Control Objects

Introduction

A Control object manages a motion controller device. The device is typically a single board residing in a PC or an embedded system. A control object can read and write device memory through one of a variety of methods: I/O port, memory mapped or device driver.

For the case where the application and the motion controller device exist on two physically separate platforms connected by a LAN or serial line, the application creates a client control object which communicates via remote procedure calls with a server.

Unlike the methods of all other objects in the MPI, Control object methods are not thread-safe.

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Methods

Create, Delete, Validate Methods
	mpiControlCreate	Create Control object
	mpiControlDelete	Delete Control object
	mpiControlValidate	Validate Control object

Configuration and Information Methods
	mpiControlAddress	Get original address of Control object (when it was created)
	mpiControlClientCountGet	Reads the number of client connections used by the MPIControl object
	mpiControlClientCountSet	Sets the number of client connections to be used by the MPIControl object
	mpiControlConfigGet	Get Control config
	mpiControlConfigSet	Set Control config
	mpiControlDigitalIn	Read the current input state
	mpiControlDigitalOutGet	Read the current output state
	mpiControlDigitalOutSet	Change the state of output bit
	meiControlExtMemAvail	Gets the amount of external memory available
	mpiControlFlashConfigGet	Get Control flash config
	mpiControlFlashConfigSet	Set Control flash config
	meiControlFPGADefaultGet	Creates a default FPGA filename
	meiControlFPGAFileOverride	Replace the default FPGA file
	meiControlGateGet	Get the closed state (TRUE or FALSE)
	meiControlGateSet	Set the closed state (TRUE or FALSE)
	meiControlInfo	Retrieve information about an MEI motion controller
	meiControlSampleCounter	Write the number of servo cycles (samples)
	meiControlSampleRate	Write current sample rate (Hz) of the controller’s processor
	meiControlSamplestoSeconds	Converts samples to seconds
	meiControlSampleWait	Wait for count samples
	meiControlSecondstoSamples	Converts seconds to samples
	meiControlStatistics	Read the Controller statistics
	meiControlStatisticsReset	Resets the Controller statistics
	mpiControlStatusCacheIntervalGet	Returns the current cache refresh interval in milliseconds
	mpiControlStatusCacheIntervalSet	Sets current cache refresh interval in milliseconds
	mpiControlStatusCacheRefresh	Refreshes of the cached data if caching is enabled
	mpiControlStatusCacheStatistics	Retrieves the cache refresh statistics
	mpiControlStatusCacheStatisticsReset	Resets the cache refresh statistics
	mpiControlType	Get type of Control object (used to create Command object)

I/O Methods
	mpiControlDigitalIn	Reads the current input state
	mpiControlDigitalOutGet	Read the current output state
	mpiControlDigitalOutSet	Change the state of output bit

Event Methods
	mpiControlEventNotifyGet	Set the control event that will cause the firmware to generate an interrupt
	mpiControlEventNotifySet	Configure firmware to generate an interrupt
	mpiControlEventReset	Reset the events

Memory Methods
	mpiControlMemory	Get address of Control memory
	mpiControlMemoryAlloc	Allocate bytes of firmware memory
	mpiControlMemoryCount	Get number of bytes available in firmware
	mpiControlMemoryFree	Free bytes of firmware memory
	mpiControlMemoryGet	Copy count bytes of Control memory to application memory
	mpiControlMemorySet	Copy count bytes of application memory to Control memory
	meiControlMemoryToFile

Relational Methods
	meiControlPlatform	Return a handle to the Platform object

Action Methods
	mpiControlCycleWait	Wait for Control to execute count cycles
	mpiControlInit	Initialize Control object
	mpiControlInitVerify
	mpiControlInterruptEnable	Enable interrupts to Control object
	mpiControlInterruptWait	Wait for controller interrupt
	mpiControlInterruptWake	Wake all threads waiting for controller interrupt
	meiControlRecorderCancel	Cancel the reservation for an abandoned recorder.
	meiControlRecorderStatus	Read the recorder's status.
	mpiControlReset	Reset controller hardware
	meiControlSampleWait	Specify how many samples the host waits for, while the controller executes.
	meiControlStatisticsReset	Resets the controller's maxBackgroundTime and maxForegroundTime values, and recalculates the controller's statistics.
	meiControlVersionMismatchOveride

Data Types

	MPIControlAddress
	MPIControlConfig / MEIControlConfig
	MPIControlFanStatusFlag
	MPIControlFanStatusMask
	MEIControlFPGA
	MEIControlInfo
	MEIControlInfoDriver
	MEIControlInfoFirmware
	MEIControlInfoFirmwareZMP
	MEIControlInfoIo
	MEIControlInfoIoDigitalIn
	MEIControlInfoIoDigitalOut
	MEIControlInfoHardware
	MEIControlInfoMpi
	MEIControlInfoPld
	MEIControlInfoRincon
	MEIControlInput
	MEIControlIoBit
	MPIControlMessage / MEIControlMessage
	MPIControlMemoryType
	MEIControlOutput
	MPIControlStatus
	MPIControlStatusCacheStatistics
	MEIControlStatistics
	MEIControlTrace
	MPIControlType

Constants

	MPIControlInMAX
	MPIControlOutMAX
	MPIControlMAX_AXES
	MPIControlMAX_COMPENSATORS
	MPIControlMAX_RECORDERS
	MPIControlMIN_AXIS_FRAME_COUNT
	MPIControlMAX_SAMPLE_RATE
	MPIControlMIN_SAMPLE_RATE
	MPIControlRECORD_COUNT_DEFAULT
	MEIControlSTRING_MAX

Macros

mpiControlFanStatusMaskBIT