Motion Objects

Introduction

A Motion object manages a single axis or group of axes. Its primary function is to provide an interface to command movement on a coordinate system. It also provides status information about all the axes under its control, so motion can be either stopped or resumed in a controlled manner, especially in the event of error recovery. The Motion object is really a host-based object, with a corresponding Motion Supervisor object in the controller. The Motion Supervisor handles the real-time issues associated with axis data and status synchronization.

Some careful consideration should be given to Motion object (Motion Supervisor) to axis mapping. While it's possible to have multiple Motion objects share the same axes, only one Motion Supervisor can command motion to an axis at a time. Motion object to axis maps can be changed dynamically at any time, but Motion Supervisor to axis maps should NOT be changed when the axes are moving.

To learn more about using MPI Motion Attributes and MEI Motion Attributes, click here.

| Error Messages |

Methods

Create, Delete, Validate Methods
	mpiMotionCreate	Create Motion object
	mpiMotionDelete	Delete Motion object
	mpiMotionValidate	Validate Motion object

Configuration and Information Methods
	mpiMotionConfigGet	Get Motion configuration
	mpiMotionConfigSet	Set Motion configuration
	mpiMotionFlashConfigGet	Get Motion flash config
	mpiMotionFlashConfigSet	Set Motion flash config
	meiMotionFrameBufferLoad
	meiMotionLogClose	Frees memory buffer for motion logging
	meiMotionLogOpen	Allocates a memory buffer for motion logging.
	meiMotionLogPrint	Writes motion log buffer data
	mpiMotionParamsGet	Get Motion parameters
	mpiMotionParamsSet	Set Motion parameters
	meiMotionParamsValidate	Validate Motion parameters
	mpiMotionPositionGet	Get position parameters of all axes associated with Motion
	mpiMotionPositionSet	Set position parameters of all axes associated with Motion
	mpiMotionStatus	Get Motion status
	mpiMotionTrajectory	Get trajectories for all Axis associated with Motion

Event Methods
	mpiMotionEventNotifyGet	Get event mask
	mpiMotionEventNotifySet	Set event mask
	mpiMotionEventReset	Reset events specified in event mask

Action Methods
	mpiMotionAction	Perform an action on a Motion
	meiMotionActionFunction
	mpiMotionModify	Modify parameters of Motion while it is executing
	mpiMotionStart	Start Motion (idle state > moving state)

Memory Methods
	mpiMotionMemory	Set address to be used to access Motion memory
	mpiMotionMemoryGet	Get bytes of Motion memory and place it into application memory
	mpiMotionMemorySet	Put (set) bytes of application memory into Motion memory

Relational Methods
	mpiMotionControl	Return handle of Control object associated with Motion
	mpiMotionNumber	Get index of Motion
	mpiMotionAxis	Return handle of axis by index number
	mpiMotionAxisAppend	Append axis to list
	mpiMotionAxisCount	Return number of axes in list
	mpiMotionAxisFirst	Return handle to first axis in list
	mpiMotionAxisIndex	Return index value of an axis in list
	mpiMotionAxisInsert	Insert axis into list associated with Motion
	mpiMotionAxisLast	Return handle to last axis in list
	mpiMotionAxisListGet	Get list of axes associated with Motion
	mpiMotionAxisListSet	Create a list of axes associated with Motion
	mpiMotionAxisNext	Get handle to next axis in list
	mpiMotionAxisPrevious	Get handle to previous axis in list
	mpiMotionAxisRemove	Remove handle to axis in list

Data Types

	*MEIMotionActionFunction
	MPIMotionAttr / MEIMotionAttr
	MEIMotionAttrHold
	MEIMotionAttrHoldSource
	MEIMotionAttrHoldType
	MPIMotionAttrMask / MEIMotionAttrMask
	MEIMotionAttrOutput
	MEIMotionAttrOutputType
	MPIMotionAttributes / MEIMotionAttributes
	MPIMotionBESSEL
	MPIMotionBSPLINE
	MPIMotionCam
	MPIMotionConfig / MEIMotionConfig
	MPIMotionDecelTime
	MEIMotionFrame
	MEIMotionFrameBufferStatus
	MPIMotionMessage / MEIMotionMessage
	MPIMotionParams / MEIMotionParams
	MPIMotionPoint
	MPIMotionPT
	MPIMotionPTF
	MPIMotionPVT
	MPIMotionPVTF
	MPIMotionSCurve
	MPIMotionSCurveJerk
	MPIMotionSPLINE
	MEIMotionTrace
	MPIMotionTrapezoidal
	MPIMotionType / MEIMotionType
	MPIMotionVelocity

Macros

	mpiMotionATTR
	mpiMotionAttrMaskBIT
	mpiMotionTYPE