ParameterExtraction.h
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1 /* ParameterExtraction.h - Parameter Extraction definitions header file */
2 
3 /*
4 * Software License Agreement (BSD License)
5 *
6 * Copyright (c) 2011, Yaskawa America, Inc.
7 * All rights reserved.
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10 * is permitted provided that the following conditions are met:
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14 * documentation and/or other materials provided with the distribution.
15 * * Neither the name of the Yaskawa America, Inc., nor the names
16 * of its contributors may be used to endorse or promote products derived
17 * from this software without specific prior written permission.
18 *
19 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
20 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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23 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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30 */
31 
32 #ifndef _INC_GETMOTOMANPARAMETERS_H
33 #define _INC_GETMOTOMANPARAMETERS_H
34 
35 #include "ParameterTypes.h"
36 
37 #ifdef __cplusplus
38 extern "C" {
39 #endif
40 
41 /******************************************************************************/
42 /* << 2 >> */
43 /* Function name : int GP_getNumberOfGroups() */
44 /* Functionality : Retrieves the Number of Defined Groups */
45 /* Parameter : NONE */
46 /* Return value : Success = Number of Groups */
47 /* : Failure = -1 */
48 /******************************************************************************/
49 extern int GP_getNumberOfGroups();
50 
51 /******************************************************************************/
52 /* << 3 >> */
53 /* Function name : int GP_getNumberOfAxes() */
54 /* Functionality : Retrieves the Number of Axes */
55 /* Parameter : int ctrlGrp - Robot control to fetch data [IN] */
56 /* Return value : Success = Number of Axes */
57 /* : Failure = -1 */
58 /******************************************************************************/
59 extern int GP_getNumberOfAxes(int ctrlGrp);
60 
61 /******************************************************************************/
62 /* << 4 >> */
63 /* Function name : STATUS GP_getPulseToRad() */
64 /* Functionality : Gets the Pulse to radians conversion factors */
65 /* Parameter : int ctrlGrp - Robot control to fetch data [IN] */
66 /* GB_PULSE_TO_RAD *PulseToRad -array of conversion data [OUT]*/
67 /* Return value : Success = OK */
68 /* : Failure = NG */
69 /******************************************************************************/
70 extern STATUS GP_getPulseToRad(int ctrlGrp, PULSE_TO_RAD *PulseToRad);
71 
72 /******************************************************************************/
73 /* << 11 >> */
74 /* Function name : STATUS GetFBPulseCorrection() */
75 /* Functionality : Get all the pulse correction data for required axes */
76 /* Parameter : int ctrlGrp - Robot control to fetch data [IN] */
77 /* FB_PULSE_CORRECTION_DATA * correctionData[OUT] */
78 /* Return value : Success = OK */
79 /* : Failure = NG */
80 /******************************************************************************/
81 extern STATUS GP_getFBPulseCorrection(int ctrlGrp, FB_PULSE_CORRECTION_DATA *correctionData);
82 
83 /******************************************************************************/
84 /* << 12 >> */
85 /* Function name : STATUS GP_getQtyOfAllowedTasks() */
86 /* Functionality : No.of MotoPlus tasks that can be started concurrently */
87 /* Parameter : TASK_QTY_INFO *taskInfo [OUT] */
88 /* Return value : Success = OK */
89 /* : Failure = NG */
90 /******************************************************************************/
91 extern STATUS GP_getQtyOfAllowedTasks(TASK_QTY_INFO *taskInfo);
92 
93 /******************************************************************************/
94 /* << 13 >> */
95 /* Function name : STATUS GP_getInterpolationPeriod() */
96 /* Functionality : No.of millisecs b/w each tick of the interpolation-clock */
97 /* Parameter : UINT16 *periodInMilliseconds [OUT] */
98 /* Return value : Success = OK */
99 /* : Failure = NG */
100 /******************************************************************************/
101 extern STATUS GP_getInterpolationPeriod(UINT16* periodInMilliseconds);
102 
103 /******************************************************************************/
104 /* << 14 >> */
105 /* Function name : STATUS GP_getMaxIncPerIpCycle() */
106 /* Functionality : Max increment the arm is capable of(limited by governor) */
107 /* Parameter : int ctrlGrp - Robot control to fetch data [IN] */
108 /* int interpolationPeriodInMilliseconds - obtained from GP_getInterpolationPeriod [IN] */
109 /* MAX_INCREMENT_INFO *mip [OUT] */
110 /* Return value : Success = OK */
111 /* : Failure = NG */
112 /******************************************************************************/
113 extern STATUS GP_getMaxIncPerIpCycle(int ctrlGrp, int interpolationPeriodInMilliseconds, MAX_INCREMENT_INFO *mip);
114 
115 /******************************************************************************/
116 /* << 15 >> */
117 /* Function name : GP_getGovForIncMotion() */
118 /* Functionality : Percentage Limit of the max-increment */
119 /* Parameter : int ctrlGrp [IN] */
120 /* Return value : Success = percentage limit Of MaxSpeed */
121 /* : Failure = -1 */
122 /******************************************************************************/
123 extern float GP_getGovForIncMotion(int ctrlGrp);
124 
125 /******************************************************************************/
126 /* << 16 >> */
127 /* Function name : STATUS GP_getJointPulseLimits() */
128 /* Functionality : Gets the Pulse to radians conversion factors */
129 /* Parameter : int ctrlGrp - Robot control to fetch data [IN] */
130 /* GB_PULSE_TO_RAD *PulseToRad -array of conversion data [OUT]*/
131 /* Return value : Success = OK */
132 /* : Failure = NG */
133 /******************************************************************************/
134 extern STATUS GP_getJointPulseLimits(int ctrlGrp, JOINT_PULSE_LIMITS* jointPulseLimits);
135 
136 /******************************************************************************/
137 /* << 17 >> */
138 /* Function name : STATUS GP_getJointVelocityLimits() */
139 /* Functionality : Gets the velocity limit for each joint */
140 /* Parameter : int ctrlGrp - Robot control to fetch data [IN] */
141 /* JOINT_ANGULAR_VELOCITY_LIMITS *GP_getJointAngularVelocityLimits (deg/sec) [OUT]*/
142 /* Return value : Success = OK */
143 /* : Failure = NG */
144 /******************************************************************************/
145 extern STATUS GP_getJointAngularVelocityLimits(int ctrlGrp, JOINT_ANGULAR_VELOCITY_LIMITS* jointVelocityLimits);
146 
147 /******************************************************************************/
148 /* << 18 >> */
149 /* Function name : STATUS GP_getAxisMotionType() */
150 /* Functionality : Gets the motion type of each axis in the group */
151 /* Parameter : int ctrlGrp - Robot control to fetch data [IN] */
152 /* AXIS_MOTION_TYPE *axisType -array of data [OUT] */
153 /* Return value : Success = OK */
154 /* : Failure = NG */
155 /******************************************************************************/
156 extern STATUS GP_getAxisMotionType(int ctrlGrp, AXIS_MOTION_TYPE* axisType);
157 
158 /******************************************************************************/
159 /* << 19 >> */
160 /* Function name : STATUS GP_getPulseToMeter() */
161 /* Functionality : Gets the Pulse to meter conversion factors */
162 /* Parameter : int ctrlGrp - Robot control to fetch data [IN] */
163 /* PULSE_TO_METER *PulseToMeter -array of conversion data [OUT]*/
164 /* Return value : Success = OK */
165 /* : Failure = NG */
166 /******************************************************************************/
167 extern STATUS GP_getPulseToMeter(int ctrlGrp, PULSE_TO_METER* PulseToMeter);
168 
169 /******************************************************************************/
170 /* << 20 >> */
171 /* Function name : STATUS GP_isBaxisSlave() */
172 /* Functionality : Determines if B axis is automatically moved relative to */
173 /* other axes. */
174 /* Parameter : int ctrlGrp - Robot control to fetch data [IN] */
175 /* BOOL* bBaxisIsSlave - TRUE if b axis is slave [OUT] */
176 /* Return value : Success = OK */
177 /* : Failure = NG */
178 /******************************************************************************/
179 extern STATUS GP_isBaxisSlave(int ctrlGrp, BOOL* bBaxisIsSlave);
180 
181 /******************************************************************************/
182 /* << 21 >> */
183 /* Function name : STATUS GP_getFeedbackSpeedMRegisterAddresses() */
184 /* Functionality : Obtains the MRegister CIO addresses that contain the */
185 /* feedback speed for each axis. Optionally enables this */
186 /* feature if not already enabled. */
187 /* Parameter : int ctrlGrp - Robot control group (zero based index) [IN] */
188 /* BOOL bActivateIfNotEnabled - TRUE to enable feature [IN] */
189 /* BOOL bForceRebootAfterActivation - TRUE to force the user */
190 /* to reboot if this feature gets activated. Set to FALSE if */
191 /* you plan to enable for additional control groups. [IN] */
192 /* JOINT_FEEDBACK_SPEED_ADDRESSES* registerAddresses - */
193 /* Obtains the CIO register address for the feedback data [OUT]*/
194 /* Return value : Success = OK */
195 /* : Failure = NG */
196 /******************************************************************************/
197 extern STATUS GP_getFeedbackSpeedMRegisterAddresses(int ctrlGrp, BOOL bActivateIfNotEnabled, BOOL bForceRebootAfterActivation, JOINT_FEEDBACK_SPEED_ADDRESSES* registerAddresses);
198 
199 /******************************************************************************/
200 /* << 22 >> */
201 /* Function name : STATUS GP_isSdaRobot() */
202 /* Functionality : Determines if the robot is a dual-arm SDA. */
203 /* Parameter : BOOL* bIsSda - TRUE if robot is SDA [OUT] */
204 /* Return value : Success = OK */
205 /* : Failure = NG */
206 /******************************************************************************/
207 extern STATUS GP_isSdaRobot(BOOL* bIsSda);
208 
209 /******************************************************************************/
210 /* << 23 >> */
211 /* Function name : STATUS GP_isSharedBaseAxis() */
212 /* Functionality : Determines if the robot is an SDA that has a base axis */
213 /* which is shared over multiple control groups. */
214 /* Parameter : BOOL* bIsSharedBaseAxis [OUT] */
215 /* Return value : Success = OK */
216 /* : Failure = NG */
217 /******************************************************************************/
218 extern STATUS GP_isSharedBaseAxis(BOOL* bIsSharedBaseAxis);
219 
220 /******************************************************************************/
221 /* << 24 >> */
222 /* Function name : STATUS GP_getDhParameters() */
223 /* Functionality : Retrieves DH parameters for a given control group. */
224 /* Parameter : int ctrlGrp - Robot control group (zero based index) [IN] */
225 /* DH_PARAMETERS* dh - Value of the DH parameters [OUT] */
226 /* Return value : Success = OK */
227 /* : Failure = NG */
228 /******************************************************************************/
229 extern STATUS GP_getDhParameters(int ctrlGrp, DH_PARAMETERS* dh);
230 
231 #ifdef __cplusplus
232 }
233 #endif
234 
235 #endif
GP_getNumberOfAxes
int GP_getNumberOfAxes(int ctrlGrp)
JOINT_FEEDBACK_SPEED_ADDRESSES
Definition: ParameterTypes.h:109
GP_getMaxIncPerIpCycle
STATUS GP_getMaxIncPerIpCycle(int ctrlGrp, int interpolationPeriodInMilliseconds, MAX_INCREMENT_INFO *mip)
JOINT_PULSE_LIMITS
Definition: ParameterTypes.h:98
PULSE_TO_METER
Definition: ParameterTypes.h:44
MAX_INCREMENT_INFO
Definition: ParameterTypes.h:86
GP_getFBPulseCorrection
STATUS GP_getFBPulseCorrection(int ctrlGrp, FB_PULSE_CORRECTION_DATA *correctionData)
GP_isBaxisSlave
STATUS GP_isBaxisSlave(int ctrlGrp, BOOL *bBaxisIsSlave)
GP_isSdaRobot
STATUS GP_isSdaRobot(BOOL *bIsSda)
JOINT_ANGULAR_VELOCITY_LIMITS
Definition: ParameterTypes.h:104
GP_getInterpolationPeriod
STATUS GP_getInterpolationPeriod(UINT16 *periodInMilliseconds)
STATUS
STATUS
GP_getAxisMotionType
STATUS GP_getAxisMotionType(int ctrlGrp, AXIS_MOTION_TYPE *axisType)
GP_getQtyOfAllowedTasks
STATUS GP_getQtyOfAllowedTasks(TASK_QTY_INFO *taskInfo)
GP_getNumberOfGroups
int GP_getNumberOfGroups()
GP_getJointPulseLimits
STATUS GP_getJointPulseLimits(int ctrlGrp, JOINT_PULSE_LIMITS *jointPulseLimits)
GP_getJointAngularVelocityLimits
STATUS GP_getJointAngularVelocityLimits(int ctrlGrp, JOINT_ANGULAR_VELOCITY_LIMITS *jointVelocityLimits)
FB_PULSE_CORRECTION_DATA
Definition: ParameterTypes.h:69
GP_getPulseToMeter
STATUS GP_getPulseToMeter(int ctrlGrp, PULSE_TO_METER *PulseToMeter)
TASK_QTY_INFO
Definition: ParameterTypes.h:74
PULSE_TO_RAD
Definition: ParameterTypes.h:39
GP_getPulseToRad
STATUS GP_getPulseToRad(int ctrlGrp, PULSE_TO_RAD *PulseToRad)
GP_getDhParameters
STATUS GP_getDhParameters(int ctrlGrp, DH_PARAMETERS *dh)
GP_getFeedbackSpeedMRegisterAddresses
STATUS GP_getFeedbackSpeedMRegisterAddresses(int ctrlGrp, BOOL bActivateIfNotEnabled, BOOL bForceRebootAfterActivation, JOINT_FEEDBACK_SPEED_ADDRESSES *registerAddresses)
AXIS_MOTION_TYPE
Definition: ParameterTypes.h:56
GP_isSharedBaseAxis
STATUS GP_isSharedBaseAxis(BOOL *bIsSharedBaseAxis)
DH_PARAMETERS
Definition: ParameterTypes.h:123
GP_getGovForIncMotion
float GP_getGovForIncMotion(int ctrlGrp)

motoman_driver
Author(s): Jeremy Zoss (Southwest Research Institute), Ted Miller (MotoROS) (Yaskawa Motoman), Eric Marcil (MotoROS) (Yaskawa Motoman)
autogenerated on Sat May 8 2021 02:27:44