MPI 04.00 Reference >> mpiMotion
MPIMotionStatus
Definition
typedef struct MPIMotionStatus {
MPIState state;
MPIAction action;
MPIEventMask eventMask;
MPI_BOOL settled;
MPI_BOOL atTarget;
MPIActionSource actionSource;
} MPIMotionStatus;
Required Header: motion.h
Change History: Added in 04.00.
Description
MPIMotionStatus is a structure that contains the present state, status, action, events, and cause of the action from the controller’s motion suppervisor. The Motion status can be polled and displayed for informational purposes. If your application is using the status information to determine motion completion and trigger the next commanded move or handling controller events, it is strongly recommended to use the Notify, Event, and EventMgr features instead.
Note: Using events for application logic decisions is more efficient than polling status.
| state | Present condition of the controller’s motion supervisor. |
|---|---|
| action | Last or present action performed by the controller’s motion supervisor. |
| eventMask | A bit mask containing the events that are active or latched for the controller’s motion supervisor. This is useful for determining the fault conditions or motion completion. |
| settled | A Boolean value (TRUE or FALSE) indicating if all the axes mapped to the controller’s motion supervisor have met their configured settling criteria. |
| atTarget | A Boolean value (TRUE or FALSE) indicating if all the axes mapped to the controller’s motion supervisor have completed their commanded trajectories (command position has reached the targeted end point of the move). |
| actionSource | Indicates whether the state value was caused by the controller or the user. |