Collaboration diagram for Structs, Types, ...:

Typedefs
typedef unsigned long long	MLPIMOTIONHANDLE

typedef struct MlpiAxisRef	MlpiAxisRef

typedef struct MlpiGroupRef	MlpiGroupRef

typedef struct MlpiMotionStatus	MlpiMotionStatus

typedef struct MlpiAxisInformation	MlpiAxisInformation

typedef struct MlpiAxisValues	MlpiAxisValues

typedef struct MlpiAxisUnits	MlpiAxisUnits

typedef struct MlpiAxisStatus	MlpiAxisStatus

typedef struct MlpiMotionStop	MlpiMotionStop

typedef struct MlpiMotionPower	MlpiMotionPower

typedef struct MlpiMotionGearIn	MlpiMotionGearIn

typedef struct MlpiMotionGearInPos	MlpiMotionGearInPos

typedef struct MlpiMotionCamIn	MlpiMotionCamIn

typedef struct MlpiMotionMotionProfile	MlpiMotionMotionProfile

typedef struct MlpiMotionFlexProfileStep	MlpiMotionFlexProfileStep

typedef struct MlpiMotionFlexProfile	MlpiMotionFlexProfile

typedef struct MlpiMotionMoveVelocity	MlpiMotionMoveVelocity

typedef struct MlpiMotionPhasing	MlpiMotionPhasing

typedef struct MlpiMotionMoveAbsolute	MlpiMotionMoveAbsolute

typedef struct MlpiMotionMoveContinuousAbsolute	MlpiMotionMoveContinuousAbsolute

typedef struct MlpiMotionMoveContinuousRelative	MlpiMotionMoveContinuousRelative

typedef struct MlpiMotionMoveRelative	MlpiMotionMoveRelative

typedef struct MlpiMotionMoveAdditive	MlpiMotionMoveAdditive

typedef struct MlpiMotionAdminAxisGroup	MlpiMotionAdminAxisGroup

typedef struct MlpiMotionTorqueControl	MlpiMotionTorqueControl

typedef struct MlpiMotionCyclic	MlpiMotionCyclic

Enumerations

Detailed Description

List of used types, enumerations, structures and more...

Typedef Documentation

typedef unsigned long long MLPIMOTIONHANDLE

MLPI-API handle value used for motion functions.

Definition at line 615 of file mlpiMotionLib.h.

MlpiAxisRef

This structure defines the axis through the definition of control and axis number.

Elements of struct MlpiAxisRef

Type	Element	Description
MlpiControl	controlNo	Addressed control.
MlpiAxisNumber	axisNo	Addressed axis.

MlpiGroupRef

This structure defines the group through the definition of control and group number.

Elements of struct MlpiGroupRef

Type	Element	Description
MlpiControl	controlNo	Addressed control.
MlpiGroupNumber	groupNo	Addressed group.

MlpiMotionStatus

This structure defines the status of a motion command.

Elements of struct MlpiMotionStatus

Type	Element	Description
BOOL8	done	`TRUE` when command is completed.
BOOL8	active	`TRUE` as long as command is active.
BOOL8	aborted	`TRUE` when command has been aborted by another command.
BOOL8	error	`TRUE` when motion command issued an error.
USHORT	errorID	Short description of error.
USHORT	table	Additional description of error.
ULONG	additional1	Additional diagnosis number1.
ULONG	additional2	Additional diagnosis number2.

MlpiAxisInformation

Structure containing parametric information about an axis. These values no longer change, once the axis is in operation mode.

Elements of struct MlpiAxisInformation

Type	Element	Description
MlpiAxisRef	axis	Logical axis address.
ULONG	deviceAddress	(SERCOS) device address.
MlpiAxisType	axisType	Type of axis (virtual, real, etc...).
WCHAR16	name	The axis name.

MlpiAxisValues

Structure containing operation information about an axis. These values do change as soon as the axis is in operation. You may want to use this structure to read several sets of axis information using one single function call during operation of the axis. This gives increased performance in comparison to reading the values bit by bit. Especially when reading the values for multiple axes.

Elements of struct MlpiAxisValues

Type	Direction	Element	Description
MlpiAxisRef	[in]	axis	Logical axis address.
DOUBLE	[out]	actualPosition	Actual position of the axis. See mlpiMotionGetActualPosition.
DOUBLE	[out]	actualVelocity	Actual velocity of the axis. See mlpiMotionGetActualVelocity.
DOUBLE	[out]	actualAcceleration	Actual acceleration of the axis. See mlpiMotionGetActualAcceleration.
DOUBLE	[out]	actualTorque	Actual torque of the axis. See mlpiMotionGetActualTorque.
ULONG	[out]	state	Axis state of the axis. See mlpiMotionGetState.
ULONG	[out]	stateExtended	Extended axis state of the axis. See mlpiMotionGetStateExtended.
ULONG	[out]	diagnosisNumber	Current diagnosis number of the axis. See mlpiMotionGetDiagnosisNumber.
ULONG	[out]	condition	Condition of the axis. See mlpiMotionGetCondition.

MlpiAxisUnits

Structure containing units of the axis as strings. You may want to use this structure to read all units of an axis information set using one single function call.

Elements of struct MlpiAxisUnits

Type	Direction	Element	Description
MlpiAxisRef	[in]	axis	Logical axis address.
WCHAR16	[out]	position	Position unit of the axis. e.g. 'Degree'.
WCHAR16	[out]	velocity	Velocity unit of the axis. e.g. 'Rpm'.
WCHAR16	[out]	acceleration	Acceleration unit of the axis. e.g. 'rad/sec'.
WCHAR16	[out]	jerk	Jerk unit of the axis. e.g. 'rad/sec^2'.
WCHAR16	[out]	torque	Torque unit of the axis. e.g. 'Nm'.

MlpiAxisStatus

Structure containing status information about an axis. These values do change as soon as the axis is in operation. You may want to use this structure to read several sets of axis status information using one single function call during operation of the axis.

Elements of struct MlpiAxisStatus

Type	Direction	Element	Description
MlpiAxisRef	[in]	axis	Logical axis address.
ULLONG	[out]	state	Axis state of the axis. See mlpiMotionGetState.
ULONG	[out]	stateExtended	Extended axis state of the axis. See mlpiMotionGetStateExtended.
ULONG	[out]	diagnosisNumber	Current diagnosis number of the axis. See mlpiMotionGetDiagnosisNumber.
ULONG	[out]	condition	Condition of the axis. See mlpiMotionGetCondition.

MlpiMotionStop

Structure to command stop to an axis.

Elements of struct MlpiMotionStop

Type	Element	Description
MlpiAxisRef	axis	Reference to the axis.
DOUBLE	deceleration	Deceleration in drives unit.
DOUBLE	jerk	Jerk in drives unit.
BOOL8	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.

MlpiMotionPower

Structure to command power to an axis.

Elements of struct MlpiMotionPower

Type	Element	Description
MlpiAxisRef	axis	Reference to the axis.
BOOL8	power	1: Power on, 0: Power off.

MlpiMotionGearIn

This structure defines a velocity synchronization of the slave to the master using a gear and fine adjust.

Elements of struct MlpiMotionGearIn

Type	Element	Description
MlpiAxisRef	axis	Reference to the slave axis.
ULONG	numerator	Gear ratio numerator.
ULONG	denominator	Gear ratio denominator.
DOUBLE	fineadjust	Fine adjust for gear in %.
MlpiAxisRef	master	Reference to the master axis.

MlpiMotionGearInPos

This structure defines a position synchronization of the slave to the master using a gear and fine adjust.

Elements of struct MlpiMotionGearInPos

Type	Element	Description
MlpiAxisRef	axis	Reference to the slave axis.
ULONG	numerator	Gear ratio numerator.
ULONG	denominator	Gear ratio denominator.
DOUBLE	fineadjust	Fine adjust for gear in %.
MlpiStartMode	startMode	Synchronization mode.
MlpiSyncDirection	syncMode	Synchronization direction.
MlpiAxisRef	master	Reference to the master axis.

MlpiMotionCamIn

This structure defines a position synchronization of the slave to the master using gear, fine adjust and a cam table.

Elements of struct MlpiMotionCamIn

Type	Element	Description
MlpiAxisRef	axis	Reference to the slave axis.
ULONG	numerator	Gear ratio numerator.
ULONG	denominator	Gear ratio denominator.
DOUBLE	fineadjust	Fine adjust for gear in %.
DOUBLE	camShaftDistance	Cam shaft distance in slave units.
MlpiStartMode	startMode	Synchronization mode.
MlpiSyncDirection	syncMode	Synchronization direction.
MlpiCamTableId	camTable	ID of the Cam table to be used.
MlpiAxisRef	master	Reference to the master axis.

MlpiMotionMotionProfile

This structure defines a position synchronization of the slave to the master using gear, fine adjust and a motion profile. This command can only be used on IndraDrives with interpolation in the drive.

Elements of struct MlpiMotionMotionProfile

Type	Element	Description
MlpiAxisRef	axis	Reference to the slave axis.
ULONG	numerator	Gear ratio numerator.
ULONG	denominator	Gear ratio denominator.
DOUBLE	fineadjust	Fine adjust for gear in %.
BOOL8	relativePositioning	Determines if offset angle of the parameter A-0-2901 should be active.
MlpiProfileSetSelection	setSelection	Selects the active set.
MlpiStartMode	startMode	Synchronization mode.
MlpiSyncDirection	syncMode	Synchronization direction.
MlpiAxisRef	master	Reference to the master axis.

MlpiMotionFlexProfileStep

This struct defines a single step of a FlexProfile. Use multiple steps to create a profile.

Elements of struct MlpiMotionFlexProfileStep

Type	Element	Description
MlpiProfileMasterType	master	Definition of master type.
DOUBLE	camShaftDistance	Cam shaft distance (Hub).
DOUBLE	range	Definition of master range.
MlpiLawType	motionLaw	Definition of motion law.
MlpiProfileStepType	stepType	Segment type: relation between master and slave.
DOUBLE	startVel	Slave axis starting velocity.
DOUBLE	startAcc	Slave axis starting acceleration.
DOUBLE	startJrk	Slave axis starting jerk.
DOUBLE	endVel	Slave axis ending velocity.
DOUBLE	endAcc	Slave axis ending acceleration.
DOUBLE	endJrk	Slave axis ending jerk.
DOUBLE	travelVel	Slave axis velocity during move (not implemented for all motion laws).
DOUBLE	limitAcc	Slave axis acceleration during move (not implemented for all motion laws).
DOUBLE	limitJrk	Slave axis jerk during move (not implemented for all motion laws).
DOUBLE	turningPointDisplacement	Displacement of point of inflection.

MlpiMotionFlexProfile

This structure defines a position synchronization of the slave to the master using gear, fine adjust and a flex profile. This command can only be used on IndraDrives with interpolation in the control.

Elements of struct MlpiMotionFlexProfile

Type	Element	Description
MlpiAxisRef	axis	Reference to the slave axis.
ULONG	numerator	Gear ratio numerator.
ULONG	denominator	Gear ratio denominator.
DOUBLE	fineadjust	Fine adjust for gear in %.
MlpiProfileSetSelection	setSelection	Selects the active set
BOOL8	useSwitchingPositioning	Determines whether switching position will be used.
DOUBLE	switchingPosition	Switching position.
MlpiProfileStartPoint	profileEntry	Switching conditions.
DOUBLE	masterOffset	Master offset.
DOUBLE	slaveOffset	Slave offset.
MlpiSyncType	syncType	Synchronization type.
DOUBLE	syncVelocity	Synchronization velocity.
DOUBLE	syncAcceleration	Synchronization acceleration.
MlpiProfileExecutionMode	executionMode	Execution mode.
MlpiAxisRef	master	Reference to the master axis.

MlpiMotionMoveVelocity

This structure defines a velocity move of a single axis.

Elements of struct MlpiMotionMoveVelocity

Type	Element	Description
MlpiAxisRef	axis	Reference to the slave axis.
DOUBLE	velocity	Velocity in drives unit.
DOUBLE	acceleration	Acceleration in drives unit.
DOUBLE	deceleration	Deceleration in drives unit.
DOUBLE	jerk	Jerk in drives unit.

MlpiMotionPhasing

This structure defines a phase shift of a slave axis that can either be applied to the master position of that slave or to the gear/cam/flex profile/motion profile.

Elements of struct MlpiMotionPhasing

Type	Element	Description
MlpiAxisRef	axis	Reference to the slave axis.
DOUBLE	phaseShift	Phase shift in drives unit (master or slave).
DOUBLE	velocity	Velocity in drives unit.
DOUBLE	acceleration	Acceleration in drives unit.
DOUBLE	deceleration	Deceleration in drives unit.

MlpiMotionMoveAbsolute

This structure defines an absolute position move of a single axis.

Elements of struct MlpiMotionMoveAbsolute

Type	Element	Description
MlpiAxisRef	axis	Reference to the slave axis.
DOUBLE	position	Target position in drives unit.
DOUBLE	velocity	Velocity in drives unit.
DOUBLE	acceleration	Acceleration in drives unit.
DOUBLE	deceleration	Deceleration in drives unit.
DOUBLE	jerk	Jerk in drives unit.

MlpiMotionMoveContinuousAbsolute

This structure defines a continuous absolute move of a single axis.

Elements of struct MlpiMotionMoveContinuousAbsolute

Type	Element	Description
MlpiAxisRef	axis	Reference to the slave axis.
DOUBLE	position	Target position in drives unit.
DOUBLE	endVelocity	End Velocity in drives unit.
DOUBLE	velocity	Velocity in drives unit.
DOUBLE	acceleration	Acceleration in drives unit.
DOUBLE	deceleration	Deceleration in drives unit.
DOUBLE	jerk	Jerk in drives unit.

MlpiMotionMoveContinuousRelative

This structure defines a continuous relative move of a single axis.

Elements of struct MlpiMotionMoveContinuousRelative

Type	Element	Description
MlpiAxisRef	axis	Reference to the slave axis.
DOUBLE	distance	Distance in drives unit.
DOUBLE	endVelocity	End Velocity in drives unit.
DOUBLE	velocity	Velocity in drives unit.
DOUBLE	acceleration	Acceleration in drives unit.
DOUBLE	deceleration	Deceleration in drives unit.
DOUBLE	jerk	Jerk in drives unit.

MlpiMotionMoveRelative

This structure defines a relative position move of a single axis.

Elements of struct MlpiMotionMoveRelative

Type	Element	Description
MlpiAxisRef	axis	Reference to the slave axis.
DOUBLE	distance	Distance in drives unit.
DOUBLE	velocity	Velocity in drives unit.
DOUBLE	acceleration	Acceleration in drives unit.
DOUBLE	deceleration	Deceleration in drives unit.
DOUBLE	jerk	Jerk in drives unit.

MlpiMotionMoveAdditive

This structure defines an additive position move of a single axis.

Elements of struct MlpiMotionMoveAdditive

Type	Element	Description
MlpiAxisRef	axis	Reference to the slave axis.
DOUBLE	distance	Distance in drives unit (is added to the target position).
DOUBLE	velocity	Velocity in drives unit.
DOUBLE	acceleration	Acceleration in drives unit.
DOUBLE	deceleration	Deceleration in drives unit.
DOUBLE	jerk	Jerk in drives unit.

MlpiMotionAdminAxisGroup

This structure defines information for adding and removing an axis to or from a group.

Elements of struct MlpiMotionAdminAxisGroup

Type	Element	Description
MlpiAxisRef	axis	Axis to add to the group.
MlpiGroupRef	group	Group to add the axis.

MlpiMotionTorqueControl

Structure to command torque to an axis.

Elements of struct MlpiMotionTorqueControl

Type	Element	Description
MlpiAxisRef	axis	Reference to the axis.
DOUBLE	torque	Torque in drives unit.
DOUBLE	torqueRamp	TorqueRamp in drives unit.

MlpiMotionCyclic

This structure is used when operating the axis in cyclic position command mode. A cyclic value (position or velocity) must be updated every sercos cycle.

Elements of struct MlpiMotionCyclic

Type	Element	Description
MlpiAxisRef	axis	Reference to the axis.
DOUBLE	cyclicValue	Cyclic value (position, velocity, ...).

Enumeration Type Documentation

enum MlpiAxisType

This enumeration defines the type of axis.

Enumerator
MLPI_AXISTYPE_VIRTUAL	Virtual axis, no physical drive attached.
MLPI_AXISTYPE_REAL	Real axis, this is the common axis when doing motion.
MLPI_AXISTYPE_ENCODER	An encoder that is attached to a real drive, no motion possible.
MLPI_AXISTYPE_LINK	A link ring axis.
MLPI_AXISTYPE_CONTROLLER	An axis that can be used when generating your own controller to operate the drive.

Definition at line 625 of file mlpiMotionLib.h.

enum MlpiProfileSetSelection

The motion profile or flex profile works based on a set of parameters. In order to change a set consistently, the set that is not in use should be changed. Once the change is done, the set can be verified and then used.

Enumerator
MLPI_PROFILE_SET_0	Set 0 on axis.
MLPI_PROFILE_SET_1	Set 1 on axis.
MLPI_PROFILE_SET_2	Set 2 on axis.
MLPI_PROFILE_SET_3	Set 3 on axis.

Definition at line 638 of file mlpiMotionLib.h.

enum MlpiSyncDirection

This enumeration defines the direction in which synchronization takes place.

Enumerator
MLPI_SYNC_SHORTESTWAY	Axis will synchronize in the direction in which it has to move the shortest distance.
MLPI_SYNC_CATCHUP	Axis will only move in positive direction.
MLPI_SYNC_SLOWDOWN	Axis will only move in negative direction.

Definition at line 648 of file mlpiMotionLib.h.

enum MlpiSyncType

This enumeration defines the direction and type in which synchronization takes place. Only for FlexProfile!

Enumerator
MLPI_SYNC_RAMPIN_SHORTESTWAY	Axis will synchronize in the direction in which it has to move the shortest distance.
MLPI_SYNC_RAMPIN_CATCHUP	Axis will only move in positive direction.
MLPI_SYNC_RAMPIN_SLOWDOWN	Axis will only move in negative direction.
MLPI_SYNC_DIRECT	No sync at all.

Definition at line 657 of file mlpiMotionLib.h.

enum MlpiStartMode

This enumeration defines how the synchronization is done.

Enumerator
MLPI_STARTMODE_ABSOLUTE	Slave axis position is absolutely synchronous with the master position.
MLPI_STARTMODE_RELATIVE	Slave axis position is relatively synchronous with the master position (velocity synchronous).
MLPI_STARTMODE_ABSOLUTE_RAMPIN	Slave axis position ramps to an absolutely synchronous position with the master position.
MLPI_STARTMODE_RELATIVE_RAMPIN	Slave axis position ramps to a relatively synchronous position with the master position.

Definition at line 667 of file mlpiMotionLib.h.

enum MlpiProfileStartPoint

This enumeration defines the method of how a flex profile interprets the start point.

Enumerator
MLPI_SLAVE_ORIGIN_MASTER_ORIGIN	Synchronize absolute slave and master position.
MLPI_SLAVE_CURRENT_MASTER_CURRENT	Synchronize absolute to master position and relative to current slave position.
MLPI_SLAVE_ORIGIN_MASTER_CURRENT	Synchronize absolute to slave position and relative to current master position.
MLPI_SLAVE_CURRENT_MASTER_ORIGIN	Synchronize start point relative to current axis positions.
MLPI_SLAVE_RELATIVE_MASTER_ORIGIN	Synchronize current point of profile relative to current axis positions to create no slave axis jump.

Definition at line 677 of file mlpiMotionLib.h.

enum MlpiProfileStepType

This enumeration defines the relation between master and slave for each flex profile step.

Enumerator
MLPI_STEP_FIX	Default step type with fixed relative hub and range. Start and end velocity also fixed.
MLPI_STEP_FLEX_REL_REL	Flex step type with fixed relative hub and range. Start and end velocity are taken dynamically from preceding and following step.
MLPI_STEP_FLEX_REL_ABS	Flex step type with fixed relative hub absolute master axis position. Start and end velocity are taken dynamically from preceding and following step.
MLPI_STEP_FLEX_ABS_REL	Flex step type with fixed relative range and absolute master axis position. Start and end velocity are taken dynamically from preceding and following step.
MLPI_STEP_FLEX_ABS_ABS	Flex step type with absolute master and slave axis positions. Start and end velocity are taken dynamically from preceding and following step.

Definition at line 688 of file mlpiMotionLib.h.

enum MlpiProfileExecutionMode

This enumeration defines how the flex profile is executed.

Enumerator
MLPI_EXECUTE_CYCLIC	Cyclic execution.
MLPI_EXECUTE_SINGLE	Single execution. When the profile is finished, the axis will continue to run with end velocity of the profile.

Definition at line 699 of file mlpiMotionLib.h.

enum MlpiProfileMasterType

Enumeration for Flex profile master definition.