IMotion Interface Reference

Inherits IDispatch.

Collaboration diagram for IMotion:

Classes
struct	AxisInformation
struct	AxisRef
struct	AxisUnits
struct	AxisValues
struct	MotionStatus

Public Types

Public Member Functions
HRESULT	GetConfiguredAxes ([out, retval] SAFEARRAY(struct AxisInformation)*axesInfo)
HRESULT	GetAxisValues ([in]SAFEARRAY(struct AxisRef) axes, [out, retval] SAFEARRAY(struct AxisValues)*axisValues)
HRESULT	GetAxisUnits ([in]SAFEARRAY(struct AxisRef) axes, [out, retval] SAFEARRAY(struct AxisUnits)*axisUnits)

Properties
IAxes	Axes [get]

Detailed Description

Definition of the IMotion interface used to access the motion functionality of the MLPI Device.

Use the IMotion interface to access settings and functionality of motion devices which are connected to your MLPI device. This might be a drive for example.

Definition at line 72 of file IMotion.idl.

Member Enumeration Documentation

enum IMotion::AxisType

This enumeration defines the type of axis.

Enumerator
AXISTYPE_VIRTUAL	Virtual axis, no physical drive attached.
AXISTYPE_REAL	Real axis, this is the common axis during motion.
AXISTYPE_ENCODER	An encoder attached to a real drive, no motion possible.
AXISTYPE_LINK	A link ring axis.
AXISTYPE_CONTROLLER	An axis that can be used when generating your own controller to operate the drive.

Definition at line 88 of file IMotion.idl.

enum IMotion::SyncDirection

This enumeration defines the direction in which synchronization takes place.

Enumerator
SYNC_SHORTESTWAY	Axis will synchronize in the direction where it has to move the shortest distance.
SYNC_CATCHUP	Axis will only move in positive direction.
SYNC_SLOWDOWN	Axis will only move in negative direction.

Definition at line 100 of file IMotion.idl.

enum IMotion::SyncType

This enumeration defines the direction in which synchronization takes place.

Enumerator
SYNC_RAMPIN_SHORTESTWAY	Axis will synchronize in the direction where it has to move the shortest distance.
SYNC_RAMPIN_CATCHUP	Axis will only move in positive direction.
SYNC_RAMPIN_SLOWDOWN	Axis will only move in negative direction.
SYNC_DIRECT	No sync at all (only FlexProfile).

Definition at line 110 of file IMotion.idl.

enum IMotion::StartMode

This enumeration defines the method with which synchronization takes place.

Enumerator
STARTMODE_ABSOLUTE	Slave axis position is absolutely synchronous with the master position.
STARTMODE_RELATIVE	Slave axis position is relatively synchronous with the master position (velocity synchronous)
STARTMODE_ABSOLUTE_RAMPIN	Slave axis position ramps to an absolutely synchronous position with the master position.
STARTMODE_RELATIVE_RAMPIN	Slave axis position ramps to a relatively synchronous position with the master position.

Definition at line 121 of file IMotion.idl.

enum IMotion::ProfileExecutionMode

This enumeration defines how the flex profile is executed.

Enumerator
EXECUTE_CYCLIC	Cyclic event.
EXECUTE_SINGLE	Single event.

Definition at line 132 of file IMotion.idl.

enum IMotion::ProfileStartPoint

This enumeration defines the method a flex profile uses to interpret the start point.

Enumerator
SLAVE_ORIGIN_MASTER_ORIGIN	Synchronize absolute slave and master position.
SLAVE_CURRENT_MASTER_CURRENT	Synchronize absolute to master position and relative to current slave position.
SLAVE_ORIGIN_MASTER_CURRENT	Synchronize absolute to slave position and relative to current master position.
SLAVE_CURRENT_MASTER_ORIGIN	Synchronize start point relative to current axis positions.
SLAVE_RELATIVE_MASTER_ORIGIN	Synchronize current point of profile relative to current axis positions to create no slave axis jump.

Definition at line 141 of file IMotion.idl.

enum IMotion::AxisMode

This enumeration defines the state of an axis. When disabled, the device connected to the axis cannot be physically in the sercos ring. A-parameter can not be accessed. When an axis is parked, the connected device must be in the ring, S and P-parameters can be read, but the axis cannot be moved:

Enumerator
AXIS_MODE_ACTIVE	Drive in Ring; Setpoint calculation active.
AXIS_MODE_PARKING	Drive in Ring; Setpoint calculation not active.
AXIS_MODE_DEACTIVATED	Drive not in Ring; Setpoint calculation not active.
AXIS_MODE_ACTIVE_DECOUPLED	Drive in Ring; Setpoint calculation active; No setpoint evaluation in drive.
AXIS_MODE_PARKING_DECOUPLED	Drive in Ring; Setpoint calculation not active; No setpoint evaluation in drive.
AXIS_MODE_DEACTIVATED_DECOUPLED	Drive not in Ring; Setpoint calculation not active; No setpoint evaluation in drive.
AXIS_MODE_ACTIVE_PARAMETERIZATION	Drive in Ring; Setpoint calculation active; axis in parameterization.
AXIS_MODE_PARKING_PARAMETERIZATION	Drive in Ring; Setpoint calculation not active; axis in parameterization.
AXIS_MODE_DEACTIVATED_PARAMETERIZATION	Drive not in Ring; Setpoint calculation not active; axis in parameterization.
AXIS_MODE_ACTIVE_DECOUPLED_PARAMETERIZATION	Drive in Ring; Setpoint calculation active; No setpoint evaluation in drive; axis in parameterization.
AXIS_MODE_PARKING_DECOUPLED_PARAMETERIZATION	Drive in Ring; Setpoint calculation not active; No setpoint evaluation in drive; axis in parameterization.
AXIS_MODE_DEACTIVATED_DECOUPLED_PARAMETERIZATION	Drive not in Ring; Setpoint calculation not active; No setpoint evaluation in drive; axis in parameterization.

Definition at line 156 of file IMotion.idl.

enum IMotion::CamTableId

This enumeration defines the cam table id.

Definition at line 178 of file IMotion.idl.

enum IMotion::AxisCondition

This enumeration defines the state of an axis.

• When disabled, the device connected to the axis cannot physically be in the sercos ring. A-parameter can not be accessed.
• When an axis is parked, the connected device must be in the ring, S and P-parameters can be read but the axis cannot be moved.
• When an axis is in parametrization, then it can be parameterized even if control mode and communication are in mode 'BB'.

Enumerator
AXIS_CONDITION_ACTIVE	Drive in Ring; Setpoint calculation active.
AXIS_CONDITION_PARKING	Drive in Ring; Setpoint calculation not active.
AXIS_CONDITION_DEACTIVATED	Drive not in Ring; Setpoint calculation not active.
AXIS_CONDITION_ACTIVE_DECOUPLED	Drive in Ring; Setpoint calculation active; No setpoint evaluation in drive.
AXIS_CONDITION_PARKING_DECOUPLED	Drive in Ring; Setpoint calculation not active; No setpoint evaluation in drive.
AXIS_CONDITION_DEACTIVATED_DECOUPLED	Drive not in Ring; Setpoint calculation not active; No setpoint evaluation in drive.
AXIS_CONDITION_ACTIVE_PARAMETERIZATION	Drive in Ring; Setpoint calculation active; axis in parameterization.
AXIS_CONDITION_PARKING_PARAMETERIZATION	Drive in Ring; Setpoint calculation not active; axis in parameterization.
AXIS_CONDITION_DEACTIVATED_PARAMETERIZATION	Drive not in Ring; Setpoint calculation not active; axis in parameterization.
AXIS_CONDITION_ACTIVE_DECOUPLED_PARAMETERIZATION	Drive in Ring; Setpoint calculation active; No setpoint evaluation in drive; axis in parameterization.
AXIS_CONDITION_PARKING_DECOUPLED_PARAMETERIZATION	Drive in Ring; Setpoint calculation not active; No setpoint evaluation in drive; axis in parameterization.
AXIS_CONDITION_DEACTIVATED_DECOUPLED_PARAMETERIZATION	Drive not in Ring; Setpoint calculation not active; No setpoint evaluation in drive; axis in parameterization.

Definition at line 290 of file IMotion.idl.

enum IMotion::StateExtended

This enumeration defines the extended state of an axis.

Enumerator
STATE_EXTENDED_ERRORSTOP	Axis is in state ErrorStop.
STATE_EXTENDED_STOPPING	Axis is in state Stopping.
STATE_EXTENDED_HOMING	Axis is in state Homing.
STATE_EXTENDED_POWERON	Axis has power.
STATE_EXTENDED_DISCRETEMOTION	Axis is in state DiscreteMotion.
STATE_EXTENDED_CONTINUOUSMOTION	Axis is in state ContinousMotion.
STATE_EXTENDED_SYNCHRONIZEDMOTION	Axis is in state SynchronizedMotion.
STATE_EXTENDED_STANDSTILL	Axis is in state Standstill.
STATE_EXTENDED_COORDINATEDMOTION	Axis is in state CoordinatedMotion.

Definition at line 312 of file IMotion.idl.

Member Function Documentation

HRESULT IMotion::GetConfiguredAxes

(

[out, retval] SAFEARRAY(struct AxisInformation)*

axesInfo

)

This method returns a struct array with information about the currently configured axes in the device. Use this method to get a quick overview of the motion configuration of your target. You can then use the Name or AxisRef.AxisNo element of the returned structure as an index for the Axes property of this interface to get more information of the given axis.

Parameters

[out]

axesInfo

Struct array containing information about the current axis configuration. Contains one element for each axis.

Returns

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

Example C#:

try
{
  // read list of configured axes
  AxisInformation[] axisInformations = (AxisInformation[])connection.Motion.GetConfiguredAxes();

  // print to console
  for each (AxisInformation axisInformation in axisInformations)
  {
    Console.WriteLine("-> " + axisInformation.axis.axisNo + ": " + axisInformation.name);
  }
}
catch (System.Exception ex)
{
  Console.WriteLine("Error: " + ex.Message);
}

Note:

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

HRESULT IMotion::GetAxisValues	(	[in] SAFEARRAY(struct AxisRef)	axes,
		[out, retval] SAFEARRAY(struct AxisValues)*	axisValues
	)

This function fills an array of AxisValues structures. Use the axes input parameter to specify the axes for which information should be read. You may want to use this method to read several sets of axis information for several axes using one single method call during operation of the axes. This provides increased performance in comparison to reading the values bit by bit and axis by axis.

Parameters

[in]	axes	An array of AxisRef structures which specify the axis you want to read.
[out]	axisValues	Returns a struct with the current operation information about axes.

Returns

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

Example C#:

try
{
  // read list of configured axes
  AxisInformation[] axisInformations = (AxisInformation[])connection.Motion.GetConfiguredAxes();

  // build a list of axis refs with all axes
  AxisRef[] axes = new AxisRef[axisInformations.Length];

  for (int i = 0; i < axisInformations.Length; i++)
  {
    axes[i] = axisInformations[i].axis;
  }

  // read values of axis as well as corresponding unit information
  AxisValues[] axisValues = (AxisValues[])connection.Motion.GetAxisValues(axes);
  AxisUnits[] axisUnits = (AxisUnits[])connection.Motion.GetAxisUnits(axes);

  // print to console
  for (int i = 0; i < axisValues.Length; i++)
  {
    Console.WriteLine("-> " + axisInformations[i].axis.axisNo + ": " + axisInformations[i].name);
    Console.WriteLine("  Position: " + axisValues[i].actualPosition + " " + axisUnits[i].position);
    Console.WriteLine("  Velocity: " + axisValues[i].actualVelocity + " " + axisUnits[i].velocity);
    Console.WriteLine("  Acceleration: " + axisValues[i].actualAcceleration + " " + axisUnits[i].acceleration);
    Console.WriteLine("  Torque: " + axisValues[i].actualTorque + " " + axisUnits[i].torque);
    Console.WriteLine("  Diagnosis: " + axisValues[i].diagnosisNumber);
  }

}
catch (System.Exception ex)
{
  Console.WriteLine("Error: " + ex.Message);
}

Note:

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

HRESULT IMotion::GetAxisUnits	(	[in] SAFEARRAY(struct AxisRef)	axes,
		[out, retval] SAFEARRAY(struct AxisUnits)*	axisUnits
	)

This function fills an array of AxisUnits structures with information about the units of the axis. Use the axes input parameter to specify the axes for which information should be read. bit by bit and axis by axis.

Parameters

[in]	axes	An array of AxisRef structures which specify the axis you want to read.
[out]	axisUnits	Returns a struct with the current unit information about axes.

Returns

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

Example C#:

See GetAxisValues.

Note:

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

Property Documentation

IAxes IMotion::Axes

get

This property returns a IAxes object which allows access to different IAxis objects. The IAxes interface is a collection interface.

Parameters

[out]

axes

Returns an object of the type IAxes.

Returns

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

Example C#:

try
{
  // get object of first axis
  IAxis axis = connection.Motion.Axes[1];

  // print to console
  Console.WriteLine("Name of Axis 1: " + axis.GetName());
}
catch (System.Exception ex)
{
  Console.WriteLine("Error: " + ex.Message);
}

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

• IMotion.idl