MlpiAxisStateDecoder Struct Reference

Collaboration diagram for MlpiAxisStateDecoder:

Public Member Functions
	MLPI_MOTION_BIT_ACCESS (CamTab_0, 0)
	MLPI_MOTION_BIT_ACCESS (CamTab_1, 1)
	MLPI_MOTION_BIT_ACCESS (CamTab_2, 2)
	MLPI_MOTION_BIT_ACCESS (CamSwitching, 3)
	MLPI_MOTION_BIT_ACCESS (InVelocity, 4)
	MLPI_MOTION_BIT_ACCESS (Standstill, 5)
	MLPI_MOTION_BIT_ACCESS (InPosition, 6)
	MLPI_MOTION_BIT_ACCESS (InSynchron, 7)
	MLPI_MOTION_BIT_ACCESS (Warning, 8)
	MLPI_MOTION_BIT_ACCESS (Error, 9)
	MLPI_MOTION_BIT_ACCESS (Homed, 10)
	MLPI_MOTION_BIT_ACCESS (InTorque, 11)
	MLPI_MOTION_BIT_ACCESS (OperationMode, 12)
	MLPI_MOTION_BIT_ACCESS (Inbb, 13)
	MLPI_MOTION_BIT_ACCESS (InAb, 14)
	MLPI_MOTION_BIT_ACCESS (Power, 15)
	MLPI_MOTION_BIT_ACCESS (CmdActive, 16)
	MLPI_MOTION_BIT_ACCESS (ErrInProgress, 17)
	MLPI_MOTION_BIT_ACCESS (CyclicPosChannelActive, 18)
	MLPI_MOTION_BIT_ACCESS (InMasterPhaseOffset, 19)
	MLPI_MOTION_BIT_ACCESS (CyclicTrqChannelActive, 20)
	MLPI_MOTION_BIT_ACCESS (CyclicVelChannelActive, 21)
	MLPI_MOTION_BIT_ACCESS (CyclicAnaChannelActive, 22)
	MLPI_MOTION_BIT_ACCESS (NRTActive, 23)
	MLPI_MOTION_BIT_ACCESS (Interrupted, 24)
	MLPI_MOTION_BIT_ACCESS (Modulo, 28)
	MLPI_MOTION_BIT_ACCESS (Rotatory, 29)
	MLPI_MOTION_BIT_ACCESS (Valid, 30)
	MLPI_MOTION_BIT_ACCESS (Decoupled, 31)

Detailed Description

The following struct helps to decode the axis state as given by mlpiMotionGetAxisState or mlpiMotionGetAxisValues.

Example:

See mlpiMotionGetState

Definition at line 207 of file mlpiMotionHelper.h.

Member Function Documentation

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	CamTab_0	,
		0
	)

Bit0 of active CAM table of CamIn command.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	CamTab_1	,
		1
	)

Bit1 of active CAM table of CamIn command.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	CamTab_2	,
		2
	)

Bit2 of active CAM table of CamIn command.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	CamSwitching	,
		3
	)

Returns the active CAM table of CamIn command.

Cam is waiting for switching position.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	InVelocity	,
		4
	)

Axis is in velocity.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	Standstill	,
		5
	)

Axis is in standstill.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	InPosition	,
		6
	)

Axis is in position.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	InSynchron	,
		7
	)

Axis is synchronous to another axis.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	Warning	,
		8
	)

Axis has warning.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	Error	,
		9
	)

Axis has an error.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	Homed	,
		10
	)

Axis is homed.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	InTorque	,
		11
	)

Axis is in torque.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	OperationMode	,
		12
	)

Axis is in P4.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	Inbb	,
		13
	)

Axis is ready for power.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	InAb	,
		14
	)

Axis is ready for operation.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	Power	,
		15
	)

Axis has power.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	CmdActive	,
		16
	)

Axis has a active sercos command.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	ErrInProgress	,
		17
	)

Error reaction of axis is in progress.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	CyclicPosChannelActive	,
		18
	)

Cyclic position channel is active.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	InMasterPhaseOffset	,
		19
	)

Axis has reached the master phase offset.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	CyclicTrqChannelActive	,
		20
	)

Cyclic torque channel is active.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	CyclicVelChannelActive	,
		21
	)

Cyclic velocity channel is active.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	CyclicAnaChannelActive	,
		22
	)

Cyclic analog channel is active.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	NRTActive	,
		23
	)

NRT channel for axis is connected.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	Interrupted	,
		24
	)

Axis did not follow control.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	Modulo	,
		28
	)

Axis is in Modulo format.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	Rotatory	,
		29
	)

Axis is rotatory.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	Valid	,
		30
	)

Actual data of axis is valid.

MlpiAxisStateDecoder::MLPI_MOTION_BIT_ACCESS	(	Decoupled	,
		31
	)

Axis is decoupled from commanded position of control.

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

• mlpiMotionHelper.h