MPIAction / MEI Action

MPIAction / MEIAction

Definition: MPIAction

typedef enum {
    MPIActionINVALID,

    MPIActionNONE,
    MPIActionSTOP,
    MPIActionE_STOP,
    MPIActionE_STOP_ABORT,
    MPIActionE_STOP_MODIFY,
    MPIActionE_STOP_CMD_EQ_ACT,
    MPIActionABORT,

    MPIActionDONE,
    MPIActionSTART,
    MPIActionRESUME,
    MPIActionRESET,
    MPIActionCANCEL_REPEAT,
} MPIAction;

Change History: Modified in the 03.03.00

Description

MPIAction enumerations are used to perform some sort of action on an MPI object. Currently, only MPIMotion and MPIMotor use the MPIAction enumerations. One can command an MPIMotion object to perform some action with the mpiMotionAction(...) method, while one can get and set the types of actions that will be performed when certain motor events occur with the MPIMotorEventConfig structure with the mpiMotorEventConfigGet(...) and mpiMotorEventConfigSet(...) methods.

MPIActionNONE	Performs no action. Use with MPIMotorEventConfig to prevent a motor event from performing an action.
MPIActionSTOP	Makes a motion supervisor perform a stop. This action can be commanded with mpiMotionAction(...) or by a motor event on the controller. Please see MPIMotionDecelTime for more information about stop actions.
MPIActionE_STOP	Makes a motion supervisor perform an e-stop. This action can be commanded with mpiMotionAction(...) or by a motor event on the controller. Please see MPIMotionDecelTime for more information about e-stop actions.
MPIActionE_STOP_ABORT	Makes a motion supervisor perform an e-stop and then an abort. This action can be commanded with mpiMotionAction(...) or by a motor event on the controller. Please see MPIMotionDecelTime for more information about e-stop actions.
MPIActionE_STOP_MODIFY	Makes a motion supervisor perform an e-stop modify. This action is equivalent to an mpiMotionModify(...) that is pre-loaded into the controller and ends in an error state. This action can be commanded with mpiMotionAction(...) or by a motor event on the controller. Please see MPIAxisEstopModify for more information about e-stop modify actions.
MPIActionE_STOP_CMD_EQ_ACT	The command position is set equal to the previous sample's actual position. After the E_STOP time expires, the AmpEnable is disabled. The settling parameters are supported for this action, when settleOnEstopCmdEqAct in the MPIAxisConfig structure is enabled.
MPIActionABORT	Makes a motion supervisor perform an abort. This action can be commanded with mpiMotionAction(...) or by a motor event on the controller.
MPIActionDONE	is currently not supported and is reserved for future use.
MPIActionSTART	Intended to force a motion supervisor to start when it is waiting for some event (a delay or hold) before starting. This action is currently not supported.
MPIActionRESUME	Makes a motion supervisor to resume motion after a stop action has occurred. A motion supervisor can only resume a motion after a stop event, not an e-stop event. This action can be commanded with mpiMotionAction(...).
MPIActionRESET	Makes a motion supervisor return to an idle state after an error has occurred or after a stop, e-stop, abort, or e-stop/abort action has occurred. While abort actions and certain errors cause all associated motors to turn off their amp-enable lines, this action does not change the state of any amp-enable lines. One will have to call the method mpiMotorAmpEnableSet(...) to re-enable the amplifiers. This action can be commanded with mpiMotionAction(...).
MPIActionCANCEL_REPEAT	This action makes a repeating cam start or finish at the end of the next cycle. i.e. The cam will continue executing until it passes the start of finish of the cam table. See Repeating Cams .

Remarks

An MPIAction can be generated from the host or the firmware. Below is a table where MPIActions originate (start):

MPIAction	Originating from Host	Originating from XMP Firmware
Start Resume Reset Stop	mpiMotionAction(...) (currently unsupported) mpiMotionAction(...) mpiMotionAction(...) mpiMotionAction(...)	NEVER NEVER NEVER Event
E_Stop ABORT	mpiMotionAction(...) mpiMotionAction(...)	Event Event
DONE	NEVER	NEVER

Definition: MEIAction

typedef enum {
    MEIActionMAP = MPIActionLAST,

} MEIAction;

Description

MEIActionMAP

MotionAction will write the axis mapping relationship of the motion supervisor to the controller. This mapping is written automatically when mpiMotionStart(...) is called.