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mathis_s
2025-11-03 08:40:25 +01:00
parent 6f72766ae6
commit e1732639b2
3 changed files with 67 additions and 35 deletions
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4
.gitignore vendored Normal file
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@@ -0,0 +1,4 @@
O.*
.cvsignore
.vscode
utils/__pycache__

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MasterMACS_manual.pdf Normal file
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98
src/masterMacsAxis.h
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@@ -148,163 +148,191 @@ class HIDDEN masterMacsAxis : public sinqAxis {
/** /**
* @brief Read the Master MACS status with the xR10 command and store * @brief Read the Master MACS status with the xR10 command and store
* the result in axisStatus_ * the result in axisStatus (see masterMacsAxisImpl redefinition in
* masterMacsAxis.cpp)
* *
*/ */
asynStatus readAxisStatus(); asynStatus readAxisStatus();
/* /*
The functions below read the specified status bit from the axisStatus The functions below read the specified status bit from the axisStatus (see
bitset. Since a bit can either be 0 or 1, the return value is given as a masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
boolean. can either be 0 or 1, the return value is given as a boolean.
*/ */
/** /**
* @brief Read the property from axisStatus_ * @brief Read the property from axisStatus (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool readyToBeSwitchedOn(); bool readyToBeSwitchedOn();
/** /**
* @brief Read the property from axisStatus_ * @brief Read the property from axisStatus (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool switchedOn(); bool switchedOn();
// Bit 2 is unused // Bit 2 is unused
/** /**
* @brief Read the property from axisStatus_ * @brief Read the property from axisStatus (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool faultConditionSet(); bool faultConditionSet();
/** /**
* @brief Read the property from axisStatus_ * @brief Read the property from axisStatus (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool voltagePresent(); bool voltagePresent();
/** /**
* @brief Read the property from axisStatus_ * @brief Read the property from axisStatus (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool quickStopping(); bool quickStopping();
/** /**
* @brief Read the property from axisStatus_ * @brief Read the property from axisStatus (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool switchOnDisabled(); bool switchOnDisabled();
/** /**
* @brief Read the property from axisStatus_ * @brief Read the property from axisStatus (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool warning(); bool warning();
// Bit 8 is unused // Bit 8 is unused
/** /**
* @brief Read the property from axisStatus_ * @brief Read the property from axisStatus (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool remoteMode(); bool remoteMode();
/** /**
* @brief Read the property from axisStatus_ * @brief Read the property from axisStatus (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool targetReached(); bool targetReached();
/** /**
* @brief Read the property from axisStatus_ * @brief Read the property from axisStatus (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool internalLimitActive(); bool internalLimitActive();
// Bits 12 and 13 are unused // Bits 12 and 13 are unused
/** /**
* @brief Read the property from axisStatus_ * @brief Read the property from axisStatus (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool setEventHasOcurred(); bool setEventHasOcurred();
/** /**
* @brief Read the property from axisStatus_ * @brief Read the property from axisStatus (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool powerEnabled(); bool powerEnabled();
/** /**
* @brief Read the Master MACS status with the xR10 command and store * @brief Read the Master MACS error with the xR10 command and store
* the result in axisStatus_ * the result in axisError (see masterMacsAxisImpl redefinition in
* masterMacsAxis.cpp)
* *
*/ */
asynStatus readAxisError(); asynStatus readAxisError();
/* /*
The functions below read the specified error bit from the axisError_ The functions below read the specified error bit from the axisError (see
bitset. Since a bit can either be 0 or 1, the return value is given as a masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
boolean. can either be 0 or 1, the return value is given as a boolean.
*/ */
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool shortCircuit(); bool shortCircuit();
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool encoderError(); bool encoderError();
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool followingError(); bool followingError();
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool communicationError(); bool communicationError();
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool feedbackError(); bool feedbackError();
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool positiveLimitSwitch(); bool positiveLimitSwitch();
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool negativeLimitSwitch(); bool negativeLimitSwitch();
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool positiveSoftwareLimit(); bool positiveSoftwareLimit();
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool negativeSoftwareLimit(); bool negativeSoftwareLimit();
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool overCurrent(); bool overCurrent();
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool overTemperature(); bool overTemperature();
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool overVoltage(); bool overVoltage();
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool underVoltage(); bool underVoltage();
/** /**
* @brief Read the property from axisError_ * @brief Read the property from axisError (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/ */
bool stoFault(); bool stoFault();