Difference between revisions of "MC-Basic Constants"
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The following is a list of constants. | The following is a list of constants. | ||
| − | {| | + | {{MC-Basic/PredefinedConstantHeader| |
| − | + | {{MC-Basic/PredefinedConstant|ON|1|MOTION property (axis and system) ENABLE property (System, axis and group)|A1.Motion <nowiki>=</nowiki> ON A1.Enable <nowiki>=</nowiki> ON}} | |
| − | + | {{MC-Basic/PredefinedConstant|OFF|0|MOTION property (axis and system) ENABLE property (System, axis and group) SLAVE axis property|A1.Motion<nowiki>=</nowiki>OFF A1.Enable<nowiki>=</nowiki>OFF A1.Slave <nowiki>=</nowiki> OFF}} | |
| − | + | {{MC-Basic/PredefinedConstant|MaxDouble|1.797693134862311 e+308|Returns the maximum double precision value|}} | |
| − | + | {{MC-Basic/PredefinedConstant|Maxlong|2147483647|Returns the maximum integer value|}} | |
| − | + | {{MC-Basic/PredefinedConstant|MinLong|-2147483648|Returns the minimum integer value|}} | |
| − | |ON | + | {{MC-Basic/PredefinedConstant|Immediate/Immed|1|StartType property value (axis and group) StopType property value (axis and group)|A1.StartType <nowiki>=</nowiki> Immediate A1.StopType <nowiki>=</nowiki> Immed}} |
| − | |1 | + | {{MC-Basic/PredefinedConstant|SuperImmediate/Simm|5|StartType property value (axis and group)|A1.StartType <nowiki>=</nowiki> Simm}} |
| − | |MOTION property (axis and system) ENABLE property (System, axis and group) | + | {{MC-Basic/PredefinedConstant|Abort|4|StartType property value (axis and group)|A1.StartType <nowiki>=</nowiki> Abort}} |
| − | |A1.Motion <nowiki>=</nowiki> ON A1.Enable <nowiki>=</nowiki> ON | + | {{MC-Basic/PredefinedConstant|Settled|2|StartType property value (axis and group)|A1.StartType <nowiki>=</nowiki> Settled}} |
| − | + | {{MC-Basic/PredefinedConstant|InPosition/Inpos|2|StartType property value (axis and group)|A1.StartType <nowiki>=</nowiki> InPos}} | |
| − | |OFF | + | {{MC-Basic/PredefinedConstant|GeneratorCompleted/Gcom|3|StartType property value (axis and group)|G1.StartType <nowiki>=</nowiki> Gcom}} |
| − | |0 | + | {{MC-Basic/PredefinedConstant|Sync|4|StartType property value (axis and group)|A1.StartType <nowiki>=</nowiki> Sync}} |
| − | |MOTION property (axis and system) ENABLE property (System, axis and group) SLAVE axis property | + | {{MC-Basic/PredefinedConstant|OnPath|2|StopType property type (axis and group)|A1.StopType <nowiki>=</nowiki> OnPath}} |
| − | |A1.Motion<nowiki>=</nowiki>OFF A1.Enable<nowiki>=</nowiki>OFF A1.Slave <nowiki>=</nowiki> OFF | + | {{MC-Basic/PredefinedConstant|EndMotion/Emot|3|StopType property type (axis and group)|A1.StopType <nowiki>=</nowiki> EndMotion}} |
| − | + | {{MC-Basic/PredefinedConstant|Continue/Cont|1|ProceedType property (axis and group)|A1.ProceedType <nowiki>=</nowiki> Cont}} | |
| − | |MaxDouble | + | {{MC-Basic/PredefinedConstant|NextMotion/Nmot|2|ProceedType property (axis and group)|A1.ProceedType <nowiki>=</nowiki> NextMotion}} |
| − | |1.797693134862311 e+308 | + | {{MC-Basic/PredefinedConstant|ClearMotion/Cmot|3|ProceedType property (axis and group)|A1.ProceedType <nowiki>=</nowiki> ClearMotion}} |
| − | |Returns the maximum double precision value | + | {{MC-Basic/PredefinedConstant|True|1|Absolute property (axis and group) Simulated property (axis)|A1.Absolute <nowiki>=</nowiki> True}} |
| − | | | + | {{MC-Basic/PredefinedConstant|False|0|Absolute property (axis and group) Simulated property (axis)|A1.Absolute <nowiki>=</nowiki> False}} |
| − | + | {{MC-Basic/PredefinedConstant|PI|3.14159265359|In expressions; to convert from Radians to degrees|Deg <nowiki>=</nowiki> Rad *180 / PI}} | |
| − | |Maxlong | + | {{MC-Basic/PredefinedConstant|Gear|1|Slave property (axis only)|A1.Slave <nowiki>=</nowiki> Gear}} |
| − | |2147483647 | + | {{MC-Basic/PredefinedConstant|Cam|2|Slave property (axis only)|A1.Slave <nowiki>=</nowiki> Cam}} |
| − | |Returns the maximum integer value | + | {{MC-Basic/PredefinedConstant|External|1|Feedback type|a1.Feedback <nowiki>=</nowiki> External}} |
| − | | | + | {{MC-Basic/PredefinedConstant|Rise|1|Capture Polarity|a1.CapturePolarity <nowiki>=</nowiki> Rise}} |
| − | + | {{MC-Basic/PredefinedConstant|Fall|2|Capture Polarity|a1.CapturePolarity <nowiki>=</nowiki> Fall}} | |
| − | |MinLong | + | {{MC-Basic/PredefinedConstant|Halt|0|Drive Halt/Restart control.|a1.HaltRestart <nowiki>=</nowiki> Halt}} |
| − | | -2147483648 | + | {{MC-Basic/PredefinedConstant|Restart|1|Drive Halt/Restart control.|a1.HaltRestart <nowiki>=</nowiki> Restart}} |
| − | |Returns the minimum integer value | + | {{MC-Basic/PredefinedConstant|In1|1||}} |
| − | | | + | {{MC-Basic/PredefinedConstant|In2|2||}} |
| − | + | {{MC-Basic/PredefinedConstant|In3|3||}} | |
| − | |Immediate/Immed | + | {{MC-Basic/PredefinedConstant|Homing|10|Assigning home switch|In1mode <nowiki>=</nowiki> homing}} |
| − | |1 | + | {{MC-Basic/PredefinedConstant|Capturing|16|Assigning capture switch|In2mode <nowiki>=</nowiki> capturing}} |
| − | |StartType property value (axis and group) StopType property value (axis and group) | + | {{MC-Basic/PredefinedConstant|Positive|1|Axis direction|A1.Direction <nowiki>=</nowiki> Positive}} |
| − | |A1.StartType <nowiki>=</nowiki> Immediate A1.StopType <nowiki>=</nowiki> Immed | + | {{MC-Basic/PredefinedConstant|Negative|-1|Axis direction|A1.Direction <nowiki>=</nowiki> Negative}} |
| − | + | {{MC-Basic/PredefinedConstant|Task_Running|1|Task state|Returned by <task>.State query.}} | |
| − | |SuperImmediate/Simm | + | {{MC-Basic/PredefinedConstant|Task_Stopped|2|Task state|Returned by <task>.State query.}} |
| − | |5 | + | {{MC-Basic/PredefinedConstant|Task_Error|4|Task state|Returned by <task>.State query.}} |
| − | |StartType property value (axis and group) | + | {{MC-Basic/PredefinedConstant|Task_Ready|7|Task state|Returned by <task>.State query.}} |
| − | |A1.StartType <nowiki>=</nowiki> Simm | + | {{MC-Basic/PredefinedConstant|Task_KillStart|9|Task state|Returned by <task>.State query. Intermidiate state, start of task kill sequence.}} |
| − | + | {{MC-Basic/PredefinedConstant|Task_Killed|10|Task state|Returned by <task>.State query.}} | |
| − | |Abort | + | {{MC-Basic/PredefinedConstant|Task_Interrupted|512|Task state qualifier|Returned by <task>.State query.}} |
| − | |4 | + | {{MC-Basic/PredefinedConstant|Task_Locked|256|Task state qualifier|Returned by <task>.State query.}} |
| − | |StartType property value (axis and group) | + | {{MC-Basic/PredefinedConstant|LEFTY|1|Arm flag : positive jont-2 moves the wrist in positive WORLD Z direction while joint-3 is not activated|}} |
| − | |A1.StartType <nowiki>=</nowiki> Abort | + | {{MC-Basic/PredefinedConstant|RIGHTY|2|Arm flag : positive jont-2 moves the wrist in negative WORLD Z direction while joint-3 is not activated|}} |
| − | + | {{MC-Basic/PredefinedConstant|BELOW|1|Elbow flag :Position of the wrist of the LEFTY/ RIGHTYarm with respect to the shoulder coord. system has Negative/Positive coordinate value along the Y axis of the second segment|}} | |
| − | |Settled | + | {{MC-Basic/PredefinedConstant|ABOVE|2|Elbow flag :Position of the wrist of the LEFTY/ RIGHTYarm with respect to the shoulder coord. system has Negative/Positive coordinate value along the Y axis of the second segment|}} |
| − | |2 | + | {{MC-Basic/PredefinedConstant|FLIP|2|Wrist flag : value of joint 5 is negative|}} |
| − | |StartType property value (axis and group) | + | {{MC-Basic/PredefinedConstant|NOFLIP|1|Wrist flag : value of joint 5 is positive|}} |
| − | |A1.StartType <nowiki>=</nowiki> Settled | + | }} |
| − | |||
| − | |InPosition/Inpos | ||
| − | |2 | ||
| − | |StartType property value (axis and group) | ||
| − | |A1.StartType <nowiki>=</nowiki> InPos | ||
| − | |||
| − | |GeneratorCompleted/Gcom | ||
| − | |3 | ||
| − | |StartType property value (axis and group) | ||
| − | |G1.StartType <nowiki>=</nowiki> Gcom | ||
| − | |||
| − | |Sync | ||
| − | |4 | ||
| − | |StartType property value (axis and group) | ||
| − | |A1.StartType <nowiki>=</nowiki> Sync | ||
| − | |||
| − | |OnPath | ||
| − | |2 | ||
| − | |StopType property type (axis and group) | ||
| − | |A1.StopType <nowiki>=</nowiki> OnPath | ||
| − | |||
| − | |EndMotion/Emot | ||
| − | |3 | ||
| − | |StopType property type (axis and group) | ||
| − | |A1.StopType <nowiki>=</nowiki> EndMotion | ||
| − | |||
| − | |Continue/Cont | ||
| − | |1 | ||
| − | |ProceedType property (axis and group) | ||
| − | |A1.ProceedType <nowiki>=</nowiki> Cont | ||
| − | |||
| − | |NextMotion/Nmot | ||
| − | |2 | ||
| − | |ProceedType property (axis and group) | ||
| − | |A1.ProceedType <nowiki>=</nowiki> NextMotion | ||
| − | |||
| − | |ClearMotion/Cmot | ||
| − | |3 | ||
| − | |ProceedType property (axis and group) | ||
| − | |A1.ProceedType <nowiki>=</nowiki> ClearMotion | ||
| − | |||
| − | |True | ||
| − | |1 | ||
| − | |Absolute property (axis and group) Simulated property (axis) | ||
| − | |A1.Absolute <nowiki>=</nowiki> True | ||
| − | |||
| − | |False | ||
| − | |0 | ||
| − | |Absolute property (axis and group) Simulated property (axis) | ||
| − | |A1.Absolute <nowiki>=</nowiki> False | ||
| − | |||
| − | |PI | ||
| − | |3.14159265359 | ||
| − | |In expressions; to convert from Radians to degrees | ||
| − | |Deg <nowiki>=</nowiki> Rad *180 / PI | ||
| − | |||
| − | |Gear | ||
| − | |1 | ||
| − | |Slave property (axis only) | ||
| − | |A1.Slave <nowiki>=</nowiki> Gear | ||
| − | |||
| − | |Cam | ||
| − | |2 | ||
| − | |Slave property (axis only) | ||
| − | |A1.Slave <nowiki>=</nowiki> Cam | ||
| − | |||
| − | |External | ||
| − | |1 | ||
| − | |Feedback type | ||
| − | |a1.Feedback <nowiki>=</nowiki> External | ||
| − | |||
| − | |Rise | ||
| − | |1 | ||
| − | |Capture Polarity | ||
| − | |a1.CapturePolarity <nowiki>=</nowiki> Rise | ||
| − | |||
| − | |Fall | ||
| − | |2 | ||
| − | |Capture Polarity | ||
| − | |a1.CapturePolarity <nowiki>=</nowiki> Fall | ||
| − | |||
| − | |Halt | ||
| − | |0 | ||
| − | |Drive Halt/Restart control. | ||
| − | |a1.HaltRestart <nowiki>=</nowiki> Halt | ||
| − | |||
| − | |Restart | ||
| − | |1 | ||
| − | |Drive Halt/Restart control. | ||
| − | |a1.HaltRestart <nowiki>=</nowiki> Restart | ||
| − | |||
| − | |In1 | ||
| − | |1 | ||
| − | | | ||
| − | | | ||
| − | |||
| − | |In2 | ||
| − | |2 | ||
| − | | | ||
| − | | | ||
| − | |||
| − | |In3 | ||
| − | |3 | ||
| − | | | ||
| − | | | ||
| − | |||
| − | |Homing | ||
| − | |10 | ||
| − | |Assigning home switch | ||
| − | |In1mode <nowiki>=</nowiki> homing | ||
| − | |||
| − | |Capturing | ||
| − | |16 | ||
| − | |Assigning capture switch | ||
| − | |In2mode <nowiki>=</nowiki> capturing | ||
| − | |||
| − | |Positive | ||
| − | |1 | ||
| − | |Axis direction | ||
| − | |A1.Direction <nowiki>=</nowiki> Positive | ||
| − | |||
| − | |Negative | ||
| − | | -1 | ||
| − | |Axis direction | ||
| − | |A1.Direction <nowiki>=</nowiki> Negative | ||
| − | |||
| − | |Task_Running | ||
| − | |1 | ||
| − | |Task state | ||
| − | |Returned by <task>.State query. | ||
| − | |||
| − | |Task_Stopped | ||
| − | |2 | ||
| − | |Task state | ||
| − | |Returned by <task>.State query. | ||
| − | |||
| − | |Task_Error | ||
| − | |4 | ||
| − | |Task state | ||
| − | |Returned by <task>.State query. | ||
| − | |||
| − | |Task_Ready | ||
| − | |7 | ||
| − | |Task state | ||
| − | |Returned by <task>.State query. | ||
| − | |||
| − | |Task_KillStart | ||
| − | |9 | ||
| − | |Task state | ||
| − | |Returned by <task>.State query. Intermidiate state, start of task kill sequence. | ||
| − | |||
| − | |Task_Killed | ||
| − | |10 | ||
| − | |Task state | ||
| − | |Returned by <task>.State query. | ||
| − | |||
| − | |Task_Interrupted | ||
| − | |512 | ||
| − | |Task state qualifier | ||
| − | |Returned by <task>.State query. | ||
| − | |||
| − | |Task_Locked | ||
| − | |256 | ||
| − | |Task state qualifier | ||
| − | |Returned by <task>.State query. | ||
| − | |||
| − | |LEFTY | ||
| − | |1 | ||
| − | |Arm flag : positive jont-2 moves the wrist in positive WORLD Z direction while joint-3 is not activated | ||
| − | | | ||
| − | |||
| − | |RIGHTY | ||
| − | |2 | ||
| − | |Arm flag : positive jont-2 moves the wrist in negative WORLD Z direction while joint-3 is not activated | ||
| − | | | ||
| − | |||
| − | |BELOW | ||
| − | |1 | ||
| − | |Elbow flag :Position of the wrist of the LEFTY/ RIGHTYarm with respect to the shoulder coord. system has Negative/Positive coordinate value along the Y axis of the second segment | ||
| − | | | ||
| − | |||
| − | |ABOVE | ||
| − | |2 | ||
| − | |Elbow flag :Position of the wrist of the LEFTY/ RIGHTYarm with respect to the shoulder coord. system has Negative/Positive coordinate value along the Y axis of the second segment | ||
| − | | | ||
| − | |||
| − | |FLIP | ||
| − | |2 | ||
| − | |Wrist flag : value of joint 5 is negative | ||
| − | | | ||
| − | |||
| − | |NOFLIP | ||
| − | |1 | ||
| − | |Wrist flag : value of joint 5 is positive | ||
| − | | | ||
| − | |||
[[Category:Axystems:MC-Basic]] | [[Category:Axystems:MC-Basic]] | ||
Revision as of 09:19, 14 December 2010
A number of keywords have been defined in the system to facilitate operation. These keywords, or constants, may be used in place of explicit numeric values in instances where a parameter has a discrete range of allowed values.
The following is a list of constants.
| Reserved Name | Value | Usage | Example |
|---|---|---|---|
| ON | 1 | MOTION property (axis and system) ENABLE property (System, axis and group) | A1.Motion = ON A1.Enable = ON |
| OFF | 0 | MOTION property (axis and system) ENABLE property (System, axis and group) SLAVE axis property | A1.Motion=OFF A1.Enable=OFF A1.Slave = OFF |
| MaxDouble | 1.797693134862311 e+308 | Returns the maximum double precision value | |
| Maxlong | 2147483647 | Returns the maximum integer value | |
| MinLong | -2147483648 | Returns the minimum integer value | |
| Immediate/Immed | 1 | StartType property value (axis and group) StopType property value (axis and group) | A1.StartType = Immediate A1.StopType = Immed |
| SuperImmediate/Simm | 5 | StartType property value (axis and group) | A1.StartType = Simm |
| Abort | 4 | StartType property value (axis and group) | A1.StartType = Abort |
| Settled | 2 | StartType property value (axis and group) | A1.StartType = Settled |
| InPosition/Inpos | 2 | StartType property value (axis and group) | A1.StartType = InPos |
| GeneratorCompleted/Gcom | 3 | StartType property value (axis and group) | G1.StartType = Gcom |
| Sync | 4 | StartType property value (axis and group) | A1.StartType = Sync |
| OnPath | 2 | StopType property type (axis and group) | A1.StopType = OnPath |
| EndMotion/Emot | 3 | StopType property type (axis and group) | A1.StopType = EndMotion |
| Continue/Cont | 1 | ProceedType property (axis and group) | A1.ProceedType = Cont |
| NextMotion/Nmot | 2 | ProceedType property (axis and group) | A1.ProceedType = NextMotion |
| ClearMotion/Cmot | 3 | ProceedType property (axis and group) | A1.ProceedType = ClearMotion |
| True | 1 | Absolute property (axis and group) Simulated property (axis) | A1.Absolute = True |
| False | 0 | Absolute property (axis and group) Simulated property (axis) | A1.Absolute = False |
| PI | 3.14159265359 | In expressions; to convert from Radians to degrees | Deg = Rad *180 / PI |
| Gear | 1 | Slave property (axis only) | A1.Slave = Gear |
| Cam | 2 | Slave property (axis only) | A1.Slave = Cam |
| External | 1 | Feedback type | a1.Feedback = External |
| Rise | 1 | Capture Polarity | a1.CapturePolarity = Rise |
| Fall | 2 | Capture Polarity | a1.CapturePolarity = Fall |
| Halt | 0 | Drive Halt/Restart control. | a1.HaltRestart = Halt |
| Restart | 1 | Drive Halt/Restart control. | a1.HaltRestart = Restart |
| In1 | 1 | ||
| In2 | 2 | ||
| In3 | 3 | ||
| Homing | 10 | Assigning home switch | In1mode = homing |
| Capturing | 16 | Assigning capture switch | In2mode = capturing |
| Positive | 1 | Axis direction | A1.Direction = Positive |
| Negative | -1 | Axis direction | A1.Direction = Negative |
| Task_Running | 1 | Task state | Returned by <task>.State query. |
| Task_Stopped | 2 | Task state | Returned by <task>.State query. |
| Task_Error | 4 | Task state | Returned by <task>.State query. |
| Task_Ready | 7 | Task state | Returned by <task>.State query. |
| Task_KillStart | 9 | Task state | Returned by <task>.State query. Intermidiate state, start of task kill sequence. |
| Task_Killed | 10 | Task state | Returned by <task>.State query. |
| Task_Interrupted | 512 | Task state qualifier | Returned by <task>.State query. |
| Task_Locked | 256 | Task state qualifier | Returned by <task>.State query. |
| LEFTY | 1 | Arm flag : positive jont-2 moves the wrist in positive WORLD Z direction while joint-3 is not activated | |
| RIGHTY | 2 | Arm flag : positive jont-2 moves the wrist in negative WORLD Z direction while joint-3 is not activated | |
| BELOW | 1 | Elbow flag :Position of the wrist of the LEFTY/ RIGHTYarm with respect to the shoulder coord. system has Negative/Positive coordinate value along the Y axis of the second segment | |
| ABOVE | 2 | Elbow flag :Position of the wrist of the LEFTY/ RIGHTYarm with respect to the shoulder coord. system has Negative/Positive coordinate value along the Y axis of the second segment | |
| FLIP | 2 | Wrist flag : value of joint 5 is negative | |
| NOFLIP | 1 | Wrist flag : value of joint 5 is positive |