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<h1>kmlMotBase.h File Reference</h1> </div>
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<div class="textblock"><code>#include "common/exception.h"</code><br/>
<code>#include "common/dllexport.h"</code><br/>
<code>#include "KNI/kmlCommon.h"</code><br/>
<code>#include "KNI/cplBase.h"</code><br/>
<code>#include <vector></code><br/>
</div><div class="textblock"><div class="dynheader">
Include dependency graph for kmlMotBase.h:</div>
<div class="dyncontent">
<div class="center"><img src="kmlMotBase_8h__incl.png" border="0" usemap="#include_2KNI_2kmlMotBase_8h" alt=""/></div>
<map name="include_2KNI_2kmlMotBase_8h" id="include_2KNI_2kmlMotBase_8h">
</map>
</div>
</div>
<p><a href="kmlMotBase_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotDesc.html">TMotDesc</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">motor description (partly) <a href="structTMotDesc.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structTKatMOT.html">TKatMOT</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[MOT] every motor's attributes <a href="structTKatMOT.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotGNL.html">TMotGNL</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[GNL] motor generals <a href="structTMotGNL.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSFW.html">TMotSFW</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[SFW] slave firmware <a href="structTMotSFW.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotAPS.html">TMotAPS</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[APS] actual position <a href="structTMotAPS.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotTPS.html">TMotTPS</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[TPS] target position <a href="structTMotTPS.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html">TMotSCP</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[SCP] static controller parameters <a href="structTMotSCP.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotDYL.html">TMotDYL</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[DYL] dynamic limits <a href="structTMotDYL.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotPVP.html">TMotPVP</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[PVP] position, velocity, pulse width modulation <a href="structTMotPVP.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotENL.html">TMotENL</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[ENL] limits in encoder values (INTERNAL STRUCTURE!) <a href="structTMotENL.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotCLB.html">TMotCLB</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calibration structure for single motors. <a href="structTMotCLB.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotInit.html">TMotInit</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initial motor parameters. <a href="structTMotInit.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html">CMotBase</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Motor class. <a href="classCMotBase.html#_details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="enum-members"></a>
Enumerations</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="kmlMotBase_8h.html#a1b93f23a077cc22845f59079c30ef343">TMotCmdFlg</a> { <a class="el" href="kmlMotBase_8h.html#a1b93f23a077cc22845f59079c30ef343a3918f38f721e46b7fc74c8f8e9138f88">MCF_OFF</a> = 0,
<a class="el" href="kmlMotBase_8h.html#a1b93f23a077cc22845f59079c30ef343a6d0109f9a662721667f731b5c04e9571">MCF_CALIB</a> = 4,
<a class="el" href="kmlMotBase_8h.html#a1b93f23a077cc22845f59079c30ef343a313d9e0e728920106bda8541c2823086">MCF_FREEZE</a> = 8,
<a class="el" href="kmlMotBase_8h.html#a1b93f23a077cc22845f59079c30ef343a9eea4a1984ad4910643fc2a9fb64d400">MCF_ON</a> = 24
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>command flags </p>
<a href="kmlMotBase_8h.html#a1b93f23a077cc22845f59079c30ef343">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="kmlMotBase_8h.html#a796b50724e4fd015f0ea73cf2ec4c8e9">TMotStsFlg</a> { <br/>
  <a class="el" href="kmlMotBase_8h.html#a796b50724e4fd015f0ea73cf2ec4c8e9a2a81029083bd6ad6edf57741f8d9c615">MSF_MECHSTOP</a> = 1,
<a class="el" href="kmlMotBase_8h.html#a796b50724e4fd015f0ea73cf2ec4c8e9a74a862cdeab078729e6de4cb5814190a">MSF_MAXPOS</a> = 2,
<a class="el" href="kmlMotBase_8h.html#a796b50724e4fd015f0ea73cf2ec4c8e9aceb47e65cbda2629eb57802eb07bbe4d">MSF_MINPOS</a> = 4,
<a class="el" href="kmlMotBase_8h.html#a796b50724e4fd015f0ea73cf2ec4c8e9adf583df0969e5ea605f29a25518ae211">MSF_DESPOS</a> = 8,
<br/>
  <a class="el" href="kmlMotBase_8h.html#a796b50724e4fd015f0ea73cf2ec4c8e9a09a0b42f676d4bae943219c7d39c396d">MSF_NORMOPSTAT</a> = 16,
<a class="el" href="kmlMotBase_8h.html#a796b50724e4fd015f0ea73cf2ec4c8e9ac7d321f25db2c2ed6d26a1f191a161f8">MSF_MOTCRASHED</a> = 40,
<a class="el" href="kmlMotBase_8h.html#a796b50724e4fd015f0ea73cf2ec4c8e9a628d480128ddf4b9b3cc51a77a420367">MSF_NLINMOV</a> = 88,
<a class="el" href="kmlMotBase_8h.html#a796b50724e4fd015f0ea73cf2ec4c8e9abce01b6c162a5abf78d255d10d0c60d2">MSF_LINMOV</a> = 152,
<br/>
  <a class="el" href="kmlMotBase_8h.html#a796b50724e4fd015f0ea73cf2ec4c8e9abf817c191b35caddc18b0c03cce4fe21">MSF_NOTVALID</a> = 128
<br/>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>status flags </p>
<a href="kmlMotBase_8h.html#a796b50724e4fd015f0ea73cf2ec4c8e9">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="kmlMotBase_8h.html#adef107e616c782dbe7138446a2edf71b">TSearchDir</a> { <a class="el" href="kmlMotBase_8h.html#adef107e616c782dbe7138446a2edf71baa4895ca32bbe7ac5e12689125075b855">DIR_POSITIVE</a>,
<a class="el" href="kmlMotBase_8h.html#adef107e616c782dbe7138446a2edf71ba5ead8e8c76023f78988bf28de9080fbd">DIR_NEGATIVE</a>
}</td></tr>
</table>
<hr/><h2>Enumeration Type Documentation</h2>
<a class="anchor" id="a1b93f23a077cc22845f59079c30ef343"></a><!-- doxytag: member="kmlMotBase.h::TMotCmdFlg" ref="a1b93f23a077cc22845f59079c30ef343" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">enum <a class="el" href="kmlMotBase_8h.html#a1b93f23a077cc22845f59079c30ef343">TMotCmdFlg</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>command flags </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a1b93f23a077cc22845f59079c30ef343a3918f38f721e46b7fc74c8f8e9138f88"></a><!-- doxytag: member="MCF_OFF" ref="a1b93f23a077cc22845f59079c30ef343a3918f38f721e46b7fc74c8f8e9138f88" args="" -->MCF_OFF</em> </td><td>
<p>set the motor off </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a1b93f23a077cc22845f59079c30ef343a6d0109f9a662721667f731b5c04e9571"></a><!-- doxytag: member="MCF_CALIB" ref="a1b93f23a077cc22845f59079c30ef343a6d0109f9a662721667f731b5c04e9571" args="" -->MCF_CALIB</em> </td><td>
<p>calibrate </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a1b93f23a077cc22845f59079c30ef343a313d9e0e728920106bda8541c2823086"></a><!-- doxytag: member="MCF_FREEZE" ref="a1b93f23a077cc22845f59079c30ef343a313d9e0e728920106bda8541c2823086" args="" -->MCF_FREEZE</em> </td><td>
<p>freeze the motor </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a1b93f23a077cc22845f59079c30ef343a9eea4a1984ad4910643fc2a9fb64d400"></a><!-- doxytag: member="MCF_ON" ref="a1b93f23a077cc22845f59079c30ef343a9eea4a1984ad4910643fc2a9fb64d400" args="" -->MCF_ON</em> </td><td>
<p>set the motor on </p>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00048">48</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
</div>
</div>
<a class="anchor" id="a796b50724e4fd015f0ea73cf2ec4c8e9"></a><!-- doxytag: member="kmlMotBase.h::TMotStsFlg" ref="a796b50724e4fd015f0ea73cf2ec4c8e9" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">enum <a class="el" href="kmlMotBase_8h.html#a796b50724e4fd015f0ea73cf2ec4c8e9">TMotStsFlg</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>status flags </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a796b50724e4fd015f0ea73cf2ec4c8e9a2a81029083bd6ad6edf57741f8d9c615"></a><!-- doxytag: member="MSF_MECHSTOP" ref="a796b50724e4fd015f0ea73cf2ec4c8e9a2a81029083bd6ad6edf57741f8d9c615" args="" -->MSF_MECHSTOP</em> </td><td>
<p>mechanical stopper reached </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a796b50724e4fd015f0ea73cf2ec4c8e9a74a862cdeab078729e6de4cb5814190a"></a><!-- doxytag: member="MSF_MAXPOS" ref="a796b50724e4fd015f0ea73cf2ec4c8e9a74a862cdeab078729e6de4cb5814190a" args="" -->MSF_MAXPOS</em> </td><td>
<p>max. position was reached </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a796b50724e4fd015f0ea73cf2ec4c8e9aceb47e65cbda2629eb57802eb07bbe4d"></a><!-- doxytag: member="MSF_MINPOS" ref="a796b50724e4fd015f0ea73cf2ec4c8e9aceb47e65cbda2629eb57802eb07bbe4d" args="" -->MSF_MINPOS</em> </td><td>
<p>min. position was reached </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a796b50724e4fd015f0ea73cf2ec4c8e9adf583df0969e5ea605f29a25518ae211"></a><!-- doxytag: member="MSF_DESPOS" ref="a796b50724e4fd015f0ea73cf2ec4c8e9adf583df0969e5ea605f29a25518ae211" args="" -->MSF_DESPOS</em> </td><td>
<p>in desired position </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a796b50724e4fd015f0ea73cf2ec4c8e9a09a0b42f676d4bae943219c7d39c396d"></a><!-- doxytag: member="MSF_NORMOPSTAT" ref="a796b50724e4fd015f0ea73cf2ec4c8e9a09a0b42f676d4bae943219c7d39c396d" args="" -->MSF_NORMOPSTAT</em> </td><td>
<p>trying to follow target </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a796b50724e4fd015f0ea73cf2ec4c8e9ac7d321f25db2c2ed6d26a1f191a161f8"></a><!-- doxytag: member="MSF_MOTCRASHED" ref="a796b50724e4fd015f0ea73cf2ec4c8e9ac7d321f25db2c2ed6d26a1f191a161f8" args="" -->MSF_MOTCRASHED</em> </td><td>
<p>motor has crashed </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a796b50724e4fd015f0ea73cf2ec4c8e9a628d480128ddf4b9b3cc51a77a420367"></a><!-- doxytag: member="MSF_NLINMOV" ref="a796b50724e4fd015f0ea73cf2ec4c8e9a628d480128ddf4b9b3cc51a77a420367" args="" -->MSF_NLINMOV</em> </td><td>
<p>non-linear movement ended </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a796b50724e4fd015f0ea73cf2ec4c8e9abce01b6c162a5abf78d255d10d0c60d2"></a><!-- doxytag: member="MSF_LINMOV" ref="a796b50724e4fd015f0ea73cf2ec4c8e9abce01b6c162a5abf78d255d10d0c60d2" args="" -->MSF_LINMOV</em> </td><td>
<p>linear movement ended </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a796b50724e4fd015f0ea73cf2ec4c8e9abf817c191b35caddc18b0c03cce4fe21"></a><!-- doxytag: member="MSF_NOTVALID" ref="a796b50724e4fd015f0ea73cf2ec4c8e9abf817c191b35caddc18b0c03cce4fe21" args="" -->MSF_NOTVALID</em> </td><td>
<p>motor data not valid </p>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00057">57</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
</div>
</div>
<a class="anchor" id="adef107e616c782dbe7138446a2edf71b"></a><!-- doxytag: member="kmlMotBase.h::TSearchDir" ref="adef107e616c782dbe7138446a2edf71b" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">enum <a class="el" href="kmlMotBase_8h.html#adef107e616c782dbe7138446a2edf71b">TSearchDir</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="adef107e616c782dbe7138446a2edf71baa4895ca32bbe7ac5e12689125075b855"></a><!-- doxytag: member="DIR_POSITIVE" ref="adef107e616c782dbe7138446a2edf71baa4895ca32bbe7ac5e12689125075b855" args="" -->DIR_POSITIVE</em> </td><td>
<p>search direction for the meachanical stopper </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="adef107e616c782dbe7138446a2edf71ba5ead8e8c76023f78988bf28de9080fbd"></a><!-- doxytag: member="DIR_NEGATIVE" ref="adef107e616c782dbe7138446a2edf71ba5ead8e8c76023f78988bf28de9080fbd" args="" -->DIR_NEGATIVE</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00068">68</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<li class="navelem"><a class="el" href="kmlMotBase_8h.html">kmlMotBase.h</a> </li>
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