Control Objects
Introduction
A Control object manages a motion controller device. The device is typically a single board residing in a PC or an embedded system. A control object can read and write device memory through one of a variety of methods: I/O port, memory mapped or device driver.
For the case where the application and the motion controller device exist on two physically separate platforms connected by a LAN or serial line, the application creates a client control object which communicates via remote procedure calls with a server.
Unlike the methods of all other objects in the MPI, Control object methods are not thread-safe.
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| Error Messages |
Methods
| Create, Delete, Validate, Access, and Allocate Methods | ||
| mpiControlAccess | Access Control object | |
| mpiControlAllocUpdate | Allocate Control object | |
| mpiControlCreate | Create Control object | |
| mpiControlDelete | Delete Control object | |
| mpiControlValidate | Validate Control object | |
| Configuration and Information Methods | ||
| mpiControlAddress | Get original address of Control object (when it was created) | |
| mpiControlConfigGet | Get Control config | |
| mpiControlConfigSet | Set Control config | |
| mpiControlDefaultFile | Reports the default file for special controller files | |
| mpiControlDigitalIn | Read the current input state | |
| mpiControlDigitalOutGet | Read the current output state | |
| mpiControlDigitalOutSet | Change the state of output bit | |
| mpiControlFlashLoadFromFile | Reads the firmware image files | |
| mpiControlFlashSaveToFile | Saves firmware images to a binary file | |
| mpiControlFlashVerify | Verifies the controller’s firmware against an input file | |
| mpiControlFlashSaveAll | The firmware configuration data on the controller to flash | |
| mpiControlGateStateGet | Get the closed state (TRUE or FALSE) | |
| mpiControlGateStateSet | Set the closed state (TRUE or FALSE) | |
| mpiControlInfo | Retrieve information about an MPI motion controller | |
| mpiControlMemAvail | Gets the amount of external memory available | |
| mpiControlNearestValidSampleRate | ||
| mpiControlNotifyAdd | ||
| mpiControlNotifyCreate | ||
| mpiControlNotifyDelete | ||
| mpiControlNotifyRemove | ||
| mpiControlObjectCount | ||
| mpiControlObjectPtr | ||
| mpiControlResetToDefault | Resets the controller | |
| mpiControlSampleCounter | Write the number of servo cycles (samples) | |
| mpiControlSampleRate | Write current sample rate (Hz) of the controller’s processor | |
| mpiControlSamplestoSeconds | Converts samples to seconds | |
| mpiControlSampleWait | Wait for count samples | |
| mpiControlSecondstoSamples | Converts seconds to samples | |
| mpiControlStatistics | Read the Controller statistics | |
| mpiControlStatisticsReset | Resets the Controller statistics | |
| mpiControlStatus | ||
| mpiControlTimingConfigGet | ||
| mpiControlTimingConfigSet | ||
| mpiControlType | Get type of Control object (used to create Command object) | |
| mpiControlValidSampleRate | ||
| mpiControlVersionText | ||
| mpiControlVersionTextFree | ||
| I/O Methods | ||
| mpiControlDigitalIn | Reads the current input state | |
| mpiControlDigitalOutGet | Read the current output state | |
| mpiControlDigitalOutSet | Change the state of output bit | |
| Event Methods. For an overview of Event Service methods, see Event Service . | ||
| mpiControlEventCallbackAdd | ||
| mpiControlEventCallbackRemove | ||
| mpiControlEventNotifyGet | Set the control event that will cause the firmware to generate an interrupt | |
| mpiControlEventNotifySet | Configure firmware to generate an interrupt | |
| mpiControlEventReset | Reset the events | |
| mpiControlEventServiceErrorCountReset | ||
| mpiControlEventServiceStart | ||
| mpiControlEventServiceStatus | ||
| mpiControlProcessEvents | ||
| Memory Methods | ||
| mpiControlMemory | Get address of Control memory | |
| mpiControlMemoryGet | Copy count bytes of Control memory to application memory | |
| mpiControlMemorySet | Copy count bytes of application memory to Control memory | |
| mpiControlMemoryGet64 | ||
| mpiControlMemorySet64 | ||
| mpiControlMemoryToFile | ||
| Relational Methods | ||
| mpiControlPlatform | Return a handle to the Platform object | |
| Action Methods | ||
| mpiControlCycleWait | Wait for Control to execute count cycles | |
| mpiControlInterruptEnable | Enable interrupts to Control object | |
| mpiControlInterruptWait | Wait for controller interrupt | |
| mpiControlInterruptWake | Wake all threads waiting for controller interrupt | |
| mpiControlRecorderCancel | Cancel the reservation for an abandoned recorder. | |
| mpiControlRecorderStatus | Read the recorder's status. | |
| mpiControlReset | Reset controller hardware | |
| mpiControlSampleWait | Specify how many samples the host waits for, while the controller executes. | |
| mpiControlStatisticsReset | Resets the controller's maxBackgroundTime and maxForegroundTime values, and recalculates the controller's statistics. | |
| mpiControlVersionMismatchOveride | ||
Data Types
Constants
Macros
| mpiControlFanStatusMaskBIT |