ParameterTypes.h

/* ParameterTypes.h - Parameter Extraction type definitions header file */

/*
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*
* Copyright (c) 2011, Yaskawa America, Inc.
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#ifndef _INC_MOTOMANPARAMETER_TYPES_H
#define _INC_MOTOMANPARAMETER_TYPES_H

//#include "motoPlus.h"

#ifdef __cplusplus
extern "C" {
#endif

typedef struct
{
	float PtoR[MAX_PULSE_AXES]; //Array to store PULSE TO RADIAN conversion factors for each axes
} PULSE_TO_RAD;

typedef struct
{
	float PtoM[MAX_PULSE_AXES]; //Array to store PULSE TO METER conversion factors for each axes
} PULSE_TO_METER;

typedef enum
{
	AXIS_ROTATION,
	AXIS_LINEAR,
	AXIS_INVALID
} AXIS_TYPE;

typedef struct
{
	AXIS_TYPE	type[MAX_PULSE_AXES];	//Array to store whether axis is rotational or linear
} AXIS_MOTION_TYPE;

typedef struct
{
	BOOL  bValid;			//TRUE if ulSourceAxis != 0
	INT32 ulSourceAxis;		
	INT32 ulCorrectionAxis;	 
	float fCorrectionRatio;	
} FB_AXIS_CORRECTION;

typedef struct
{
	FB_AXIS_CORRECTION  correction[MAX_PULSE_AXES];
} FB_PULSE_CORRECTION_DATA;

typedef struct
{
	UINT32	qtyOfOutFiles;				
	UINT32	qtyOfHighPriorityTasks;		
	UINT32	qtyOfNormalPriorityTasks;	
} TASK_QTY_INFO;
	
typedef struct
{
	UINT16 periodInMilliseconds;
} GP_INTERPOLATION_PERIOD;

typedef struct
{
	UINT32	maxIncrement[MAX_PULSE_AXES];
} MAX_INCREMENT_INFO;

typedef struct
{
	int ctrlGrp;				//Robot control group
	int IpCycleInMilliseconds;	//Interpolation Cycle in milliseconds
	MAX_INCREMENT_INFO info;	//Maximum increment per interpolation cycle
} MAX_INC_PIPC;

typedef struct
{
	INT32 maxLimit[MAX_PULSE_AXES];
	INT32 minLimit[MAX_PULSE_AXES];
} JOINT_PULSE_LIMITS;

typedef struct
{
	INT32 maxLimit[MAX_PULSE_AXES];
} JOINT_ANGULAR_VELOCITY_LIMITS;

#ifdef __cplusplus
}
#endif

#endif