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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: CML_Amp.h Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><div class="nav"><a class="el" href="dir_000001.html">inc</a></div><h1>CML_Amp.h</h1><a href="CML__Amp_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/************************************************************/</span><a name="l00002"></a>00002 <span class="comment">/* */</span><a name="l00003"></a>00003 <span class="comment">/* Copley Motion Libraries */</span><a name="l00004"></a>00004 <span class="comment">/* */</span><a name="l00005"></a>00005 <span class="comment">/* Author: Stephen Glow */</span><a name="l00006"></a>00006 <span class="comment">/* */</span><a name="l00007"></a>00007 <span class="comment">/* Copyright (c) 2002-2005 Copley Controls Corp. */</span><a name="l00008"></a>00008 <span class="comment">/* http://www.copleycontrols.com */</span><a name="l00009"></a>00009 <span class="comment">/* */</span><a name="l00010"></a>00010 <span class="comment">/************************************************************/</span><a name="l00011"></a>00011 <span class="comment"></span><a name="l00012"></a>00012 <span class="comment">/** \file</span><a name="l00013"></a>00013 <span class="comment"></span><a name="l00014"></a>00014 <span class="comment">This file defines the Copley Amplifier object. This object may be</span><a name="l00015"></a>00015 <span class="comment">used to interface to an amplifier over the CANopen network.</span><a name="l00016"></a>00016 <span class="comment"></span><a name="l00017"></a>00017 <span class="comment">*/</span><a name="l00018"></a>00018 <a name="l00019"></a>00019 <span class="preprocessor">#ifndef _DEF_INC_COPLEYAMP</span><a name="l00020"></a>00020 <span class="preprocessor"></span><span class="preprocessor">#define _DEF_INC_COPLEYAMP</span><a name="l00021"></a>00021 <span class="preprocessor"></span><a name="l00022"></a>00022 <span class="preprocessor">#include "<a class="code" href="CML__Settings_8h.html">CML_Settings.h</a>"</span><a name="l00023"></a>00023 <span class="preprocessor">#include "<a class="code" href="CML__AmpDef_8h.html">CML_AmpDef.h</a>"</span><a name="l00024"></a>00024 <span class="preprocessor">#include "<a class="code" href="CML__AmpStruct_8h.html">CML_AmpStruct.h</a>"</span><a name="l00025"></a>00025 <span class="preprocessor">#include "<a class="code" href="CML__CanOpen_8h.html">CML_CanOpen.h</a>"</span><a name="l00026"></a>00026 <span class="preprocessor">#include "<a class="code" href="CML__EventMap_8h.html">CML_EventMap.h</a>"</span><a name="l00027"></a>00027 <span class="preprocessor">#include "<a class="code" href="CML__Copley_8h.html">CML_Copley.h</a>"</span><a name="l00028"></a>00028 <span class="preprocessor">#include "<a class="code" href="CML__PDO_8h.html">CML_PDO.h</a>"</span><a name="l00029"></a>00029 <span class="preprocessor">#include "<a class="code" href="CML__Trajectory_8h.html">CML_Trajectory.h</a>"</span><a name="l00030"></a>00030 <a name="l00031"></a>00031 <a class="code" href="CML__Settings_8h.html#a11">CML_NAMESPACE_START</a>()<a name="l00032"></a>00032 <a name="l00033"></a>00033 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00034"></a>00034 <span class="comment">/**</span><a name="l00035"></a>00035 <span class="comment">This class represents error conditions that can occur in the Copley Amplifier</span><a name="l00036"></a>00036 <span class="comment">object.</span><a name="l00037"></a>00037 <span class="comment">*/</span><a name="l00038"></a>00038 <span class="comment">/***************************************************************************/</span><a name="l00039"></a><a class="code" href="classAmpError.html">00039</a> class <a class="code" href="classAmpError.html">AmpError</a>: public <a class="code" href="classNodeError.html">NodeError</a><a name="l00040"></a>00040 {<a name="l00041"></a>00041 <span class="keyword">public</span>:<a name="l00042"></a><a class="code" href="classAmpError.html#s0">00042</a> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> Fault; <span class="comment">///< Latching fault is active</span><a name="l00043"></a><a class="code" href="classAmpError.html#s1">00043</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> ShortCircuit; <span class="comment">///< Short circuit detected</span><a name="l00044"></a><a class="code" href="classAmpError.html#s2">00044</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> AmpTemp; <span class="comment">///< Amplifier over temp.</span><a name="l00045"></a><a class="code" href="classAmpError.html#s3">00045</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> OverVolt; <span class="comment">///< Amplifier over voltage</span><a name="l00046"></a><a class="code" href="classAmpError.html#s4">00046</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> UnderVolt; <span class="comment">///< Amplifier under voltage</span><a name="l00047"></a><a class="code" href="classAmpError.html#s5">00047</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> MotorTemp; <span class="comment">///< Motor over temp.</span><a name="l00048"></a><a class="code" href="classAmpError.html#s6">00048</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> EncoderPower; <span class="comment">///< Encoder power error</span><a name="l00049"></a><a class="code" href="classAmpError.html#s7">00049</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> PhaseErr; <span class="comment">///< Motor phasing error</span><a name="l00050"></a><a class="code" href="classAmpError.html#s8">00050</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> TrackErr; <span class="comment">///< Position tracking error</span><a name="l00051"></a><a class="code" href="classAmpError.html#s9">00051</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> <a class="code" href="CML__Node_8h.html#a9">NodeState</a>; <span class="comment">///< The drive's state is inappropriate for the requested operation</span><a name="l00052"></a><a class="code" href="classAmpError.html#s10">00052</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> pvtSegPos; <span class="comment">///< PVT segment position value over 24-bits</span><a name="l00053"></a><a class="code" href="classAmpError.html#s11">00053</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> pvtSegVel; <span class="comment">///< PVT segment velocity value too large </span><a name="l00054"></a><a class="code" href="classAmpError.html#s12">00054</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> pvtBufferFull; <span class="comment">///< PVT trajectory buffer full</span><a name="l00055"></a><a class="code" href="classAmpError.html#s13">00055</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> badDeviceID; <span class="comment">///< Unknown device identity</span><a name="l00056"></a><a class="code" href="classAmpError.html#s14">00056</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> badHomeParam; <span class="comment">///< Bad parameter specified to home command</span><a name="l00057"></a><a class="code" href="classAmpError.html#s15">00057</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> badMoveParam; <span class="comment">///< Bad parameter specified to move command</span><a name="l00058"></a><a class="code" href="classAmpError.html#s16">00058</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> InMotion; <span class="comment">///< Amplifier is currently in motion</span><a name="l00059"></a><a class="code" href="classAmpError.html#s17">00059</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> GuardError; <span class="comment">///< The amplifier's heartbeat message timed out</span><a name="l00060"></a><a class="code" href="classAmpError.html#s18">00060</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> PosLim; <span class="comment">///< Positive limit switch is active</span><a name="l00061"></a><a class="code" href="classAmpError.html#s19">00061</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> NegLim; <span class="comment">///< Negative limit switch is active</span><a name="l00062"></a><a class="code" href="classAmpError.html#s20">00062</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> PosSoftLim; <span class="comment">///< Positive software limit is active</span><a name="l00063"></a><a class="code" href="classAmpError.html#s21">00063</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> NegSoftLim; <span class="comment">///< Negative software limit is active</span><a name="l00064"></a><a class="code" href="classAmpError.html#s22">00064</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> TrackWarn; <span class="comment">///< Position tracking warning</span><a name="l00065"></a><a class="code" href="classAmpError.html#s23">00065</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> Unknown; <span class="comment">///< An error occurred, but went away before it could be decoded.</span><a name="l00066"></a><a class="code" href="classAmpError.html#s24">00066</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> Reset; <span class="comment">///< The amplifier has been reset.</span><a name="l00067"></a><a class="code" href="classAmpError.html#s25">00067</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> Disabled; <span class="comment">///< The amplifier is disabled</span><a name="l00068"></a><a class="code" href="classAmpError.html#s26">00068</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> QuickStopMode; <span class="comment">///< The amplifier is doing a quick stop</span><a name="l00069"></a><a class="code" href="classAmpError.html#s27">00069</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> NoUserUnits; <span class="comment">///< User units are not available (see CML_Settings.h)</span><a name="l00070"></a><a class="code" href="classAmpError.html#s28">00070</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> Abort; <span class="comment">///< Last trajectory aborted</span><a name="l00071"></a><a class="code" href="classAmpError.html#s29">00071</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> pvtPosUnavail; <span class="comment">///< The PVT segment position is not available.</span><a name="l00072"></a><a class="code" href="classAmpError.html#s30">00072</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> VelWin; <span class="comment">///< Velocity tracking window exceeded</span><a name="l00073"></a>00073 <span class="comment"></span><a name="l00074"></a>00074 <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpError.html">AmpError</a> *DecodeStatus( <a class="code" href="CML__AmpDef_8h.html#a398">EVENT_STATUS</a> stat );<a name="l00075"></a>00075 <span class="keyword">protected</span>:<span class="comment"></span><a name="l00076"></a>00076 <span class="comment"> /// Standard protected constructor</span><a name="l00077"></a><a class="code" href="classAmpError.html#b0">00077</a> <span class="comment"></span> <a class="code" href="classAmpError.html">AmpError</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <span class="keywordtype">id</span>, <span class="keyword">const</span> <span class="keywordtype">char</span> *desc ): NodeError( id, desc ){}<a name="l00078"></a>00078 };<a name="l00079"></a>00079 <a name="l00080"></a>00080 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00081"></a>00081 <span class="comment">/**</span><a name="l00082"></a>00082 <span class="comment">This class represents latching amplifier fault conditions. </span><a name="l00083"></a>00083 <span class="comment">*/</span><a name="l00084"></a>00084 <span class="comment">/***************************************************************************/</span><a name="l00085"></a><a class="code" href="classAmpFault.html">00085</a> <span class="keyword">class </span><a class="code" href="classAmpFault.html">AmpFault</a>: <span class="keyword">public</span> <a class="code" href="classAmpError.html">AmpError</a><a name="l00086"></a>00086 {<a name="l00087"></a>00087 <span class="keyword">public</span>:<a name="l00088"></a><a class="code" href="classAmpFault.html#s0">00088</a> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpFault.html">AmpFault</a> <a class="code" href="classAmpFault.html#s0">Memory</a>; <span class="comment">///< Fatal hardware error: the flash data is corrupt. </span>⌨️ 快捷键说明
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