00001 /* ParameterExtraction.h - Parameter Extraction definitions header file */ 00002 00003 /* 00004 * Software License Agreement (BSD License) 00005 * 00006 * Copyright (c) 2011, Yaskawa America, Inc. 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in binary form, with or without modification, 00010 * is permitted provided that the following conditions are met: 00011 * 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Yaskawa America, Inc., nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef _INC_GETMOTOMANPARAMETERS_H 00033 #define _INC_GETMOTOMANPARAMETERS_H 00034 00035 #ifdef __cplusplus 00036 extern "C" { 00037 #endif 00038 00039 #define MAX_PARAM_BUFF 4000 //4k 00040 #define TAG_BUFF_LEN 10 00041 00042 typedef struct 00043 { 00044 float PtoR[MAX_PULSE_AXES]; //Array to store PULSE TO RADIAN conversion factors for each axes 00045 }GB_PULSE_TO_RAD; 00046 00047 typedef struct 00048 { 00049 BOOL bValid; //TRUE if ulSourceAxis != 0 00050 INT32 ulSourceAxis; 00051 INT32 ulCorrectionAxis; 00052 float fCorrectionRatio; 00053 } FB_AXIS_CORRECTION; 00054 00055 typedef struct 00056 { 00057 FB_AXIS_CORRECTION correction[MAX_PULSE_AXES]; 00058 } FB_PULSE_CORRECTION_DATA; 00059 00060 typedef struct 00061 { 00062 UINT32 qtyOfOutFiles; 00063 UINT32 qtyOfHighPriorityTasks; 00064 UINT32 qtyOfNormalPriorityTasks; 00065 } TASK_QTY_INFO; 00066 00067 typedef struct 00068 { 00069 UINT16 periodInMilliseconds; 00070 } GP_INTERPOLATION_PERIOD; 00071 00072 typedef struct 00073 { 00074 UINT32 maxIncrement[MAX_PULSE_AXES]; 00075 } MAX_INCREMENT_INFO; 00076 00077 typedef struct 00078 { 00079 int ctrlGrp; //Robot control group 00080 int IpCycleInMilliseconds; //Interpolation Cycle in milliseconds 00081 MAX_INCREMENT_INFO info; //Maximum increment per interpolation cycle 00082 } MAX_INC_PIPC; 00083 00084 /******************************************************************************/ 00085 /* << 2 >> */ 00086 /* Function name : int GP_getNumberOfGroups() */ 00087 /* Functionality : Retrieves the Number of Defined Groups */ 00088 /* Parameter : NONE */ 00089 /* Return value : Success = Number of Groups */ 00090 /* : Failure = -1 */ 00091 /******************************************************************************/ 00092 extern int GP_getNumberOfGroups(); 00093 00094 /******************************************************************************/ 00095 /* << 3 >> */ 00096 /* Function name : int GP_getNumberOfAxes() */ 00097 /* Functionality : Retrieves the Number of Axes */ 00098 /* Parameter : int ctrlGrp - Robot control to fetch data [IN] */ 00099 /* Return value : Success = Number of Axes */ 00100 /* : Failure = -1 */ 00101 /******************************************************************************/ 00102 extern int GP_getNumberOfAxes(int ctrlGrp); 00103 00104 /******************************************************************************/ 00105 /* << 4 >> */ 00106 /* Function name : STATUS GP_getPulseToRad() */ 00107 /* Functionality : Gets the Pulse to radians conversion factors */ 00108 /* Parameter : int ctrlGrp - Robot control to fetch data [IN] */ 00109 /* GB_PULSE_TO_RAD *PulseToRad -array of conversion data [OUT]*/ 00110 /* Return value : Success = OK */ 00111 /* : Failure = NG */ 00112 /******************************************************************************/ 00113 extern STATUS GP_getPulseToRad(int ctrlGrp, GB_PULSE_TO_RAD *PulseToRad); 00114 00115 /******************************************************************************/ 00116 /* << 11 >> */ 00117 /* Function name : STATUS GetFBPulseCorrection() */ 00118 /* Functionality : Get all the pulse correction data for required axes */ 00119 /* Parameter : int ctrlGrp - Robot control to fetch data [IN] */ 00120 /* FB_PULSE_CORRECTION_DATA * correctionData[OUT] */ 00121 /* Return value : Success = OK */ 00122 /* : Failure = NG */ 00123 /******************************************************************************/ 00124 extern STATUS GP_getFBPulseCorrection(int ctrlGrp, FB_PULSE_CORRECTION_DATA *correctionData); 00125 00126 /******************************************************************************/ 00127 /* << 12 >> */ 00128 /* Function name : STATUS GP_getQtyOfAllowedTasks() */ 00129 /* Functionality : No.of MotoPlus tasks that can be started concurrently */ 00130 /* Parameter : TASK_QTY_INFO *taskInfo [OUT] */ 00131 /* Return value : Success = OK */ 00132 /* : Failure = NG */ 00133 /******************************************************************************/ 00134 extern STATUS GP_getQtyOfAllowedTasks(TASK_QTY_INFO *taskInfo); 00135 00136 /******************************************************************************/ 00137 /* << 13 >> */ 00138 /* Function name : STATUS GP_getInterpolationPeriod() */ 00139 /* Functionality : No.of millisecs b/w each tick of the interpolation-clock */ 00140 /* Parameter : UINT16 *periodInMilliseconds [OUT] */ 00141 /* Return value : Success = OK */ 00142 /* : Failure = NG */ 00143 /******************************************************************************/ 00144 extern STATUS GP_getInterpolationPeriod(UINT16* periodInMilliseconds); 00145 00146 /******************************************************************************/ 00147 /* << 14 >> */ 00148 /* Function name : STATUS GP_getMaxIncPerIpCycle() */ 00149 /* Functionality : Max increment the arm is capable of(limited by governor) */ 00150 /* Parameter : int ctrlGrp - Robot control to fetch data [IN] */ 00151 /* int interpolationPeriodInMilliseconds - obtained from GP_getInterpolationPeriod [IN] */ 00152 /* MAX_INCREMENT_INFO *mip [OUT] */ 00153 /* Return value : Success = OK */ 00154 /* : Failure = NG */ 00155 /******************************************************************************/ 00156 extern STATUS GP_getMaxIncPerIpCycle(int ctrlGrp, int interpolationPeriodInMilliseconds, MAX_INCREMENT_INFO *mip); 00157 00158 /******************************************************************************/ 00159 /* << 15 >> */ 00160 /* Function name : GP_getGovForIncMotion() */ 00161 /* Functionality : Percentage Limit of the max-increment */ 00162 /* Parameter : int ctrlGrp [IN] */ 00163 /* Return value : Success = percentage limit Of MaxSpeed */ 00164 /* : Failure = -1 */ 00165 /******************************************************************************/ 00166 extern float GP_getGovForIncMotion(int ctrlGrp); 00167 00168 #ifdef __cplusplus 00169 } 00170 #endif 00171 00172 #endif