Inherits RapidCodeMotion.
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. | |
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. | |
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. | |
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. | |
| 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 | MoveSCurve (double *position, double *vel, double *accel, double *decel, double *jerkPct) |
| Point-to-point S-Curve Move. | |
| void | MoveVelocity (double *velocity, double *accel) |
| Velocity move. | |
| void | MoveRelative (double *relativePosition, double *vel, double *accel, double *decel, double *jerkPct) |
| Command a relative point-to-point S-Curve motion. | |
| 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. | |
| 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. | |
| 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. | |
Info | |
| long | NumberGet () |
| Get the axis number. | |
| void | FeedRateSet (double rate) |
| Set the feed rate for an Axis. | |
| double | FeedRateGet () |
| Get the axis feed rate. | |
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 | 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. | |
State and Status | |
| 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. | |
Interrupts | |
| void | InterruptEnableSet (bool enable) |
| Control interrupts for this class. | |
| void | InterruptWake () |
| Wake all threads waiting for an interrupt on this Axis. | |
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. | |
Interrupts | |
| 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. | |
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. | |
Exceptions Enabled | |
| void | ThrowExceptions (bool state) |
| Configure a class to throw exceptions. | |
RapidCode Version | |
| char * | VersionGet () |
| Get the RSI RapidCode version. | |
Friends | |
| class | MotionController |
/// multiAxisName = controllerName->MultiAxisGet(MULTIAXIS_MOTION_SUPERVISOR_NUMBER); /// multiAxisName->AxisAdd(axisObjectOne); /// multiAxisName->AxisAdd(axisObjectN);
motion2.cpp, MotionHoldMultiAxisHomeSwitch.cs, path1.cpp, pvtQuad.cpp, RecordOnMotion.cs, template.cpp, template.cs, and visualBasicTemplate.cpp.