Open Core Interface - MLPI
MLPI-MotionLogicProgrammingInterface(mlpiCore)  1.26.2
Server version since 1.26.0.0 (MLC-FW: 14V22)
MotionLib » Version and Permission
Collaboration diagram for Server version since 1.26.0.0 (MLC-FW: 14V22):
Note
Since firmware version 14V22 (MLPI-Server-Version: 1.26.0.0) a centralized permission management has been implemented in target controls XM2, L75 and VPx. Some permissions have been summarized in order to improve their usability. Additional information regarding the usage of older manifest files (i.e. accounts.xml) with newer server versions can be found in Manifest since server version 1.26.0.0.
Users of other CML controls (i.e. L25, L45, L65) have to use the old permissions as defined in Server versions before 1.26.0.0
List of valid permissions for mlpiMotionLib. These permissions shall be assigned to the groups (i.e. in the group manifest file groups.xml) rather than the users.
Permission-Ident Description
MOTION_INFO Monitor axes - Allows to monitor axes, e.g. current position, current velocity etc.
MOTION_MOVE Move axes - Allows to move axes
MOTION_SETUP Create, delete and configure axes - Allows to create, delete and configure axes.
List of available functions in mlpiMotionLib and the permissions required for their use.
Function Server version Permission-Ident
mlpiMotionSetAbsoluteMeasurement 1.0.0.0 "MOTION_SETUP"
mlpiMotionChangeFlexProfileSet 1.0.0.0 "MOTION_SETUP"
mlpiMotionCreateAxis 1.0.0.0 "MOTION_SETUP"
mlpiMotionDestroyAxis 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetConfiguredAxes 1.0.0.0 "MOTION_INFO"
mlpiMotionGetActualPosition 1.0.0.0 "MOTION_INFO"
mlpiMotionGetActualVelocity 1.0.0.0 "MOTION_INFO"
mlpiMotionGetActualAcceleration 1.0.0.0 "MOTION_INFO"
mlpiMotionGetActualTorque 1.0.0.0 "MOTION_INFO"
mlpiMotionGetInterpolatedPosition 1.0.0.0 "MOTION_INFO"
mlpiMotionGetInterpolatedVelocity 1.0.0.0 "MOTION_INFO"
mlpiMotionGetInterpolatedTorque 1.0.0.0 "MOTION_INFO"
mlpiMotionGetPositionLimitNeg 1.0.0.0 "MOTION_INFO"
mlpiMotionSetPositionLimitNeg 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetPositionLimitPos 1.0.0.0 "MOTION_INFO"
mlpiMotionSetPositionLimitPos 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetVelocityLimitPos 1.0.0.0 "MOTION_INFO"
mlpiMotionSetVelocityLimitPos 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetVelocityLimitNeg 1.0.0.0 "MOTION_INFO"
mlpiMotionSetVelocityLimitNeg 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetAccelerationLimitBip 1.0.0.0 "MOTION_INFO"
mlpiMotionSetAccelerationLimitBip 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetJerkLimitBip 1.0.0.0 "MOTION_INFO"
mlpiMotionSetJerkLimitBip 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetTorqueLimitBip 1.0.0.0 "MOTION_INFO"
mlpiMotionSetTorqueLimitBip 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetPositionScaling 1.0.0.0 "MOTION_INFO"
mlpiMotionSetPositionScaling 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetVelocityScaling 1.0.0.0 "MOTION_INFO"
mlpiMotionSetVelocityScaling 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetAccelerationScaling 1.0.0.0 "MOTION_INFO"
mlpiMotionSetAccelerationScaling 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetModulo 1.0.0.0 "MOTION_INFO"
mlpiMotionSetModulo 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetSlaveDriveFeedTravel 1.0.0.0 "MOTION_INFO"
mlpiMotionSetSlaveDriveFeedTravel 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetState 1.0.0.0 "MOTION_INFO"
mlpiMotionGetStateExtended 1.0.0.0 "MOTION_INFO"
mlpiMotionGetDiagnosisNumber 1.0.0.0 "MOTION_INFO"
mlpiMotionGetDiagnosisText 1.0.0.0 "MOTION_INFO"
mlpiMotionGetName 1.0.0.0 "MOTION_INFO"
mlpiMotionSetName 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetAxisType 1.0.0.0 "MOTION_INFO"
mlpiMotionGetCondition 1.0.0.0 "MOTION_INFO"
mlpiMotionSetCondition 1.0.0.0 "MOTION_SETUP"
mlpiMotionLoadDefaultParameters 1.0.0.0 "MOTION_SETUP"
mlpiMotionClearError 1.0.0.0 "MOTION_SETUP"
mlpiMotionGetAxisValues 1.0.0.0 "MOTION_INFO"
mlpiMotionGetAxisUnits 1.0.0.0 "MOTION_INFO"
mlpiMotionGetStatus 1.0.0.0 "MOTION_MOVE"
mlpiMotionPower 1.0.0.0 "MOTION_MOVE"
mlpiMotionStop 1.0.0.0 "MOTION_MOVE"
mlpiMotionHome 1.0.0.0 "MOTION_MOVE"
mlpiMotionMoveVelocity 1.0.0.0 "MOTION_MOVE"
mlpiMotionMoveAbsolute 1.0.0.0 "MOTION_MOVE"
mlpiMotionMoveAdditive 1.0.0.0 "MOTION_MOVE"
mlpiMotionMoveRelative 1.0.0.0 "MOTION_MOVE"
mlpiMotionTorqueControl 1.0.0.0 "MOTION_MOVE"
mlpiMotionOpenCyclicPositionChannel 1.0.0.0 "MOTION_MOVE"
mlpiMotionOpenCyclicVelocityChannel 1.0.0.0 "MOTION_MOVE"
mlpiMotionOpenCyclicAnalogChannel 1.0.0.0 "MOTION_MOVE"
mlpiMotionOpenCyclicTorqueChannel 1.0.0.0 "MOTION_MOVE"
mlpiMotionWriteCyclicPosition 1.0.0.0 "MOTION_MOVE"
mlpiMotionWriteCyclicVelocity 1.0.0.0 "MOTION_MOVE"
mlpiMotionWriteCyclicAnalog 1.0.0.0 "MOTION_MOVE"
mlpiMotionWriteCyclicTorque 1.0.0.0 "MOTION_MOVE"
mlpiMotionControlOn 1.0.0.0 "MOTION_MOVE"
mlpiMotionControlOff 1.0.0.0 "MOTION_MOVE"
mlpiMotionGearIn 1.0.0.0 "MOTION_MOVE"
mlpiMotionGearInPos 1.0.0.0 "MOTION_MOVE"
mlpiMotionCamIn 1.0.0.0 "MOTION_MOVE"
mlpiMotionMotionProfile 1.0.0.0 "MOTION_MOVE"
mlpiMotionFlexProfile 1.0.0.0 "MOTION_MOVE"
mlpiMotionSynchronOut 1.0.0.0 "MOTION_MOVE"
mlpiMotionPhasing 1.0.0.0 "MOTION_MOVE"
mlpiMotionPhasingSlave 1.0.0.0 "MOTION_MOVE"
mlpiMotionAddAxisToGroup 1.6.0.0 "MOTION_MOVE"
mlpiMotionRemAxisFromGroup 1.6.0.0 "MOTION_MOVE"
mlpiMotionGetVelocityLimitBip 1.10.0.0 "MOTION_INFO"
mlpiMotionSetVelocityLimitBip 1.10.0.0 "MOTION_INFO"
mlpiMotionGetTorqueLimitPos 1.10.0.0 "MOTION_INFO"
mlpiMotionSetTorqueLimitPos 1.10.0.0 "MOTION_INFO"
mlpiMotionGetTorqueLimitNeg 1.10.0.0 "MOTION_INFO"
mlpiMotionSetTorqueLimitNeg 1.10.0.0 "MOTION_INFO"
mlpiMotionMoveContinuousAbsolute 1.12.0.0 "MOTION_MOVE"
mlpiMotionMoveContinuousRelative 1.12.0.0 "MOTION_MOVE"
mlpiMotionGetAxisStatus 1.23.0.0 "MOTION_INFO"
List of the old permissions of mlpiMotionLib and their corresponding new permission.
Old permission new Permission
MLPI_MOTIONLIB_PERMISSION_ALWAYS IMPLICIT
MLPI_MOTIONLIB_PERMISSION_SETUP MOTION_SETUP
MLPI_MOTIONLIB_PERMISSION_INFO MOTION_INFO
MLPI_MOTIONLIB_PERMISSION_MOVE MOTION_MOVE