Motion Objects

Introduction

A Motion object manages a single axis or group of axes. Its primary function is to provide an interface to command movement on a coordinate system. It also provides status information about all the axes under its control, so motion can be either stopped or resumed in a controlled manner, especially in the event of error recovery. The Motion object is really a host-based object, with a corresponding Motion Supervisor object in the controller. The Motion Supervisor handles the real-time issues associated with axis data and status synchronization.

Some careful consideration should be given to Motion object (Motion Supervisor) to axis mapping. While it's possible to have multiple Motion objects share the same axes, only one Motion Supervisor can command motion to an axis at a time. Motion object to axis maps can be changed dynamically at any time, but Motion Supervisor to axis maps should NOT be changed when the axes are moving.

To learn more about using MPI Motion Attributes, click here.

| Error Messages |

Methods

Create, Delete, Validate Methods
mpiMotionCreate  
mpiMotionDelete  
mpiMotionValidate  

Configuration and Information Methods
mpiMotionAxisMapGet  
mpiMotionAxisMapSet  
mpiMotionConfigGet  
mpiMotionConfigSet  
mpiMotionFrameBufferStatus  
mpiMotionLogClose  
mpiMotionLogOpen  
mpiMotionLogPrint  
mpiMotionPositionGet  
mpiMotionStatus  

Event Methods
mpiMotionEventNotifyGet  
mpiMotionEventNotifySet  
mpiMotionEventReset  

Memory Methods
mpiMotionMemory  
mpiMotionMemoryGet  
mpiMotionMemorySet  

Action Methods
mpiMotionAction  
mpiMotionCancelMove  
   
mpiMotionSimplePTMove  
mpiMotionPTMove  
mpiMotionPTBeginMove  
mpiMotionPTContinueMove  
   
mpiMotionSimplePVTMove  
mpiMotionPVTMove  
mpiMotionPVTBeginMove  
mpiMotionPVTContinueMove  
   
mpiMotionSimplePTFMove  
mpiMotionPTFMove  
mpiMotionPTFBeginMove  
mpiMotionPTFContinueMove  
   
mpiMotionSimplePVTFMove  
mpiMotionPVTFMove  
mpiMotionPVTFBeginMove  
mpiMotionPVTFContinueMove  
   
mpiMotionSimpleSplineMove  
mpiMotionSplineMove  
   
mpiMotionSimpleBesselMove  
mpiMotionBesselMove  
   
mpiMotionSimpleBSplineMove  
mpiMotionBSplineMove  
   
mpiMotionSimpleBSpline2Move  
mpiMotionBSpline2Move  

Point-toPoint Motion Methods
mpiMotionSimpleTrapezoidalMove  
mpiMotionSimpleTrapezoidalCartesianMove  
mpiMotionSimpleTrapezoidalCoordinatedMove
mpiMotionTrapezoidalMove  
mpiMotionTrapezoidalCartesianMove  
mpiMotionTrapezoidalCoordinatedMove
   
mpiMotionSimpleSCurveJerkPercentMove
mpiMotionSimpleSCurveJerkPercentCartesianMove  
mpiMotionSimpleSCurveJerkPercentCoordinatedMove  
mpiMotionSCurveJerkPercentMove
mpiMotionSCurveJerkPercentCartesianMove  
mpiMotionSCurveJerkPercentCoordinatedMove  
   
mpiMotionSimpleSCurveJerkMove  
mpiMotionSimpleSCurveJerkCartesianMove  
mpiMotionSimpleSCurveJerkCoordinatedMove
mpiMotionSCurveJerkMove
mpiMotionSCurveJerkCartesianMove
mpiMotionSCurveJerkCoordinatedMove

Velocity Methods
mpiMotionSimpleVelocityJerkMove
mpiMotionSimpleMultiAxisVelocityJerkMove  
mpiMotionVelocityJerkMove  
mpiMotionMultiAxisVelocityJerkMove  
   
mpiMotionSimpleVelocityJerkPercentMove  
mpiMotionSimpleMultiAxisVelocityJerkPercentMove  
mpiMotionVelocityJerkPercentMove  
mpiMotionMultiAxisVelocityJerkPercentMove  

Relational Methods
mpiMotionControl  
mpiMotionNumber  
mpiMotionAxisCount  

Data Types

MPIMotionAttrOutput
MPIMotionAxisMap
MPIMotionConfig
MPIMotionCoordinationType
MPIMotionDecelTime
MPIMotionHold
MPIMotionHoldData
MPIMotionHoldType
MPIMotionFrameList
MPIMotionFrameBufferStatus
MPIMotionOutput
MPIMotionOutputType
MPIMotionPathAttributes
MPIMotionPathAttrMask
MPIMotionPathBehaviorType
MPIMotionPointToPointAttributes
MPIMotionPointToPointAttrMask
MPIMotionPointToPointBehaviorType
MPIMotionPTFPoint
MPIMotionPTPoint
MPIMotionPVTFPoint
MPIMotionPVTPoint
MPIMotionStatus
MPIMotionTrace
MPIMotionType
MPIMotionVelocityAttributes
MPIMotionVelocityAttrMask
MPIMotionVelocityBehaviorType