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This function group includes utility functions that can simplify development.
For more information, refer to mlpiCore documentation: Utility.
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Utility-Function: Get MLPI data type from MATLAB variable.
This function determines the class of a MATLAB variable and returns the corresponding MlpiType enumeration. Only the following MATLAB data types are supported: int8, int16, int32, uint8, uint16, uint32, single, double and char.
[mlpiType] = m4MUtilGetMlpiType(matlabVariable)
matlabVariable defines the MATLAB variable. The argument can be scalar, 2-dimensional or 3-dimensional. The data type can be int8, int16, int32, uint8, uint16, uint32, single, double or char.
mlpiType contains the MLPI data type as scalar MlpiType enumeration.
Here you will find instructions to use the examples.
The following example is available in the folder ./mlpi/mlpi4MATLAB/bin:
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
Utility-Function: Wait for a motion process.
This function waits until a defined motion commands is done or an error occured. A timeout has to be provided to abort waiting after a certain time. The function can be executed on one axis only.
[out] = m4MUtilMotionWait(connection, axisRef, motionHandle, timeout)
connection defines the connection that will be used. The argument must be scalar and of type MlpiConnection.
axisRef defines a matrix with axis and control numbers for the axes. The argument must be numeric and can have the following dimensions:
motionHandle defines the motion handle of the command that has to be waited for. The argument must be a 1x2 uint32 matrix. motionHandle is the output argument of some m4MMotion functions.
timout defines the timeout in milliseconds. The argument must be a numeric scalar value. Internally the value will be casted to uint32. The command will block further processing until the timeout expired or the motion command that returned motionHandle completed its procedure. The command returns with an error code if the timeout expired. Avoid using M4M_CONST.INFINITY as timeout.
out contains the logical value true if the motion function succeeded. The argument is a logical scalar. Note: Due to the error handling definition the value is NaN if the function failed.
result contains the return value of the MLPI function. The argument is scalar and of type int32. Negative values indicate a failed function call. If the function call fails, other output arguments will be set to NaN. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.
Here you will find instructions to use the examples.
The following example is available in the folder ./mlpi/mlpi4MATLAB/bin:
This function maps to the mlpiCore function utilMotionWait in the header file .\mlpi\mlpiCore\include\util\motionHelper.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
