#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. More...

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. More...

double	VelMotIncrPeriodToVelGearRadS (int iVelMotIncrPeriod)
	Conversions of encoder increments per measurment period to gear velocity in rad/s. More...

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 28 of file DriveParam.h.

Constructor & Destructor Documentation

DriveParam::DriveParam ( )

inline

Default constructor.

Definition at line 55 of file DriveParam.h.

Member Function Documentation

double DriveParam::getBeltRatio ( )

inline

Get the belt ratio.

Returns: The belt ratio.

Definition at line 328 of file DriveParam.h.

double DriveParam::getCurrMax ( )

inline

Get maximum current allowed

Definition at line 368 of file DriveParam.h.

double DriveParam::getCurrToTorque ( )

inline

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

Definition at line 361 of file DriveParam.h.

int DriveParam::getDriveIdent ( )

inline

Returns the identifier of the drive.

Definition at line 187 of file DriveParam.h.

int DriveParam::getEncIncrPerRevMot ( )

inline

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

Returns: the Encoderoffset

Definition at line 354 of file DriveParam.h.

int DriveParam::getEncOffset ( )

inline

Get the EncoderOffset

Returns: the Encoderoffset

Definition at line 337 of file DriveParam.h.

double DriveParam::getGearRatio ( )

inline

Get the gear ratio.

Returns: The gear ratio.

Definition at line 320 of file DriveParam.h.

int DriveParam::getHomingDigIn ( )

inline

Get digital Input for Homing signal

Definition at line 375 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 346 of file DriveParam.h.

double DriveParam::getMaxAcc ( )

inline

Get the maximum acceleration.

Returns: Maximum acceleration

Definition at line 275 of file DriveParam.h.

double DriveParam::getMaxDec ( )

inline

Get the maximum deceleration.

Returns: Maximum deceleration

Definition at line 293 of file DriveParam.h.

double DriveParam::getMaxVel ( )

inline

Get the maximum velocity in increments per second.

Returns: Maximum velocity [inc/sec].

Definition at line 311 of file DriveParam.h.

int DriveParam::getSign ( )

inline

Returns the sign for the motion direction.

Definition at line 195 of file DriveParam.h.

double DriveParam::getVelMax ( )

inline

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

Definition at line 203 of file DriveParam.h.

int DriveParam::PosGearRadToPosMotIncr ( double dPosGearRad )

inline

Converts revolution angle form radian to encoder increments.

Parameters

dPosGearRad angle in radian

Definition at line 239 of file DriveParam.h.

double DriveParam::PosMotIncrToPosGearRad ( int iPosIncr )

inline

Conversions of encoder increments to gear position in radians.

Definition at line 245 of file DriveParam.h.

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

inline

Converts position and velocity.

Parameters

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 215 of file DriveParam.h.

void DriveParam::setHomingDigIn ( int HomingDigIn )

inline

Set digital Input for Homing signal

Definition at line 382 of file DriveParam.h.

void DriveParam::setMaxAcc ( double dMaxAcc )

inline

Set the maximum acceleration.

Parameters

dMaxAcc Maximum acceleration

Definition at line 266 of file DriveParam.h.

void DriveParam::setMaxDec ( double dMaxDec )

inline

Set the maximum deceleration.

Parameters

dMaxAcc Maximum deceleration

Definition at line 284 of file DriveParam.h.

void DriveParam::setMaxVel ( double dMaxVel )

inline

Set the maximum velocity.

Parameters

dMaxVel Maximum velocity

Definition at line 302 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

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 74 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 105 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 145 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

iTempIncr temperature in a special internal unit

Definition at line 226 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 251 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 257 of file DriveParam.h.

Member Data Documentation

bool DriveParam::m_bIsSteer

private

Definition at line 46 of file DriveParam.h.

double DriveParam::m_dAccIncrS2

private

Definition at line 40 of file DriveParam.h.

double DriveParam::m_dBeltRatio

private

Definition at line 37 of file DriveParam.h.

double DriveParam::m_dCurrMax

private

Definition at line 48 of file DriveParam.h.

double DriveParam::m_dCurrToTorque

private

Definition at line 47 of file DriveParam.h.

double DriveParam::m_dDecIncrS2

private

Definition at line 41 of file DriveParam.h.

double DriveParam::m_dGearRatio

private

Definition at line 36 of file DriveParam.h.

double DriveParam::m_dPosGearRadToPosMotIncr

private

Definition at line 42 of file DriveParam.h.

double DriveParam::m_dVelMaxEncIncrS

private

Definition at line 39 of file DriveParam.h.

double DriveParam::m_dVelMeasFrqHz

private

Definition at line 35 of file DriveParam.h.

int DriveParam::m_iDriveIdent

private

Definition at line 33 of file DriveParam.h.

int DriveParam::m_iEncIncrPerRevMot

private

Definition at line 34 of file DriveParam.h.

int DriveParam::m_iEncOffsetIncr

private

Definition at line 43 of file DriveParam.h.

int DriveParam::m_iHomingDigIn

private

Definition at line 45 of file DriveParam.h.

int DriveParam::m_iSign

private

Definition at line 38 of file DriveParam.h.

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

DriveParam.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation