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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| Error Messages |
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
Constants
Macros
| mpiControlFanStatusMaskBIT |