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Function to add data to the MOT points set.

Syntax

i32 mot_append (i32 motId, real posX, real posY, real velY, real accY [, real other=NULL])

motId

MOT reference code (obtained from the mot_create() function)

posX

Value of the interpolation key associated with the point (abscissa, x-coordinate).

Depending on the flag value used in mot_create(), the value of posX must be mandatorily higher than the last one entered or it can take any value

posY

Array containing the data of the n ordinates (position coordinates relative to the posX abscissa)

velY

Array containing the data of the n first derivatives (velocity coordinates relative to the posX abscissa).

WARNING: These are required if the interpolation type is equal to 3 or 5. Otherwise, specify NULL.

accY

Array containing the data of the n second derivatives (acceleration coordinates relative to the posX abscissa).

WARNING: These are required if the interpolation type is equal to 5. Otherwise, specify NULL.

other

Data structure containing auxiliary data. (optional, default NULL)

NOTE: A structure must necessarily be used to handle auxiliary data. If mixed type was chosen as interpolation (flag = 0xF0000, see mot_create()), the first field of the other structure must be an i32 specifying the type of interpolation of the segment (1=linear, 2=automatic cubic, 4=automatic pent). There are no restrictions on the other fields in the structure.

Result

Returns:

Value

Meaning

1

Unable to enter point, container full

0

Operation OK

-1

motID does not exist

-2

Key less than or equal to the last one introduced and insertion flag absent

-3

Illegal posY value (data size smaller than expected)

-4

Illegal other value (size different from that specified at creation)

-5

Internal error

-6

MOT manager busy (other transaction in progress)

-10

Missing data from the first derivative

-11

Data missing from derivative second

-12

Type of interpolation not handled

Validity

Rule, Task

Note

Example of use:

function int writeMotParameter(int idMot, int numPointsCam, int numParameters, real velRef)

 

; -------- WARNING ---------

; use this function only if you have extracted the cam points from a file organised with the

; master position in the first coloumn, the slave position int the second and, eventually,

; the slave speed in the third and the slave acceleration in the fourth

; --------------------------

 

; this function insert the cam points previusly extracted from a file and stored in the data[] array

 

; numPointsCam is equal to the number of row of the file

; numParameters is equal to the number of coloumn of the file

 

int idx

real velRef, velXrefQ, posX, posY, velY, accY

 

idx = 0

velXrefQ = velRef * velRef

; erase previous data

reso = mot_clear(idMot)

if(reso < 0)

    return -1

endif

 

str = "Adding points to the MOT " # str_i(idMot, 10, 16)

inf_report(0x0100, str)

 

; Data saved

;--------------------------------------------

 

; in this example the master is assumed to go from 0 to 360 degree

; speed and acceleration data usually must be normalized, this is why they

; are divided to velRef and velXrefQ

 

; initial data before 0 deg equal to previous cycle end, to well calculate derivatives

for(k = 4, k > 0, k--)

 

    idx =(numPointsCam - (k+1)) * numParameters

 

    posX = data[idx] - rMasterCycle

    posY = data[idx+1]

    velY = data[idx+2] / velRef   ; [mm/deg]

    accY = data[idx+3] / velXrefQ ; [mm/deg^2]

 

    select(numParameters)

 

        case 2

            reso = mot_append(idMotot, posX, posY, NULL, NULL)

            break

 

        case 3

            reso = mot_append(idMot, posX, posY, velY, NULL)

            break

 

        case 4

            reso = mot_append(idMot, posX, posY, velY, accY)

            break

 

        default

            reso = mot_append(idMot, posX, posY, NULL, NULL)

 

    end_select

 

    if(reso < 0)

        return reso

    endif

 

end_for

 

; cam data

for(k = 0, k < numPointsCam, k++)

 

    idx = k * numParameters

    posX = data[idx]

    posY = data[idx+1]

    velY = data[idx+2] / velRef   ; [mm/deg]

    accY = data[idx+3] / velXrefQ ; [mm/deg^2]

 

    select(numParameters)

 

        case 2

            reso = mot_append(idMotot, posX, posY, NULL, NULL)

            break

 

        case 3

            reso = mot_append(idMot, posX, posY, velY, NULL)

            break

 

        case 4

            reso = mot_append(idMot, posX, posY, velY, accY)

            break

 

        default

            reso = mot_append(idMot, posX, posY, NULL, NULL)

 

    end_select

 

    if(reso < 0)

        return reso

    endif

 

end_for

 

; final data after master cycle deg equal to new begin, to well calculate derivatives

for(k = 1, k < 5, k++)

 

; so, after posX = 360, ... we have to add the points posX = 361, 362, ecc.

; and the corresponding posY will be uqeual to the first ones

 

    idx  = k * numParameters

 

    posX = data[idx] + rMasterCycle

    posY = data[idx+1]

    velY = data[idx+2] / velRef   ; [mm/deg]

    accY = data[idx+3] / velXrefQ ; [mm/deg^2]

 

    select(numParameters)

 

        case 2

            reso = mot_append(idMot, posX, posY, NULL, NULL)

            break

 

        case 3

            reso = mot_append(idMot, posX, posY, velY, NULL)

            break

 

        case 4

            reso = mot_append(idMot, posX, posY, velY, accY)

            break

 

        default

            reso = mot_append(idMot, posX, posY, NULL, NULL)

 

    end_select

 

    if(reso < 0)

        return reso

    endif

 

end_for

 
  

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