IAxis Interface Reference

Inherits IDispatch.

Collaboration diagram for IAxis:

Public Member Functions
HRESULT	GetActualPosition ([out, retval] DOUBLE *position)
HRESULT	GetActualVelocity ([out, retval] DOUBLE *velocity)
HRESULT	GetActualAcceleration ([out, retval] DOUBLE *acceleration)
HRESULT	GetActualTorque ([out, retval] DOUBLE *torque)
HRESULT	GetInterpolatedPosition ([out, retval] DOUBLE *position)
HRESULT	GetInterpolatedVelocity ([out, retval] DOUBLE *velocity)
HRESULT	GetInterpolatedTorque ([out, retval] DOUBLE *torque)
HRESULT	GetDiagnosisNumber ([out, retval] LONG *diagnosisNumber)
HRESULT	GetDiagnosisText ([out, retval] BSTR *diag)
HRESULT	LoadDefaultParameters (void)
HRESULT	ClearError (void)
HRESULT	GetName ([out, retval] BSTR *name)
HRESULT	SetName ([in] BSTR name)
HRESULT	GetModulo ([out, retval] DOUBLE *modulo)
HRESULT	SetModulo ([in] DOUBLE modulo)
HRESULT	GetPositionLimitPos ([out, retval] DOUBLE *positionLimit)
HRESULT	SetPositionLimitPos ([in] DOUBLE positionLimit)
HRESULT	GetPositionLimitNeg ([out, retval] DOUBLE *positionLimit)
HRESULT	SetPositionLimitNeg ([in] DOUBLE positionLimit)
HRESULT	GetVelocityLimitPos ([out, retval] DOUBLE *velocityLimit)
HRESULT	SetVelocityLimitPos ([in] DOUBLE velocityLimit)
HRESULT	GetVelocityLimitNeg ([out, retval] DOUBLE *velocityLimit)
HRESULT	SetVelocityLimitNeg ([in] DOUBLE velocityLimit)
HRESULT	GetAccelerationLimitBip ([out, retval] DOUBLE *accelerationLimit)
HRESULT	SetAccelerationLimitBip ([in] DOUBLE accelerationLimit)
HRESULT	GetJerkLimitBip ([out, retval] DOUBLE *jerkLimit)
HRESULT	SetJerkLimitBip ([in] DOUBLE jerkLimit)
HRESULT	GetTorqueLimitBip ([out, retval] DOUBLE *torqueLimit)
HRESULT	SetTorqueLimitBip ([in] DOUBLE torqueLimit)
HRESULT	GetSlaveDriveFeedTravel ([out, retval] DOUBLE *feedtravel)
HRESULT	SetSlaveDriveFeedTravel ([in] DOUBLE feedtravel)
HRESULT	GetState ([out, retval] LONG *state)
HRESULT	GetStateExtended ([out, retval] LONG *stateExtended)
HRESULT	GetAxisType ([out, retval] SHORT *type)
HRESULT	GetCondition ([out, retval] enum AxisCondition *condition)
HRESULT	SetCondition ([in] enum AxisCondition condition)

Detailed Description

Definition of the IAxis interface used to access the motion functionality of a single axis.

Use the IAxis interface to access the settings, configuration and status of a single axis object.

Definition at line 71 of file IAxis.idl.

Member Function Documentation

HRESULT IAxis::GetActualPosition

(

[out, retval] DOUBLE *

position

)

This function reads the actual position of an axis.

Parameters

[out]

position

Returns the current position of the axis.

Returns

Return value indicating success (>=0) or error (<0).

Example C#

try
{
  // use the axis with logical address 1
  int axisNr = 1;

  // the the value
  double value = connection.Motion.Axes[axisNr].GetActualPosition();

  // print to console
  Console.WriteLine("Actual Position: " + value.ToString());
}
catch (System.Exception ex)
{
  Console.WriteLine("Error: " + ex.Message);
}

Note:

This method maps to the mlpiCore function mlpiMotionGetActualPosition, where you can find further documentation.

HRESULT IAxis::GetActualVelocity

(

[out, retval] DOUBLE *

velocity

)

This function reads the actual velocity of an axis.

Parameters

[out]

velocity

Returns the current velocity of the axis.

Returns

Return value indicating success (>=0) or error (<0).

Example C#

try
{
  // use the axis with logical address 1
  int axisNr = 1;

  // the the value
  double value = connection.Motion.Axes[axisNr].GetActualVelocity();

  // print to console
  Console.WriteLine("Actual Velocity: " + value.ToString());
}
catch (System.Exception ex)
{
  Console.WriteLine("Error: " + ex.Message);
}

Note:

This method maps to the mlpiCore function mlpiMotionGetActualVelocity, where you can find further documentation.

HRESULT IAxis::GetActualAcceleration

(

[out, retval] DOUBLE *

acceleration

)

This function reads the actual acceleration of a axis.

Parameters

[out]

acceleration

Returns the current acceleration of the axis.

Returns

Return value indicating success (>=0) or error (<0).

Example C#

try
{
  // use the axis with logical address 1
  int axisNr = 1;

  // the the value
  double value = connection.Motion.Axes[axisNr].GetActualAcceleration();

  // print to console
  Console.WriteLine("Actual Acceleration: " + value.ToString());
}
catch (System.Exception ex)
{
  Console.WriteLine("Error: " + ex.Message);
}

Note:

This method maps to the mlpiCore function mlpiMotionGetActualAcceleration, where you can find further documentation.

HRESULT IAxis::GetActualTorque

(

[out, retval] DOUBLE *

torque

)

This function reads the torque position of a axis.

Parameters

[out]

torque

Returns the current torque of the axis.

Returns

Return value indicating success (>=0) or error (<0).

Example C#

try
{
  // use the axis with logical address 1
  int axisNr = 1;

  // the the value
  double value = connection.Motion.Axes[axisNr].GetActualTorque();

  // print to console
  Console.WriteLine("Actual Torque: " + value.ToString());
}
catch (System.Exception ex)
{
  Console.WriteLine("Error: " + ex.Message);
}

Note:

This method maps to the mlpiCore function mlpiMotionGetActualTorque, where you can find further documentation.

HRESULT IAxis::GetInterpolatedPosition

(

[out, retval] DOUBLE *

position

)

This function reads the interpolated (commanded) position of a axis.

Parameters

[out]

position

Returns the current interpolated position of the axis.

Returns

Return value indicating success (>=0) or error (<0).

Example C#

try
{
  // use the axis with logical address 1
  int axisNr = 1;

  // the the value
  double value = connection.Motion.Axes[axisNr].GetInterpolatedPosition();

  // print to console
  Console.WriteLine("Interpolated Position: " + value.ToString());
}
catch (System.Exception ex)
{
  Console.WriteLine("Error: " + ex.Message);
}

Note:

This method maps to the mlpiCore function mlpiMotionGetInterpolatedPosition, where you can find further documentation.

HRESULT IAxis::GetInterpolatedVelocity

(

[out, retval] DOUBLE *

velocity

)

This function reads the interpolated (commanded) velocity of a axis.

Parameters

[out]

velocity

Returns the current interpolated velocity of the axis.

Returns

Return value indicating success (>=0) or error (<0).

Example C#

try
{
  // use the axis with logical address 1
  int axisNr = 1;

  // the the value
  double value = connection.Motion.Axes[axisNr].GetInterpolatedVelocity();

  // print to console
  Console.WriteLine("Interpolated Velocity: " + value.ToString());
}
catch (System.Exception ex)
{
  Console.WriteLine("Error: " + ex.Message);
}

Note:

This method maps to the mlpiCore function mlpiMotionGetInterpolatedVelocity, where you can find further documentation.

HRESULT IAxis::GetInterpolatedTorque

(

[out, retval] DOUBLE *

torque

)

This function reads the interpolated (commanded) torque of a axis.

Parameters

[out]

torque

Returns the current interpolated torque of the axis.

Returns

Return value indicating success (>=0) or error (<0).

Example C#

try
{
  // use the axis with logical address 1
  int axisNr = 1;

  // the the value
  double value = connection.Motion.Axes[axisNr].GetInterpolatedTorque();

  // print to console
  Console.WriteLine("Interpolated Torque: " + value.ToString());
}
catch (System.Exception ex)
{
  Console.WriteLine("Error: " + ex.Message);
}

Note:

This method maps to the mlpiCore function mlpiMotionGetInterpolatedTorque, where you can find further documentation.

HRESULT IAxis::GetDiagnosisNumber

(

[out, retval] LONG *

diagnosisNumber

)

This function reads the current diagnosis number of the axis.

Parameters

[out]

diagnosisNumber

Returns the current diagnosis number of the axis.

Returns

Return value indicating success (>=0) or error (<0).

Example C#

try
{
  // we use the axis with logical address 1
  int axisNr = 1;

  // read diagnosis information of the axis
  string diagnosisText = connection.Motion.Axes[axisNr].GetDiagnosisText();
  int diagnosisNumber = connection.Motion.Axes[axisNr].GetDiagnosisNumber();

  // print to console
  Console.WriteLine("State of axis " + axisNr.ToString() + " : " + diagnosisNumber.ToString() + " - " + diagnosisText);
}
catch (System.Exception ex)
{
  Console.WriteLine("Error: " + ex.Message);
}

Note:

This method maps to the mlpiCore function mlpiMotionGetDiagnosisNumber, where you can find further documentation.

HRESULT IAxis::GetDiagnosisText

(

[out, retval] BSTR *

diag

)

This function reads the current diagnosis text of the axis.

Parameters

[out]

diag

Returns the current diagnosis text as string.

Returns

Return value indicating success (>=0) or error (<0).

Example C#

See GetDiagnosisNumber

Note:

This method maps to the mlpiCore function mlpiMotionGetDiagnosisText, where you can find further documentation.

HRESULT IAxis::LoadDefaultParameters

(

void

)

This function loads the default parameters of an axis.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionLoadDefaultParameters, where you can find further documentation.

HRESULT IAxis::ClearError

(

void

)

This function clears all active errors of an axis.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionClearError, where you can find further documentation.

HRESULT IAxis::GetName

(

[out, retval] BSTR *

name

)

This function returns the name of an axis.

Parameters

[out]

name

Returns the name of the axis.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetName, where you can find further documentation.

HRESULT IAxis::SetName

(

[in] BSTR

name

)

This function sets the name of an axis.

Parameters

[in]

name

Name of axis as string.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionSetName, where you can find further documentation.

HRESULT IAxis::GetModulo

(

[out, retval] DOUBLE *

modulo

)

This function returns the name of an axis.

Parameters

[out]

modulo

Returns the modulo of the axis.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetModulo, where you can find further documentation.

HRESULT IAxis::SetModulo

(

[in] DOUBLE

modulo

)

This function sets the modulo value of the axis.

Parameters

[in]

modulo

Modulo value of the axis.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionSetModulo, where you can find further documentation.

HRESULT IAxis::GetPositionLimitPos

(

[out, retval] DOUBLE *

positionLimit

)

This function returns the positive position limit of an axis.

Parameters

[out]

positionLimit

Returns the position limit.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetPositionLimitPos, where you can find further documentation.

HRESULT IAxis::SetPositionLimitPos

(

[in] DOUBLE

positionLimit

)

This function sets the positive position limit.

Parameters

[in]

positionLimit

The position limit to set.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionSetPositionLimitPos, where you can find further documentation.

HRESULT IAxis::GetPositionLimitNeg

(

[out, retval] DOUBLE *

positionLimit

)

This function returns the negative position limit of an axis.

Parameters

[out]

positionLimit

Returns the position limit.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetPositionLimitNeg, where you can find further documentation.

HRESULT IAxis::SetPositionLimitNeg

(

[in] DOUBLE

positionLimit

)

This function sets the negative position limit.

Parameters

[in]

positionLimit

The position limit to set.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionSetPositionLimitNeg, where you can find further documentation.

HRESULT IAxis::GetVelocityLimitPos

(

[out, retval] DOUBLE *

velocityLimit

)

This function returns the positive velocity limit of an axis.

Parameters

[out]

velocityLimit

Returns the velocity limit.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetVelocityLimitPos, where you can find further documentation.

HRESULT IAxis::SetVelocityLimitPos

(

[in] DOUBLE

velocityLimit

)

This function sets the positive velocity limit.

Parameters

[in]

velocityLimit

The velocity limit to set.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionSetVelocityLimitPos, where you can find further documentation.

HRESULT IAxis::GetVelocityLimitNeg

(

[out, retval] DOUBLE *

velocityLimit

)

This function returns the negative velocity limit of an axis.

Parameters

[out]

velocityLimit

Returns the velocity limit.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetVelocityLimitNeg, where you can find further documentation.

HRESULT IAxis::SetVelocityLimitNeg

(

[in] DOUBLE

velocityLimit

)

This function sets the negative velocity limit.

Parameters

[in]

velocityLimit

The velocity limit to set.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionSetVelocityLimitNeg, where you can find further documentation.

HRESULT IAxis::GetAccelerationLimitBip

(

[out, retval] DOUBLE *

accelerationLimit

)

This function returns the bipolar acceleration limit of an axis.

Parameters

[out]

accelerationLimit

Returns the acceleration limit.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetAccelerationLimitBip, where you can find further documentation.

HRESULT IAxis::SetAccelerationLimitBip

(

[in] DOUBLE

accelerationLimit

)

This function sets the bipolar acceleration limit.

Parameters

[in]

accelerationLimit

The acceleration limit to set.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionSetAccelerationLimitBip, where you can find further documentation.

HRESULT IAxis::GetJerkLimitBip

(

[out, retval] DOUBLE *

jerkLimit

)

This function returns the bipolar jerk limit of an axis.

Parameters

[out]

jerkLimit

Returns the jerk limit.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetJerkLimitBip, where you can find further documentation.

HRESULT IAxis::SetJerkLimitBip

(

[in] DOUBLE

jerkLimit

)

This function sets the bipolar jerk limit.

Parameters

[in]

jerkLimit

The jerk limit to set.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionSetJerkLimitBip, where you can find further documentation.

HRESULT IAxis::GetTorqueLimitBip

(

[out, retval] DOUBLE *

torqueLimit

)

This function returns the bipolar torque limit of an axis.

Parameters

[out]

torqueLimit

Returns the acceleration limit.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetTorqueLimitBip, where you can find further documentation.

HRESULT IAxis::SetTorqueLimitBip

(

[in] DOUBLE

torqueLimit

)

This function sets the bipolar torque limit.

Parameters

[in]

torqueLimit

The torque limit to set.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionSetTorqueLimitBip, where you can find further documentation.

HRESULT IAxis::GetSlaveDriveFeedTravel

(

[out, retval] DOUBLE *

feedtravel

)

This function returns the slave drive feed travel of an axis.

Parameters

[out]

feedtravel

Returns the feed travel.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetSlaveDriveFeedTravel, where you can find further documentation.

HRESULT IAxis::SetSlaveDriveFeedTravel

(

[in] DOUBLE

feedtravel

)

This function sets the slave drive feed travel.

Parameters

[in]

feedtravel

The feed travel of the slave drive.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionSetSlaveDriveFeedTravel, where you can find further documentation.

HRESULT IAxis::GetState

(

[out, retval] LONG *

state

)

This function returns the axis state.

Parameters

[out]

state

Returns the axis state.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetState, where you can find further documentation.

HRESULT IAxis::GetStateExtended

(

[out, retval] LONG *

stateExtended

)

This function returns the axis state.

Parameters

[out]

stateExtended

Returns the extended axis state.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetStateExtended, where you can find further documentation.

HRESULT IAxis::GetAxisType

(

[out, retval] SHORT *

type

)

This function returns the axis state.

Parameters

[out]

type

Returns the axis type.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetAxisType, where you can find further documentation.

HRESULT IAxis::GetCondition

(

[out, retval] enum AxisCondition *

condition

)

This function returns the axis condition.

Parameters

[out]

condition

Returns the axis condition.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionGetCondition, where you can find further documentation.

HRESULT IAxis::SetCondition

(

[in] enum AxisCondition

condition

)

This function sets the axis condition.

Parameters

[in]

condition

The axis condition to set.

Returns

Return value indicating success (>=0) or error (<0).

Note:

This method maps to the mlpiCore function mlpiMotionSetCondition, where you can find further documentation.

---

The documentation for this interface was generated from the following file:

• IAxis.idl