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MultiAxis Class Reference

The SynqNet multi-axis class (for sychronized, coordinated and path motion). More...

Friends
class	MotionController
Initialization

void	AxisAdd (Axis *axis)
	Add an Axis to a MultiAxis group.
void	AxisRemove (Axis *axis)
	Remove an Axis from a MultiAxis group.
void	AxisRemoveAll ()
	Remove all axes from a MultiAxis group.
Info

long	AxisCountGet ()
	Get the number axes in the MultiAxis class.
Axis *	AxisGet (long index)
	Get the Axis class used in this MultiAxis class.
long	NumberGet ()
	Get the axis number.
void	FeedRateSet (double rate)
	Set the feed rate for an Axis.
double	FeedRateGet ()
	Get the axis feed rate.
State and Status

RSISource	SourceGet ()
	Get the source of an error for the MultiAxis.
bool	StatusBitGet (RSIEventType bitMask)
	Return the state of a status bit.
RSIState	StateGet ()
	Get axis state.
long	MotionDoneWait ()
	Waits for a move to complete.
long	MotionDoneWait (long timeoutMilliseconds)
	Waits for a move to complete.
bool	MotionDoneGet ()
	Check to see if motion is done and settled.
Coordinated Motion

double	VectorVelocityGet ()
	Get the vector velocity.
void	VectorVelocitySet (double velocity)
	Set the vector velocity.
double	VectorAccelerationGet ()
	Get the vector acceleration.
void	VectorAccelerationSet (double acceleration)
	Set the vector acceleration.
double	VectorDecelerationGet ()
	Get the vector deceleration.
void	VectorDecelerationSet (double deceleration)
	Set the vector deceleration.
double	VectorJerkPercentGet ()
	Get the vector jerk percent.
void	VectorJerkPercentSet (double jerkPercent)
	Set the jerk percent for a vector move.
void	MoveVector (double *position)
	Point-to-point vector move.
void	MoveVectorRelative (double *relativePosition)
Path Motion

double	PathTimeSliceGet ()
	Set the time slice for the Path.
void	PathTimeSliceSet (double seconds)
	Set the time slice for the Path.
void	PathRatioSet (double *ratio)
	Set the scale factor ratios for each axis.
double	PathRatioGet (long index)
void	PathBlendSet (bool blend)
	Set the blending attribute.
void	PathListStart (double *startPosition)
	Start a line and arc point list for path motion.
void	PathLineAdd (double *position)
	Add a line segment to the path.
void	PathArcAdd (double *center, double angle)
	Add an arc segment to the path.
void	PathListEnd ()
	End a line and arc point list for path motion.
void	PathMotionStart ()
	Start the path motion.
Point to Point Motion

void	MoveTrapezoidal (double position, double vel, double accel, double decel)
	Point-to-point trapezoidal move.
void	MoveTrapezoidal (double *position)
void	MoveSCurve (double position, double vel, double accel, double decel, double *jerkPct)
	Point-to-point S-Curve Move.
void	MoveSCurve (double *position)
void	MoveVelocity (double velocity, double accel)
	Velocity move.
void	MoveVelocity (double *velocity)
void	MoveRelative (double relativePosition, double vel, double accel, double decel, double *jerkPct)
	Command a relative point-to-point S-Curve motion.
void	MoveRelative (double *relativePosition)
void	MoveVelocitySCurve (double velocity, double accel, double *jerkPct)
	Velocity move with non-constant acceleration.
Motion Configuration

void	MotionDelaySet (double seconds)
	Set the time (seconds) that a motion will wait before starting.
virtual long	MotionIdExecutingGet ()
double	StopTimeGet ()
	Get Stop Event deceleration time.
void	StopTimeSet (double seconds)
	Set the deceleration time for a Stop Event.
double	EStopTimeGet ()
	Get E-Stop Event deceleration time.
void	EStopTimeSet (double seconds)
	Set the deceleration time for an E-Stop Event.
double	MotionDelayGet ()
	Get the delay (seconds) that will occur before motion starts.
long	MotionIdGet ()
	Get the motion identifier.
void	MotionIdSet (long id)
	Set the Motion identifier.
RSIMotionAttrHoldType	MotionHoldTypeGet ()
	Get the motion hold attribute type.
void	MotionHoldTypeSet (RSIMotionAttrHoldType type)
	Set the motion hold type.
double	MotionHoldTimeoutGet ()
	Get the motion hold timeout value.
void	MotionHoldTimeoutSet (double seconds)
	Set the motion hold timeout value.
bool	MotionHoldGateGet ()
	Get the state of the hold gate.
void	MotionHoldGateSet (bool hold)
	Set the Motion Hold Gate.
long	MotionHoldAxisNumberGet ()
	Gets the Axis number.
void	MotionHoldAxisNumberSet (long number)
	Sets the Axis number for Motion Hold.
long	MotionHoldAxisPositionGet ()
	Gets the Axis position.
void	MotionHoldAxisPositionSet (double position)
	Sets the Axis position.
long	MotionHoldUserAddressGet ()
	Gets the Motion Hold User Address.
void	MotionHoldUserAddressSet (long address)
	Sets the Motion Hold User Address.
long	MotionHoldUserMaskGet ()
	Gets the Motion Hold User Mask.
void	MotionHoldUserMaskSet (long mask)
	Sets the Motion Hold User bit mask.
long	MotionHoldUserPatternGet ()
	Gets the Motion Hold user bit pattern.
void	MotionHoldUserPatternSet (long pattern)
	Sets the Motion Hold User pattern bit mask.
long	MotionAttributeMaskGet ()
	Get the motion attribute mask.
void	MotionAttributeMaskSet (long mask)
	Set the motion attribute mask.
void	MotionAttributeMaskDefaultSet ()
bool	MotionAttributeMaskOnGet (RSIMotionAttrMask maskOn)
	Check to see if a particular motion attribute mask is turned on.
void	MotionAttributeMaskOnSet (RSIMotionAttrMask maskOn)
	Turn on a particular motion attribute mask.
void	MotionAttributeMaskOffSet (RSIMotionAttrMask maskOff)
	Turn off a particular motion attribute mask.
Action

void	Stop ()
	Stop an axis.
void	Resume ()
	Resume an axis.
void	EStop ()
	E-Stop an axis.
void	EStopAbort ()
	E-Stop, then abort an axis.
void	EStopModify ()
	E-Stop with a deceleration rate.
void	Abort ()
	Abort an axis.
void	ClearFaults ()
void	AmpEnableSet (bool enable)
	Enable all amplifiers.
void	Map ()
	Writes the axis mapping relationship to the Controller.
void	Unmap ()
	Removes the axis mapping relationship of the MultiAxis.
virtual void	FilterIntegratorReset (MPIMotor motor)
Interrupts

void	InterruptEnableSet (bool enable)
	Control interrupts for this class.
void	InterruptWake ()
	Wake all threads waiting for an interrupt on this Axis.
RSIEventType	InterruptWait (long milliseconds)
	Suspend the current thread until an interrupt arrives from the controller.
char *	InterruptNameGet ()
	Get the text name of an interrupt type.
long	InterruptSampleTimeGet ()
	Get the sample timer value when the last interrupt was generated.
long	InterruptSourceNumberGet ()
	Get the number (or index) of the object (Axis, Motor, etc) that generated the interrupt.
long	InterruptMotionIdGet ()
void	InterruptMaskClear ()
void	InterruptMaskAllSet ()
void	InterruptMaskOnSet (RSIEventType eventType)
void	InterruptMaskOffSet (RSIEventType eventType)
bool	InterruptMaskOnGet (RSIEventType eventType)
virtual void	InterruptMaskSet ()
Motion

void	MovePT (RSIMotionType type, double position, double time, long pointCount, long emptyCount, bool retain, bool final)
	A move commanded by a list of position and time points.
void	MovePVT (double position, double velocity, double *time, long pointCount, long emptyCount, bool retain, bool final)
	Move commanded by list of positions, velocities, and times.
void	MovePVAJT (double position, double velocity, double acceleration, double jerk, double *time, long pointCount, long emptyCount, bool retain, bool final)
Errors and Exceptions

long	ErrorLogCountGet ()
	Get the number of software errors in the error log.
RsiError *	ErrorLogGet ()
	Get the next RsiError in the log.
void	ErrorLogClear ()
	Clear the error log.
char *	RsiErrorMessageGet (RSIErrorMessage msg)
char *	ErrorMessageGet (RSIErrorMessage msg)
void	ErrorMsgCheck (RapidCodeObject object, RSIErrorMessage msg, const char function, long line)
void	ErrorMsgCheck (RapidCodeObject object, RSIErrorMessage msg, const char text, const char *function, long line)
Exceptions Enabled

void	ThrowExceptions (bool state)
	Configure a class to throw exceptions.
RapidCode Version

char *	VersionGet ()
	Get the RSI RapidCode version.

Detailed Description

To initalize your multiaxis:

///  multiAxisName = controllerName->MultiAxisGet(MULTIAXIS_MOTION_SUPERVISOR_NUMBER); 
///  multiAxisName->AxisAdd(axisObjectOne);
///  multiAxisName->AxisAdd(axisObjectN);

Examples:: MotionHoldMultiAxisHomeSwitch.cs, multiaxisMotion.cpp, MultiAxisMotion.cs, pathMotion.cpp, PVT_Append.cs, pvtMotion.cpp, PVTTriggerIO.cs, RecordOnMotion.cs, and template.cpp.

The documentation for this class was generated from the following files:

rsi.h
rsi.cpp

All Classes Files Functions Variables Enumerations Enumerator

MultiAxis Class Reference

Friends

Initialization

Info

State and Status

Coordinated Motion

Path Motion

Point to Point Motion

Motion Configuration

Action

Interrupts

Motion

Errors and Exceptions

Exceptions Enabled

RapidCode Version

Detailed Description