MPIUserLimitConditionType
Declaration
typedef enum MPIUserLimitConditionType {
MPIUserLimitConditionTypeINVALID = -1,
MPIUserLimitConditionTypeNONE,
MPIUserLimitConditionTypeGATE,
MPIUserLimitConditionTypeMOTOR_DEDICATED_IN,
MPIUserLimitConditionTypeMOTOR_DEDICATED_OUT,
MPIUserLimitConditionTypeMOTOR_GENERAL_IN,
MPIUserLimitConditionTypeMOTOR_GENERAL_OUT,
MPIUserLimitConditionTypeAXIS_COMMAND_POSITION,
MPIUserLimitConditionTypeAXIS_COMMAND_VELOCITY,
MPIUserLimitConditionTypeAXIS_ACTUAL_POSITION,
MPIUserLimitConditionTypeAXIS_ACTUAL_VELOCITY,
MPIUserLimitConditionTypeAXIS_POSITION_ERROR,
MPIUserLimitConditionTypeCONTROL_DIGITAL_IN,
MPIUserLimitConditionTypeCONTROL_DIGITAL_OUT,
MPIUserLimitConditionTypeDRIVE_MONITOR,
MPIUserLimitConditionTypeSQNODE_DIGITAL_IN,
MPIUserLimitConditionTypeSQNODE_DIGITAL_OUT,
MPIUserLimitConditionTypeSQNODE_ANALOG_IN,
MPIUserLimitConditionTypeSQNODE_ANALOG_OUT,
MPIUserLimitConditionTypeUSER_BUFFER,
MPIUserLimitConditionTypeUSER_LIMIT,
MPIUserLimitConditionTypeFILTER_OUTPUT,
MPIUserLimitConditionTypeCAPTURE_STATE,
MPIUserLimitConditionTypeCUSTOM,
MPIUserLimitConditionTypeEND,
MPIUserLimitConditionTypeFIRST = MPIUserLimitConditionTypeINVALID + 1,
MPIUserLimitConditionTypeCOUNT = MPIUserLimitConditionTypeEND - MPIUserLimitConditionTypeFIRST
} MPIUserLimitConditionType;
Required Header: stdmpi.h
Change History: Added in 04.00.
Description
MPIUserLimitConditionType represents a user limit’s condition type.
Member (MPIUserLimitConditionType...) |
Condition Triggers Off Of... |
|---|---|
| none | The default condition. The condition will not evaluate true. |
| gate | Controller gates. |
| dedicatedIn | Motor dedicated digital inputs. |
| dedicatedOut | Motor dedicated digital outputs. |
| gerneralIn | Motor general-purpose digital inputs. |
| generalOut | Motor general-purpose digital outputs. |
| commandPosition | An axis’ command position. |
| commandVelocity | An axis’ command velocity. |
| actualPosition | An axis’ actual position. |
| actualVelocity | An axis’ command velocity. |
| positionError | An axis’ position error. |
| controlDigitalIn | A user buffer value. |
| controlDigitalOut | A motor limit’s state. |
| driveMonitor | A SynqNet drive monitor. |
| sqNodeDigitalIn | A SynqNet node’s digital inputs. |
| sqNodeDigitalOut | A SynqNet node’s digital outputs. |
| sqNodeAnalogIn | A SynqNet node’s analog inputs |
| sqNodeAnalogOut | A SynqNet node’s analog outputs |
| userLimit | A user limit’s state. |
| filterOutput | The filter object’s output (Usually requested torque). |
| captureState | A capture object’s state. |
| custom | A custom limit. |
Sample Code
MPI_RESULT returnValue; MPIUserLimit userLimit; MPIUserLimitConfig userEventConfig; /* ... */ returnValue = mpiUserLimitConfigDefault(&userEventConfig); msgCHECK(returnValue); /* Generate an event */ userEventConfig.generateEvent = TRUE; /* Use a single condition */ userEventConfig.trigger.type = MPIUserLimitTriggerTypeSINGLE_CONDITION; /* Trigger when axis 5's actual position exceeds 300000 */ userEventConfig.trigger.condition[0].type = MPIUserLimitConditionTypeAXIS_ACTUAL_POSITION; userEventConfig.trigger.condition[0].data.axisActualPosition.axisNumber = 5; userEventConfig.trigger.condition[0].data.axisActualPosition.position = 300000; userEventConfig.trigger.condition[0].data.axisActualPosition.logic = MPIUserLimitLogicGT; /* Setup output block: Set a SynqNet I/O Node's analog output. */ /* Set node 3's analog channel 7 to a value of 1234 */ userEventConfig.output.type = MPIUserLimitOutputTypeSQNODE_ANALOG_OUT; userEventConfig.output.data.sqNodeAnalogOut.nodeNumber = 3; userEventConfig.output.data.sqNodeAnalogOut.channel = 7; userEventConfig.output.data.sqNodeAnalogOut.newValue.i16 = 1234; returnValue = mpiUserLimitConfigSet(userLimit, &userEventConfig); msgCHECK(returnValue);