Motor Objects
Introduction
A Motor object manages a single motor on a controller. It represents the physical connections between the motor, drive, and associated I/O. The Motor object contains encoder data, limit switch, home sensor, amp fault and amp enable states, DAC outputs, and other status information.
For simple systems, there is a one-to-one relationship between the Axis, Filter and Motor objects.
| Error Messages |
Methods
| Create, Delete, Validate Methods | ||
| mpiMotorCreate | Create Motor object | |
| mpiMotorDelete | Delete Motor object | |
| mpiMotorValidate | Validate Motor object | |
| Configuration and Information Methods | ||
| mpiMotorAmpEnableGet | Get state of amp enable output | |
| mpiMotorAmpEnableSet | Set state of amp enable output | |
| meiMotorAmpFault | Writes the amp fault buffer data of a motor. | |
| meiMotorAmpFaultClear | Clears the amp fault buffer data of a motor. | |
| meiMotorAmpWarning | Writes the amp warning buffer of the motor. | |
| meiMotorAmpWarningClear | Clears the motor's amp wanring message buffer. | |
| mpiMotorAxisMapGet | Get object map of axes | |
| meiMotorCommutationModeGet | Gets the commutation mode of a motor. | |
| meiMotorCommutationModeSet | Sets the commutation mode of a motor. | |
| mpiMotorConfigGet | Get motor configuration | |
| mpiMotorConfigSet | Set motor configuration | |
| meiMotorConfigStepper | Configures a motor for stepper mode. | |
| meiMotorDacConfigGet | Get a Motor's (motor) Dac configuration | |
| meiMotorDacConfigSet | Set a Motor's (motor) Dac configuration | |
| meiMotorDacFlashConfigGet | ||
| meiMotorDacFlashConfigSet | ||
| mpiMotorDedicatedIn | ||
| mpiMotorDedicatedOutGet | ||
| meiMotorDemandModeGet | Retrieves the specified motor’s demand mode | |
| meiMotorDemandModeSet | Changes the specified motor’s demand mode | |
| mpiMotorFeedback | Get feedback position | |
| mpiMotorFlashConfigGet | Get flash config of motor | |
| mpiMotorFlashConfigSet | Set flash config of motor | |
| mpiMotorGeneralIn | ||
| mpiMotorGeneralOutGet | ||
| mpiMotorGeneralOutSet | ||
| meiMotorInfo | Get information about the network, node, and drive interface | |
| meiMotorPhaseFindStatus | ||
| mpiMotorPositionFeedbackOffsetGet | ||
| mpiMotorPositionFeedbackOffsetSet | ||
| mpiMotorStatus / meiMotorStatus | Get motor status | |
| Event Methods | ||
| mpiMotorEventConfigGet | Get motor's event configuration | |
| mpiMotorEventConfigSet | Set motor's event configuration | |
| mpiMotorEventNotifyGet | Get motor's event mask for host notification. | |
| mpiMotorEventNotifySet | Set motor's event mask for host notification. | |
| mpiMotorEventReset | Reset events specified in event mask | |
| Memory Methods | ||
| mpiMotorMemory | Get address of motor memory | |
| mpiMotorMemoryGet | Copy motor memory to application memory | |
| mpiMotorMemorySet | Copy application memory to motor memory | |
| Action Methods | ||
| meiMotorEncoderReset | Clears encoder faults. | |
| meiMotorMultiTurnReset | Clears the SynqNet drive multi-turn data for absolute type encoders. | |
| meiMotorPhaseFindAbort | ||
| meiMotorPhaseFindStart | ||
| Relational Methods | ||
| mpiMotorControl | Get handle to associated Control object | |
| mpiMotorFilterMapGet | Get object map of associated Filters | |
| mpiMotorFilterMapSet | Set the Filters using object map | |
| mpiMotorNumber | Get index number of motor (in Control list) | |
| Other Methods | ||
| meiMotorEncoderRatio | Get encoder ratio from the XMP. | |
Data Types
Macros
| mpiMotorEncoderFaultMaskBIT |
Constants
| MEIMotorAmpFaultsMAX | ||
| MEIMotorAmpMsgMAX | ||
| MEIMotorAmpWarningsMAX |