Axis Objects

Introduction

An Axis object manages a single physical axis on a motion controller. It represents a reference line in a coordinate system. The controller calculates an axis's command position every sample based on the motion commanded by the Motion Supervisor. The Axis object contains command, actual, and error position data, plus status.

An Axis can have one or more Filters associated with it and each Filter can have one or more Motors associated with it. The Filter and Motor objects ensure the Axis command path is followed and that the control signals get to the correct motor. Complex mechanical systems with two (or more) motors can be mapped to a single axis of motion, abstracting the details of the physical hardware and making motion software much easier to develop.

For simple systems, there is a one to one relationship between the Axis, Filter and Motor objects.

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Methods

Create, Delete, Validate Methods
mpiAxisCreate Create Axis object
mpiAxisDelete Delete Axis object
mpiAxisValidate Validate Axis object

Configuration and Information Methods
mpiAxisActualPositionGet Get actual position
mpiAxisActualPositionSet Set actual position
mpiAxisActualVelocity Get actual velocity
mpiAxisConfigGet Get Axis configuration
mpiAxisConfigSet Set Axis configuration
mpiAxisCommandPositionGet Get command position
mpiAxisCommandPositionSet Set command position
mpiAxisCommandOriginSet Set command position using origin
mpiAxisFrameBufferStatus
mpiAxisOriginGet Get Axis origin
mpiAxisOriginSet Set Axis origin
mpiAxisPositionError Get position error of an Axis
mpiAxisStatus Get Axis status
mpiAxisTrajectory Get Axis trajectory

Event Methods
mpiAxisEventNotifyGet Get event mask
mpiAxisEventNotifySet Set event mask
mpiAxisEventReset

Memory Methods
mpiAxisMemory Set Axis memory address
mpiAxisMemoryGet Copy bytes of Axis memory to application memory
mpiAxisMemorySet Copy bytes of application memory to Axis memory

Relational Methods
mpiAxisControl Return handle of Control associated with Axis
mpiAxisNumber Get index of Axis

Data Types

MPIAxisConfig
MPIAxisBacklashCompensation
MPIAxisEstopModify
MPIAxisFrameBufferStatus
MPIAxisGantryType
MPIAxisGearDataType
MPIAxisGearConfig
MPIAxisGearMaster
MPIAxisGearType
MPIAxisMaster
MPIAxisMasterData
MPIAxisMasterDataAxis
MPIAxisMasterDataCustom
MPIAxisMasterDataMotor
MPIAxisMasterDataUserBuffer
MPIAxisMasterType
MPIAxisPositionInputs
MPIAxisPreFilterConfig
MPIAxisPreFilterForm
MPIAxisSettleParams
MPIAxisStatus
MPIAxisTrajectory
MPIAxisUserUnit

Constants

MPIAxisPreFilterShapingLengthMAX
MPIAxisUserUnitLabelMAX
MPIPreFilterCoeffsMAX