com.boschrexroth.mlpi.Movement Class Reference

Inherits com.boschrexroth.mlpi.MlpiComponent.

Collaboration diagram for com.boschrexroth.mlpi.Movement:

Public Member Functions
native void	home ()
native void	setAbsoluteMeasurement ()
native void	power (boolean power)
native void	moveVelocity (double velocity, double acceleration, double deceleration, double jerk)
native void	moveAbsolute (double position, double velocity, double acceleration, double deceleration, double jerk)
native void	moveRelative (double distance, double velocity, double acceleration, double deceleration, double jerk)
native void	moveAdditive (double distance, double velocity, double acceleration, double deceleration, double jerk)
native void	stop (boolean stop, double deceleration, double jerk)
native void	gearIn (Motion.AxisRef masterAxis, int numerator, int denominator, double fineadjust)
native void	gearInPos (Motion.AxisRef masterAxis, int numerator, int denominator, double fineadjust, Motion.StartMode startMode, Motion.SyncDirection syncMode)
native void	flexProfile (Motion.AxisRef masterAxis, int numerator, int denominator, double fineadjust, int setSelection, boolean useSwitchingPos, double switchingPosition, Motion.ProfileStartPoint profileEntry, double masterOffset, double slaveOffset, Motion.SyncType syncMode, double syncVelocity, double syncAcceleration, Motion.ProfileExecutionMode executionMode)
native void	wait (int timeout)
native void	phasingSlave (double phaseShift, double velocity, double acceleration, double deceleration)
native void	phasing (double phaseShift, double velocity, double acceleration, double deceleration)
native void	torqueControl (double torque, double torqueRamp)
native void	camIn (Motion.AxisRef masterAxis, int numerator, int denominator, double fineadjust, double camShaftDistance, Motion.SyncDirection syncMode, Motion.StartMode startMode, Motion.CamTableId camId)
native void	synchronOut ()
native void	openCyclicPositionChannel ()
native void	openCyclicVelocityChannel ()
native void	openCyclicAnalogChannel ()
native void	openCyclicTorqueChannel ()
native void	writeCyclicPosition (double cyclicValue)
native void	writeCyclicVelocity (double cyclicValue)
native void	writeCyclicAnalog (double cyclicValue)
native void	writeCyclicTorque (double cyclicValue)
native void	moveContinuousAbsolute (double position, double endVelocity, double velocity, double acceleration, double deceleration, double jerk)
native void	moveContinuousRelative (double distance, double endVelocity, double velocity, double acceleration, double deceleration, double jerk)

Detailed Description

Type	Element	Description
AxisRef	_axisRef	Defines the axis through the definition of control and axis number.
long	_motionHandle	actual motion handle

Definition at line 75 of file Movement.java.

Member Function Documentation

native void com.boschrexroth.mlpi.Movement.home

(

)

This method commands to home an axis. Only axes with incremental encoders can be homed. If the axis has an absolute encoder, the command "set absolute measurement" must be used.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().home();

Note:

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

native void com.boschrexroth.mlpi.Movement.setAbsoluteMeasurement

(

)

This method commands to "set absolute measurement" of an axis. Only axis with absolute encoders can be used with this function.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().setAbsoluteMeasurement();

Note:

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

native void com.boschrexroth.mlpi.Movement.power

(

boolean

power

)

This method commands power to the drive. This is only necessary for a real axis. Virtual axis can be moved without giving power to the axis.

Parameters

[in]

power

1: Power on, 0: Power off.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().power(true);
// wait some time till the drive has switched to power
connection.motion().axes(axisNo).movement().wait(1000);

Note:

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

native void com.boschrexroth.mlpi.Movement.moveVelocity	(	double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk
	)

This method commands a velocity movement. Once the commanded velocity had been reached, the axis will continue to run with this velocity until another command is issued.

Parameters

[in]	velocity	Velocity in drives unit.
[in]	acceleration	Acceleration in drives unit.
[in]	deceleration	Deceleration in drives unit.
[in]	jerk	Jerk in drives unit.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().moveVelocity(100, 10, 10, 0);
connection.motion().axes(axisNo).movement().wait(10000);

Note:

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

native void com.boschrexroth.mlpi.Movement.moveAbsolute	(	double	position,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk
	)

This method commands an absolute movement. This means that the axis will move to a given target position.

Parameters

[in]	position	Target position in drives unit.
[in]	velocity	Velocity in drives unit.
[in]	acceleration	Acceleration in drives unit.
[in]	deceleration	Deceleration in drives unit.
[in]	jerk	Jerk in drives unit.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().moveAbsolute(90, 100, 10, 10, 0);
connection.motion().axes(axisNo).movement().wait(10000);

Note:

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

native void com.boschrexroth.mlpi.Movement.moveRelative	(	double	distance,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk
	)

This method commands a relative movement. The relative position is added to the current position and is used as new target. The difference between this and an additive movement is that the position offset is added to the current position, not the target position. So a movement command which is currently running will be interrupted and only the position offset is added to the current position.

Parameters

[in]	distance	Distance in drives unit.
[in]	velocity	Velocity in drives unit.
[in]	acceleration	Acceleration in drives unit.
[in]	deceleration	Deceleration in drives unit.
[in]	jerk	Jerk in drives unit.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().moveRelative(90, 100, 10, 10, 0);
connection.motion().axes(axisNo).movement().wait(10000);

Note:

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

native void com.boschrexroth.mlpi.Movement.moveAdditive	(	double	distance,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk
	)

This method commands an additive movement. The additive position is added to the target position and is used as new target. It can be used to add a relative position to the already commanded movement.

Parameters

[in]	distance	Distance in drives unit (is added to the target position).
[in]	velocity	Velocity in drives unit.
[in]	acceleration	Acceleration in drives unit.
[in]	deceleration	Deceleration in drives unit.
[in]	jerk	Jerk in drives unit.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().moveAdditive(90, 100, 10, 10, 0);
connection.motion().axes(axisNo).movement().wait(10000);

Note:

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

native void com.boschrexroth.mlpi.Movement.stop	(	boolean	stop,
		double	deceleration,
		double	jerk
	)

This method commands a stop of motion to the drive.

Note

After calling this function with TRUE you have to call it again with FALSE to get axis from state 'Stopping' to state 'Standstill' command and to make the axis accept new commands.

Parameters

[in]	stop	1: stopping, 0: exit Stopping mode. Important Note: This command is special in the way that it has to be called once with 'stop' = TRUE. This will bring the axis to a standstill. Once the axis is standing still, the command has to be called again with 'stop' = FALSE in order to enter the PLCopen 'Stand Still' mode.
[in]	deceleration	Deceleration in drives unit.
[in]	jerk	Jerk in drives unit.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().stop(true, 10, 0);
connection.motion().axes(axisNo).movement().wait(10000);
connection.motion().axes(axisNo).movement().stop(false, 10, 0);
connection.motion().axes(axisNo).movement().wait(10000);

Note:

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

native void com.boschrexroth.mlpi.Movement.gearIn	(	Motion.AxisRef	masterAxis,
		int	numerator,
		int	denominator,
		double	fineadjust
	)

This method commands velocity synchronization to the master.

Parameters

[in]	masterAxis	Reference to the master axis.
[in]	numerator	Gear ratio numerator.
[in]	denominator	Gear ratio denominator.
[in]	fineadjust	Fine adjust for gear in %.

Example Java:

int axisNo = 2;
AxisRef axisMaster = new AxisRef(1, 1);
connection.motion().axes(axisNo).movement().gearIn(axisMaster, 1, 1, 0);

Note:

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

native void com.boschrexroth.mlpi.Movement.gearInPos	(	Motion.AxisRef	masterAxis,
		int	numerator,
		int	denominator,
		double	fineadjust,
		Motion.StartMode	startMode,
		Motion.SyncDirection	syncMode
	)

This method commands position synchronization to the master.

Parameters

[in]	masterAxis	Reference to the master axis.
[in]	numerator	Gear ratio numerator.
[in]	denominator	Gear ratio denominator.
[in]	fineadjust	Fine adjust for gear in %.
[in]	startMode	Synchronization mode.
[in]	syncMode	Synchronization direction.

Example Java:

int axisNo = 2;
AxisRef axisMaster = new AxisRef(1, 1);
connection.motion().axes(axisNo).movement().gearInPos(axisMaster, 1, 1, 0, StartMode.STARTMODE_ABSOLUTE, SyncDirection.SYNC_SHORTESTWAY);

Note:

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

native void com.boschrexroth.mlpi.Movement.flexProfile	(	Motion.AxisRef	masterAxis,
		int	numerator,
		int	denominator,
		double	fineadjust,
		int	setSelection,
		boolean	useSwitchingPos,
		double	switchingPosition,
		Motion.ProfileStartPoint	profileEntry,
		double	masterOffset,
		double	slaveOffset,
		Motion.SyncType	syncMode,
		double	syncVelocity,
		double	syncAcceleration,
		Motion.ProfileExecutionMode	executionMode
	)

This method commands an axis to synchronize to the master by using a flex profile. The command can only be used on IndraDrives with interpolation in the control or with Sercos drives.

Parameters

[in]	masterAxis	Reference to the master axis.
[in]	numerator	Gear ratio numerator.
[in]	denominator	Gear ratio denominator.
[in]	fineadjust	Fine adjust for gear in %.
[in]	setSelection	Selects the active set.
[in]	useSwitchingPos	Determines whether switching position will be used.
[in]	switchingPosition	Switching position.
[in]	profileEntry	Switching conditions.
[in]	masterOffset	Master offset.
[in]	slaveOffset	Slave offset.
[in]	syncMode	Synchronization type.
[in]	syncVelocity	Synchronization velocity.
[in]	syncAcceleration	Synchronization acceleration.
[in]	executionMode	Execution mode.

Example Java:

int axisNo = 2;
connection.motion().axes(axisNo).movement().flexProfile(axisMaster, 1, 1, 0, 0, false, 0.0, ProfileStartPoint.SLAVE_ORIGIN_MASTER_ORIGIN, 0, 0, SyncType.SYNC_RAMPIN_SHORTESTWAY, 100, 100, ProfileExecutionMode.EXECUTE_CYCLIC);

Note:

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

native void com.boschrexroth.mlpi.Movement.wait

(

int

timeout

)

This method waits until a given motion command is done or an error occurs. An optional timeout can be given to the function.

Parameters

[in]

timeout

Timeout in milliseconds for motion command to finish.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().wait(10000);

Note:

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

native void com.boschrexroth.mlpi.Movement.phasingSlave	(	double	phaseShift,
		double	velocity,
		double	acceleration,
		double	deceleration
	)

This method commands an axis to perform a slave phase offset when the drive is synchronized to the master. The command can also be executed when unsynchronized, but it will only take effect when synchronizing the axis.

Parameters

[in]	phaseShift	Phase shift in drives unit (master or slave).
[in]	velocity	Velocity in drives unit.
[in]	acceleration	Acceleration in drives unit.
[in]	deceleration	Deceleration in drives unit.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().phasingSlave(90, 100, 10, 10);

Note:

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

native void com.boschrexroth.mlpi.Movement.phasing	(	double	phaseShift,
		double	velocity,
		double	acceleration,
		double	deceleration
	)

This method commands an axis to perform a master phase offset when the drive is synchronized to the master. The command can also be executed when unsynchronized, but it will only take effect when the axis is synchronized.

Parameters

[in]	phaseShift	Phase shift in drives unit (master or slave).
[in]	velocity	Velocity in drives unit.
[in]	acceleration	Acceleration in drives unit.
[in]	deceleration	Deceleration in drives unit.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().phasing(90, 100, 10, 10);

Note:

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

native void com.boschrexroth.mlpi.Movement.torqueControl	(	double	torque,
		double	torqueRamp
	)

This method commands a move torque.

Parameters

[in]	torque	Phase shift in drives unit (master or slave).
[in]	torqueRamp	Velocity in drives unit.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().torqueControl(1, 1);

Note:

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

native void com.boschrexroth.mlpi.Movement.camIn	(	Motion.AxisRef	masterAxis,
		int	numerator,
		int	denominator,
		double	fineadjust,
		double	camShaftDistance,
		Motion.SyncDirection	syncMode,
		Motion.StartMode	startMode,
		Motion.CamTableId	camId
	)

This method commands an axis to synchronize to the master by using a cam table.

Parameters

[in]	masterAxis	Reference to the master axis.
[in]	numerator	Gear ratio numerator.
[in]	denominator	Gear ratio denominator.
[in]	fineadjust	Fine adjust for gear in %.
[in]	camShaftDistance	Cam shaft distance in slave units.
[in]	syncMode	Synchronization direction.
[in]	startMode	Synchronization mode.
[in]	camId	ID of the Cam table to be used.

Example Java:

int axisNo = 2;
AxisRef axisMaster = new AxisRef(1, 1);
connection.motion().axes(axisNo).movement().camIn(axisMaster, 1, 1, 0, 4, SyncDirection.SYNC_SHORTESTWAY, StartMode.STARTMODE_ABSOLUTE, CamTableId.CAM_TABLE_1);

Note:

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

native void com.boschrexroth.mlpi.Movement.synchronOut

(

)

This method commands an axis to become unsynchronized. The axis will continue to run with the velocity at the time the command was issued. Can be called after GearIn, GearInPos, FlexProfile and CamIn.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().synchronOut();

Note:

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

native void com.boschrexroth.mlpi.Movement.openCyclicPositionChannel

(

)

This method opens a cyclic channel for cyclic position commands.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().openCyclicPositionChannel();

Note:

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

native void com.boschrexroth.mlpi.Movement.openCyclicVelocityChannel

(

)

This method opens a cyclic channel for cyclic velocity commands.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().openCyclicVelocityChannel();

Note:

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

native void com.boschrexroth.mlpi.Movement.openCyclicAnalogChannel

(

)

This method opens a cyclic channel for cyclic analogue commands.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().openCyclicAnalogChannel();

Note:

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

native void com.boschrexroth.mlpi.Movement.openCyclicTorqueChannel

(

)

This method opens a cyclic channel for cyclic torque commands.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().openCyclicTorqueChannel();

Note:

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

native void com.boschrexroth.mlpi.Movement.writeCyclicPosition

(

double

cyclicValue

)

This method commands a cyclic position.

Parameters

[in]

cyclicValue

Cyclic position value.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().writeCyclicPosition(1);

Note:

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

native void com.boschrexroth.mlpi.Movement.writeCyclicVelocity

(

double

cyclicValue

)

This method commands a cyclic velocity.

Parameters

[in]

cyclicValue

Cyclic velocity value.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().writeCyclicVelocity(1);

Note:

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

native void com.boschrexroth.mlpi.Movement.writeCyclicAnalog

(

double

cyclicValue

)

This method commands a cyclic analog value.

Parameters

[in]

cyclicValue

Cyclic analog value.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().writeCyclicAnalog(1);

Note:

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

native void com.boschrexroth.mlpi.Movement.writeCyclicTorque

(

double

cyclicValue

)

This method commands a cyclic torque value.

Parameters

[in]

cyclicValue

Cyclic torque value.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().writeCyclicTorque(1);

Note:

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

native void com.boschrexroth.mlpi.Movement.moveContinuousAbsolute	(	double	position,
		double	endVelocity,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk
	)

This method commands a continuous absolute movement. This means that the axis will move to a given target position and go on with defined end velocity.

Parameters

[in]	position	Target position in drives unit.
[in]	endVelocity	End velocity in drives unit.
[in]	velocity	Velocity in drives unit.
[in]	acceleration	Acceleration in drives unit.
[in]	deceleration	Deceleration in drives unit.
[in]	jerk	Jerk in drives unit.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().moveContinuousAbsolute(90, 75, 100, 10, 10, 0);
connection.motion().axes(axisNo).movement().wait(10000);

Note:

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

native void com.boschrexroth.mlpi.Movement.moveContinuousRelative	(	double	distance,
		double	endVelocity,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk
	)

This method commands a continuous relative movement. The relative position is added to the current position, which is used as new target position and go on with defined end velocity.

Parameters

[in]	distance	Distance in drives unit (is added to the target position).
[in]	endVelocity	End velocity in drives unit.
[in]	velocity	Velocity in drives unit.
[in]	acceleration	Acceleration in drives unit.
[in]	deceleration	Deceleration in drives unit.
[in]	jerk	Jerk in drives unit.

Example Java:

int axisNo = 1;
connection.motion().axes(axisNo).movement().moveContinuousRelative(90, 75, 100, 10, 10, 0);
connection.motion().axes(axisNo).movement().wait(10000);

Note:

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

---

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

• Movement.java