MPIAxisConfig

Definition: MPIAxisConfig 

          typedef struct MPIAxisConfig {
              MPIAxisEstopModify       estopModify;
              MPIAxisSettleParams      settle;
              double                   nearTargetDistance;
              MPIAxisMaster            master;
              int32_t                  masterCorrection;
              MPIAxisUserUnit          userUnit;
              MPIBacklashCompensation  backlashCompensation;
              char                     userLabel[MPIObjectLabelCharMAX+1]; /* +1 for NULL terminator */
              MPIInt64                 *feedbackDeltaPtr[MPIAxisPositionInputs];
              MPIAxisPreFilterConfig   preFilter;
              MPIAxisGearConfig        gear;
              MPIAxisGantryType        gantryType;
              double		       metricDelay;		/* seconds */
           } MPIAxisConfig;

Change History: Modified in 04.00 and 03.03.00.

Description

MPIAxisConfig structure contains axis configurations for settling critieria, camming, gearing, backlash compensation, gantries, and trajectory preFilters.

 
estopModify A structure that contains trajectory parameters to apply when an MPIActionE_STOP_MODIFY action is commanded.
settle A struture that contains the servo tolerance criteria to define when a move has completed.
nearTargetDistance Position distance criteria for MPIEventTypeNEAR_TARGET event. When the actual position is within the nearTargetDistance to the move's target command position, the NEAR_TARGET status/event is triggered.
master A structure containing the camming master axis, type, and feedback fault configuration
masterCorrection The axis number for the master correction source. A value of -1 (default) disables the master correction feature.
userUnit A structure containing scale factors that can be used by an application program to convert between raw feedback counts and engineering units (meters, feet, inches, etc.)
backlashCompensation A structure containing the position compensation configurations for axes with significant backlash between the feedback device and the mechanical systems.
userLabel A 16 character string used to identify the axis object. The userLabel is not used by the controller, it is strictly for user identification purposes.
*feedbackPtr A pointer to an array of position feedback addresses. This is used by the controller internally for closing the servo loop. This configuration is for advanced users ONLY. Do not change this parameter unless you require custom closed-loop control configurations.
preFilter A structure containing configuration for filtering the command trajectory before it is applied to the closed-loop servo control algorithm in the Filter object.
gear A structure containing the configuration for fixed electronic gearing between the axis and a master feedback or command trajectory.
gantryType An enumerated value defining the gantry configuration.
metricDelay A delay value for measuring overshoot and settling time (special firmware required).

Sample Code

MPIAxisConfig axisConfig;
         
 mpiAxisConfigGet(axis, &axisConfig);

   axisConfig.settle.tolerance.distance = 50.0;
   axisConfig.settle.tolerance.speed    = 100.0;

   axisConfig.settle.time               = .5;	/* seconds */

   mpiAxisConfigSet(axis, &axisConfig);

See Also

mpiAxisConfigGet | mpiAxisConfigSet | MPIAction | Axis Tolerances | Camming | Camming Correction Moves