@kuriousdesign/machine-sdk

export enum AxisDriveTypes { STINGRAY = 0, BOSCH_FSOE = 1 } //ignored- export interface AxisCfg { DriveType: AxisDriveTypes; DriveId: number; // use either the BoschDrives enum or the Nautilus Drives enum Unit: string; AtPosTol: number; // note: this may already be defined in the drive (if using bosch fsoe) difference between data.actualPosition and data.targetPosition below threshold and used during validation to determine if checked position matches the stored mastering position IgnoreSoftwareLimits: boolean; IgnoreLimitSwitches: boolean; Ignores: boolean[]; // use AxisPermissives ENUM SoftwareLimitPositive: number; // this is the limit that will produce an error if exceeded SoftwareLimitNegative: number; OperationalPositionMin: number; // this is the nominal operation minimum OperationalPositionMax: number; HardStopPositive: number; HardStopNegative: number; SensorPositions: number[]; //ignored-MotionProfiles: AxisMotionProfileData[]; // normal use case motion profiles, not e-stopping or error related AxisType: number; //ignored-ValidationSensor: AxisSensors; // used for homing or position verification //ignored-PositionReferencingMethod: PositionReferencingMethods; // homing or position verification VerificationSensorOffsetFromZero: number; SearchDistance: number; // allowed distance to search beyond operation limit to find the validation sensor hasRailBrakes: boolean; AutoPositionVerifyDuringReset: boolean; // set to true if you want the axis to automatically try to position verify during reset hasDynamicPositiveLimit: boolean; hasDynamicNegativeLimit: boolean; HomingToHardstopDir: number; // use -1.0 for negative and 1.0 for positive MaxCurrentWhileHomingToHardstop: number; // if homing in neg direction, then use a negative value only used if using home_to_hardstop_<dir> as the position verification method. MaxCurrentNormalOperation: number; // max current allowed during normal operation, ignore unless using homing to hardstop updateScalingIsNeeded: boolean; // set this to TRUE to enforce scaling changes //ignored-SoftMotionScalingParams: SoftMotionScalingParams; // DUAL AXIS ONLY GearingPositionTolerance: number; // mm, (dual Axis only) used for checking differences between geared axes while synced AxesPositionToleranceForSkew: number; // mm, (dual Axis only) used for checking if axes have gone beyond their mechanical limit for position differences before ruining the machine ShippingPosition: number; // mm, this should be something that is between the hardstop positions KeepMasteredStatusAtStartup: boolean; // if TRUE, this will maintain the mastered status/homed status of the axis after a power cycle } export interface AxisMotionProfileData { speed: number; // this must be greater than zero acceleration: number; // used for accel and decel jerk: number; } export interface AxisSts { Cfg: AxisCfg; // read-only actualPosition: number; // actualSetpoint: number; // use the enum associated with setpoints actualVelocity: number; actualAcceleration: number; ActualTorque: number; ActualCurrent: number; //ignored-ActualControllerMode: SMC_CONTROLLER_MODE; ActiveStreamType: number; AxisRefState: number; // uses SMC_AXIS_STATE; targetPosition: number; // used for MoveAbs or MoveRel, change value before issuing your mc cmd, result should be echoed in setPosition after corresponding MC Cmd targetSetpoint: number; targetVelocity: number; // used for jogging, change value before issuing your mc cmd, result should be echoed in setVelocity after corresponding MC Cmd targetDir: number; // used for jogging and moving, 1.0 for fwd and -1.0 for bckwd // targetAccel: number; targetMaxCurrent: number; // only used for homing to hardstop of swing arms targetTorque: number; // not used targetMotionProfileId: number; targetMotionProfileData: AxisMotionProfileData; // used for moving and jogging, change value before issuing your mc cmd, result should be echoed in setVelocity/setAcceleration after corresponding MC Cmd TargetControllerMode: number; // uses SMC_CONTROLLER_MODE; setPosition: number; // this value is updated by the drive setVelocity: number; // this value is updated by the drive setAccel: number; // this value is updated by the drive setTorque: number; // this value is updated by the drive setJerk: number; // this value is updated by the drive // STATUS BITS isEnabled: boolean; isHoming: boolean; // used to indicate that axis in the process of homing or used to indicate that axis is in the process of verifying its position isHomed: boolean; // used to indicate that axis has homed to a sensor and updated its position accordingly or used to indicate that position has been verified, useful when using absolute encoders that don't require homing (overwriting of known zero position) isMastered: boolean; // used to indicate that axis has been mastered, useful for axes that require position verification as their position referencing method mutingSwAndHwLimitsWhileHoming: boolean; //ignored-DriveHwLimitsEnforcement: AxisLimitEnforcements; // this status is set after calling the set software limits //ignored-DriveSwLimitsEnforcement: AxisLimitEnforcements; // MOTION STATES - these are all mutually exclusive isStandstill: boolean; // axis is not moving (within zero velocity threshold) isAtPosAndStandstill: boolean; // axis is at the target position and at standstill isJogging: boolean; // axis is rotating with velocity cmd isMoving: boolean; // axis is moving to a position isGeared: boolean; // axis is moving synchronously with another axis isTorquing: boolean; // axis is in torque mode and actively applying torque // DRIVE RELATED DriveStatusMsg: string; DriveHasError: boolean; DriveIsStoppingMotor: boolean; // is True when motor faults and starts stopping itself DriveStoppedMotor: boolean; // True after motor finishes stopping itself. clears when you reset the motor SoftMotionHasError: boolean; SoftMotionErrorId: number; // uses SMC_ERROR; ConfiguredSoftLimitTravelRange: number; // determined by the sw limits; HomeOffsetFromZero: number; // units, this is a read-only value, the retain var HomeOffsetFromZero is used (this might be deprecated) CalculatedStoppingPosition: number; TravelLimitNegative: number; TravelLimitPositive: number; //ignored-Permissives: AxisPermissiveStsData[]; // Array of NUM_PERMISSIVES length RestrictedToSlow: boolean; // (TODO: replace this with NOT Permissives.FullSpeed_OK) used to speed limit the axis when it is not homed or has software and hardware limits disabled //ignored-RailBrakes: RailBrakeInputs; Sensors: boolean[]; // Array of MAX_NUM_SENSORS length targetEncoderSetpoint: number; targetMasterAxisDevId: number; targetMasterAxisRefPointer: any; // TypeScript doesn't have direct pointer equivalents actualMasterAxisDevId: number; actualMasterAxisRefPointer: any; // TypeScript doesn't have direct pointer equivalents RecordedPosition: number; // use this to save position information, useful for mastering and position verification processes //ignored-Interlocks: AxisInterlocks; ignoringRailBrakes: boolean; EtherCatComms_OK: boolean; // ROBOT CONTROLLER STATE RcHomingState: number; // uses enumRcAxisHomingState; RcControlMode: number; // uses enumRcAxisMode; isStreaming: boolean; // DUAL AXIS ONLY PositionDifference: number; // (Dual Axis Only) difference between the axes: axis1 - axis2 AxesPositionDifference_OK: boolean; // (Dual Axis Only)status stating difference in position between two axes while moving or idle is acceptable, based on cfg.GearingPositionTolerance AxesPositionDifference_CORRECTABLE: boolean; // (Dual Axis Only)status stating difference in position between two axes able to be automatically corrected, based on cfg.AxesPositionToleranceForSkew SkippingPositionCorrectionBeforeGearing: boolean; // (Dual Axis Only)this is usually TRUE if the axes are first being setup DualAxisStopType: number; // uses DualAxisStopTypes; // (Dual Axis Only) }