MPI 04.00 Reference >> mpiMotion
mpiMotionStatus
Declaration
MPI_RESULT mpiMotionStatus(MPIMotion motion, MPIMotionStatus *status);
Required Header: motion.h
Change History: Changed in 04.00.
Description
mpiMotionStatus reads a Motion’s status from the controller and writes it into the structure pointed to by status.
| motion | a handle to a Motion object |
|---|---|
| *status | a pointer to MPIMotionStatus structure |
| Return Values | |
|---|---|
| MPIMessageOK | |
| MPIMessageARG_INVALID | |
Sample Code
Read the motion status and if the MS is in an error state, clear the fault conditions.
/* Check motion status for any error conditions */
returnValue =
mpiMotionStatus(motion, &status);
msgCHECK(returnValue);
if (status.state == MPIStateERROR) {
returnValue =
mpiMotionAction(motion, MPIActionRESET);
msgCHECK(returnValue);
printf("Error state cleared.\n");
}