si_mechanism Struct Reference

Si Microstep Drive Configuration Table. More...

#include <mechanism.h>

Data Fields
char	Name [64]
	Device name (e.g. Filter), appears as Name=... in status messages.
int	Topology
	Device drive topology, one of MECH_ROTARY or MECH_LINEAR.
int	Resolution
	Microstep Resolution in microsteps/rev. Default is SI_RESOLUTION, currently not user-defined.
char	Port [64]
	Microstep drive communications port (e.g., /dev/ttyS0 or 128.172.2.12:8016).
int	FD
	Microstep drive comm port file descriptor, <0 if no drive connected.
long	Timeout
	Serial communications timeout interval in seconds. Default is MECH_TIMEOUT sec.
long	Polltime
	Drive status polling interval in msec. Default is MECH_POLLTIME msec.
int	State
	Drive Motion state (SI_READY, SI_MOVING, SI_SFAULT, SI_WIEXEC, or SI_WTEXEC).
int	Accel
	Motion profile acceleration in rev/s/s, range SI_MINVDOT to SI_MAXVDOT rev/s/s.
double	Speed
	Motion profile speed in rev/s, range SI_MINVEL to SI_MAXVEL rev/s.
int	Distance
	Motion profile move distance in microsteps, range +/-0 to SI_MAXMOVE microsteps.
int	Decel
	Motion profile deceleration in rev/s/s, range SI_MINVDOT to SI_MAXVDOT rev/s/s.
double	Current
	Motion profile drive current in Amps, range 0 to SI_IMAX.
double	IdleCurrent
	Motion idle current in Amps, range 0 to SI_IMAX.
int	Idle
	Enable/Disable drive idle (1=Enable/0=Disable).
char	Inputs [SI_MAXINPUTS+1]
	Raw input sensor bit string, size $SI_MAXINPUTS+1.
char	ISmask [SI_MAXINPUTS+1]
	Input Status (IS) Mask: 0 if input asserts low, 1 if input asserts high, size SI_MAXINPUTS+1.
int	NPos
	Number of discrete (indexed) mechanism positions, 0 if a continuous drive.
int	Offset
	Offset between the device and encoder positions (usually 0).
int	StepPos
	Number of microsteps per indexed position.
int	NData
	Number of position input data bits (1..SI_MAXINPUTS).
int	EncPos
	Decimal encoder position.
int	InPosAddr
	Address of the in-position bit (0 if unused, 1..SI_MAXINPUTS otherwise).
int	InPos
	Value of the in-position bit (if used).
int	OccupiedAddr
	Address of the position occupation bit (0 if unused, 1..SI_MAXINPUTS otherwise).
int	Occupied
	Value of the position occupation bit (1=occupied/0=empty).
int	HomeAddr
	Address of the home position sensor (0 if unused, 1..SI_MAXINPUTS otherwise).
int	AtHome
	Value of the home sensor (1 or 0, if used).
int	Position
	Device position (in steps from step-count home/zero position).
int	StepsPerMM
	Number of microsteps per millimeter of physical travel (0 if unused).
int	Limits
	Limit Switch Setting: MECH_NORMALLY_OPEN, MECH_NORMALLY_CLOSED, MECH_NOLIMITS.
int	CWlimit
	Value of the clockwise limit switch input (1 if at limit, 0 if not).
int	CCWlimit
	Value of the counterclockwise limit switch input (1 if at limit, 0 if not).
int	BrakeAddr
	Address of the brake drive output (0 if unused, 1..SI_MAXOUTPUTS otherwise).
int	Brake
	Brake is set (1) or released (0).
int	Debug
	Enable/Disable drive-level debugging output (1=Enable/0=Disable).
int	Abort
	A move abort has been issued (1=true/0=false).

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Detailed Description

Si Microstep Drive Configuration Table.

Contains data on the configuration of a mechanism and the drive parameters of its Si microstep drive. Encapsulates all data we should need for operating any mechanism in a Rotary or Linear topology, indexed or continuous.

The contents of this struct can be initialized by the MechInitTable() function.

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Field Documentation

char si_mechanism::Name[64]

Device name (e.g. Filter), appears as Name=... in status messages.

int si_mechanism::Topology

Device drive topology, one of MECH_ROTARY or MECH_LINEAR.

int si_mechanism::Resolution

Microstep Resolution in microsteps/rev. Default is SI_RESOLUTION, currently not user-defined.

char si_mechanism::Port[64]

Microstep drive communications port (e.g., /dev/ttyS0 or 128.172.2.12:8016).

int si_mechanism::FD

Microstep drive comm port file descriptor, <0 if no drive connected.

long si_mechanism::Timeout

Serial communications timeout interval in seconds. Default is MECH_TIMEOUT sec.

long si_mechanism::Polltime

Drive status polling interval in msec. Default is MECH_POLLTIME msec.

int si_mechanism::State

Drive Motion state (SI_READY, SI_MOVING, SI_SFAULT, SI_WIEXEC, or SI_WTEXEC).

int si_mechanism::Accel

Motion profile acceleration in rev/s/s, range SI_MINVDOT to SI_MAXVDOT rev/s/s.

double si_mechanism::Speed

Motion profile speed in rev/s, range SI_MINVEL to SI_MAXVEL rev/s.

int si_mechanism::Distance

Motion profile move distance in microsteps, range +/-0 to SI_MAXMOVE microsteps.

int si_mechanism::Decel

Motion profile deceleration in rev/s/s, range SI_MINVDOT to SI_MAXVDOT rev/s/s.

double si_mechanism::Current

Motion profile drive current in Amps, range 0 to SI_IMAX.

double si_mechanism::IdleCurrent

Motion idle current in Amps, range 0 to SI_IMAX.

int si_mechanism::Idle

Enable/Disable drive idle (1=Enable/0=Disable).

char si_mechanism::Inputs[SI_MAXINPUTS+1]

Raw input sensor bit string, size $SI_MAXINPUTS+1.

char si_mechanism::ISmask[SI_MAXINPUTS+1]

Input Status (IS) Mask: 0 if input asserts low, 1 if input asserts high, size SI_MAXINPUTS+1.

int si_mechanism::NPos

Number of discrete (indexed) mechanism positions, 0 if a continuous drive.

int si_mechanism::Offset

Offset between the device and encoder positions (usually 0).

int si_mechanism::StepPos

Number of microsteps per indexed position.

int si_mechanism::NData

Number of position input data bits (1..SI_MAXINPUTS).

int si_mechanism::EncPos

Decimal encoder position.

int si_mechanism::InPosAddr

Address of the in-position bit (0 if unused, 1..SI_MAXINPUTS otherwise).

int si_mechanism::InPos

Value of the in-position bit (if used).

int si_mechanism::OccupiedAddr

Address of the position occupation bit (0 if unused, 1..SI_MAXINPUTS otherwise).

int si_mechanism::Occupied

Value of the position occupation bit (1=occupied/0=empty).

int si_mechanism::HomeAddr

Address of the home position sensor (0 if unused, 1..SI_MAXINPUTS otherwise).

int si_mechanism::AtHome

Value of the home sensor (1 or 0, if used).

int si_mechanism::Position

Device position (in steps from step-count home/zero position).

int si_mechanism::StepsPerMM

Number of microsteps per millimeter of physical travel (0 if unused).

int si_mechanism::Limits

Limit Switch Setting: MECH_NORMALLY_OPEN, MECH_NORMALLY_CLOSED, MECH_NOLIMITS.

int si_mechanism::CWlimit

Value of the clockwise limit switch input (1 if at limit, 0 if not).

int si_mechanism::CCWlimit

Value of the counterclockwise limit switch input (1 if at limit, 0 if not).

int si_mechanism::BrakeAddr

Address of the brake drive output (0 if unused, 1..SI_MAXOUTPUTS otherwise).

int si_mechanism::Brake

Brake is set (1) or released (0).

int si_mechanism::Debug

Enable/Disable drive-level debugging output (1=Enable/0=Disable).

int si_mechanism::Abort

A move abort has been issued (1=true/0=false).

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The documentation for this struct was generated from the following file:

• mechanism.h

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