Inherits com.boschrexroth.mlpi.MlpiComponent.

Collaboration diagram for com.boschrexroth.mlpi.Motion:

Classes
class	AxisInformation

enum	AxisMode

class	AxisRef

class	AxisStatus

enum	AxisType

class	AxisUnits

class	AxisValues

enum	CamTableId

enum	ProfileExecutionMode

enum	ProfileStartPoint

enum	StartMode

enum	SyncDirection

enum	SyncType

Public Member Functions
Axis	axes (short axisNo)

native AxisInformation[]	getConfiguredAxes ()

native AxisValues[]	getAxisValues (AxisRef[] axes)

native AxisUnits[]	getAxisUnits (AxisRef[] axes)

native AxisStatus[]	getAxisStatus (AxisRef[] axes)

Detailed Description

Class definition of the MotionLib.

Definition at line 66 of file Motion.java.

Member Function Documentation

Axis com.boschrexroth.mlpi.Motion.axes ( short axisNo )

inline

This method returns an axis identified by an axis number.

Parameters

[in] axisNo The logical axis number of the requested axis.

Returns: Returns the requested axis.

Example Java:: //read the name of the first configured axis
Axis firstAxis = connection.motion().axes(0);
java.lang.System.out.println("Axis Name: " + firstAxis.getName());

Definition at line 551 of file Motion.java.

References com.boschrexroth.mlpi.Motion.getAxisStatus(), com.boschrexroth.mlpi.Motion.getAxisUnits(), com.boschrexroth.mlpi.Motion.getAxisValues(), and com.boschrexroth.mlpi.Motion.getConfiguredAxes().

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native AxisInformation [] com.boschrexroth.mlpi.Motion.getConfiguredAxes ( )

This method returns an 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 axis.axisNo element of the returned structure as parameter for the axes method to get more information of the given axis.

Returns: Returns an array containing information about the current axis configuration. Contains one element for each axis.

Example Java:: // read list of configured axes
AxisInformation[] axisInformations = connection.motion().getConfiguredAxes();
// print to output
for (AxisInformation axisInformation: axisInformations)
{
java.lang.System.out.println("-> " + axisInformation.axis.axisNo + ": " + axisInformation.name);
}

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

Referenced by com.boschrexroth.mlpi.Motion.axes().

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native AxisValues [] com.boschrexroth.mlpi.Motion.getAxisValues ( AxisRef[] axes )

This method 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 specifies the axis you want to read.

Returns: Returns an array containing current operation information about the given axes.

Example Java:: // read list of configured axes
AxisInformation[] axisInformations = 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 = connection.motion().getAxisValues(axes);
AxisUnits[] axisUnits = connection.motion().getAxisUnits(axes);
// print to output
for (int i = 0; i < axisValues.length; i++)
{
java.lang.System.out.println("-> " + axisInformations[i].axis.axisNo + ": " + axisInformations[i].name);
java.lang.System.out.println(" Position: " + axisValues[i].actualPosition + " " + axisUnits[i].position);
java.lang.System.out.println(" Velocity: " + axisValues[i].actualVelocity + " " + axisUnits[i].velocity);
java.lang.System.out.println(" Acceleration: " + axisValues[i].actualAcceleration + " " + axisUnits[i].acceleration);
java.lang.System.out.println(" Torque: " + axisValues[i].actualTorque + " " + axisUnits[i].torque);
java.lang.System.out.println(" Diagnosis: " + axisValues[i].diagnosisNumber);
}

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

Referenced by com.boschrexroth.mlpi.Motion.axes().

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native AxisUnits [] com.boschrexroth.mlpi.Motion.getAxisUnits ( AxisRef[] axes )

This method 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. You may want to use this method to read several sets of axis units for several axes using one single method call during operation of the axes. This provides increased performance in comparison to reading the units bit by bit and axis by axis.

Parameters

[in] axes An array of AxisRef structures which specifies the axis you want to read.

Returns: Returns an array containing current unit information about the given axes.

Example Java:: See getAxisValues.

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

Referenced by com.boschrexroth.mlpi.Motion.axes().

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native AxisStatus [] com.boschrexroth.mlpi.Motion.getAxisStatus ( AxisRef[] axes )

This method fills an array of AxisStatus structures. Use the axes input parameter to specify the axes for which status 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 with the function getAxisValues, since the actual values of axes are not needed (e.g. actual position A-0-0101).

Parameters

[in] axes An array of AxisRef structures which specifies the axis you want to read.

Returns: Returns an array containing status information about the given axes.

Example Java:: // read list of configured axes
AxisInformation[] axisInformations = 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
AxisStatus[] axisStatus = connection.motion().getAxisStatus(axes);
// print to output
for (int i = 0; i < axisStatus.length; i++)
{
java.lang.System.out.println("-> " + axisInformations[i].axis.axisNo + ": " + axisInformations[i].name);
java.lang.System.out.println(" Diagnosis: " + axisStatus[i].diagnosisNumber);
}

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

Referenced by com.boschrexroth.mlpi.Motion.axes().

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

Motion.java

Classes

Public Member Functions

Detailed Description

Member Function Documentation