MPIState

Definition

typedef enum {
    MPIStateIDLE,
    MPIStateMOVING,
    MPIStateSTOPPING,
    MPIStateSTOPPED,
    MPIStateSTOPPING_ERROR,
    MPIStateERROR,
} MPIState;

Description

MPIState is an MPI enum that is used to describe the current state of the controller's motion state machine. MPIState resides in the MPIStatus structure. Currently MPIState is only used with motion module.

MPIStateIDLE	The state of motion is idle and waiting to resume motion.
MPIStateMOVING	The state of the motion is moving.
MPIStateSTOPPING	The state of the motion is stopping. This occurs from a Stop event, but not an E_Stop, E_Stop Abort, or Abort events. The stop command could have come from the firmware or MPI.
MPIStateSTOPPED	The move has stopped due to a STOP command. It requires a MotionReset to go back to IDLE OR a MotionResume to resume stopped motion. MotionStart can also be called at any time to start a new move.
MPIStateSTOPPING_ERROR	The state of the motion is performing an emergency stop and/or abort on all axes. The move is stopping due to an error (ESTOP, ABORT, etc.).
MPIStateERROR	The state of the motion is in error. The error state is generated from an E_Stop or Abort event. It requires a MotionReset to get back to IDLE before loading another move.