [private] |
Definition at line 80 of file DriveParam.h.
int DriveParam::m_iHomingDigIn [private] |
Definition at line 82 of file DriveParam.h.
int DriveParam::m_iSign [private] |
Definition at line 75 of file DriveParam.h.