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NexMotion
1.4.0
Open Robots & Machines [WIP]
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NexMotion
1.4.0
Open Robots & Machines [WIP]
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A head file define more variable types for NexMotion Library. More...
#include "nex_type.h"
Go to the source code of this file.
Classes | |
| struct | Pos_T |
| The general data types related to motion, which is defined in NexMotionDef.h. More... | |
| struct | Xyz_T |
| The data types related to motion in Cartesian system, which is defined in NexMotionDef.h. More... | |
| struct | APos_T |
| The data types related to motion in Axis system, which is defined in NexMotionDef.h. More... | |
| struct | CPos_T |
| The data types related to pose in Cartesian space, which is defined in NexMotionDef.h. More... | |
| struct | RCfg_T |
| struct | RCPos_T |
| struct | CoordTrans_T |
| The data structure to descibe the transformmed reslationship between two coordinate system. More... | |
| struct | NmcTime_T |
| A data structure is used to describe the system time. More... | |
| struct | NmcMsg_T |
| A data structure is used to describe the system message. More... | |
| struct | MemEntryInfo_T |
| A data structure is used to describe the information of memory entry. More... | |
Macros | |
| #define | NMC_DEVICE_TYPE_SIMULATOR (0) |
| Use Simulator as device types. More... | |
| #define | NMC_DEVICE_TYPE_ETHERCAT (1) |
| Use EtherCAT as Device types. More... | |
| #define | NMC_WAIT_TIME_INFINITE (0xFFFFFFFF) |
| Waiting for the completion of the function execution. More... | |
| #define | NMC_DEVICE_STATE_INIT (1) |
| Init: The device parameters are not configured or have been removed. More... | |
| #define | NMC_DEVICE_STATE_READY (2) |
| Ready: The device parameters have been configured. | |
| #define | NMC_DEVICE_STATE_ERROR (3) |
| Error: The device enters a critical error state, such as the communication failure. More... | |
| #define | NMC_DEVICE_STATE_OPERATION (4) |
| Operation. | |
| #define | NMC_SAFETY_STATE_DISABLE (0) |
| #define | NMC_SAFETY_STATE_READY (1) |
| #define | NMC_SAFETY_STATE_ERROR (2) |
| #define | NMC_SAFETY_MODE_OP_T1 (0) |
| #define | NMC_SAFETY_MODE_OP_T2 (1) |
| #define | NMC_SAFETY_MODE_OP_AUT (2) |
| #define | NMC_SAFETY_WDT_TIMEOUT_STOP0 (0) |
| #define | NMC_SAFETY_WDT_TIMEOUT_STOP1 (1) |
| #define | NMC_COORD_MCS (0) |
| (MCS) Mechanical also called base/world coordinate system | |
| #define | NMC_COORD_PCS (1) |
| (PCS) Programming also called product/work coordinate system | |
| #define | NMC_COORD_ACS (2) |
| (ACS) Axis coordinate system | |
| #define | NMC_AXIS_STATE_DISABLE (0) |
| Disable: The servo is OFF. More... | |
| #define | NMC_AXIS_STATE_STAND_STILL (1) |
| Enable: The servo is stand still. More... | |
| #define | NMC_AXIS_STATE_HOMING (2) |
| Executing the Homing motion. More... | |
| #define | NMC_AXIS_STATE_DISCRETE_MOTION (3) |
| Executing the point-to-point motion. More... | |
| #define | NMC_AXIS_STATE_CONTINUOUS_MOTION (4) |
| Executing the continuous motion. More... | |
| #define | NMC_AXIS_STATE_STOPPING (5) |
| Receiving the Stop command and slowing down to stop. More... | |
| #define | NMC_AXIS_STATE_STOPPED (6) |
| Receiving the Stop command and stopped. More... | |
| #define | NMC_AXIS_STATE_WAIT_SYNC (7) |
| Receiving the Wait command and waiting for SYNC signal. More... | |
| #define | NMC_AXIS_STATE_GROUP_MOTION (8) |
| #define | NMC_AXIS_STATE_ERROR (10) |
| Stop for error. More... | |
| #define | NMC_AXIS_STATUS_EMG (0) |
| A latched signal is issued at the EMG signal (*1). More... | |
| #define | NMC_AXIS_STATUS_ALM (1) |
| A latched signal is issued at the servo Alarm (*1). More... | |
| #define | NMC_AXIS_STATUS_PEL (2) |
| A latched signal is issued at the positive limit signal (*1). More... | |
| #define | NMC_AXIS_STATUS_NEL (3) |
| A latched signal is issued at the negative limit signal (*1). More... | |
| #define | NMC_AXIS_STATUS_PSEL (4) |
| A latched signal is issued at the software positive limit signal (*1). More... | |
| #define | NMC_AXIS_STATUS_NSEL (5) |
| A latched signal is issued at the software negitive limit signal (*1). More... | |
| #define | NMC_AXIS_STATUS_ENA (6) |
| The axis is Enable or Disable. More... | |
| #define | NMC_AXIS_STATUS_ERR (7) |
| Axis error. | |
| #define | NMC_AXIS_STATUS_TAR (8) |
| The axis has reached the target position. More... | |
| #define | NMC_AXIS_STATUS_CSTP (9) |
| The axis commands to Stop. More... | |
| #define | NMC_AXIS_STATUS_ACC (10) |
| The axis is operating in acceleration. More... | |
| #define | NMC_AXIS_STATUS_DEC (11) |
| The axis is operating in decceleration. More... | |
| #define | NMC_AXIS_STATUS_MV (12) |
| The axis is operating at the maximum velocity. More... | |
| #define | NMC_AXIS_STATUS_OP (13) |
| The axis is operating. More... | |
| #define | NMC_AXIS_STATUS_STOP (14) |
| The axis is STOP. More... | |
| #define | NMC_AXIS_STATUS_RPEL (16) |
| Positive limit signal: 1: Triggered, 0: Not Triggered. | |
| #define | NMC_AXIS_STATUS_RNEL (17) |
| Negative limit signal: 1: Triggered, 0: Not Triggered. | |
| #define | NMC_AXIS_STATUS_RHOM (18) |
| Home signal: 1: High level, 0: Low Level. | |
| #define | NMC_AXIS_STATUS_MASK_EMG (0x00000001) |
| The mask for a latched signal issued at the EMG signal (*1). More... | |
| #define | NMC_AXIS_STATUS_MASK_ALM (0x00000002) |
| The mask for a latched signal issued at the servo Alarm (*1). More... | |
| #define | NMC_AXIS_STATUS_MASK_PEL (0x00000004) |
| The mask for a latched signal issued at the positive limit signal (*1). More... | |
| #define | NMC_AXIS_STATUS_MASK_NEL (0x00000008) |
| The mask for a latched signal issued at the negative limit signal (*1). More... | |
| #define | NMC_AXIS_STATUS_MASK_PSEL (0x00000010) |
| The mask for a latched signal issued at the software positive signal (*1). More... | |
| #define | NMC_AXIS_STATUS_MASK_NSEL (0x00000020) |
| The mask for a latched signal issued at the software negative signal (*1). More... | |
| #define | NMC_AXIS_STATUS_MASK_ENA (0x00000040) |
| The mask to indicate the axis is Enable or Disable. More... | |
| #define | NMC_AXIS_STATUS_MASK_ERR (0x00000080) |
| The mask for axis error. More... | |
| #define | NMC_AXIS_STATUS_MASK_TAR (0x00000100) |
| The mask to indicate the axis has reached the target position. More... | |
| #define | NMC_AXIS_STATUS_MASK_CSTP (0x00000200) |
| The mask to indicate the axis commands to Stop. More... | |
| #define | NMC_AXIS_STATUS_MASK_ACC (0x00000400) |
| The mask to indicate the axis is operating in acceleration. More... | |
| #define | NMC_AXIS_STATUS_MASK_DEC (0x00000800) |
| The mask to indicate the axis is operating in decceleration. More... | |
| #define | NMC_AXIS_STATUS_MASK_MV (0x00001000) |
| The mask to indicate the axis is operating at the maximum velocity. More... | |
| #define | NMC_AXIS_STATUS_MASK_OP (0x00002000) |
| The mask to indicate the axis is operating. More... | |
| #define | NMC_AXIS_STATUS_MASK_STOP (0x00004000) |
| The mask to indicate the axis is STOP. More... | |
| #define | NMC_AXIS_STATUS_MASK_RPEL (0x00010000) |
| The mask for the positive limit signal: 1:Triggered, 0: Not Triggered. More... | |
| #define | NMC_AXIS_STATUS_MASK_RNEL (0x00020000) |
| The mask for the negative limit signal: 1:Triggered, 0: Not Triggered. More... | |
| #define | NMC_AXIS_STATUS_MASK_RHOM (0x00040000) |
| The mask for the home signal: 1: High level, 0: Low level. More... | |
| #define | NMC_GROUP_STATE_DISABLE (0) |
| Disable: The group servo is OFF. More... | |
| #define | NMC_GROUP_STATE_STAND_STILL (1) |
| Enable: The group servo is stand still. More... | |
| #define | NMC_GROUP_STATE_STOPPED (2) |
| Receiving the Stop command and stopped. More... | |
| #define | NMC_GROUP_STATE_STOPPING (3) |
| Receiving the Stop command and slowing down to stop. More... | |
| #define | NMC_GROUP_STATE_MOVING (4) |
| Executing the move command. More... | |
| #define | NMC_GROUP_STATE_HOMING (5) |
| Executing the Homing motion. More... | |
| #define | NMC_GROUP_STATE_ERROR (6) |
| Stop for error. More... | |
| #define | NMC_GROUP_STATUS_EMG (0) |
| A latched signal is issued at the external EMG signal (*1). More... | |
| #define | NMC_GROUP_STATUS_ALM (1) |
| A latched signal is issued at a group axis servo Alarm (*1). More... | |
| #define | NMC_GROUP_STATUS_PEL (2) |
| A latched signal is issued at the positive limit signal of a group axis (*1). More... | |
| #define | NMC_GROUP_STATUS_NEL (3) |
| A latched signal is issued at the negative limit signal of a group axis (*1). More... | |
| #define | NMC_GROUP_STATUS_PSEL (4) |
| A latched signal is issued at the software positive limit signal of a group axis (*1). More... | |
| #define | NMC_GROUP_STATUS_NSEL (5) |
| A latched signal is issued at the software negative limit signal of a group axis (*1). More... | |
| #define | NMC_GROUP_STATUS_ENA (6) |
| The group is Enable or Disable. More... | |
| #define | NMC_GROUP_STATUS_ERR (7) |
| Group (a group of axis) error. | |
| #define | NMC_GROUP_STATUS_CSTP (9) |
| No displacement of all group axis (i.e. More... | |
| #define | NMC_GROUP_STATUS_ACC (10) |
| Moving in the Cartesian coordinate system (along a line or an arc) and accelerating to the maximum velocity or decelerating. More... | |
| #define | NMC_GROUP_STATUS_DEC (11) |
| Moving in the Cartesian coordinate system (along a line or an arc) and deccelerating to the target position or STOP. More... | |
| #define | NMC_GROUP_STATUS_MV (12) |
| Moving in the Cartesian coordinate system (along a line or an arc) at the maximum velocity. More... | |
| #define | NMC_GROUP_STATUS_OP (13) |
| The group is moving. More... | |
| #define | NMC_GROUP_STATUS_STOP (14) |
| The group is STOP. More... | |
| #define | NMC_GROUP_STATUS_MASK_EMG (0x00000001) |
| #define | NMC_GROUP_STATUS_MASK_ALM (0x00000002) |
| #define | NMC_GROUP_STATUS_MASK_PEL (0x00000004) |
| #define | NMC_GROUP_STATUS_MASK_NEL (0x00000008) |
| #define | NMC_GROUP_STATUS_MASK_PSEL (0x00000010) |
| #define | NMC_GROUP_STATUS_MASK_NSEL (0x00000020) |
| #define | NMC_GROUP_STATUS_MASK_ENA (0x00000040) |
| #define | NMC_GROUP_STATUS_MASK_ERR (0x00000080) |
| #define | NMC_GROUP_STATUS_MASK_CSTP (0x00000200) |
| #define | NMC_GROUP_STATUS_MASK_ACC (0x00000400) |
| #define | NMC_GROUP_STATUS_MASK_DEC (0x00000800) |
| #define | NMC_GROUP_STATUS_MASK_MV (0x00001000) |
| #define | NMC_GROUP_STATUS_MASK_OP (0x00002000) |
| #define | NMC_GROUP_STATUS_MASK_STOP (0x00004000) |
| #define | NMC_MAX_AXES_IN_GROUP (8) |
| #define | NMC_MAX_POS_SIZE (8) |
| Pos_T array size definition. | |
| #define | NMC_MAX_XYZ_SIZE (3) |
| Xyz_T array size definition. | |
| #define | NMC_MAX_AXIS_POS_SIZE (NMC_MAX_AXES_IN_GROUP) |
| APos_T array size definition. | |
| #define | NMC_MAX_CARTESIAN_POS_SIZE (6) |
| CPos_T array size definition. | |
| #define | NMC_GROUP_AXIS_X (0) |
| X axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_Y (1) |
| Y axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_Z (2) |
| Z axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_A (3) |
| A axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_B (4) |
| B axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_C (5) |
| C axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_U (6) |
| U axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_V (7) |
| V axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_MASK_X (0x00000001) |
| The mask for X axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_MASK_Y (0x00000002) |
| The mask for Y axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_MASK_Z (0x00000004) |
| The mask for Z axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_MASK_A (0x00000008) |
| The mask for A axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_MASK_B (0x00000010) |
| The mask for B axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_MASK_C (0x00000020) |
| The mask for C axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_MASK_U (0x00000040) |
| The mask for U axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_MASK_V (0x00000080) |
| The mask for V axis of the coordinate system. | |
| #define | NMC_GROUP_AXIS_MASK_ALL (0x000000FF) |
| The mask for all axes of the coordinate system. | |
| #define | NMC_TRACE_MODE_DISABLE (0) |
| Turn off the trace function and do not output anything. | |
| #define | NMC_TRACE_MODE_ERROR (1) |
| Output the APIs with errors only. | |
| #define | NMC_TRACE_MODE_ALL (2) |
| Output all APIs. | |
| #define | NMC_MAX_MSG_SOURCE_SIZE (128) |
| #define | NMC_MAX_MSG_TEXT_SIZE (1024) |
| #define | NMC_MSG_TYPE_NORMAL (0) |
| #define | NMC_MSG_TYPE_WARNING (1) |
| #define | NMC_MSG_TYPE_ERROR (2) |
| #define | NMC_MSG_TYPE_DEBUGING (3) |
| #define | NMC_MEM_ENTRY_NAME_SIZE (128) |
| #define | NMC_MEM_ENTRY_CLASS_DIO (0) |
| #define | NMC_MEM_ENTRY_CLASS_DATA (1) |
| #define | NMC_MAX_POSE_DATA_SIZE (6) |
| #define | NMC_TOOL_NONE (-1) |
| #define | NMC_BASE_NONE (-1) |
| #define | RCFG_BIT0 0 |
| #define | RCFG_BIT1 1 |
| #define | RCFG_BIT2 2 |
| #define | RCFG_SIZE 4 |
| #define | RCFG_1 0 |
| #define | RCFG_4 1 |
| #define | RCFG_6 2 |
| #define | RCFG_X 3 |
| #define | RCFG_OPTION 10 |
| #define | RCFG_INI 20 |
| #define | RCFG_UNUSE 30 |
| #define | MAX_POS_SIZE (NMC_MAX_POS_SIZE) |
| Pos_T array size definition. More... | |
| #define | MAX_XYZ_SIZE (NMC_MAX_XYZ_SIZE) |
| Xyz_T array size definition. | |
| #define | GROUP_AXIS_X (0) |
| X axis of the coordinate system. | |
| #define | GROUP_AXIS_Y (1) |
| Y axis of the coordinate system. | |
| #define | GROUP_AXIS_Z (2) |
| Z axis of the coordinate system. | |
| #define | GROUP_AXIS_A (3) |
| A axis of the coordinate system. | |
| #define | GROUP_AXIS_B (4) |
| B axis of the coordinate system. | |
| #define | GROUP_AXIS_C (5) |
| C axis of the coordinate system. | |
| #define | GROUP_AXIS_U (6) |
| U axis of the coordinate system. | |
| #define | GROUP_AXIS_V (7) |
| V axis of the coordinate system. | |
| #define | GROUP_AXIS_MASK_X (0x00000001) |
| The mask for X axis of the coordinate system. | |
| #define | GROUP_AXIS_MASK_Y (0x00000002) |
| The mask for Y axis of the coordinate system. | |
| #define | GROUP_AXIS_MASK_Z (0x00000004) |
| The mask for Z axis of the coordinate system. | |
| #define | GROUP_AXIS_MASK_A (0x00000008) |
| The mask for A axis of the coordinate system. | |
| #define | GROUP_AXIS_MASK_B (0x00000010) |
| The mask for B axis of the coordinate system. | |
| #define | GROUP_AXIS_MASK_C (0x00000020) |
| The mask for C axis of the coordinate system. | |
| #define | GROUP_AXIS_MASK_U (0x00000040) |
| The mask for U axis of the coordinate system. | |
| #define | GROUP_AXIS_MASK_V (0x00000080) |
| The mask for V axis of the coordinate system. | |
Typedefs | |
| typedef void(* | PF_NmcHookAPI) (const void *FPFuncAddress, const char *PFuncName, RTN_ERR ReturnCode, void *PUserData) |
| Hook function type definition. More... | |
A head file define more variable types for NexMotion Library.
| #define NMC_MAX_AXES_IN_GROUP (8) |
Group axis number definition
| #define NMC_MAX_POSE_DATA_SIZE (6) |
Coordinate transform
| #define NMC_WAIT_TIME_INFINITE (0xFFFFFFFF) |
Waiting for the completion of the function execution.
Wait functions timeout
| typedef void(* PF_NmcHookAPI) (const void *FPFuncAddress, const char *PFuncName, RTN_ERR ReturnCode, void *PUserData) |
Hook function type definition.
| *FPFuncAddress | The index of the called function. |
| *PFuncName | The name of the called function. |
| ReturnCode | The return value of the called function. |
| *PUserData | The index of user data set by NMC_DebugSetHookData(). |
1.8.11