Class Config

Defined in File CoreMotionApi.h

Nested Relationships

Nested Types

Class Documentation

class Config

This class contains configuration functions.

Public Functions

inline Config(CoreMotion *f)

bool IsDeviceValid()

WMX3APIFUNC SetParam(SystemParam *pParam, SystemParam *pParamError = NULL)

Set system parameter settings for all axes.

See also

Parameters - Overview

Parameters:

pParam – [in] A pointer to an object of the SystemParam class that contains the parameter settings to set.
pParamError – [out] An optional argument that returns which parameters were invalid. Each value inside the SystemParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.

WMX3APIFUNC GetParam(SystemParam *pParam)

Get system parameter settings for all axes.

See also

Parameters - Overview

Parameters:: pParam – [out] A pointer to an object of the SystemParam class that will contain the current parameter settings.

WMX3APIFUNC SetParam(int axis, SystemParam *pParam, SystemParam *pParamError = NULL)

Set system parameter settings for a single axis.

This function will not set parameters that are common to all axes, such as enableFlightRecorder and enableEStopSignal. It will set axis-specific parameters in the FlightRecorderParam and EmergencyStopParam classes such as collectAxisFlightRecorderData and eStopDec.

Remark

See also

Parameters - Overview

Parameters:

axis – [in] The axis to set the parameters.
pParam – [in] A pointer to an object of the SystemParam class that contains the parameter settings to set. Although this object contains parameter settings for every axis, only the parameters of the specified axis will be applied.
pParamError – [out] An optional argument that returns which parameters were invalid. Each value inside the SystemParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid. Only the parameter values corresponding to the specified axis will be modified this way.

WMX3APIFUNC GetParam(int axis, SystemParam *pParam)

Get system parameter settings for a single axis.

This function will not get parameters that are common to all axes, such as enableFlightRecorder and enableEStopSignal. It will get axis-specific parameters in the FlightRecorderParam and EmergencyStopParam classes such as collectAxisFlightRecorderData and eStopDec.

Remark

See also

Parameters - Overview

Parameters:

axis – [in] The axis to get the parameters.
pParam – [out] A pointer to an object of the SystemParam class that will contain the current parameter settings. Although this object contains parameter settings for every axis, only the parameter values corresponding to the specified axis will be modified by this function.

WMX3APIFUNC SetAxisParam(AxisParam *pParam, AxisParam *pParamError = NULL)

Set axis parameters for all axes.

Axis parameters are parameters that are defined in the AxisParam class.

See also

Parameters - Overview

Parameters:

pParam – [in] A pointer to an object of the AxisParam class that contains the parameter settings to set.
pParamError – [out] An optional argument that returns which parameters were invalid. Each value inside the AxisParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.

WMX3APIFUNC GetAxisParam(AxisParam *pParam)

Get axis parameters for all axes.

Axis parameters are parameters that are defined in the AxisParam class.

See also

Parameters - Overview

Parameters:: pParam – [out] A pointer to an object of the AxisParam class that will contain the current parameter settings.

WMX3APIFUNC SetAxisParam(int axis, AxisParam *pParam, AxisParam *pParamError = NULL)

Set axis parameters for a single axis.

Axis parameters are parameters that are defined in the AxisParam class.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to set the parameters.
pParam – [in] A pointer to an object of the AxisParam class that contains the parameter settings to set. Although this object contains parameter settings for every axis, only the parameters of the specified axis will be applied.
pParamError – [out] An optional argument that returns which parameters were invalid. Each value inside the AxisParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid. Only the parameter values corresponding to the specified axis will be modified this way.

WMX3APIFUNC GetAxisParam(int axis, AxisParam *pParam)

Get axis parameters for a single axis.

Axis parameters are parameters that are defined in the AxisParam class.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to get the parameters.
pParam – [out] A pointer to an object of the AxisParam class that will contain the current parameter settings. Although this object contains parameter settings for every axis, only the parameter values corresponding to the specified axis will be modified by this function.

WMX3APIFUNC SetGearRatio(int axis, double numerator, double denominator)

Set the gear ratio of the axis.

This function sets the Gear Ratio Numerator and Gear Ratio Denominator parameters.

See also

Tutorial 4-3: User units

Parameters:

axis – [in] The axis to set the gear ratio.
numerator – [in] The numerator of the gear ratio.
denominator – [in] The denominator of the gear ratio.

WMX3APIFUNC SetSingleTurn(int axis, bool enable, unsigned int encoderCount)

Set the single turn mode and single turn encoder count of an axis.

This function sets the Single Turn Mode and Single Turn Encoder Count parameters.

See also

Tutorial 4-4: Single turn

Parameters:

axis – [in] The axis to set the single turn mode and encoder count.
enable – [in] If FALSE, single turn mode will be disabled for the axis. If TRUE, single turn mode will be enabled for the axis.
encoderCount – [in] If single turn mode is enabled, the number of encoder counts (pulses) in one turn.

WMX3APIFUNC SetMovingAverageProfileTime(int axis, double milliseconds)

Set the moving average profile time parameter for an axis.

This function sets the Global Moving Average Profile Time Milliseconds parameter. This parameter will have no effect unless the Enable Global Moving Average Profile Time Milliseconds parameter is set to TRUE for the axis (using a function such as SetParam or SetMotionParam). This parameter affects motion using the TrapezoidalMAT profile type.

Parameters:

axis – [in] The axis to set the moving average profile time.
milliseconds – [in] The averaging time of the moving average filter in milliseconds.

WMX3APIFUNC SetAxisUnit(int axis, double unit)

Set the axis unit parameter for an axis.

This function sets the Axis Unit parameter.

Parameters:

axis – [in] The axis to set the axis unit.
unit – [in] The specified axis unit.

WMX3APIFUNC SetVelocityFeedforwardGain(int axis, double gain)

Set the velocity feedforward gain parameter for an axis.

This function sets the Velocity Feedforward Gain parameter.

Parameters:

axis – [in] The axis to set velocity feedforward gain.
gain – [in] The specified velocity feedforward gain.

WMX3APIFUNC SetAxisPolarity(int axis, char polarity)

Set the axis polarity for an axis.

This function sets the Axis Polarity parameter.

Parameters:

axis – [in] The axis to set the axis polarity.
polarity – [in] If set to 1, the polarity is normal; if set to -1, the axis polarity will be reversed (the physical axis will move in the opposite direction).

WMX3APIFUNC SetAbsoluteEncoderMode(int axis, bool enable)

Set the absolute encoder mode for an axis.

This function sets the Absolute Encoder Mode parameter.

See also

Tutorial 4-5: Absolute encoders

Parameters:

axis – [in] The axis to set the absolute encoder mode.
enable – [in] If FALSE, absolute encoder mode will be disabled for the axis. If TRUE, absolute encoder mode will be enabled for the axis.

WMX3APIFUNC SetAbsoluteEncoderHomeOffset(int axis, double offset)

Set the absolute encoder home offset for an axis.

This function sets the Absolute Encoder Home Offset parameter.

See also

Tutorial 4-5: Absolute encoders

Parameters:

axis – [in] The axis to set the absolute encoder home offset.
offset – [in] The specified absolute encoder home offset.

WMX3APIFUNC SetEncoderRange(int axis, bool enable, int encoderRangeLow, int encoderRangeHigh)

Set the encoder range mode and encoder range for an axis.

This function sets the Encoder Range Mode, Encoder Range Low, and Encoder Range High parameters.

Parameters:

axis – [in] The axis to set the encoder range mode and encoder range.
enable – [in] The specified encoder range mode.
encoderRangeLow – [in] The specified encoder range low.
encoderRangeHigh – [in] The specified encoder range high.

WMX3APIFUNC GetGearRatio(int axis, double *pNumerator, double *pDenominator)

Get the gear ratio of the axis.

This function gets the Gear Ratio Numerator and Gear Ratio Denominator parameters.

See also

Tutorial 4-3: User units

Parameters:

axis – [in] The axis to get the gear ratio.
pNumerator – [out] A pointer to a double variable that will contain the numerator of the gear ratio.
pDenominator – [out] A pointer to a double variable that will contain the denominator of the gear ratio.

WMX3APIFUNC GetSingleTurn(int axis, bool *pEnable, unsigned int *pEncoderCount)

Get the single turn mode and single turn encoder count of an axis.

This function gets the Single Turn Mode and Single Turn Encoder Count parameters.

See also

Tutorial 4-4: Single turn

Parameters:

axis – [in] The axis to set the single turn mode and encoder count.
pEnable – [out] A pointer to an bool variable that will contain FALSE if single turn mode is disabled for the axis and TRUE if single turn mode is enabled for the axis.
pEncoderCount – [out] A pointer to an unsigned int variable that will contain the number of encoder counts that comprise one turn if single turn mode is enabled.

WMX3APIFUNC GetMovingAverageProfileTime(int axis, double *pMilliseconds)

Get the moving average profile time parameter of an axis.

This function gets the Global Moving Average Profile Time Milliseconds parameter.

Parameters:

axis – [in] The axis to get the moving average profile time.
pMilliseconds – [out] A pointer to a double variable that will contain the moving average profile time.

WMX3APIFUNC GetAxisUnit(int axis, double *pUnit)

Get the axis unit parameter of an axis.

This function gets the Axis Unit parameter.

Parameters:

axis – [in] The axis to get the axis unit.
pUnit – [out] A pointer to a double that will contain the axis unit.

WMX3APIFUNC GetVelocityFeedforwardGain(int axis, double *pGain)

Get the velocity feedforward gain of an axis.

This function gets the Velocity Feedforward Gain parameter.

Parameters:

axis – [in] The axis to get the velocity feedforward gain.
pGain – [out] A pointer to a double variable that will contain the velocity feedforward gain.

WMX3APIFUNC GetAxisPolarity(int axis, char *pPolarity)

Get the axis polarity of an axis.

This function gets the Axis Polarity parameter.

Parameters:

axis – [in] The axis to get the axis polarity.
pPolarity – [out] A pointer to a char variable that will contain the axis polarity.

WMX3APIFUNC GetAbsoluteEncoderMode(int axis, bool *pEnable)

Get the absolute encoder mode of an axis.

This function gets the Absolute Encoder Mode parameter.

See also

Tutorial 4-5: Absolute encoders

Parameters:

axis – [in] The axis to get the absolute encoder mode.
pEnable – [out] A pointer to a bool variable that will contain the absolute encoder mode.

WMX3APIFUNC GetAbsoluteEncoderHomeOffset(int axis, double *pOffset)

Get the absolute encoder home offset of an axis.

This function gets the Absolute Encoder Home Offset parameter.

See also

Tutorial 4-5: Absolute encoders

Parameters:

axis – [in] The axis to get the absolute encoder home offset.
pOffset – [out] A pointer to a double variable that will contain the absolute encoder home offset.

WMX3APIFUNC GetEncoderRange(int axis, bool *pEnable, int *pEncoderRangeLow, int *pEncoderRangeHigh)

Get the encoder range mode and encoder range of an axis.

This function gets the Encoder Range Mode, Encoder Range Low, and Encoder Range High parameters.

Parameters:

axis – [in] The axis to get the encoder range mode and encoder range.
pEnable – [in] A pointer to a bool variable that will contain the encoder range mode.
pEncoderRangeLow – [in] A pointer to an int variable that will contain the encoder range low.
pEncoderRangeHigh – [in] A pointer to an int variable that will contain the encoder range high.

WMX3APIFUNC SetFeedbackParam(int axis, FeedbackParam *pParam, FeedbackParam *pParamError = NULL)

Set feedback parameter settings for an axis.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to set the feedback parameters.
pParam – [in] A pointer to an object of the FeedbackParam class that contains the feedback parameters to apply.
pParamError – [out] An optional argument that returns which parameters were invalid. Each value inside the FeedbackParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.

WMX3APIFUNC SetHomeParam(int axis, HomeParam *pParam, HomeParam *pParamError = NULL)

Set home parameter settings for an axis.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to set the home parameters.
pParam – [in] A pointer to an object of the HomeParam class that contains the feedback parameters to apply.
pParamError – [out] An optional argument that returns which parameters were invalid. Each value inside the HomeParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.

WMX3APIFUNC SetLimitParam(int axis, LimitParam *pParam, LimitParam *pParamError = NULL)

Set limit parameter settings for an axis.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to set the limit parameters.
pParam – [in] A pointer to an object of the LimitParam class that contains the limit parameters to apply.
pParamError – [out] An optional argument that returns which parameters were invalid. Each value inside the LimitParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.

WMX3APIFUNC SetMotionParam(int axis, MotionParam *pParam, MotionParam *pParamError = NULL)

Set motion parameter settings for an axis.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to set the motion parameters.
pParam – [in] A pointer to an object of the MotionParam class that contains the motion parameters to apply.
pParamError – [out] An optional argument that returns which parameters were invalid. Each value inside the MotionParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.

WMX3APIFUNC SetAlarmParam(int axis, AlarmParam *pParam, AlarmParam *pParamError = NULL)

Set alarm parameter settings for an axis.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to set the alarm parameters.
pParam – [in] A pointer to an object of the AlarmParam class that contains the alarm parameters to apply.
pParamError – [out] An optional argument that returns which parameters were invalid. Each value inside the AlarmParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.

WMX3APIFUNC SetSyncParam(int axis, SyncParam *pParam, SyncParam *pParamError = NULL)

Set sync parameter settings for an axis.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to set the sync parameters.
pParam – [in] A pointer to an object of the SyncParam class that contains the sync parameters to apply.
pParamError – [out] An optional argument that returns which parameters were invalid. Each value inside the SyncParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.

WMX3APIFUNC SetFlightRecorderParam(FlightRecorderParam *pParam, FlightRecorderParam *pParamError = NULL)

Set flight recorder parameters.

See also

Parameters - Overview

Parameters:

pParam – [in] A pointer to an object of the FlightRecorderParam class that contains the flight recorder parameters to apply.
pParamError – [out] An optional argument that returns which parameters were invalid. Each value inside the FlightRecorderParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.

WMX3APIFUNC SetFlightRecorderPath(char *pPath)

Set the file path to save the flight recorder data to.

This function can be used to change the directory to save the flight recorder data to. By default, flight recorder data is saved to the root of the C drive (“C:").

Remark

The directory specified must be an absolute file path. The string may or may not be terminated with a backslash.

Parameters:: pPath – [in] A zero-terminated string that contains the absolute file path to save the flight recorder to.

WMX3APIFUNC SetFlightRecorderPath(wchar_t *pPath)

Set the file path to save the flight recorder data to.

This function is a variation of SetFlightRecorderPath that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

Parameters:: pPath – [in] A zero-terminated string that contains the absolute file path to save the flight recorder to.

WMX3APIFUNC SetEmergencyStopParam(EmergencyStopParam *pParam, EmergencyStopParam *pParamError = NULL)

Set emergency stop parameters.

See also

Parameters - Overview

Parameters:

pParam – [in] A pointer to an object of the EmergencyStopParam class that contains the emergency stop parameters to apply.
pParamError – [out] An optional argument that returns which parameters were invalid. Each value inside the EmergencyStopParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.

WMX3APIFUNC GetFeedbackParam(int axis, FeedbackParam *pParam)

Get feedback parameter settings for an axis.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to get the feedback parameters
pParam – [out] A pointer to an object of the FeedbackParam class that will contain the current feedback parameters of the axis.

WMX3APIFUNC GetHomeParam(int axis, HomeParam *pParam)

Get home parameter settings for an axis.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to get the home parameters
pParam – [out] A pointer to an object of the HomeParam class that will contain the current home parameters of the axis.

WMX3APIFUNC GetLimitParam(int axis, LimitParam *pParam)

Get limit switch parameter settings for an axis.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to get the limit parameters
pParam – [out] A pointer to an object of the LimitParam class that will contain the current limit parameters of the axis.

WMX3APIFUNC GetMotionParam(int axis, MotionParam *pParam)

Get motion parameter settings for an axis.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to get the motion parameters
pParam – [out] A pointer to an object of the MotionParam class that will contain the current motion parameters of the axis.

WMX3APIFUNC GetAlarmParam(int axis, AlarmParam *pParam)

Get alarm parameter settings for an axis.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to get the alarm parameters
pParam – [out] A pointer to an object of the AlarmParam class that will contain the current alarm parameters of the axis.

WMX3APIFUNC GetSyncParam(int axis, SyncParam *pParam)

Get the sync parameters of the axis.

See also

Parameters - Overview

Parameters:

axis – [in] The axis to get the sync parameters
pParam – [out] A pointer to an object of the SyncParam class that will contain the current sync parameters of the axis.

WMX3APIFUNC GetFlightRecorderParam(FlightRecorderParam *pParam)

Get flight recorder parameters.

See also

Parameters - Overview

Parameters:: pParam – [out] A pointer to an object of the FlightRecorderParam class that will contain the current flight recorder parameters.

WMX3APIFUNC GetEmergencyStopParam(EmergencyStopParam *pParam)

Get emergency stop parameters.

See also

Parameters - Overview

Parameters:: pParam – [out] A pointer to an object of the EmergencyStopParam class that will contain the current emergency stop parameters.

WMX3APIFUNC GetDefaultParam(SystemParam *pParam)

Get the default system parameters.

Parameters:: pParam – [out] A pointer to an object of the SystemParam class that will contain the default parameters.

WMX3APIFUNC GetDefaultAxisParam(AxisParam *pAxisParam)

Get the default axis parameters.

Parameters:: pAxisParam – [out] A pointer to an object of the AxisParam class that will contain the default parameters.

WMX3APIFUNC Export(char *pPath, SystemParam *pParam)

Export system parameters to an xml file.

This function writes the parameter settings passed to this function to an xml file. The parameter settings can be read from the xml file using one of the Import functions.

Remark

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to save the parameter file to.
pParam – [in] A pointer to an object of the SystemParam class that contains the parameters to be exported.

WMX3APIFUNC Export(wchar_t *pPath, SystemParam *pParam)

Export system parameters to an xml file.

This function is a variation of Export that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The exported file itself uses the same character set as Export. Files created with either version of this function are identical.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to save the parameter file to.
pParam – [in] A pointer to an object of the SystemParam class that contains the parameters to be exported.

WMX3APIFUNC Export(char *pPath, AxisParam *pAxisParam)

Export axis parameters to an xml file.

This function writes the parameter settings passed to this function to an xml file. The parameter settings can be read from the xml file using one of the Import functions.

Remark

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to save the parameter file to.
pAxisParam – [in] A pointer to an object of the AxisParam class that contains the parameters to be exported.

WMX3APIFUNC Export(wchar_t *pPath, AxisParam *pAxisParam)

Export axis parameters to an xml file.

This function is a variation of Export that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The exported file itself uses the same character set as Export. Files created with either version of this function are identical.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to save the parameter file to.
pAxisParam – [in] A pointer to an object of the AxisParam class that contains the parameters to be exported.

WMX3APIFUNC Export(char *pPath, SystemParam *pParam, AxisParam *pAxisParam)

Export system and axis parameters to an xml file.

This function writes the parameter settings passed to this function to an xml file. The parameter settings can be read from the xml file using one of the Import functions.

Remark

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to save the parameter file to.
pParam – [in] A pointer to an object of the SystemParam class that contains the parameters to be exported.
pAxisParam – [in] A pointer to an object of the AxisParam class that contains the parameters to be exported.

WMX3APIFUNC Export(wchar_t *pPath, SystemParam *pParam, AxisParam *pAxisParam)

Export system and axis parameters to an xml file.

This function is a variation of Export that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The exported file itself uses the same character set as Export. Files created with either version of this function are identical.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to save the parameter file to.
pParam – [in] A pointer to an object of the SystemParam class that contains the parameters to be exported.
pAxisParam – [in] A pointer to an object of the AxisParam class that contains the parameters to be exported.

WMX3APIFUNC Export(char *pPath, SystemParam *pParam, int axis)

Export system parameters of one axis to an xml file.

This function writes the parameter settings passed to this function to an xml file. The parameter settings can be read from the xml file using one of the Import functions.

Remark

The parameter settings of only one axis is written to file.

This function will not export parameters that are common to all axes, such as enableFlightRecorder and enableEStopSignal. It will export axis-specific parameters in the FlightRecorderParam and EmergencyStopParam classes such as collectAxisFlightRecorderData and eStopDec.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to save the parameter file to.
pParam – [in] A pointer to an object of the SystemParam class that contains the parameters to be exported. Although this class contains parameter settings for all axes, only the parameter settings for the specified axis will be exported.
axis – [in] The axis to export the parameter settings.

WMX3APIFUNC Export(wchar_t *pPath, SystemParam *pParam, int axis)

Export system parameters of one axis to an xml file.

This function is a variation of Export that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The exported file itself uses the same character set as Export. Files created with either version of this function are identical.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to save the parameter file to.
pParam – [in] A pointer to an object of the SystemParam class that contains the parameters to be exported. Although this class contains parameter settings for all axes, only the parameter settings for the specified axis will be exported.
axis – [in] The axis to export the parameter settings.

WMX3APIFUNC Export(char *pPath, AxisParam *pAxisParam, int axis)

Export axis parameters of one axis to an xml file.

This function writes the parameter settings passed to this function to an xml file. The parameter settings can be read from the xml file using one of the Import functions.

Remark

The parameter settings of only one axis is written to file.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to save the parameter file to.
pAxisParam – [in] A pointer to an object of the AxisParam class that contains the parameters to be exported. Although this class contains parameter settings for all axes, only the parameter settings for the specified axis will be exported.
axis – [in] The axis to export the parameter settings.

WMX3APIFUNC Export(wchar_t *pPath, AxisParam *pAxisParam, int axis)

Export axis parameters of one axis to an xml file.

This function is a variation of Export that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The exported file itself uses the same character set as Export. Files created with either version of this function are identical.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to save the parameter file to.
pAxisParam – [in] A pointer to an object of the AxisParam class that contains the parameters to be exported. Although this class contains parameter settings for all axes, only the parameter settings for the specified axis will be exported.
axis – [in] The axis to export the parameter settings.

WMX3APIFUNC Export(char *pPath, SystemParam *pParam, AxisParam *pAxisParam, int axis)

Export system and axis parameters of one axis to an xml file.

This function writes the parameter settings passed to this function to an xml file. The parameter settings can be read from the xml file using one of the Import functions.

Remark

The parameter settings of only one axis is written to file.

This function will not export parameters that are common to all axes, such as enableFlightRecorder and enableEStopSignal. It will export axis-specific parameters in the FlightRecorderParam and EmergencyStopParam classes such as collectAxisFlightRecorderData and eStopDec.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to save the parameter file to.
pParam – [in] A pointer to an object of the SystemParam class that contains the parameters to be exported. Although this class contains parameter settings for all axes, only the parameter settings for the specified axis will be exported.
pAxisParam – [in] A pointer to an object of the AxisParam class that contains the parameters to be exported. Although this class contains parameter settings for all axes, only the parameter settings for the specified axis will be exported.
axis – [in] The axis to export the parameter settings.

WMX3APIFUNC Export(wchar_t *pPath, SystemParam *pParam, AxisParam *pAxisParam, int axis)

Export system and axis parameters of one axis to an xml file.

This function is a variation of Export that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The exported file itself uses the same character set as Export. Files created with either version of this function are identical.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to save the parameter file to.
pParam – [in] A pointer to an object of the SystemParam class that contains the parameters to be exported. Although this class contains parameter settings for all axes, only the parameter settings for the specified axis will be exported.
pAxisParam – [in] A pointer to an object of the AxisParam class that contains the parameters to be exported. Although this class contains parameter settings for all axes, only the parameter settings for the specified axis will be exported.
axis – [in] The axis to export the parameter settings.

WMX3APIFUNC Import(char *pPath, SystemParam *pParam)

Import system parameters from an xml file.

This function reads parameter settings from an xml file and copies them to the parameters class passed to this function. Parameter settings that are not in the file are not overwritten.

Remark

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pParam – [out] A pointer to an object of the SystemParam class that will contain the parameters that are loaded.

WMX3APIFUNC Import(wchar_t *pPath, SystemParam *pParam)

Import system parameters from an xml file.

This function is a variation of Import that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The imported file itself is read using the same character set as Import. A file that is compatible with either version of this function is also compatible with the other.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pParam – [out] A pointer to an object of the SystemParam class that will contain the parameters that are loaded.

WMX3APIFUNC Import(char *pPath, AxisParam *pAxisParam)

Import axis parameters from an xml file.

Import parameters from an xml file.

This function reads parameter settings from an xml file and copies them to the parameters class passed to this function. Parameter settings that are not in the file are not overwritten.

Remark

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pAxisParam – [out] A pointer to an object of the AxisParam class that will contain the parameters that are loaded.

WMX3APIFUNC Import(wchar_t *pPath, AxisParam *pAxisParam)

Import axis parameters from an xml file.

Import parameters from an xml file.

This function is a variation of Import that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The imported file itself is read using the same character set as Import. A file that is compatible with either version of this function is also compatible with the other.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pAxisParam – [out] A pointer to an object of the AxisParam class that will contain the parameters that are loaded.

WMX3APIFUNC Import(char *pPath, SystemParam *pParam, AxisParam *pAxisParam)

Import system and axis parameters from an xml file.

Import parameters from an xml file.

This function reads parameter settings from an xml file and copies them to the parameters class passed to this function. Parameter settings that are not in the file are not overwritten.

Remark

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pParam – [out] A pointer to an object of the SystemParam class that will contain the parameters that are loaded.
pAxisParam – [out] A pointer to an object of the AxisParam class that will contain the parameters that are loaded.

WMX3APIFUNC Import(wchar_t *pPath, SystemParam *pParam, AxisParam *pAxisParam)

Import system and axis parameters from an xml file.

Import parameters from an xml file.

This function is a variation of Import that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The imported file itself is read using the same character set as Import. A file that is compatible with either version of this function is also compatible with the other.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pParam – [out] A pointer to an object of the SystemParam class that will contain the parameters that are loaded.
pAxisParam – [out] A pointer to an object of the AxisParam class that will contain the parameters that are loaded.

WMX3APIFUNC Import(char *pPath, SystemParam *pParam, int axis, AxisSelection *copyParamToAxes = NULL)

Import system parameters of one axis from an xml file.

This function reads parameter settings from an xml file and copies them to the parameters class passed to this function. Parameter settings that are not in the file are not overwritten.

Remark

The parameter settings of only one axis is read from file, even if the file contains parameter settings for other axes.

This function will not import parameters that are common to all axes, such as enableFlightRecorder and enableEStopSignal. It will import axis-specific parameters in the FlightRecorderParam and EmergencyStopParam classes such as collectAxisFlightRecorderData and eStopDec.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pParam – [out] A pointer to an object of the SystemParam class that will contain the parameters that are loaded. Although this class contains parameter settings for all axes, only the parameter values corresponding to the specified axis or axes will be modified by this function.
axis – [in] The axis to import the parameter settings.
copyParamToAxes – [in] An optional parameter that specifies a set to axes to copy the imported parameter settings to. The parameter settings imported for the specified axis will also be copied to the variables in pParam corresponding to the set of axes specified in copyParamToAxes. This can be used to apply the same set of parameters to multiple axes.

WMX3APIFUNC Import(wchar_t *pPath, SystemParam *pParam, int axis, AxisSelection *copyParamToAxes = NULL)

Import system parameters of one axis from an xml file.

This function is a variation of Import that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The imported file itself is read using the same character set as Import. A file that is compatible with either version of this function is also compatible with the other.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pParam – [out] A pointer to an object of the SystemParam class that will contain the parameters that are loaded. Although this class contains parameter settings for all axes, only the parameter values corresponding to the specified axis or axes will be modified by this function.
axis – [in] The axis to import the parameter settings.
copyParamToAxes – [in] An optional parameter that specifies a set to axes to copy the imported parameter settings to. The parameter settings imported for the specified axis will also be copied to the variables in pParam corresponding to the set of axes specified in copyParamToAxes. This can be used to apply the same set of parameters to multiple axes.

WMX3APIFUNC Import(char *pPath, AxisParam *pAxisParam, int axis, AxisSelection *copyParamToAxes = NULL)

Import axis parameters of one axis from an xml file.

This function reads parameter settings from an xml file and copies them to the parameters class passed to this function. Parameter settings that are not in the file are not overwritten.

Remark

The parameter settings of only one axis is read from file, even if the file contains parameter settings for other axes.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pAxisParam – [out] A pointer to an object of the AxisParam class that will contain the parameters that are loaded. Although this class contains parameter settings for all axes, only the parameter values corresponding to the specified axis or axes will be modified by this function.
axis – [in] The axis to import the parameter settings.
copyParamToAxes – [in] An optional parameter that specifies a set to axes to copy the imported parameter settings to. The parameter settings imported for the specified axis will also be copied to the variables in pAxisParam corresponding to the set of axes specified in copyParamToAxes. This can be used to apply the same set of parameters to multiple axes.

WMX3APIFUNC Import(wchar_t *pPath, AxisParam *pAxisParam, int axis, AxisSelection *copyParamToAxes = NULL)

Import axis parameters of one axis from an xml file.

This function is a variation of Import that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The imported file itself is read using the same character set as Import. A file that is compatible with either version of this function is also compatible with the other.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pAxisParam – [out] A pointer to an object of the AxisParam class that will contain the parameters that are loaded. Although this class contains parameter settings for all axes, only the parameter values corresponding to the specified axis or axes will be modified by this function.
axis – [in] The axis to import the parameter settings.
copyParamToAxes – [in] An optional parameter that specifies a set to axes to copy the imported parameter settings to. The parameter settings imported for the specified axis will also be copied to the variables in pAxisParam corresponding to the set of axes specified in copyParamToAxes. This can be used to apply the same set of parameters to multiple axes.

WMX3APIFUNC Import(char *pPath, SystemParam *pParam, AxisParam *pAxisParam, int axis, AxisSelection *copyParamToAxes = NULL)

Import system and axis parameters of one axis from an xml file.

This function reads parameter settings from an xml file and copies them to the parameters class passed to this function. Parameter settings that are not in the file are not overwritten.

Remark

The parameter settings of only one axis is read from file, even if the file contains parameter settings for other axes.

This function will not import parameters that are common to all axes, such as enableFlightRecorder and enableEStopSignal. It will import axis-specific parameters in the FlightRecorderParam and EmergencyStopParam classes such as collectAxisFlightRecorderData and eStopDec.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pParam – [out] A pointer to an object of the SystemParam class that will contain the parameters that are loaded. Although this class contains parameter settings for all axes, only the parameter values corresponding to the specified axis or axes will be modified by this function.
pAxisParam – [out] A pointer to an object of the AxisParam class that will contain the parameters that are loaded. Although this class contains parameter settings for all axes, only the parameter values corresponding to the specified axis or axes will be modified by this function.
axis – [in] The axis to import the parameter settings.
copyParamToAxes – [in] An optional parameter that specifies a set to axes to copy the imported parameter settings to. The parameter settings imported for the specified axis will also be copied to the variables in pParam and pAxisParam corresponding to the set of axes specified in copyParamToAxes. This can be used to apply the same set of parameters to multiple axes.

WMX3APIFUNC Import(wchar_t *pPath, SystemParam *pParam, AxisParam *pAxisParam, int axis, AxisSelection *copyParamToAxes = NULL)

Import system and axis parameters of one axis from an xml file.

This function is a variation of Import that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The imported file itself is read using the same character set as Import. A file that is compatible with either version of this function is also compatible with the other.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pParam – [out] A pointer to an object of the SystemParam class that will contain the parameters that are loaded. Although this class contains parameter settings for all axes, only the parameter values corresponding to the specified axis or axes will be modified by this function.
pAxisParam – [out] A pointer to an object of the AxisParam class that will contain the parameters that are loaded. Although this class contains parameter settings for all axes, only the parameter values corresponding to the specified axis or axes will be modified by this function.
axis – [in] The axis to import the parameter settings.
copyParamToAxes – [in] An optional parameter that specifies a set to axes to copy the imported parameter settings to. The parameter settings imported for the specified axis will also be copied to the variables in pParam and pAxisParam corresponding to the set of axes specified in copyParamToAxes. This can be used to apply the same set of parameters to multiple axes.

WMX3APIFUNC GetAndExportAll(char *pPath)

Get the current parameters for all axes and export them to an xml file.

This function gets the current system parameter settings and axis parameter settings for all axes, and then exports them to an xml file.

Remark

See also

Parameters - Overview

Parameters:: pPath – [in] The absolute file path to save the parameter file to.

WMX3APIFUNC GetAndExportAll(wchar_t *pPath)

Get the current parameters for all axes and export them to an xml file.

This function is a variation of GetAndExportAll that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The exported file itself uses the same character set as GetAndExportAll. Files created with either version of this function are identical.

See also

Parameters - Overview

Parameters:: pPath – [in] The absolute file path to save the parameter file to.

WMX3APIFUNC ImportAndSetAll(char *pPath, SystemParam *pParamError = NULL, AxisParam *pAxisParamError = NULL)

Imports parameters from an xml file and set them as the current parameters for all axes.

This function imports parameter settings from the specified xml file, and then sets the imported parameters as the current parameter settings. If any parameter settings are not defined in the xml file, they will be set to 0, which often is an invalid setting and causes the API to return ParameterSettingsInvalid.

Remark

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pParamError – [in] An optional argument that returns which parameters were invalid. Each value inside the SystemParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.
pAxisParamError – [in] An optional argument that returns which parameters were invalid. Each value inside the AxisParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.

WMX3APIFUNC ImportAndSetAll(wchar_t *pPath, SystemParam *pParamError = NULL, AxisParam *pAxisParamError = NULL)

Imports parameters from an xml file and set them as the current parameters for all axes.

This function is a variation of ImportAndSetAll that accepts a wchar_t array for the file path string. Use this function when using Unicode character sets.

Remark

The imported file itself is read using the same character set as ImportAndSetAll. A file that is compatible with either version of this function is also compatible with the other.

See also

Parameters - Overview

Parameters:

pPath – [in] The absolute file path to load the parameter file from.
pParamError – [in] An optional argument that returns which parameters were invalid. Each value inside the SystemParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.
pAxisParamError – [in] An optional argument that returns which parameters were invalid. Each value inside the AxisParam object that is passed to this argument will contain 0 if that parameter was valid and 1 if that parameter was invalid.

Public Members

CoreMotion *cmApi

class AlarmParam

This class contains alarm parameters of an axis. See Alarm Parameters for a description of each parameter.

Public Functions

AlarmParam()

Public Members

double followingErrorStopped: See Following Error Stopped.

double followingErrorMoving: See Following Error Moving.

FollowingErrorAlarmType::T followingErrorType: See Following Error Type.

double velocityFollowingErrorStopped: See Velocity Following Error Stopped.

double velocityFollowingErrorStoppedMilliseconds: See Velocity Following Error Stopped Milliseconds.

double velocityFollowingErrorMoving: See Velocity Following Error Moving.

double velocityFollowingErrorMovingMilliseconds: See Velocity Following Error Moving Milliseconds.

VelocityFollowingErrorAlarmType::T velocityFollowingErrorType: See Velocity Following Error Type.

bool servoOffDuringAmpAlarm: See Servo Off During Amp Alarm.

int servoOnFollowingError: See Servo On Following Error.

class AxisParam

This class contains parameters specific to an axis. See Axis Parameters for a description of each parameter.

Public Functions

AxisParam()

Public Members

AxisCommandMode::T axisCommandMode[constants::maxAxes]: See Axis Command Mode.

double gearRatioNumerator[constants::maxAxes]: See Gear Ratio Numerator.

double gearRatioDenominator[constants::maxAxes]: See Gear Ratio Denominator.

bool singleTurnMode[constants::maxAxes]: See Single Turn Mode.

unsigned int singleTurnEncoderCount[constants::maxAxes]: See Single Turn Encoder Count.

double maxTrqLimit[constants::maxAxes]: See Max Trq Limit.

double negativeTrqLimit[constants::maxAxes]: See Negative Trq Limit.

double positiveTrqLimit[constants::maxAxes]: See Positive Trq Limit.

double axisUnit[constants::maxAxes]: See Axis Unit.

double velocityFeedforwardGain[constants::maxAxes]: See Velocity Feedforward Gain.

char axisPolarity[constants::maxAxes]: See Axis Polarity.

double maxMotorSpeed[constants::maxAxes]: See Max Motor Speed.

bool absoluteEncoderMode[constants::maxAxes]: See Absolute Encoder Mode.

double absoluteEncoderHomeOffset[constants::maxAxes]: See Absolute Encoder Home Offset.

bool encoderRangeMode[constants::maxAxes]: See Encoder Range Mode.

int encoderRangeLow[constants::maxAxes]: See Encoder Range Low.

int encoderRangeHigh[constants::maxAxes]: See Encoder Range High.

class CircularIntplOverrideType

This enumerator class enumerates the circular interpolation override types. The circular interpolation override type determines the method by which a circular interpolation overrides another linear or circular interpolation.

Public Types

enum T

Values:

enumerator Blending: The motion from the two interpolations are blended.

enumerator FastBlending: The original interpolation transitions to a stop motion, and is blended with the motion from the override interpolation.

class EmergencyStopParam

This class contains emergency stop parameters. See Emergency Stop Parameters for a description of each parameter.

Public Functions

EmergencyStopParam()

Public Members

double eStopDec[constants::maxAxes]: See E-Stop Dec.

bool enableEStopSignal: See Enable E-Stop Signal.

EStopSignalSource::T eStopSignalSource: See E-Stop Signal Source.

EStopLevel::T eStopSignalLevel: See E-Stop Signal Level.

bool invertEStopSignalPolarity: See Invert E-Stop Signal Polarity.

unsigned int eStopSignalByteAddress: See E-Stop Signal Byte Address.

unsigned char eStopSignalBitAddress: See E-Stop Signal Bit Address.

bool enableEStopStatusSignal: See Enable E-Stop Status Signal.

EStopStatusSignalDestination::T eStopStatusSignalDestination: See E-Stop Status Signal Destination.

bool invertEStopStatusSignalPolarity: See Invert E-Stop Status Signal Polarity.

unsigned int eStopStatusSignalByteAddress: See E-Stop Status Signal Byte Address.

unsigned char eStopStatusSignalBitAddress: See E-Stop Status Signal Bit Address.

EStopLevel1Type::T eStopLevel1Type: See E-Stop Level 1 Type.

class EStopLevel1Type

This enumerator class enumerates the actions to take when a level 1 emergency stop is triggered.

Public Types

enum T

Values:

enumerator Dec: Any moving axes will decelerate to a stop at the E-Stop Dec set for that axis.

enumerator DecServoOff: Any moving axes will decelerate to a stop at the E-Stop Dec set for that axis. A servo off signal will be sent to each axis as soon as it stops.

class EStopSignalSource

This enumerator class enumerates the sources of an emergency stop signal.

Public Types

enum T

Values:

enumerator Input: The source is an I/O input bit.

enumerator Output: The source is an I/O output bit.

enumerator UserMemory: The source is a user memory bit.

class EStopStatusSignalDestination

This enumerator class enumerates the destinations of an emergency stop status signal.

Public Types

enum T

Values:

enumerator Output: The destination is an I/O output bit.

enumerator UserMemory: The destination is a user memory bit.

class FeedbackParam

This class contains feedback parameters of an axis. See Feedback Parameters for a description of each parameter.

Public Functions

FeedbackParam()

Public Members

double inPosWidth: See In Pos Width.

double inPosWidth2: See In Pos Width 2.

double inPosWidth3: See In Pos Width 3.

double inPosWidth4: See In Pos Width 4.

double inPosWidth5: See In Pos Width 5.

VelocityMonitorSource::T velocityMonitorSource: See Velocity Monitor Source.

double posSetWidth: See Pos Set Width.

double delayedPosSetWidth: See Delayed Pos Set Width.

double delayedPosSetMilliseconds: See Delayed Pos Set Milliseconds.

class FlightRecorderParam

This class contains flight recorder parameters. See Flight Recorder Parameters for a description of each parameter.

Public Functions

FlightRecorderParam()

Public Members

bool enableFlightRecorder: See Enable Flight Recorder.

bool flightRecorderTimeStamp: See Flight Recorder Time Stamp.

bool collectAxisFlightRecorderData[constants::maxAxes]: See Collect Axis Flight Recorder Data.

bool triggerFlightRecorderOnAmpAlarm: See Trigger Flight Recorder On Amp Alarm.

class FollowingErrorAlarmType

This enumerator class enumerates the actions to take when a following error alarm occurs (when the difference between the position command and feedback exceeds a set value).

Public Types

enum T

Values:

enumerator NoAction: The following error alarm will be disabled and never be triggered.

enumerator QuickStop: The axis will decelerate to a stop at the deceleration set in Quick Stop Dec. The axis will not accept new commands until the following error alarm is cleared.

class HomeDirection

This enumerator class enumerates the directions of homing.

Public Types

enum T

Values:

enumerator Positive: Homing will be in the positive direction.

enumerator Negative: Homing will be in the negative direction.

class HomeParam

This class contains home parameters of an axis. See Homing Parameters for a description of each parameter.

Public Functions

HomeParam()

Public Members

HomeType::T homeType: See Home Type.

HomeDirection::T homeDirection: See Home Direction.

double homingVelocitySlow: See Homing Velocity Slow.

double homingVelocitySlowAcc: See Homing Velocity Slow Acc.

double homingVelocitySlowDec: See Homing Velocity Slow Dec.

double homingVelocityFast: See Homing Velocity Fast.

double homingVelocityFastAcc: See Homing Velocity Fast Acc.

double homingVelocityFastDec: See Homing Velocity Fast Dec.

double homingReverseDistance: See Homing Reverse Distance.

double homeShiftVelocity: See Home Shift Velocity.

double homeShiftAcc: See Home Shift Acc.

double homeShiftDec: See Home Shift Dec.

double homeShiftDistance: See Home Shift Distance.

bool invertHSPolarity: See Invert HS Polarity.

unsigned int multipleZPulse: See Multiple Z-Pulse.

bool roundPosCmdAfterHoming: See Round Pos Cmd After Homing.

bool pauseMode: See Pause Mode.

double maxHSOnAtStartReverseDistance: See Max HS On At Start Reverse Distance.

double maxLSReverseDistance: See Max LS Reverse Distance.

unsigned int zPulseDistanceCheck: See Z-Pulse Distance Check.

double homePosition: See Home Position.

bool gantryHomingUseSlaveHS: See Gantry Homing Use Slave HS.

bool gantryHomingUseSlaveLS: See Gantry Homing Use Slave LS.

bool gantryHomingUseSlaveZPulse: See Gantry Homing Use Slave Z-Pulse.

bool gantryHomingUseSlaveTouchProbe: See Gantry Homing Use Slave Touch Probe.

bool gantryHomingUseSlaveMechanicalEnd: See Gantry Homing Use Slave Mechanical End.

bool gantryHomingRetainSyncOffset: See Gantry Homing Retain Sync Offset.

bool immediateStopAtLS: See Immediate Stop at LS.

double mechanicalEndDetectionPosDiff: See Mechanical End Detection Pos Diff.

double mechanicalEndDetectionTimeMilliseconds: See Mechanical End Detection Time Milliseconds.

bool mechanicalEndDetectionIgnoreLS: See Mechanical End Detection Ignore LS.

double mechanicalEndDetectionFirstTorqueLimit: See Mechanical End Detection First Torque Limit.

double mechanicalEndDetectionSecondTorqueLimit: See Mechanical End Detection Second Torque Limit.

bool openLoopHoming: See Open Loop Homing.

bool clearHomeDoneOnServoOff: See Clear Home Done On Servo Off.

bool clearHomeDoneOnCommStop: See Clear Home Done On Comm Stop.

class HomeType

This enumerator class enumerates the home types. The home type determines the method by which the axis searches for the home position. Also see Homing for a more detailed description of each home type.

Public Types

enum T

Values:

enumerator CurrentPos: The current feedback position of the axis is set as the home position.

enumerator ZPulse: The axis searches for the next Z-pulse (index pulse) in the homing direction.

enumerator HS: The axis searches for the home switch in the homing direction.

enumerator HSHS: The axis searches for the home switch, then reverses to clear the home switch, and then searches for the home switch again at a lower velocity.

enumerator HSZPulse: The axis searches for the home switch and the first Z-pulse after the rising edge of the home switch.

enumerator HSReverseZPulse: The axis searches for the home switch, and then reverses and searches for the first Z-pulse (index pulse) after the falling edge of the home switch in the reverse homing direction.

enumerator HSOff: The axis searches for the falling edge of the home switch.

enumerator HSOffZPulse: The axis searches for the falling edge of the home switch and the first Z-pulse (index pulse) after the falling edge of the home switch.

enumerator HSOffReverseZPulse: The axis searches for the falling edge of the home switch, and then reverses and searches for the first Z-pulse (index pulse) after the rising edge of the home switch in the reverse homing direction.

enumerator LSReverseZPulse: The axis searches for the limit switch, and then reverses and searches for the first Z-pulse (index pulse) after the falling edge of the limit switch in the reverse homing direction.

enumerator NearLSReverseZPulse: The axis searches for the near limit switch, and then reverses and searches for the first Z-pulse (index pulse) after the falling edge of the near limit switch in the reverse direction.

enumerator ExternalLSReverseZPulse: The axis searches for the external limit switch, and then reverses and searches for the first Z-pulse (index pulse) after the falling edge of the external limit switch in the reverse homing direction.

enumerator TouchProbe: The axis searches for the touch probe in the homing direction.

enumerator HSTouchProbe: The axis searches for the home switch, then reverses to clear the home switch, and then searches for the touch probe at a lower velocity.

enumerator LS: The axis searches for the limit switch in the homing direction.

enumerator NearLS: The axis searches for the near limit switch in the homing direction.

enumerator ExternalLS: The axis searches for the external limit switch in the homing direction.

enumerator MechanicalEndDetection: The axis searches for the mechanical end. The mechanical end is detected by finding the feedback position where the difference between the command position and feedback position exceed a specified value.

enumerator MechanicalEndDetectionHS: The axis searches for the mechanical end and the home switch. The mechanical end is detected by finding the feedback position where the difference between the command position and feedback position exceed a specified value. The mechanical end will only be detected while the home switch is on.

enumerator MechanicalEndDetectionLS: The axis searches for the mechanical end and the limit switch. The mechanical end is detected by finding the feedback position where the difference between the command position and feedback position exceed a specified value. The mechanical end will only be detected while the limit switch is on.

enumerator MechanicalEndDetectionReverseZPulse: The axis searches for the mechanical end, and then reverses and searches for the first Z-pulse (index pulse) in the reverse direction of the mechanical end. The mechanical end is detected by finding the feedback position where the difference between the command position and feedback position exceed a specified value.

class LimitParam

This class contains limit parameters of an axis. See Limit Parameters for a description of each parameter.

Public Functions

LimitParam()

Public Members

LimitSwitchType::T lsType: See LS Type.

LimitSwitchType::T positiveLSType: See Positive LS Type.

LimitSwitchType::T negativeLSType: See Negative LS Type.

bool invertPositiveLSPolarity: See Invert Positive LS Polarity.

bool invertNegativeLSPolarity: See Invert Negative LS Polarity.

LimitSwitchType::T nearLSType: See Near LS Type.

LimitSwitchType::T nearPositiveLSType: See Near Positive LS Type.

LimitSwitchType::T nearNegativeLSType: See Near Negative LS Type.

int nearPositiveLSByte: See Near Positive LS Byte.

int nearPositiveLSBit: See Near Positive LS Bit.

bool invertNearPositiveLSPolarity: See Invert Near Positive LS Polarity.

int nearNegativeLSByte: See Near Negative LS Byte.

int nearNegativeLSBit: See Near Negative LS Bit.

bool invertNearNegativeLSPolarity: See Invert Near Negative LS Polarity.

LimitSwitchType::T externalLSType: See External LS Type.

LimitSwitchType::T externalPositiveLSType: See External Positive LS Type.

LimitSwitchType::T externalNegativeLSType: See External Negative LS Type.

int externalPositiveLSByte: See External Positive LS Byte.

int externalPositiveLSBit: See External Positive LS Bit.

bool invertExternalPositiveLSPolarity: See Invert External Positive LS Polarity.

int externalNegativeLSByte: See External Negative LS Byte.

int externalNegativeLSBit: See External Negative LS Bit.

bool invertExternalNegativeLSPolarity: See Invert External Negative LS Polarity.

LimitSwitchType::T softLimitType: See Soft Limit Type.

LimitSwitchType::T positiveSoftLimitType: See Positive Soft Limit Type.

LimitSwitchType::T negativeSoftLimitType: See Negative Soft Limit Type.

double softLimitPositivePos: See Soft Limit Positive Pos.

double softLimitNegativePos: See Soft Limit Negative Pos.

double lsDec: See LS Dec.

double lsSlowDec: See LS Slow Dec.

bool allLSDuringHoming: See All LS During Homing.

LimitSwitchDirection::T lsDirection: See LS Direction.

class LimitSwitchDirection

This enumerator class enumerates the limit switch directions. The limit switch direction indicates whether the limit switches are attached in the normal direction or the reverse direction.

Public Types

enum T

Values:

enumerator Normal: The limit switches are attached in the normal direction. The positive limit switch is attached in the positive direction of the axis and the negative limit switch is attached in the negative direction of the axis.

enumerator Reverse: The limit switches are attached in the reverse direction. The positive limit switch is attached in the negative direction of the axis and the positive limit switch is attached in the negative direction of the axis.

class LimitSwitchType

This enumerator class enumerates the limit switch types. The limit switch type determines the action to take when the limit switch of an axis is triggered.

Public Types

enum T

Values:

enumerator None: No action is taken when the limit switch is triggered. The servo may still perform some action (such as generate an amp alarm) depending on its settings.

enumerator ServoOff: A servo off signal is sent to the axis.

enumerator DecServoOff: The axis will decelerate to a stop at the limit switch deceleration rate, and then a servo off signal will be sent to the axis.

enumerator Dec: The axis will decelerate to a stop at the limit switch deceleration rate.

enumerator SlowDecServoOff: The axis will decelerate to a stop at the limit switch slow deceleration rate, and then a servo off signal will be sent to the axis.

enumerator SlowDec: The axis will decelerate to a stop at the limit switch slow deceleration rate.

enumerator SeparatePositiveLSNegativeLS: A different limit switch type will be specified for the positive limit switch and the negative limit switch.

class LinearIntplOverrideType

This enumerator class enumerates the linear interpolation override types. The linear interpolation override type determines the method by which a linear interpolation overrides another linear or circular interpolation.

Public Types

enum T

Values:

enumerator Smoothing: A smoothing segment will be inserted between the original and override interpolations.

enumerator Blending: The motion from the two interpolations are blended.

enumerator FastBlending: The original interpolation transitions to a stop motion, and is blended with the motion from the override interpolation.

class LinearIntplProfileCalcMode

This enumerator class enumerates the linear interpolation profile calculation modes. This parameter determines how the profile parameters (velocity, acceleration, etc.) for linear interpolation are calculated from the maxVelocity, maxAcc, maxDec, maxJerkAcc, and maxJerkDec specified for each interpolating axis.

Public Types

enum T

Values:

enumerator AxisLimit

The maximum profile parameters specified for each axis will become the limits for that axis. The interpolation profile will be such that none of the interpolating axes will exceed any of the limits set for that axis (0 can be specified to indicate no limit for that axis).

In this profile calculation mode, maxVelocity, maxAcc, maxDec, maxJerkAcc, and maxJerkDec can be set to 0 to indicate no limit for that axis.

In this profile calculation mode, the velocity of the profile can be set to 0 as long as at least one axis has a non-zero maxVelocity. The same is true for acc and maxAcc, and dec and maxDec. For profiles that use these parameters, the same is true for jerkAcc and maxJerkAcc, and jerkDec and maxJerkDec.

enumerator MatchSlowestAxis

The linear interpolation will follow the motion of one of the interpolating axes. That axis will execute motion according to the maximum profile parameters specified for that axis, and the other axes will interpolate. The axis that will be followed is the one whose motion will cause the interpolation velocity to be the slowest.

In this profile calculation mode, maxVelocity, maxAcc, and maxDec must be non-zero for all interpolating axes. For profiles that use these parameters, the same is true for maxJerkAcc and maxJerkDec.

In this profile calculation mode, the velocity, acc, dec, jerkAcc, and jerkDec values of the profile are ignored.

enumerator MatchFarthestAxis

The linear interpolation will follow the motion of one of the interpolating axes. That axis will execute motion according to the maximum profile parameters specified for that axis, and the other axes will interpolate. The axis that will be followed is the one which is farthest from its target position.

In this profile calculation mode, maxVelocity, maxAcc, and maxDec must be non-zero for all interpolating axes. For profiles that use these parameters, the same is true for maxJerkAcc and maxJerkDec.

In this profile calculation mode, the velocity, acc, dec, jerkAcc, and jerkDec values of the profile are ignored.

class MasterDesyncType

This enumerator class enumerates the actions to take for the master axis when one of the slave axes becomes de-synchronized.

Public Types

enum T

Values:

enumerator NoAction: No additional action is taken.

enumerator ServoOff: A servo off signal is sent to the master axis.

enumerator DecServoOff: The master axis will decelerate to a stop at the deceleration specified in the Master Desync Dec parameter, and then a servo off signal will be sent to the master axis.

enumerator Dec: The master axis will decelerate to a stop at the deceleration specified in the Master Desync Dec parameter.

class MotionParam

This class contains motion parameters of an axis. See Motion Parameters for a description of each parameter.

Public Functions

MotionParam()

Public Members

double quickStopDec: See Quick Stop Dec.

ProhibitOvertravelType::T prohibitOvertravel: See Prohibit Overtravel.

LinearIntplOverrideType::T linearIntplOverrideType: See Linear Intpl Override Type.

unsigned int linearIntplOverrideSmoothPercent: See Linear Intpl Override Smooth Percent.

CircularIntplOverrideType::T circularIntplOverrideType: See Circular Intpl Override Type.

bool interruptedIntplUseQuickStop: See Interrupted Intpl Use Quick Stop.

bool singleTurnReduceToHalfTurn: See Single Turn Reduce To Half Turn.

bool enableGlobalStartingVelocity: See Enable Global Starting Velocity.

double globalStartingVelocity: See Global Starting Velocity.

bool enableGlobalEndVelocity: See Enable Global End Velocity.

double globalEndVelocity: See Global End Velocity.

bool enableGlobalMinVelocity: See Enable Global Min Velocity.

double globalMinVelocity: See Global Min Velocity.

bool enableGlobalMovingAverageProfileTimeMilliseconds: See Enable Global Moving Average Profile Time Milliseconds.

double globalMovingAverageProfileTimeMilliseconds: See Global Moving Average Profile Time Milliseconds.

bool apiWaitUntilMotionStart: See API Wait Until Motion Start.

LinearIntplProfileCalcMode::T linearIntplProfileCalcMode: See Linear Intpl Profile Calc Mode.

class ProhibitOvertravelType

This enumerator class enumerates the prohibit overtravel types. Depending on this parameter, profile parameters (such as velocity, deceleration, etc.) may be changed from the specified values to prevent overtravel beyond the target position.

Public Types

enum T

Values:

enumerator Disabled: Prohibit overtravel is disabled. Profile parameters will not be changed from the specified values, even if it will cause the axis to travel beyond the target position.

enumerator ChangeDeceleration: The deceleration will be increased from the specified value to prevent the axis from overtraveling beyond the target position. The increase in deceleration will be the minimum possible to prevent overtravel.

enumerator ChangeInitialVelocity: The initial velocity will be decreased to prevent the axis from overtraveling beyond the target position. This can cause the axis velocity to suddenly drop when executing override commands that would cause overtravel.

class SlaveDesyncType

This enumerator class enumerates the actions to take for the slave axis when the master axis becomes de-synchronized.

Public Types

enum T

Values:

enumerator NoAction: No additional action is taken.

enumerator ServoOff: A servo off signal is sent to the slave axis.

enumerator ResolveSync: Resolve sync control and set the slave axis to Idle state without turning the servo off.

class SyncCompensationMode

This enumerator class enumerates the sync compensation modes. The sync compensation mode determines any compensation to apply to improve the sync control between the master and slave axes.

Public Types

enum T

Values:

enumerator None: No additional sync compensation will be applied.

enumerator VelocityOffset: The difference between the master axis feedback position and the slave axis feedback position will be multiplied by the Sync Gain and added to the velocity loop of the slave axis.

enumerator SymmetricVelocityOffset: The difference between the master axis feedback position and the slave axis feedback position will be multiplied by the Sync Gain and added to the velocity loop of the slave axis and subtracted from the velocity loop of the master axis.

class SyncParam

This class contains sync parameters of an axis. See Sync Parameters for a description of each parameter.

Public Functions

SyncParam()

Public Members

int inSyncWidth: See In Sync Width.

double syncGain: See Sync Gain.

SyncCompensationMode::T syncCompensationMode: See Sync Compensation Mode.

MasterDesyncType::T masterDesyncType: See Master Desync Type.

double masterDesyncDec: See Master Desync Dec.

SlaveDesyncType::T slaveDesyncType: See Slave Desync Type.

double slaveDesyncDec: See Slave Desync Dec.

bool matchPos: See Match Pos.

class SystemParam

This class contains system parameters for the entire system. See Parameters for a description of each parameter.

Public Functions

SystemParam()

Public Members

FeedbackParam feedbackParam[constants::maxAxes]: Feedback parameters for all axes.

HomeParam homeParam[constants::maxAxes]: Home parameters for all axes.

LimitParam limitParam[constants::maxAxes]: Limit parameters for all axes.

MotionParam motionParam[constants::maxAxes]: Motion parameters for all axes.

AlarmParam alarmParam[constants::maxAxes]: Alarm parameters for all axes.

SyncParam syncParam[constants::maxAxes]: Sync parameters for all axes.

FlightRecorderParam flightRecorderParam: Flight recorder parameters for the system.

EmergencyStopParam emergencyStopParam: Emergency stop parameters for the system.

class VelocityFollowingErrorAlarmType

This enumerator class enumerates the actions to take when a velocity following error alarm occurs (when the difference between the velocity command and feedback exceeds a set value).

Public Types

enum T

Values:

enumerator NoAction: The velocity following error alarm will be disabled and never be triggered.

enumerator QuickStop: The axis will decelerate to a stop at the deceleration set in Quick Stop Dec. The axis will not accept new commands until the velocity following error alarm is cleared.

enumerator Warning: The axis will trigger a velocity following error alarm, but perform no further action. The axis will continue to accept new commands even while the following error alarm remains on.

class VelocityMonitorSource

This enumerator class specifies the source for the actual velocity status.

Public Types

enum T

Values:

enumerator UseVelocityFeedback: The actual velocity status is calculated from velocity feedback from the servo. If the configuration is such that the servo does not return velocity feedback, then the actual velocity status is calculated from the position feedback instead.

enumerator CalculateFromPositionFeedback: The actual velocity status is calculated from the position feedback. A weighted average of the position feedback over several cycles is used to calculate the actual velocity status.