@kuriousdesign/machine-sdk/dist/custom-types/Devices/Axis.d.ts

Shared data types and helpers for machine-related repositories

export declare enum AxisDriveTypes {
    STINGRAY = 0,
    BOSCH_FSOE = 1
}
export interface AxisCfg {
    DriveType: AxisDriveTypes;
    DriveId: number;
    Unit: string;
    AtPosTol: number;
    IgnoreSoftwareLimits: boolean;
    IgnoreLimitSwitches: boolean;
    Ignores: boolean[];
    SoftwareLimitPositive: number;
    SoftwareLimitNegative: number;
    OperationalPositionMin: number;
    OperationalPositionMax: number;
    HardStopPositive: number;
    HardStopNegative: number;
    SensorPositions: number[];
    AxisType: number;
    VerificationSensorOffsetFromZero: number;
    SearchDistance: number;
    hasRailBrakes: boolean;
    AutoPositionVerifyDuringReset: boolean;
    hasDynamicPositiveLimit: boolean;
    hasDynamicNegativeLimit: boolean;
    HomingToHardstopDir: number;
    MaxCurrentWhileHomingToHardstop: number;
    MaxCurrentNormalOperation: number;
    updateScalingIsNeeded: boolean;
    GearingPositionTolerance: number;
    AxesPositionToleranceForSkew: number;
    ShippingPosition: number;
    KeepMasteredStatusAtStartup: boolean;
}
export interface AxisMotionProfileData {
    speed: number;
    acceleration: number;
    jerk: number;
}
export interface AxisSts {
    Cfg: AxisCfg;
    actualPosition: number;
    actualVelocity: number;
    actualAcceleration: number;
    ActualTorque: number;
    ActualCurrent: number;
    ActiveStreamType: number;
    AxisRefState: number;
    targetPosition: number;
    targetSetpoint: number;
    targetVelocity: number;
    targetDir: number;
    targetMaxCurrent: number;
    targetTorque: number;
    targetMotionProfileId: number;
    targetMotionProfileData: AxisMotionProfileData;
    TargetControllerMode: number;
    setPosition: number;
    setVelocity: number;
    setAccel: number;
    setTorque: number;
    setJerk: number;
    isEnabled: boolean;
    isHoming: boolean;
    isHomed: boolean;
    isMastered: boolean;
    mutingSwAndHwLimitsWhileHoming: boolean;
    isStandstill: boolean;
    isAtPosAndStandstill: boolean;
    isJogging: boolean;
    isMoving: boolean;
    isGeared: boolean;
    isTorquing: boolean;
    DriveStatusMsg: string;
    DriveHasError: boolean;
    DriveIsStoppingMotor: boolean;
    DriveStoppedMotor: boolean;
    SoftMotionHasError: boolean;
    SoftMotionErrorId: number;
    ConfiguredSoftLimitTravelRange: number;
    HomeOffsetFromZero: number;
    CalculatedStoppingPosition: number;
    TravelLimitNegative: number;
    TravelLimitPositive: number;
    RestrictedToSlow: boolean;
    Sensors: boolean[];
    targetEncoderSetpoint: number;
    targetMasterAxisDevId: number;
    targetMasterAxisRefPointer: any;
    actualMasterAxisDevId: number;
    actualMasterAxisRefPointer: any;
    RecordedPosition: number;
    ignoringRailBrakes: boolean;
    EtherCatComms_OK: boolean;
    RcHomingState: number;
    RcControlMode: number;
    isStreaming: boolean;
    PositionDifference: number;
    AxesPositionDifference_OK: boolean;
    AxesPositionDifference_CORRECTABLE: boolean;
    SkippingPositionCorrectionBeforeGearing: boolean;
    DualAxisStopType: number;
}
export declare enum AxisMethods {
    NONE = 0,
    JOG_CMD = 1,
    MOVE_ABS_CMD = 2,
    MOVE_OP_MIN_MAX = 3,
    ENFORCE_RAIL_BRAKES = 4,
    START_STREAM = 5,
    STOP = 6
}
export declare function axisMethodIdToString(method: AxisMethods): string;
export declare enum AxisProcesses {
    NONE = 0,
    VERIFY_POSITION = 1,
    PERFORM_MASTERING = 2,
    BACK_AND_FORTH = 3,
    HOME_TO_HARDSTOP = 4,
    ALIGNMENT_ANALYSIS_MOVE = 5,
    MOVE_TO_SHIPPING_POSITION = 6
}
export declare function axisProcessIdToString(process: AxisProcesses): string;