Class AxisState

Namespace

TwinSharp.NC

Assembly

TwinSharp.dll

Represents the state of an NC axis. Provides access to various properties and methods to read and manipulate the state of the axis, including position, velocity, acceleration, torque, and error codes.

public class AxisState

Inheritance

object

AxisState

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Properties

ActualAcceleration

Optional: Actual acceleration "ActAcc"

public double ActualAcceleration { get; }

Property Value

double

ActualPosition

Actual position (charge with actual position compensation value) ("ActPos")

public double ActualPosition { get; }

Property Value

double

ActualPositionModulo

Modulo actual position "ActPosModulo"

public double ActualPositionModulo { get; }

Property Value

double

ActualRotationModulo

Modulo actual rotation

public int ActualRotationModulo { get; }

Property Value

int

ActualVelocity

Optional: Actual velocity "ActVelo"

public double ActualVelocity { get; }

Property Value

double

CouplingState

Coupling state

public uint CouplingState { get; }

Property Value

uint

CouplingTableIndex

Coupling table index

public uint CouplingTableIndex { get; }

Property Value

uint

CycleCounter

Set cycle counter (SAF timestamp)

public uint CycleCounter { get; }

Property Value

uint

DelayedErrorCode

Delayed error code (error pre-warning) in case of a delayed error reaction (see bit ErrorPropagationDelayed)

public uint DelayedErrorCode { get; }

Property Value

uint

ErrorCode

Axis state error code.

public uint ErrorCode { get; }

Property Value

uint

ExpectedTargetPosition

Expected target position

public double ExpectedTargetPosition { get; }

Property Value

double

InitializeCommandCounter

Counter for initialization command (InitializeCommandCounter)

public uint InitializeCommandCounter { get; }

Property Value

uint

LagErrorPeakMaximum

Peak hold value for maximum negative lag error of the position

public double LagErrorPeakMaximum { get; }

Property Value

double

LagErrorPeakMinimum

Peak hold value for minimum positive lag error of the position

public double LagErrorPeakMinimum { get; }

Property Value

double

LagErrorPosition

Lag error position(without dead time compensation)

public double LagErrorPosition { get; }

Property Value

double

LagErrorPositionWithDeadTimeCompensation

Lag error position(with dead time compensation) "PosDiff"

public double LagErrorPositionWithDeadTimeCompensation { get; }

Property Value

double

OnlineData

The online data of the axis.

public NCAXISSTATE_ONLINESTRUCT OnlineData { get; }

Property Value

NCAXISSTATE_ONLINESTRUCT

PositioningTimeLastMotionCommand

Positioning time of the last motion command (start → target position window)

public double PositioningTimeLastMotionCommand { get; }

Property Value

double

RemainingTravelDistance

Remaining travel distance e.g. mm (SERVO).

public double RemainingTravelDistance { get; }

Property Value

double

RemaniningTravelTime

Remaining travel time seconds (SERVO).

public double RemaniningTravelTime { get; }

Property Value

double

ResetCommandCounter

Counter for reset command (ResetCommandCounter)

public uint ResetCommandCounter { get; }

Property Value

uint

SetAcceleration

Set acceleration

public double SetAcceleration { get; }

Property Value

double

SetCommandNumber

Set command number ("CmdNo")

public int SetCommandNumber { get; }

Property Value

int

SetCouplingFactor

Set coupling factor (set gear ratio)

public double SetCouplingFactor { get; }

Property Value

double

SetJerk

Set jerk (time derivative of the set acceleration)

public double SetJerk { get; }

Property Value

double

SetModuloRotation

Modulo set rotation

public int SetModuloRotation { get; }

Property Value

int

SetPosition

Set position

public double SetPosition { get; }

Property Value

double

SetPositionModulo

Modulo set position

public double SetPositionModulo { get; }

Property Value

double

SetTorque

Set torque (rot. motor) or set force(linear motor) ("SetTorque")

public double SetTorque { get; }

Property Value

double

SetTorqueChange

Set torque change (rot. motor) or set force change (linear motor) (time derivative of the set torque or set force)

public double SetTorqueChange { get; }

Property Value

double

SetTravelDirection

Set travel direction [-1.0, 0.0, 1.0]

public double SetTravelDirection { get; }

Property Value

double

SetVelocity

Set velocity

public double SetVelocity { get; }

Property Value

double

SetVelocityOverride

Set override value for velocity [0.0…1.0] 1.0=100%

public double SetVelocityOverride { get; }

Property Value

double

TorqueOffset

Additive set torque (rot. motor) or additive set force (linear motor) for pre-control. ("TorqueOffset")

public double TorqueOffset { get; set; }

Property Value

double

UncorrectedSetAcceleration

Uncorrected set acceleration e.g. mm/s^2

public double UncorrectedSetAcceleration { get; }

Property Value

double

UncorrectedSetPosition

Uncorrected set position

public double UncorrectedSetPosition { get; }

Property Value

double

UncorrectedSetTravelDirection

Uncorrected set travel direction [-1.0, 0.0, 1.0]

public double UncorrectedSetTravelDirection { get; }

Property Value

double

UncorrectedSetVelocity

Uncorrected set velocity e.g. mm/s

public double UncorrectedSetVelocity { get; }

Property Value

double