emc.hh

Source code for an Numeric Cmputer

 * a 2000 counts per rev encoder, and 10 revs/inch gearing, and desired units
 * of mm, we have
 *
 * [scale units] = 2000 [counts/rev] * 10 [rev/inch] * 1/25.4 [inch/mm]
 * [scale units] = 787.4 counts/mm
 *
 * and, as a result,
 *
 * input [mm] = (encoder [counts] - offset [counts]) / 787.4 [counts/mm]
 *
 * Note that the units of the offset are in sensor units, e.g., counts, and
 * they are pre-subtracted from the sensor readings. The value for this offset
 * is obtained by finding the value of counts for which you want your user
 * units to read 0.0. This is normally accomplished automatically during a
 * homing procedure.
 *
 * Note that using this command to change the scale is not a good idea
 * once things have gotten underway, since the axis will
 * jump servo to the "new" position, the gains will no longer
 * be appropriate, etc.
 */
class EMC_AXIS_SET_INPUT_SCALE:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_INPUT_SCALE():EMC_AXIS_CMD_MSG
	(EMC_AXIS_SET_INPUT_SCALE_TYPE, sizeof(EMC_AXIS_SET_INPUT_SCALE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double scale, offset;
};

class EMC_AXIS_SET_OUTPUT_SCALE:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_OUTPUT_SCALE():EMC_AXIS_CMD_MSG
	(EMC_AXIS_SET_OUTPUT_SCALE_TYPE,
	 sizeof(EMC_AXIS_SET_OUTPUT_SCALE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double scale, offset;
};

class EMC_AXIS_SET_MIN_POSITION_LIMIT:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_MIN_POSITION_LIMIT():EMC_AXIS_CMD_MSG
	(EMC_AXIS_SET_MIN_POSITION_LIMIT_TYPE,
	 sizeof(EMC_AXIS_SET_MIN_POSITION_LIMIT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double limit;
};

class EMC_AXIS_SET_MAX_POSITION_LIMIT:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_MAX_POSITION_LIMIT():EMC_AXIS_CMD_MSG
	(EMC_AXIS_SET_MAX_POSITION_LIMIT_TYPE,
	 sizeof(EMC_AXIS_SET_MAX_POSITION_LIMIT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double limit;
};

class EMC_AXIS_SET_MIN_OUTPUT_LIMIT:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_MIN_OUTPUT_LIMIT():EMC_AXIS_CMD_MSG
	(EMC_AXIS_SET_MIN_OUTPUT_LIMIT_TYPE,
	 sizeof(EMC_AXIS_SET_MIN_OUTPUT_LIMIT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double limit;
};

class EMC_AXIS_SET_MAX_OUTPUT_LIMIT:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_MAX_OUTPUT_LIMIT():EMC_AXIS_CMD_MSG
	(EMC_AXIS_SET_MAX_OUTPUT_LIMIT_TYPE,
	 sizeof(EMC_AXIS_SET_MAX_OUTPUT_LIMIT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double limit;
};

class EMC_AXIS_SET_FERROR:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_FERROR():EMC_AXIS_CMD_MSG(EMC_AXIS_SET_FERROR_TYPE,
					   sizeof(EMC_AXIS_SET_FERROR)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double ferror;
};

class EMC_AXIS_SET_MIN_FERROR:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_MIN_FERROR():EMC_AXIS_CMD_MSG
	(EMC_AXIS_SET_MIN_FERROR_TYPE, sizeof(EMC_AXIS_SET_MIN_FERROR)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double ferror;
};

class EMC_AXIS_SET_HOMING_PARAMS:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_HOMING_PARAMS():EMC_AXIS_CMD_MSG
	(EMC_AXIS_SET_HOMING_PARAMS_TYPE,
	 sizeof(EMC_AXIS_SET_HOMING_PARAMS)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double home;
    double offset;
    double search_vel;
    double latch_vel;
    int use_index;
    int ignore_limits;
};

class EMC_AXIS_SET_MAX_VELOCITY:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_MAX_VELOCITY():EMC_AXIS_CMD_MSG
	(EMC_AXIS_SET_MAX_VELOCITY_TYPE,
	 sizeof(EMC_AXIS_SET_MAX_VELOCITY)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double vel;
};

class EMC_AXIS_INIT:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_INIT():EMC_AXIS_CMD_MSG(EMC_AXIS_INIT_TYPE,
				     sizeof(EMC_AXIS_INIT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AXIS_HALT:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_HALT():EMC_AXIS_CMD_MSG(EMC_AXIS_HALT_TYPE,
				     sizeof(EMC_AXIS_HALT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AXIS_ABORT:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_ABORT():EMC_AXIS_CMD_MSG(EMC_AXIS_ABORT_TYPE,
				      sizeof(EMC_AXIS_ABORT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AXIS_ENABLE:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_ENABLE():EMC_AXIS_CMD_MSG(EMC_AXIS_ENABLE_TYPE,
				       sizeof(EMC_AXIS_ENABLE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AXIS_DISABLE:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_DISABLE():EMC_AXIS_CMD_MSG(EMC_AXIS_DISABLE_TYPE,
					sizeof(EMC_AXIS_DISABLE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AXIS_HOME:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_HOME():EMC_AXIS_CMD_MSG(EMC_AXIS_HOME_TYPE,
				     sizeof(EMC_AXIS_HOME)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AXIS_JOG:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_JOG():EMC_AXIS_CMD_MSG(EMC_AXIS_JOG_TYPE,
				    sizeof(EMC_AXIS_JOG)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double vel;
};

class EMC_AXIS_INCR_JOG:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_INCR_JOG():EMC_AXIS_CMD_MSG(EMC_AXIS_INCR_JOG_TYPE,
					 sizeof(EMC_AXIS_INCR_JOG)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double incr;
    double vel;
};

class EMC_AXIS_ABS_JOG:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_ABS_JOG():EMC_AXIS_CMD_MSG(EMC_AXIS_ABS_JOG_TYPE,
					sizeof(EMC_AXIS_ABS_JOG)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double pos;
    double vel;
};

class EMC_AXIS_ACTIVATE:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_ACTIVATE():EMC_AXIS_CMD_MSG(EMC_AXIS_ACTIVATE_TYPE,
					 sizeof(EMC_AXIS_ACTIVATE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AXIS_DEACTIVATE:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_DEACTIVATE():EMC_AXIS_CMD_MSG(EMC_AXIS_DEACTIVATE_TYPE,
					   sizeof(EMC_AXIS_DEACTIVATE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AXIS_OVERRIDE_LIMITS:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_OVERRIDE_LIMITS():EMC_AXIS_CMD_MSG
	(EMC_AXIS_OVERRIDE_LIMITS_TYPE, sizeof(EMC_AXIS_OVERRIDE_LIMITS)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AXIS_SET_OUTPUT:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_OUTPUT():EMC_AXIS_CMD_MSG(EMC_AXIS_SET_OUTPUT_TYPE,
					   sizeof(EMC_AXIS_SET_OUTPUT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double output;		// value for output, in physical units
    // (volts)
};

class EMC_AXIS_LOAD_COMP:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_LOAD_COMP():EMC_AXIS_CMD_MSG(EMC_AXIS_LOAD_COMP_TYPE,
					  sizeof(EMC_AXIS_LOAD_COMP)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    char file[LINELEN];
};

class EMC_AXIS_ALTER:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_ALTER():EMC_AXIS_CMD_MSG(EMC_AXIS_ALTER_TYPE,
				      sizeof(EMC_AXIS_ALTER)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double alter;
};

/**
 * Set the step parameters.
 * This command sets the setup time of the direction signal,
 * and the hold time of the step signal.
 */
class EMC_AXIS_SET_STEP_PARAMS:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_STEP_PARAMS():EMC_AXIS_CMD_MSG
	(EMC_AXIS_SET_STEP_PARAMS_TYPE, sizeof(EMC_AXIS_SET_STEP_PARAMS)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double setup_time;
    double hold_time;
};

// AXIS status base class
class EMC_AXIS_STAT_MSG:public RCS_STAT_MSG {
  public:
    EMC_AXIS_STAT_MSG(NMLTYPE t, size_t s):RCS_STAT_MSG(t, s) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    int axis;
};

class EMC_AXIS_STAT:public EMC_AXIS_STAT_MSG {
  public:
    EMC_AXIS_STAT();

    // For internal NML/CMS use only.
    void update(CMS * cms);

    // configuration parameters
    unsigned char axisType;	// EMC_AXIS_LINEAR, EMC_AXIS_ANGULAR
    double units;		// units per mm, deg for linear, angular
    double p;
    double i;
    double d;
    double ff0;
    double ff1;
    double ff2;
    double backlash;
    double bias;
    double maxError;
    double deadband;
    double cycleTime;
    double inputScale;
    double inputOffset;
    double outputScale;
    double outputOffset;
    double minPositionLimit;
    double maxPositionLimit;
    double minOutputLimit;
    double maxOutputLimit;
    double maxFerror;
    double minFerror;
    /*! \todo FIXME - homingVel has been superceded */
    double homingVel;
    double setup_time;
    double hold_time;
    double homeOffset;
    unsigned char enablePolarity;
    unsigned char minLimitSwitchPolarity;
    unsigned char maxLimitSwitchPolarity;
    unsigned char homeSwitchPolarity;
    unsigned char homingPolarity;
    unsigned char faultPolarity;

    // dynamic status
    /*! \todo FIXME - is this the position cmd from control to PID, or
       something else? */
    double setpoint;		// input to axis controller
    double ferrorCurrent;	// current following error
    double ferrorHighMark;	// magnitude of max following error
    /*! \todo FIXME - is this really position, or the DAC output? */
    double output;		// commanded output position
    double input;		// current input position
    unsigned char inpos;	// non-zero means in position
    unsigned char homing;	// non-zero means homing
    unsigned char homed;	// non-zero means has been homed
    unsigned char fault;	// non-zero means axis amp fault
    unsigned char enabled;	// non-zero means enabled
    unsigned char minSoftLimit;	// non-zero means min soft limit exceeded
    unsigned char maxSoftLimit;	// non-zero means max soft limit exceeded
    unsigned char minHardLimit;	// non-zero means min hard limit exceeded
    unsigned char maxHardLimit;	// non-zero means max hard limit exceeded
    unsigned char overrideLimits;	// non-zero means limits are
    // overridden
    double scale;		// velocity scale
    double alter;		// external position alter value
};

// declarations for EMC_TRAJ classes

// EMC_TRAJ command base class
class EMC_TRAJ_CMD_MSG:public RCS_CMD_MSG {
  public:
    EMC_TRAJ_CMD_MSG(NMLTYPE t, size_t s):RCS_CMD_MSG(t, s) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TRAJ_SET_UNITS:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_UNITS():EMC_TRAJ_CMD_MSG(EMC_TRAJ_SET_UNITS_TYPE,
					  sizeof(EMC_TRAJ_SET_UNITS)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double linearUnits;		// units per mm
    double angularUnits;	// units per degree
};

class EMC_TRAJ_SET_AXES:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_AXES():EMC_TRAJ_CMD_MSG(EMC_TRAJ_SET_AXES_TYPE,
					 sizeof(EMC_TRAJ_SET_AXES)) {
    };

    // For internal NML/CMS use only.