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This function group provides functions to create MLPI type variables.
For more information, refer to mlpiCore documentation: Typedefs.
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the address mode for parameter access.
Note: This enumeration is different from the mlpiCore definitions MLPI_ADDRESS_MODE_LOGICAL, MLPI_ADDRESS_MODE_PHYSICAL, MLPI_ADDRESS_MODE_TOPOLOGICAL. This is because MATLAB Coder does not support 64bit values.
The 32bit values can be:
out = MlpiAddressMode(0) out = MlpiAddressMode.MLPI_ADDRESS_MODE_LOGICAL num2str(MlpiAddressMode.MLPI_ADDRESS_MODE_LOGICAL)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiAddressMode.
This enumeration maps to the mlpiCore definitions in the ParameterLib.
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the protection levels of a connection.
The values can be:
out = MlpiApiProtection(0) out = MlpiApiProtection.MLPI_API_PROTECTION_NON num2str(MlpiApiProtection.MLPI_API_PROTECTION_NON)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiApiProtection.
This enumeration maps to the mlpiCore enumeration: MlpiApiProtection
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the memory areas 'Ix' (Input), 'Qx' (Output) and 'Mx' (Marker) of an application.
The values can be:
out = MlpiApplicationMemoryArea(0) out = MlpiApplicationMemoryArea.MLPI_MEMORY_AREA_INPUT num2str(MlpiApplicationMemoryArea.MLPI_MEMORY_AREA_INPUT)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiApplicationMemoryArea.
This enumeration maps to the mlpiCore enumeration: MlpiApplicationMemoryArea
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiAxisStateDecoder. The structure contains the following fields:
Type Element Description
-------------------------------------------------------------------------
logical CamTab_0 Bit0 of active CAM table of CamIn command.
logical CamTab_1 Bit1 of active CAM table of CamIn command.
logical CamTab_2 Bit2 of active CAM table of CamIn command.
uint32 CamTab Active CAM table of CamIn command.
logical CamSwitching Cam is waiting for switching position.
logical InVelocity Axis is in velocity.
logical Standstill Axis is in standstill.
logical InPosition Axis is in position.
logical InSynchron Axis is synchronous to another axis.
logical Warning Axis has warning.
logical Error Axis has an error.
logical Homed Axis is homed.
logical InTorque Axis is in torque.
logical OperationMode Axis is in P4.
logical Inbb Axis is ready for power.
logical InAb Axis is ready for operation.
logical Power Axis has power.
logical CmdActive Axis has a active sercos command.
logical ErrInProgress Error reaction of axis is in progress.
logical InMasterPhaseOffset Axis has reached the master phase offset.
logical NRTActive NRT channel for axis is connected.
logical Interrupted Axis did not follow control.
logical Modulo Axis is in Modulo format.
logical Rotatory Axis is rotatory.
logical Valid Actual data of axis is valid.
logical Decoupled Axis is decoupled from commanded position
of control.[structure] = MlpiAxisStateDecoder()
No input arguments.
structure contains a structure as described above.
This structure maps to the mlpiCore-structure MlpiAxisStateDecoder that can be found in the header file ../mlpi/mlpiCore/include/util/mlpiMotionHelper.h.
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiAxisStateExtendedDecoder. The structure contains the following fields:
Type Element Description ------------------------------------------------------------------------- logical ErrorStop Axis is in state ErrorStop. logical Stopping Axis is in state Stopping. logical Homing Axis is in state Homing. logical PowerOn Axis has power. logical DiscreteMotion Axis is in state DiscreteMotion. logical ContinuousMotion Axis is in state ContinousMotion. logical SynchronizedMotion Axis is in state SynchronizedMotion. logical Standstill Axis is in state Standstill. logical CoordinatedMotion Axis is in state CoordinatedMotion.
[structure] = MlpiAxisStateExtendedDecoder()
No input arguments.
structure contains a structure as described above.
This structure maps to the mlpiCore-structure MlpiAxisStateExtendedDecoder that can be found in the header file ../mlpi/mlpiCore/include/util/mlpiMotionHelper.h.
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the available axis types for motion commands.
The values can be:
out = MlpiAxisType(0) out = MlpiAxisType.MLPI_AXISTYPE_VIRTUAL num2str(MlpiAxisType.MLPI_AXISTYPE_VIRTUAL)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiAxisType.
This enumeration maps to the mlpiCore enumeration: MlpiAxisType
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiAxisValues. The structure contains 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.
The structure contains the following fields:
Type Element Description ------------------------------------------------------------------------- 1x2 uint32 axis Logical axis address. double actualPosition Actual position of the axis double actualVelocity Actual velocity of the axis double actualAcceleration Actual acceleration of the axis double actualTorque Actual torque of the axis uint32 state Axis state of the axis uint32 stateExtended Extended axis state of the axis uint32 diagnosisNumber Current diagnosis number of the axis uint32 condition Condition of the axis
[structure] = MlpiAxisValues()
No input arguments.
structure contains a structure with the fields described above.
This function maps to the mlpiCore function: MlpiAxisValues
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the available cam numbers. The cams actually available depend on the hardware used.
The values can be:
out = MlpiCamTableID(0) out = MlpiCamTableId.MLPI_CAM_TABLE_1 num2str(MlpiCamTableId.MLPI_CAM_TABLE_1)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiCamTableID.
This enumeration maps to the mlpiCore enumeration: MlpiCamTableID
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiConnectionDescription. The structure contains the following fields:
Type Element Description ------------------------------------------------------------------------- uint32 uid 1x2 unique identifier of connection. char user Login user name of connection. char uri URI of client of connection (e.g. "mlpi.tcp://'IP-address':'port'"). char name Userdefined name of connection. char label Userdefined label of connection. MlpiDateAndTime time Buildup system date and time (broken down time, UTC) of connection. uint32 requestCounter Absolute number of requests. uint32 lastRequest Elapsed time since last access in milliseconds. MlpiApiProtection protection Protection status of connection. uint32 watchdog Watchdog status of connection (==1 if watchdog is active (enabled and not fired)).
[structure] = MlpiConnectionDescription()
No input arguments.
structure contains a structure with the fields described above.
This function maps to the mlpiCore function: MlpiConnectionDescription
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiConnectionInfo. This structure is used by the function m4MApiTestConnection to return the results of the timing measurements.
The structure contains the following fields:
Type Element Description (numeric values)
-------------------------------------------------------------
double minimum Minimum time duration of all
measurements.
double maximum Maximum time duration of all
measurements.
double average Average time duration of all
measurements.
double variance Variance of all measurements.
double standardDeviation Standard deviation of all
measurements.
The unit of all values is microseconds.[structure] = MlpiConnectionInfo()
No input arguments.
structure contains a structure with the fields described above.
myStruct = MlpiConnectionInfo()
This function maps to the mlpiCore function: MlpiConnectionInfo
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Class definition.
This class can be used to create a connection to the MLPI target device. The class is derived from the handle class. It has its own constructor and a destructor method. To create an object of this class, assign it to a variable as follows:
myCon = MlpiConnection();
To destroy the object use the destructor as follows:
m4MApiDisconnect(myCon); delete(myObject);
or
m4MApiDisconnect(myCon);
clear myObject;
A connection to an MLPI target consists of a connection handle on the target side and on the MATLAB side. Before deleting an object use the function m4MApiDisconnect preceeding deleting the object as shown above. When deleting the connection object without disconnecting the target first causes the MATLAB side of the connection to be deleted but not on the target side. If a connection object was deleted before disconnecting the target the functions m4MApiClose* can be used to delete also the connection handle on the target side.
Note: reassigning an object to a variable will overwrite the existing object so the connection handle at MATLAB side will be lost. Again, recreate a connection and use the m4MApiClose* functions to delete the handles on the target side.
connection = MlpiConnection()
connection contains a MlpiConnection object.
con This property contains a unique connection identifier of type uint32.
throwError This property contains the information if an error exception will be thrown or not. The property is of type logical. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.
Other properties are inherited from the class handle.
constuctor: create the connection.
destructor: destroy the connection.
Other methods are inherited from the class handle.
Events are inherited from handle.
Superclass is class handle.
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiContainerInformation. The structure contains the following fields:
Type Element Description
------------------------------------------------------------------------
1xL char array name Name of the container.
MlpiDateAndTime dateTime Date and time structure when
the container was created.
uint32 numItems Number of tag list items in the
container.
uint32 numElementsTagList Number of elements describing
the container.
uint32 dataSize Total data size of the
container in byte.
MlpiContainerAccess accessFlag READ or WRITE access to the
container.[structure] = MlpiContainerInformation()
No input arguments.
structure contains a structure with the fields described above.
This function maps to the mlpiCore function: MlpiContainerInformation
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiContainerItemInformation. The structure contains the following fields:
Type Element Description ---------------------------------------------------------------------- MlpiType type MlpiType enumeration of the container variable. uint32 offset Offset of the item within the container in bytes. uint32 dataSize Size of item in bytes.
[structure] = MlpiContainerItemInformation()
No input arguments.
structure contains a structure with the fields described above.
This function maps to the mlpiCore function: MlpiContainerItemInformation
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiDateAndTime. The structure contains the following fields:
Element Description
-------------------------------------------------------------
year Year: 2000..2099
month Month: 1..12: 1 = January,...
12 = December
day Day of month: 1..31
hour Hours after midnight: 0..23
minute Minutes after hour: 0..59
second Seconds after minute: 0..59
milliSecond Milliseconds after second: 0..999
microSecond Microseconds after second: 0..999
dayOfWeek Day of week: 1..7: 1 = Monday,...
7 = Sunday
dayOfYear Day of year: 1..366: 1 = January 1,
365/366 = December 31All elements are of type uint16.
[structure] = MlpiDateAndTime()
No input arguments.
structure contains a structure with the fields described above.
This function maps to the mlpiCore function: MlpiDateAndTime
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines different diagnosis categories on the device.
The values can be:
out = MlpiDiagnosisCategory(248) out = MlpiDiagnosisCategory.MLPI_DIAGNOSIS_ERROR_FATAL num2str(MlpiDiagnosisCategory.MLPI_DIAGNOSIS_ERROR_FATAL)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiDiagnosisCategory.
This enumeration maps to the mlpiCore enumeration: MlpiDiagnosisCategory
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiIoDiagnosis. The structure contains the following fields:
Type Element Description ------------------------------------------------------------------------- uint32 flags Flag combination of fieldbus device diagnosis.
[structure] = MlpiIoDiagnosis()
No input arguments.
structure contains a structure with the fields described above.
This function maps to the mlpiCore function: MlpiIoDiagnosis
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the language settings in the device.
The values can be:
out = MlpiIoFieldbusArea(0) out = MlpiIoFieldbusArea.MLPI_IO_AREA_INPUT num2str(MlpiIoFieldbusArea.MLPI_IO_AREA_INPUT)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiIoFieldbusArea.
This enumeration maps to the mlpiCore enumeration: MlpiIoFieldbusArea
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiIoFieldbusMasterInfo. The structure contains the following fields:
Type Element Description ------------------------------------------------------------------------- MlpiIoHandle handle Handle of fieldbus master. char name Name of fieldbus master. MlpiIoDiagnosis diagnosis Diagnosis of fieldbus master. MlpiIoFieldbusMasterType type Type of fieldbus master. uint32 numberOfSlaves Number of slaves.
[structure] = MlpiIoFieldbusMasterInfo()
No input arguments.
structure contains a structure with the fields described above.
This function maps to the mlpiCore function: MlpiIoFieldbusMasterInfo
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the language settings in the device.
The values can be:
out = MlpiIoFieldbusMasterType(0) out = MlpiIoFieldbusMasterType.MLPI_FIELDBUS_MASTER_SERCOS_III num2str(MlpiIoFieldbusMasterType.MLPI_FIELDBUS_MASTER_SERCOS_III)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiIoFieldbusMasterType.
This enumeration maps to the mlpiCore enumeration: MlpiIoFieldbusMasterType
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiIoFieldbusSlaveInfo. The structure contains the following fields:
Type Element Description ------------------------------------------------------------------------- MlpiIoHandle handle Handle of fieldbus slave. char name Name of fieldbus slave. MlpiIoDiagnosis diagnosis Diagnosis of fieldbus slave. char address Address of fieldbus slave. uint32 numberOfInputs Number of inputs. uint32 numberOfOutputs Number of outputs.
[structure] = MlpiIoFieldbusSlaveInfo()
No input arguments.
structure contains a structure with the fields described above.
This function maps to the mlpiCore function: MlpiIoFieldbusSlaveInfo
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiIoHandle. The structure contains the following fields:
Type Element Description ------------------------------------------------------------------------- uint32 ident Ident of the fieldbus device. uint32 hash Hash of the fieldbus device.
[structure] = MlpiIoHandle()
No input arguments.
structure contains a structure with the fields described above.
This function maps to the mlpiCore function: MlpiIoHandle
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the language settings in the device.
The values can be:
out = MlpiLanguage(0) out = MlpiLanguage.MLPI_LANGUAGE_ENGLISH num2str(MlpiLanguage.MLPI_LANGUAGE_ENGLISH)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiLanguage.
This enumeration maps to the mlpiCore enumeration: MlpiLanguage
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines flex profile motion laws for segments.
The values can be:
common polynomials
extended laws
cam tables
out = MlpiLawType(0) out = MlpiLawType.MLPI_CAMTABLE_1 num2str(MlpiLawType.MLPI_CAMTABLE_1)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiLawType.
This enumeration maps to the mlpiCore enumeration: MlpiLawType
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiMemoryInfo. The structure contains the following fields:
Type Element Description
-------------------------------------------------------------------------
uint64 totalVolatileBytes Total RAM of the device in bytes.
uint64 totalNonvolatileBytes Total non-volatile RAM of the device
in bytes. This memory is not
directly accessible for the user,
but used for storing system
parameters and settings. For example
axis configuration etc.
uint64 freeVolatileBytes Free RAM of the device in bytes.
uint64 freeNonvolatileBytes Free non-volatile RAM of the device
in bytes. This value should never
reach 0.[structure] = MlpiMemoryInfo()
No input arguments.
structure contains a structure as described above.
This structure maps to the mlpiCore-structure: MlpiConnectionInfo
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiMotionStatus. The structure contains the following fields:
Type Element Description
-------------------------------------------------------------------------
logical done TRUE when command is completed.
logical active TRUE as long as command is active.
logical aborted TRUE when command has been aborted by another
command.
logical error TRUE when motion command issued an error.
uint16 errorID Short description of error.
uint16 table Additional description of error.
uint32 additional1 Additional diagnosis number1.
uint32 additional2 Additional diagnosis number2.[structure] = MlpiMotionStatus()
No input arguments.
structure contains a structure as described above.
This function maps to the mlpiCore function: MlpiMotionStatus
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines how the flex profile is executed.
The values can be:
out = MlpiProfileExecutionMode(0) out = MlpiProfileExecutionMode.MLPI_EXECUTE_CYCLIC num2str(MlpiProfileExecutionMode.MLPI_EXECUTE_CYCLIC)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiProfileExecutionMode.
This enumeration maps to the mlpiCore enumeration: MlpiProfileExecutionMode
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines possible flex profile master.
The values can be:
out = MlpiProfileMasterType(0) out = MlpiProfileMasterType.MLPI_MASTER_AXIS0 num2str(MlpiProfileMasterType.MLPI_MASTER_AXIS0)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiProfileMasterType.
This enumeration maps to the mlpiCore enumeration: MlpiProfileMasterType
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines a profile set. 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.
The values can be:
out = MlpiProfileSetSelection(0) out = MlpiProfileSetSelection.MLPI_PROFILE_SET_0 num2str(MlpiProfileSetSelection.MLPI_PROFILE_SET_0)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiProfileSetSelection.
This enumeration maps to the mlpiCore enumeration: MlpiProfileSetSelection
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the method of how a flex profile interprets the start point.
The values can be:
out = MlpiProfileStartPoint(0) out = MlpiProfileStartPoint.MLPI_SLAVE_CURRENT_MASTER_CURRENT num2str(MlpiProfileStartPoint.MLPI_SLAVE_CURRENT_MASTER_CURRENT)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiProfileStartPoint.
This enumeration maps to the mlpiCore enumeration: MlpiProfileStartPoint
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the relation between master and slave for each flex profile step.
The values can be:
out = MlpiProfileStepType(0) out = MlpiProfileStepType.MLPI_STEP_FIX num2str(MlpiProfileStepType.MLPI_STEP_FIX)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiProfileStepType.
This enumeration maps to the mlpiCore enumeration: MlpiProfileStepType
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiSpecialPathInfo. The structure contains the following fields:
Type Element Description ------------------------------------------------------------------------- uint64 totalBytes Total size of the partition in bytes. uint64 freeBytes Free disk-space of the partition in bytes.
[structure] = MlpiSpecialPathInfo()
No input arguments.
structure contains a structure with the fields described above.
This enumeration maps to the mlpiCore enumeration: MlpiSpecialPathInfo
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration contains different logical paths on the device. Use <group___system_lib__fcn.html#m4MSystemGetSpecialPath_help |m4MSystemGetSpecialPath|> to retrieve absolute path information on a specific device.
The values can be:
Note: Usually, your target device has at least 3 partitions, a SYSTEM, an OEM and an USER partition. The absolute, native paths of these partitions depends on the target itself, e.g. on an IndraMotion XLC CML45 the absolute path of the OEM partition is called "/ata0a/". Different FTP clients shows the absolute paths itself (Filezilla, e.g. "/ata0a/") or the logical paths (IndraWorks, e.g. "OEM").
Logical path of partition Absolute path "IndraMotion xLC CMLx5" Absolute path "IndraMotion xLC XMxx" SYSTEM "/ata0/" "/sd0:2/" OEM "/ata0a/" "/sd0:3/" USER "/ata0b/" "/sd0:4/" PROJECTDATAPROTECTED "/ata0a/ProjectDataProtected/" "/sd0:3/ProjectDataProtected/" PROJECTDATA "/ata0a/ProjectData/" "/sd0:3/ProjectData/" PROJECTDATA_BUNDLES "/ata0a/ProjectData/bundles/" "/sd0:3/ProjectData/bundles/" PROJECTDATA_PLC "/ata0a/ProjectData/PLC/" "/sd0:3/ProjectData/PLC/" PROJECTDATA_TMP "/ata0a/ProjectData/TMP/" "/sd0:3/ProjectData/TMP/"
Use mlpiSystemGetSpecialPath to retrieve absolute path information on a specific device.
out = MlpiSpecialPath(0) out = MlpiSpecialPath.MLPI_PATH_OEM num2str(MlpiSpecialPath.MLPI_PATH_OEM)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiSpecialPath.
This enumeration maps to the mlpiCore enumeration: MlpiSpecialPath
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the method how the synchronization is done.
The values can be:
out = MlpiStartMode(0) out = MlpiStartMode.MLPI_STARTMODE_ABSOLUTE num2str(MlpiStartMode.MLPI_STARTMODE_ABSOLUTE)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiStartMode.
This enumeration maps to the mlpiCore enumeration: MlpiStartMode
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the direction in which synchronization takes place.
The values can be:
out = MlpiSyncDirection(0) out = MlpiSyncDirection.MLPI_SYNC_CATCHUP num2str(MlpiSyncDirection.MLPI_SYNC_CATCHUP)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiSyncDirection.
This enumeration maps to the mlpiCore enumeration: MlpiSyncDirection
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the direction and type in which synchronization takes place. The enumeration can be used only for flex profiles.
The values can be:
out = MlpiSyncType(0) out = MlpiSyncType.MLPI_SYNC_DIRECT num2str(MlpiSyncType.MLPI_SYNC_DIRECT)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiSyncType.
This enumeration maps to the mlpiCore enumeration: MlpiSyncType
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration must be used when accessing the mode settings in the device. The mode can only be set to initialization mode (MLPI_SYSTEMMODE_P0), parameter mode (MLPI_SYSTEMMODE_P2) or operation mode (MLPI_SYSTEMMODE_BB). The read only modes can also be displayed in case of an error during a mode transition.
The values can be:
out = MlpiSystemMode(0) out = MlpiSystemMode.MLPI_SYSTEMMODE_BB num2str(MlpiSystemMode.MLPI_SYSTEMMODE_BB)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiSystemMode.
This enumeration maps to the mlpiCore enumeration: MlpiSystemMode
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
There are different system task events in the system.
The values can be:
out = MlpiTaskEvent(0) out = MlpiTaskEvent.MLPI_TASKEVENT_MOTION_CYCLE num2str(MlpiTaskEvent.MLPI_TASKEVENT_SERCOS_CYCLE)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiTaskEvent.
This enumeration maps to the mlpiCore enumeration: MlpiTaskEvent
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the MLPI data types.
The values can be:
The correspondance between MATLAB and MLPI data types is:
MLPI type MATLAB type
-------------------------------------------------------------
MLPI_TYPE_INVALID no correspondance
MLPI_TYPE_CHAR int8
MLPI_TYPE_UCHAR uint8
MLPI_TYPE_SHORT int16
MLPI_TYPE_USHORT uint16
MLPI_TYPE_LONG int32
MLPI_TYPE_ULONG uint32
MLPI_TYPE_LLONG int64
MLPI_TYPE_ULLONG uint64
MLPI_TYPE_FLOAT single
MLPI_TYPE_DOUBLE double
MLPI_TYPE_CHAR_ARRAY column vector of int8
MLPI_TYPE_UCHAR_ARRAY column vector of uint8
MLPI_TYPE_SHORT_ARRAY column vector of int16
MLPI_TYPE_USHORT_ARRAY column vector of uint16
MLPI_TYPE_LONG_ARRAY column vector of int32
MLPI_TYPE_ULONG_ARRAY column vector of uint32
MLPI_TYPE_LLONG_ARRAY column vector of int64
MLPI_TYPE_ULLONG_ARRAY column vector of uint64
MLPI_TYPE_FLOAT_ARRAY column vector of single
MLPI_TYPE_DOUBLE_ARRAY column vector of double
MLPI_TYPE_BOOL8 logical
MLPI_TYPE_BOOL8_ARRAY column vector of logical
MLPI_TYPE_CHAR_UTF8 no direct correspondance
(char)
MLPI_TYPE_CHAR_UTF16 no direct correspondance
(char)
MLPI_TYPE_CHAR_UTF8_ARRAY no direct correspondance
(matrix with char)
MLPI_TYPE_CHAR_UTF16_ARRAY no direct correspondance
(matrix with char)out = MlpiType(0) out = MlpiType.MLPI_TYPE_BOOL8 num2str(MlpiType.MLPI_TYPE_BOOL8)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiType.
This enumeration maps to the mlpiCore enumeration: MlpiType
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Structure definition.
This function creates an empty structure of MlpiVersion. The structure contains the following fields:
Type Element Description
-------------------------------------------------------------
uint32 major Major release, changes of interfaces,
behavior or significant changes of
code may occur.
uint32 minor Minor release, new features or a
significant set of bug fixes may
occur.
uint32 bugfix Bugfixes of existing features.
uint32 patch Patch of an existing release.
uint32 build Build number.[structure] = MlpiVersion()
No input arguments.
structure contains a structure with the fields described above.
This function maps to the mlpiCore function: MlpiVersion
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration defines the actions when a watchdog timeout expires.
The values can be:
out = MlpiWatchdogAction(0) out = MlpiWatchdogAction.MLPI_WATCHDOG_ERROR num2str(MlpiWatchdogAction.MLPI_WATCHDOG_ERROR)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiWatchdogAction.
This enumeration maps to the mlpiCore enumeration: MlpiWatchdogAction
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Enumeration definition.
This enumeration must be used to define the action when a watchdog has expired.
The values can be:
out = MlpiWatchdogState(0) out = MlpiWatchdogState.MLPI_WATCHDOG_DISABLED num2str(MlpiWatchdogState.MLPI_WATCHDOG_DISABLED)
Valid numeric enumeration value.
out is a scalar enumeration of MlpiWatchdogState.
This enumeration maps to the mlpiCore enumeration: MlpiWatchdogState
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0