SYNOPSIS
loadrt anglejog [count=N|names=name1[,name2…]]
DESCRIPTION
The anglejog component accepts a dynamic counts-in input (typically from a manual pulse generator (MPG)) and static angle and scale factor settings. It computes the counts and scale values required to jog two (M,N) axes (or joints) at an angle. The corresponding output pins must be connected to the candidate axis.[MN].jog (or joint.[MN].jog) pins to create motion at the current angle. HAL pins are provided to set the vector velocity and acceleration and to enable the computations.
Notes:
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The max-vel, max-accel settings should be less than or equal to the smallest settings for both of the target axes.
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The scale-in pin is sampled only when the enable-in pin is false. The value in use is output on the current-scale pin.
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The angle-degrees-in pin is sampled only when the enable-in pin is false. The value in use is output on the current-angle-degrees pin.
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The value of the iscale-factor pin multiplies counts-in internally to support integer (s32) calculations for counting. The current-scale-out is divided by the same amount. The pin is sampled only when the enable-in pin is false. The default value should work in most applications.
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For identity kins machines that support both world jogging (axis letter) and joint jogging (joint number), connections are needed for both the axis pins: axis.[MN].jog-enable, jog-scale, jog-counts and the corresponding joint pins: joint.
[mn].jog-enable, jog-scale, jog-counts where[mn]are the joint numbers corresponding to the [MN] axis letters. -
The current-scale pin is for information, the required output scaling pin is current-scale-out as it depends on the iscale-factor setting.
Simulation Config: configs/sim/axis/anglejog/anglejog.in
FUNCTIONS
- anglejog.N
PINS
- anglejog.N.enable-in bool in
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enables motion (disables alteration of angle and scale)
- anglejog.N.counts-in si32 in
-
MPG (wheel) counts
- anglejog.N.angle-degrees-in real in
-
vector angle
- anglejog.N.iscale-factor si32 in (default: 10000)
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integer scaling factor (>1)
- anglejog.N.scale-in real in
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magnitude units/count (mag = counts * scale)
- anglejog.N.max-vel real in
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vector max velocity magnitude
- anglejog.N.max-accel real in
-
vector max acceleration magnitude
- anglejog.N.accel-fraction-in real in (default: 1)
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acceleration fraction input
- anglejog.N.enable-out bool out
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to: axis.M.jog-enable AND axis.N.jog-enable
- anglejog.N.current-scale real out
-
effective scale (informational)
- anglejog.N.current-scale-out real out
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to: axis.M.jog-scale AND axis.N.jog-scale
- anglejog.N.coscounts si32 out
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to: axis.M.jog-counts (cosine counts)
- anglejog.N.sincounts si32 out
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to: axis.N.jog-counts (sine counts)
- anglejog.N.cos-accel-fraction real out
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to: axis.M.jog-accel-fraction
- anglejog.N.sin-accel-fraction real out
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to: axis.N.jog-accel-fraction
- anglejog.N.active bool out
-
angle jog move in progress
- anglejog.N.current-angle-degrees real out
-
current angle
- anglejog.N.current-mag real out
-
current vector magnitude
- anglejog.N.current-vel real out
-
current vector speed
AUTHOR
Dewey Garrett
LICENSE
GPL