Inherits com.boschrexroth.mlpi.MlpiComponent.

Collaboration diagram for com.boschrexroth.mlpi.Axis:

Public Member Functions
native double	getActualPosition ()

native double	getActualVelocity ()

native double	getActualAcceleration ()

native double	getActualTorque ()

native double	getInterpolatedPosition ()

native double	getInterpolatedVelocity ()

native double	getInterpolatedTorque ()

native int	getDiagnosisNumber ()

native String	getDiagnosisText ()

native void	loadDefaultParameters ()

native void	clearError ()

native String	getName ()

native void	setName (String name)

native double	getModulo ()

native void	setModulo (double modulo)

native double	getPositionLimitPos ()

native void	setPositionLimitPos (double positionLimit)

native double	getPositionLimitNeg ()

native void	setPositionLimitNeg (double positionLimit)

native double	getVelocityLimitPos ()

native void	setVelocityLimitPos (double velocityLimit)

native double	getVelocityLimitNeg ()

native void	setVelocityLimitNeg (double velocityLimit)

native double	getVelocityLimitBip ()

native void	setVelocityLimitBip (double velocityLimit)

native double	getAccelerationLimitBip ()

native void	setAccelerationLimitBip (double accelerationLimit)

native double	getJerkLimitBip ()

native void	setJerkLimitBip (double jerkLimit)

native double	getTorqueLimitPos ()

native void	setTorqueLimitPos (double torqueLimit)

native double	getTorqueLimitNeg ()

native void	setTorqueLimitNeg (double torqueLimit)

native double	getTorqueLimitBip ()

native void	setTorqueLimitBip (double torqueLimit)

native double	getSlaveDriveFeedTravel ()

native void	setSlaveDriveFeedTravel (double feedtravel)

Detailed Description

Class definition of the mlpiMotionLib.

Definition at line 63 of file Axis.java.

Member Function Documentation

native double com.boschrexroth.mlpi.Axis.getActualPosition ( )

This function reads the actual position of a axis.

Returns: the actual position of a axis

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

native double com.boschrexroth.mlpi.Axis.getActualVelocity ( )

This function reads the actual velocity of an axis.

Returns: the actual velocity of an axis

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

native double com.boschrexroth.mlpi.Axis.getActualAcceleration ( )

This function reads the actual acceleration of an axis.

Returns: the actual acceleration of an axis

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

native double com.boschrexroth.mlpi.Axis.getActualTorque ( )

This function reads the actual torque of an axis.

Returns: the actual torque of an axis

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

native double com.boschrexroth.mlpi.Axis.getInterpolatedPosition ( )

This function reads the actual interpolated position of an axis. The interpolated position is the position as calculated by the interpolator of the axis. For axes with interpolation in the control, this is the value that gets sent to the drive as a commanded value when running an operation mode with position control. If there is no operation mode with position interpolation active, or if the interpolation is not done in the control, then this function might return an error.

Returns: the actual interpolated position of an axis

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

native double com.boschrexroth.mlpi.Axis.getInterpolatedVelocity ( )

This function reads the actual interpolated velocity of an axis. The interpolated velocity is the velocity as calculated by the interpolator of the axis. For axes with interpolation in the control, this is the value that gets sent to the drive as a commanded value when running an operation mode with velocity control. If there is no operation mode with velocity interpolation active, or if the interpolation is not done in the control, then this function might return an error.

Returns: the actual interpolated velocity of an axis

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

native double com.boschrexroth.mlpi.Axis.getInterpolatedTorque ( )

This function reads the interpolated torque of an axis. If there is no operation mode with torque interpolation active, or if the interpolation is not done in the control, then this function might return an error.

Returns: the interpolated torque of an axis

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

native int com.boschrexroth.mlpi.Axis.getDiagnosisNumber ( )

This function reads the diagnostic number of the axis.

Returns: the diagnostic number of the axis

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

native String com.boschrexroth.mlpi.Axis.getDiagnosisText ( )

This function reads the diagnostic message of the axis.

Returns: the diagnostic message of the axis

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

native void com.boschrexroth.mlpi.Axis.loadDefaultParameters ( )

Load default parameters for the axis.

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

native void com.boschrexroth.mlpi.Axis.clearError ( )

Clears a pending error for the axis. An axis needs to be free of errors before commanding power and start of movement.

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

native String com.boschrexroth.mlpi.Axis.getName ( )

This function reads the name of the axis.

Returns: name of the axis

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

native void com.boschrexroth.mlpi.Axis.setName ( String name )

This function writes the name of the axis.

Parameters

[in] name name of the axis

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

native double com.boschrexroth.mlpi.Axis.getModulo ( )

This function reads the modulo value of an axis.

Returns: modulo value of an axis

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

native void com.boschrexroth.mlpi.Axis.setModulo ( double modulo )

This function writes to the modulo value of an axis.

Parameters

[in] modulo modulo value of an axis

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

native double com.boschrexroth.mlpi.Axis.getPositionLimitPos ( )

This function reads the positive position limit of an axis.

Returns: the positive position limit of an axis

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

native void com.boschrexroth.mlpi.Axis.setPositionLimitPos ( double positionLimit )

This function writes to the positive position limit of an axis.

Parameters

[in] positionLimit the positive position limit of an axis

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

native double com.boschrexroth.mlpi.Axis.getPositionLimitNeg ( )

This function reads the negative position limit of an axis.

Returns: the negative position limit of an axis

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

native void com.boschrexroth.mlpi.Axis.setPositionLimitNeg ( double positionLimit )

This function writes to the negative position limit of an axis.

Parameters

[in] positionLimit the negative position limit of an axis

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

native double com.boschrexroth.mlpi.Axis.getVelocityLimitPos ( )

This function reads the positive velocity limit of an axis.

Returns: the positive velocity limit of an axis

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

native void com.boschrexroth.mlpi.Axis.setVelocityLimitPos ( double velocityLimit )

This function writes to the positive velocity limit of an axis.

Parameters

[in] velocityLimit the positive velocity limit of an axis

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

native double com.boschrexroth.mlpi.Axis.getVelocityLimitNeg ( )

This function reads the negative velocity limit of an axis.

Returns: the negative velocity limit of an axis

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

native void com.boschrexroth.mlpi.Axis.setVelocityLimitNeg ( double velocityLimit )

This function writes to the negative velocity limit of an axis.

Parameters

[in] velocityLimit the negative velocity limit of an axis

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

native double com.boschrexroth.mlpi.Axis.getVelocityLimitBip ( )

This function reads the bipolar velocity limit of an axis.

Returns: the bipolar velocity limit of an axis

Note:: This method maps to the mlpiCore function mlpiMotionGetVelocityLimitBip, where you can find further documentation.

native void com.boschrexroth.mlpi.Axis.setVelocityLimitBip ( double velocityLimit )

This function writes to the bipolar velocity limit of an axis.

Parameters

[in] velocityLimit the bipolar velocity limit of an axis

Note:: This method maps to the mlpiCore function mlpiMotionSetVelocityLimitBip, where you can find further documentation.

native double com.boschrexroth.mlpi.Axis.getAccelerationLimitBip ( )

This function reads the bipolar acceleration limit of an axis.

Returns: the bipolar acceleration limit of an axis

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

native void com.boschrexroth.mlpi.Axis.setAccelerationLimitBip ( double accelerationLimit )

This function writes to the bipolar acceleration limit of an axis.

Parameters

[in] accelerationLimit the bipolar acceleration limit of an axis

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

native double com.boschrexroth.mlpi.Axis.getJerkLimitBip ( )

This function reads the bipolar jerk limit of an axis.

Returns: the bipolar jerk limit of an axis

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

native void com.boschrexroth.mlpi.Axis.setJerkLimitBip ( double jerkLimit )

This function writes to the bipolar jerk limit of an axis.

Parameters

[in] jerkLimit the bipolar jerk limit of an axis

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

native double com.boschrexroth.mlpi.Axis.getTorqueLimitPos ( )

This function reads the positive torque force limit of an axis.

Returns: the positive torque force limit of an axis

Note:: This method maps to the mlpiCore function mlpiMotionGetTorqueLimitPos, where you can find further documentation.

native void com.boschrexroth.mlpi.Axis.setTorqueLimitPos ( double torqueLimit )

This function writes to the positive torque force limit of an axis.

Parameters

[in] torqueLimit the positive torque force limit of an axis

Note:: This method maps to the mlpiCore function mlpiMotionSetTorqueLimitPos, where you can find further documentation.

native double com.boschrexroth.mlpi.Axis.getTorqueLimitNeg ( )

This function reads the negative torque force limit of an axis.

Returns: the negative torque force limit of an axis

Note:: This method maps to the mlpiCore function mlpiMotionGetTorqueLimitNeg, where you can find further documentation.

native void com.boschrexroth.mlpi.Axis.setTorqueLimitNeg ( double torqueLimit )

This function writes to the negative torque force limit of an axis.

Parameters

[in] torqueLimit the negative torque force limit of an axis

Note:: This method maps to the mlpiCore function mlpiMotionSetTorqueLimitNeg, where you can find further documentation.

native double com.boschrexroth.mlpi.Axis.getTorqueLimitBip ( )

This function reads the bipolar torque force limit of an axis.

Returns: the bipolar torque force limit of an axis

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

native void com.boschrexroth.mlpi.Axis.setTorqueLimitBip ( double torqueLimit )

This function writes to the bipolar torque force limit of an axis.

Parameters

[in] torqueLimit the bipolar torque force limit of an axis

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

native double com.boschrexroth.mlpi.Axis.getSlaveDriveFeedTravel ( )

This function reads the feed distance of a following axis.

Returns: the feed distance of a following axis

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

native void com.boschrexroth.mlpi.Axis.setSlaveDriveFeedTravel ( double feedtravel )

This function writes the feed distance of a following axis.

Parameters

[in] feedtravel the feed distance of a following axis

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

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

Axis.java

Public Member Functions

Detailed Description

Member Function Documentation