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
Macros
| mpiMotionATTR | ||
| mpiMotionAttrMaskBIT | ||
| mpiMotionTYPE |