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.
| Error Messages |
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
Constants
| MPIAxisPreFilterShapingLengthMAX | ||
| MPIAxisUserUnitLabelMAX | ||
| MPIPreFilterCoeffsMAX |