Interface to interpolator. More...

#include <TGM.h>

Public Attributes
uint32_t	Number
	interpolator number

uint32_t	Number_Axes
	number of axes used for interpolation (2-10)

uint32_t	Bufer_Size
	size of the command buffer in items

volatile INTERPOLATOR_COMMANDS	Command
	command to interpolator

int32_t	Command_Parametr [12]
	parameters depending on INTERPOLATOR::Command value

int32_t	Command_Status

volatile int32_t	Status

volatile int32_t	Act_Part
	index of the actual part of the G code

uint32_t	Adrress_External_Position
	offset of TGM_Data address, where external sensor position is saved

volatile int32_t	M_Func

int32_t	Act_GFunc
	actual G function number

int32_t	Act_MFunc
	actual M function number

int32_t	Last_ContMFunc
	last continuos M function number (M > 1000)

int32_t	Run_Flag

int32_t	Tool_Number
	actual tool number, read only

CONT_MFUNC_HISTORY	Cont_MFunc_History
	continuous M funcs history

uint32_t	editorLine
	actual editor line

uint32_t	fileIdx
	actual file index

uint32_t	correction
	actual tool compensation (41 - left, 42 - right, any other value - off)

int32_t	IReserve [65 -(sizeof(CONT_MFUNC_HISTORY)/sizeof(int32_t))]
	reserved

double	Orig_Position [_N_INTERPOLATOR_AXES]
	direct position from interpolator

double	Position [_N_INTERPOLATOR_AXES]
	filtered position (IIR and/or Spline filtration)

double	PositionInc [_N_INTERPOLATOR_AXES]
	Position multiplied by INTERPOLATOR::Ratio.

double	Backlash [_N_INTERPOLATOR_AXES]
	actual backlash value for each axis

double	Offset [_N_INTERPOLATOR_AXES]
	offset values added to INTERPOLATOR::PositionInc

double	Speed [_N_INTERPOLATOR_AXES]
	actual speed of each axis after IIR and Spline calculations

double	Ratio [_N_INTERPOLATOR_AXES]
	conversion ratio (multiplier) from mm to increments

double	M_Funkce_Parametr [26]
	Parameters of the actual M functions. Some of the letters are reserved (G, M, N, P).

double	M_Func_Params_Reserved [6]
	reserved

double	Rel_Speed
	Realive speed of the movement, 0.01 - 2.0 (i.e 1 - 200 %)

double	Set_Speed
	wanted speed from the G-code

double	Act_Speed
	actual speed

double	Move_Distance
	actual total distance

double	DReserve [32+70]
	reserved

uint32_t	LookAheadBufferValidStart
	the first valid antry in INTERPOLATOR::LookAheadBuffer array, wraps around _MAX_LOOKHEAD_BUFFER_SIZE

uint32_t	LookAheadBufferValidEnd
	the last valid entry in INTERPOLATOR::LookAheadBuffer array

INTERPOLATOR_LOOK_AHEAD_BUFFER	LookAheadBuffer [_MAX_LOOKHEAD_BUFFER_SIZE]
	G-code parts to follow. The first entry in this table is always the actual G-code part.

Detailed Description

Interface to interpolator.

Buffer_Size is specified in TgMotion.ini file, entry Interpolator[].Buffer_Size, e.g. Interpolator[0].Buffer_Size=2000

Definition at line 1201 of file TGM.h.

Member Data Documentation

◆ Command_Status

int32_t INTERPOLATOR::Command_Status

actual status of command

value	description
0	previous command was executed successfully and next command can be activated
1	actual command is being performed
-1	error occurred during the command execution

Definition at line 1208 of file TGM.h.

◆ Status

volatile int32_t INTERPOLATOR::Status

actual status of the interpolator

value	description
1	movement on trajectory is under way
3	stop at the trajectory end
4	at least one part of the trajectory is in the buffer, start may be called
6	stopping on emergency ramp
7	interpolator stopped after emergency stop
8	interpolator was stopped during the buffer filling

Definition at line 1216 of file TGM.h.

◆ M_Func

volatile int32_t INTERPOLATOR::M_Func

value of M-function; if M < 1000 the interpolator stops and waits until the value reaches zero; it then continues with a next segment; if M > 1000, execution of the G-code continues

Definition at line 1229 of file TGM.h.

◆ Run_Flag

int32_t INTERPOLATOR::Run_Flag

additional running status

lower 16 bits indicate the status of the actual part:

value	description
0	STOP (interpolator is inactive)
1	RUN (normal G-instruction is being executed)
2	WAIT_WINDOW (for turning)
3	WAIT_PULSE (for turning)
4	WAIT_MFUNC (M-function execution started
5	WAIT_MFUNC_WAIT_FOR_END (waiting for M-function termination)

upper 16 bits for the speed progress status:

value	description
1	no movement
2	acceleration
3	required movement speed has been reached
4	deceleration
5	next speed segment
6	deceleration on the last segment
7	deceleration on emergency ramp

Definition at line 1235 of file TGM.h.

The documentation for this struct was generated from the following file: