Motor Objects

Introduction

A Motor object manages a single motor on a controller. It represents the physical connections between the motor, drive, and associated I/O. The Motor object contains encoder data, limit switch, home sensor, amp fault and amp enable states, DAC outputs, and other status information.

For simple systems, there is a one-to-one relationship between the Axis, Filter and Motor objects.

| Error Messages |

Methods

Create, Delete, Validate Methods
	mpiMotorCreate	Create Motor object
	mpiMotorDelete	Delete Motor object
	mpiMotorValidate	Validate Motor object

Configuration and Information Methods
	mpiMotorAmpEnableGet	Get state of amp enable output
	mpiMotorAmpEnableSet	Set state of amp enable output
	meiMotorAmpFault	Writes the amp fault buffer data of a motor.
	meiMotorAmpFaultClear	Clears the amp fault buffer data of a motor.
	meiMotorAmpWarning	Writes the amp warning buffer of the motor.
	meiMotorAmpWarningClear	Clears the motor's amp wanring message buffer.
	mpiMotorAxisMapGet	Get object map of axes
	meiMotorCommutationModeGet	Gets the commutation mode of a motor.
	meiMotorCommutationModeSet	Sets the commutation mode of a motor.
	mpiMotorConfigGet	Get motor configuration
	mpiMotorConfigSet	Set motor configuration
	meiMotorConfigStepper	Configures a motor for stepper mode.
	meiMotorDacConfigGet	Get a Motor's (motor) Dac configuration
	meiMotorDacConfigSet	Set a Motor's (motor) Dac configuration
	meiMotorDacFlashConfigGet
	meiMotorDacFlashConfigSet
	mpiMotorDedicatedIn
	mpiMotorDedicatedOutGet
	meiMotorDemandModeGet	Retrieves the specified motor’s demand mode
	meiMotorDemandModeSet	Changes the specified motor’s demand mode
	mpiMotorFeedback	Get feedback position
	mpiMotorFlashConfigGet	Get flash config of motor
	mpiMotorFlashConfigSet	Set flash config of motor
	mpiMotorGeneralIn
	mpiMotorGeneralOutGet
	mpiMotorGeneralOutSet
	meiMotorInfo	Get information about the network, node, and drive interface
	meiMotorPhaseFindStatus
	mpiMotorPositionFeedbackOffsetGet
	mpiMotorPositionFeedbackOffsetSet
	mpiMotorStatus / meiMotorStatus	Get motor status

Event Methods
	mpiMotorEventConfigGet	Get motor's event configuration
	mpiMotorEventConfigSet	Set motor's event configuration
	mpiMotorEventNotifyGet	Get motor's event mask for host notification.
	mpiMotorEventNotifySet	Set motor's event mask for host notification.
	mpiMotorEventReset	Reset events specified in event mask

Memory Methods
	mpiMotorMemory	Get address of motor memory
	mpiMotorMemoryGet	Copy motor memory to application memory
	mpiMotorMemorySet	Copy application memory to motor memory

Action Methods
	meiMotorEncoderReset	Clears encoder faults.
	meiMotorMultiTurnReset	Clears the SynqNet drive multi-turn data for absolute type encoders.
	meiMotorPhaseFindAbort
	meiMotorPhaseFindStart

Relational Methods
	mpiMotorControl	Get handle to associated Control object
	mpiMotorFilterMapGet	Get object map of associated Filters
	mpiMotorFilterMapSet	Set the Filters using object map
	mpiMotorNumber	Get index number of motor (in Control list)

Other Methods
	meiMotorEncoderRatio	Get encoder ratio from the XMP.

Data Types

	MEIMotorAmpFaults
	MEIMotorAmpFaultMsg
	MEIMotorAmpWarnings
	MEIMotorAmpWarningMsg
	MPIMotorBrake
	MPIMotorBrakeMode
	MPIMotorConfig / MEIMotorConfig
	MEIMotorDacConfig
	MEIMotorDacChannelConfig
	MEIMotorDacChannelStatus
	MEIMotorDacStatus
	MPIMotorDedicatedIn
	MPIMotorDedicatedOut
	MEIMotorDemandMode
	MEIMotorDisableAction
	MPIMotorEncoder / MEIMotorEncoder
	MPIMotorEncoderFault
	MPIMotorEncoderFaultMask
	MEIMotorEncoderModulo
	MEIMotorEncoderRatio
	MEIMotorEncoderReverseModulo
	MEIMotorEncoderSsiConfig
	MEIMotorEncoderType
	MPIMotorEventConfig / MEIMotorEventConfig
	MPIMotorEventTrigger
	MEIMotorFaultBit
	MEIMotorFaultConfig
	MEIMotorFaultMask
	MPIMotorFeedback
	MPIMotorGeneralIo
	MEIMotorInfo
	MEIMotorInfoDedicatedIn
	MEIMotorInfoDedicatedOut
	MEIMotorInfoGeneralIo
	MEIMotorInfoNodeType
	MEIMotorIoConfig
	MEIMotorIoConfigIndex
	MEIMotorIoType
	MEIMotorIoTypeMask
	MPIMotorMessage / MEIMotorMessage
	MEIMotorPhaseFindDriveMsg
	MEIMotorPhaseFindState
	MEIMotorPhaseFindStatus
	MEIMotorSsiInput
	MEIMotorStatus
	MEIMotorStatusOutput
	MEIMotorStepper
	MEIMotorStepperPulse
	MEIMotorStepperPulseType
	MEIMotorStepperStatus
	MPIMotorType

Macros

mpiMotorEncoderFaultMaskBIT

Constants

	MEIMotorAmpFaultsMAX
	MEIMotorAmpMsgMAX
	MEIMotorAmpWarningsMAX