RapidCodeMotion Class Reference

The RapidCodeMotion Class for Motion Supervisor managed objects. More...

Inherits RapidCodeInterrupt.

Inherited by Axis, and MultiAxis.

List of all members.

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.
virtual long	AxisCountGet ()
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)
State and Status
RSIState	StateGet ()
	Get axis state.
bool	StatusBitGet (RSIEventType bitMask)
	Return the state of a status bit.
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.
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 Configuration
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.
virtual void	MotionDelaySet (double seconds)
	Set the time (seconds) that a motion will wait before starting.
long	MotionIdGet ()
	Get the motion identifier.
void	MotionIdSet (long id)
	Set the Motion identifier.
virtual long	MotionIdExecutingGet ()
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.
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.

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Detailed Description

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

• rsi.h
• rsi.cpp