Class EventControl::Event

Nested Relationships

This class is a nested type of Class EventControl.

Nested Types

Class Documentation

class Event

This class defines an event.

Public Functions

Event()

Public Members

EventInputFunction::T inputFunction

The input function of the event. The struct of the “input” union that is used depends on the selection of the input function.

union wmx3Api::EventControl::Event::InputFunctionArguments input

Arguments for the input function of the event.

EventOutputFunction::T outputFunction

The output function of the event. The struct of the “output” union that is used depends on the selection of the output function.

union wmx3Api::EventControl::Event::OutputFunctionArguments output

Arguments for the output function of the event.

unsigned char enabled

0: Event is disabled, 1: Event is enabled. If this class is used as a parameter for the SetEvent function, this value determines the initial enabled state of the event. If this class is used as a parameter for the GetEvent function, this value will contain the current enabled state of the event.

union InputFunctionArguments

This union defines the structs containing arguments for each input function type.

Public Functions

InputFunctionArguments()

Public Members

struct wmx3Api::EventControl::Event::InputFunctionArguments::None none
struct wmx3Api::EventControl::Event::InputFunctionArguments::IOBit ioBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::NotIOBit notIOBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::OrIOBit orIOBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::AndIOBit andIOBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::XorIOBit xorIOBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::NandIOBit nandIOBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::NorIOBit norIOBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::XnorIOBit xnorIOBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::DelayIOBit delayIOBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::MBit mBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::NotMBit notMBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::OrMBit orMBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::AndMBit andMBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::XorMBit xorMBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::NandMBit nandMBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::NorMBit norMBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::XnorMBit xnorMBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::DelayMBit delayMBit
struct wmx3Api::EventControl::Event::InputFunctionArguments::AnotherEvent anotherEvent
struct wmx3Api::EventControl::Event::InputFunctionArguments::DelayAnotherEvent delayAnotherEvent
struct wmx3Api::EventControl::Event::InputFunctionArguments::EqualPos equalPos
struct wmx3Api::EventControl::Event::InputFunctionArguments::GreaterPos greaterPos
struct wmx3Api::EventControl::Event::InputFunctionArguments::LessPos lessPos
struct wmx3Api::EventControl::Event::InputFunctionArguments::EqualVelocity equalVelocity
struct wmx3Api::EventControl::Event::InputFunctionArguments::GreaterVelocity greaterVelocity
struct wmx3Api::EventControl::Event::InputFunctionArguments::LessVelocity lessVelocity
struct wmx3Api::EventControl::Event::InputFunctionArguments::EqualTrq equalTrq
struct wmx3Api::EventControl::Event::InputFunctionArguments::GreaterTrq greaterTrq
struct wmx3Api::EventControl::Event::InputFunctionArguments::LessTrq lessTrq
struct wmx3Api::EventControl::Event::InputFunctionArguments::OpState opState
struct wmx3Api::EventControl::Event::InputFunctionArguments::PosSET posSET
struct wmx3Api::EventControl::Event::InputFunctionArguments::DelayedPosSET delayedPosSET
struct wmx3Api::EventControl::Event::InputFunctionArguments::CommandDistributedEnd commandDistributedEnd
struct wmx3Api::EventControl::Event::InputFunctionArguments::RemainingTime remainingTime
struct wmx3Api::EventControl::Event::InputFunctionArguments::RemainingDistance remainingDistance
struct wmx3Api::EventControl::Event::InputFunctionArguments::CompletedTime completedTime
struct wmx3Api::EventControl::Event::InputFunctionArguments::CompletedDistance completedDistance
struct AndIOBit

This structure contains arguments for the AndIOBit input function type.

Public Members

unsigned int byteAddress[2]

The byte address of the first I/O bit is specified in byteAddress[0]. The byte address of the second I/O bit is specified in byteAddress[1].

unsigned char bitAddress[2]

The bit address of the first I/O bit is specified in bitAddress[0]. The bit address of the second I/O bit is specified in bitAddress[1].

unsigned char invert[2]

If invert[0] is set to 1, the value of the first I/O bit will be inverted when calculating the event trigger. If invert[0] is set to 0, the first I/O bit is processed normally. If invert[1] is set to 1, the value of the second I/O bit will be inverted when calculating the event trigger. If invert[1] is set to 0, the second I/O bit is processed normally.

IOSourceType::T ioSourceType[2]

Determines the source of the I/O (input or output). ioSourceType[0] corresponds to the first I/O bit and ioSourceType[1] corresponds to the second I/O bit.

struct AndMBit

This structure contains arguments for the AndMBit input function type.

Public Members

unsigned int byteAddress[2]

The byte address of the first user memory bit is specified in byteAddress[0]. The byte address of the second user memory bit is specified in byteAddress[1].

unsigned char bitAddress[2]

The bit address of the first user memory bit is specified in bitAddress[0]. The bit address of the second user memory bit is specified in bitAddress[1].

unsigned char invert[2]

If invert[0] is set to 1, the value of the first user memory bit will be inverted when calculating the event trigger. If invert[0] is set to 0, the first user memory bit is processed normally. If invert[1] is set to 1, the value of the second user memory bit will be inverted when calculating the event trigger. If invert[1] is set to 0, the second user memory bit is processed normally.

struct AnotherEvent

This structure contains arguments for the AnotherEvent input function type.

Public Members

unsigned int eventID

The id number of the other event.

unsigned char invert

If set to 1, the result of the input function of the other event is inverted. This event will trigger when the other event would not trigger, and this event will not trigger when the other event would trigger. If set to 0, the result of the input function of the other event is processed normally.

struct CommandDistributedEnd

This structure contains arguments for the CommandDistributedEnd input function type.

Public Members

unsigned int axis

The axis to monitor.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis command distribution end signal is 0. If set to 0, the input function is processed normally.

struct CompletedDistance

This structure contains arguments for the CompletedDistance input function type.

Public Members

unsigned int axis

The axis to monitor.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis completed distance for the position command is less than the specified value. The event will not trigger if the axis is not executing a position command. If set to 0, the input function is processed normally.

double distance

The distance at which the event output will trigger, in user units.

unsigned char disableIdleAxisTrigger

If set to 1, the event will not trigger while the axis is in the Idle operation state. If set to 0, the event will trigger when the axis is in the Idle operation state.

struct CompletedTime

This structure contains arguments for the CompletedTime input function type.

Public Members

unsigned int axis

The axis to monitor.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis elapsed time for the position command is less than the specified value. The event will not trigger if the axis is not executing a position command. If set to 0, the input function is processed normally.

double timeMilliseconds

The time at which the event output will trigger, in units of milliseconds.

unsigned char disableIdleAxisTrigger

If set to 1, the event will not trigger while the axis is in the Idle operation state. If set to 0, the event will trigger when the axis is in the Idle operation state.

struct DelayAnotherEvent

This structure contains arguments for the DelayAnotherEvent input function type.

Public Members

unsigned int eventID

The id nunmber of the other event.

unsigned char invert

If set to 1, the result of the input function of the other event is inverted. This event will trigger when the other event would not trigger (continuously for the specified period of time), and this event will not trigger when the other event would trigger. If set to 0, the result of the input function of the other event is processed normally.

unsigned int delayTime

The delay time in units of milliseconds.

struct DelayedPosSET

This structure contains arguments for the DelayedPosSET input function type.

Public Members

unsigned int axis

The axis to monitor.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis delayed position set signal is 0. If set to 0, the input function is processed normally.

struct DelayIOBit

This structure contains arguments for the DelayIOBit input function type.

Public Members

unsigned int byteAddress

The byte address of the I/O bit.

unsigned char bitAddress

The bit address of the I/O bit.

unsigned char invert

If set to 1, the value of the I/O bit will be inverted when calculating the event trigger. The input function will trigger the event output when the I/O bit is continuously 0 for the specified period of time. If set to 0, the I/O bit is processed normally.

IOSourceType::T ioSourceType

Determines the source of the I/O (input or output).

unsigned int delayTime

The delay time in units of milliseconds.

struct DelayMBit

This structure contains arguments for the DelayMBit input function type.

Public Members

unsigned int byteAddress

The byte address of the user memory bit.

unsigned char bitAddress

The bit address of the user memory bit.

unsigned char invert

If set to 1, the value of the user memory bit will be inverted when calculating the event trigger. The input function will trigger the event output when the user memory bit is continuously 0 for the specified period of time. If set to 0, the user memory bit is processed normally.

unsigned int delayTime

The delay time in units of milliseconds.

struct EqualPos

This structure contains arguments for the EqualPos input function type.

Public Members

unsigned int axis

The axis to monitor.

double pos

The position at which the event output will trigger.

unsigned char disablePositiveDirection

If 0, process the input function normally. If 1, the event output will not trigger when the specified axis passes through the specified position while traveling in the positive direction.

unsigned char disableNegativeDirection

If 0, process the input function normally. If 1, the event output will not trigger when the specified axis passes through the specified position while traveling in the negative direction.

unsigned char useFeedback

If 0, the command position will be monitored. If 1, the feedback position will be monitored.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis is not at the specified position and is not passing the specified position. If set to 0, the input function is processed normally.

unsigned char enableTolerance

If set to 1, the tolerance parameter determines the difference between the specified position and the position of the axis below which the event output will trigger. If set to 0, the tolerance will be set to the default value of 0.5 user units.

double tolerance

If the enableTolerance parameter is set to 1, this parameter determines the difference between the specified position and the position of the axis below which the event output will trigger. This parameter is specified in units of user units.

struct EqualTrq

This structure contains arguments for the EqualTrq input function type.

Public Members

unsigned int axis

The axis to monitor.

double trq

The torque at which the event output will trigger. The torque is specified in units of [%].

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis is not at the specified torque. If set to 0, the input function is processed normally.

unsigned char enableTolerance

If set to 1, the tolerance parameter determines the difference between the specified torque and the torque of the axis below which the event output will trigger. If set to 0, the tolerance will be set to the default value of 0.5 (in 0.1% units, indicating a tolerance of 0.05%).

double tolerance

If the enableTolerance parameter is set to 1, this parameter determines the difference between the specified torque and the torque of the axis below which the event output will trigger. This parameter is specified in 0.1% units.

unsigned char enableUnsigned

If set to 1, the trq parameter is specified as an unsigned value. The input function is evaluated using the absolute value of the axis torque. If set to 0, the trq parameter is specified as a signed value. The input function is evaluated using the axis torque that is negative when applied in the negative direction.

struct EqualVelocity

This structure contains arguments for the EqualVelocity input function type.

Public Members

unsigned int axis

The axis to monitor.

double velocity

The velocity at which the event output will trigger.

unsigned char useFeedback

If 0, the command velocity will be monitored. If 1, the feedback velocity will be monitored.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis is not at the specified velocity. If set to 0, the input function is processed normally.

unsigned char enableTolerance

If set to 1, the tolerance parameter determines the difference between the specified velocity and the velocity of the axis below which the event output will trigger. If set to 0, the tolerance will be set to the default value of 0.5 user units per second.

double tolerance

If the enableTolerance parameter is set to 1, this parameter determines the difference between the specified velocity and the velocity of the axis below which the event output will trigger. This parameter is specified in units of user units per second.

unsigned char enableUnsigned

If set to 1, the velocity parameter is specified as an unsigned value. The input function is evaluated using the absolute value of the axis velocity. If set to 0, the velocity parameter is specified as a signed value. The input function is evaluated using the axis velocity that is negative when traveling in the negative direction.

struct GreaterPos

This structure contains arguments for the GreaterPos input function type.

Public Members

unsigned int axis

The axis to monitor.

double pos

The position at which the event output will trigger.

unsigned char disablePositiveDirection

If 0, process the input function normally. If 1, the event output will not trigger while the axis is stationary or traveling in the positive direction.

unsigned char disableNegativeDirection

If 0, process the input function normally. If 1, the event output will not trigger while the axis is stationary or traveling in the negative direction.

unsigned char useFeedback

If 0, the command position will be monitored. If 1, the feedback position will be monitored.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis position is not greater than the specified position. If set to 0, the input function is processed normally.

struct GreaterTrq

This structure contains arguments for the GreaterTrq input function type.

Public Members

unsigned int axis

The axis to monitor.

double trq

The torque at which the event output will trigger. The torque is specified in units of [%].

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis torque is not greater than the specified torque. If set to 0, the input function is processed normally.

unsigned char enableUnsigned

If set to 1, the trq parameter is specified as an unsigned value. The input function is evaluated using the absolute value of the axis torque. If set to 0, the trq parameter is specified as a signed value. The input function is evaluated using the axis torque that is negative when applied in the negative direction.

struct GreaterVelocity

This structure contains arguments for the GreaterVelocity input function type.

Public Members

unsigned int axis

The axis to monitor.

double velocity

The velocity at which the event output will trigger.

unsigned char useFeedback

If 0, the command velocity will be monitored. If 1, the feedback velocity will be monitored.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis velocity is not greater than the specified velocity. If set to 0, the input function is processed normally.

unsigned char enableUnsigned

If set to 1, the velocity parameter is specified as an unsigned value. The input function is evaluated using the absolute value of the axis velocity. If set to 0, the velocity parameter is specified as a signed value. The input function is evaluated using the axis velocity that is negative when traveling in the negative direction.

struct IOBit

This structure contains arguments for the IOBit input function type.

Public Members

unsigned int byteAddress

The byte address of the I/O bit.

unsigned char bitAddress

The bit address of the I/O bit.

unsigned char invert

If set to 1, the value of the I/O bit will be inverted when calculating the event trigger. The input function will trigger the event output when the I/O bit is 0. If set to 0, the I/O bit is processed normally.

IOSourceType::T ioSourceType

Determines the source of the I/O (input or output).

struct LessPos

This structure contains arguments for the LessPos input function type.

Public Members

unsigned int axis

The axis to monitor.

double pos

The position at which the event output will trigger.

unsigned char disablePositiveDirection

If 0, process the input function normally. If 1, the event output will not trigger while the axis is stationary or traveling in the positive direction.

unsigned char disableNegativeDirection

If 0, process the input function normally. If 1, the event output will not trigger while the axis is stationary or traveling in the negative direction.

unsigned char useFeedback

If 0, the command position will be monitored. If 1, the feedback position will be monitored.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis position is not less than the specified position. If set to 0, the input function is processed normally.

struct LessTrq

This structure contains arguments for the LessTrq input function type.

Public Members

unsigned int axis

The axis to monitor.

double trq

The torque at which the event output will trigger. The torque is specified in units of [%].

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis torque is not less than the specified torque. If set to 0, the input function is processed normally.

unsigned char enableUnsigned

If set to 1, the trq parameter is specified as an unsigned value. The input function is evaluated using the absolute value of the axis torque. If set to 0, the trq parameter is specified as a signed value. The input function is evaluated using the axis torque that is negative when applied in the negative direction.

struct LessVelocity

This structure contains arguments for the LessVelocity input function type.

Public Members

unsigned int axis

The axis to monitor.

double velocity

The velocity at which the event output will trigger.

unsigned char useFeedback

If 0, the command velocity will be monitored. If 1, the feedback velocity will be monitored.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis velocity is not less than the specified velocity. If set to 0, the input function is processed normally.

unsigned char enableUnsigned

If set to 1, the velocity parameter is specified as an unsigned value. The input function is evaluated using the absolute value of the axis velocity. If set to 0, the velocity parameter is specified as a signed value. The input function is evaluated using the axis velocity that is negative when traveling in the negative direction.

struct MBit

This structure contains arguments for the MBit input function type.

Public Members

unsigned int byteAddress

The byte address of the user memory bit.

unsigned char bitAddress

The bit address of the user memory bit.

unsigned char invert

If set to 1, the value of the user memory bit will be inverted when calculating the event trigger. The input function will trigger the event output when the user memory bit is 0. If set to 0, the user memory bit is processed normally.

struct NandIOBit

This structure contains arguments for the NandIOBit input function type.

Public Members

unsigned int byteAddress[2]

The byte address of the first I/O bit is specified in byteAddress[0]. The byte address of the second I/O bit is specified in byteAddress[1].

unsigned char bitAddress[2]

The bit address of the first I/O bit is specified in bitAddress[0]. The bit address of the second I/O bit is specified in bitAddress[1].

unsigned char invert[2]

If invert[0] is set to 1, the value of the first I/O bit will be inverted when calculating the event trigger. If invert[0] is set to 0, the first I/O bit is processed normally. If invert[1] is set to 1, the value of the second I/O bit will be inverted when calculating the event trigger. If invert[1] is set to 0, the second I/O bit is processed normally.

IOSourceType::T ioSourceType[2]

Determines the source of the I/O (input or output). ioSourceType[0] corresponds to the first I/O bit and ioSourceType[1] corresponds to the second I/O bit.

struct NandMBit

This structure contains arguments for the NandMBit input function type.

Public Members

unsigned int byteAddress[2]

The byte address of the first user memory bit is specified in byteAddress[0]. The byte address of the second user memory bit is specified in byteAddress[1].

unsigned char bitAddress[2]

The bit address of the first user memory bit is specified in bitAddress[0]. The bit address of the second user memory bit is specified in bitAddress[1].

unsigned char invert[2]

If invert[0] is set to 1, the value of the first user memory bit will be inverted when calculating the event trigger. If invert[0] is set to 0, the first user memory bit is processed normally. If invert[1] is set to 1, the value of the second user memory bit will be inverted when calculating the event trigger. If invert[1] is set to 0, the second user memory bit is processed normally.

struct None

This structure contains arguments for the None input function type.

Public Members

unsigned int reserved

Reserved.

struct NorIOBit

This structure contains arguments for the NorIOBit input function type.

Public Members

unsigned int byteAddress[2]

The byte address of the first I/O bit is specified in byteAddress[0]. The byte address of the second I/O bit is specified in byteAddress[1].

unsigned char bitAddress[2]

The bit address of the first I/O bit is specified in bitAddress[0]. The bit address of the second I/O bit is specified in bitAddress[1].

unsigned char invert[2]

If invert[0] is set to 1, the value of the first I/O bit will be inverted when calculating the event trigger. If invert[0] is set to 0, the first I/O bit is processed normally. If invert[1] is set to 1, the value of the second I/O bit will be inverted when calculating the event trigger. If invert[1] is set to 0, the second I/O bit is processed normally.

IOSourceType::T ioSourceType[2]

Determines the source of the I/O (input or output). ioSourceType[0] corresponds to the first I/O bit and ioSourceType[1] corresponds to the second I/O bit.

struct NorMBit

This structure contains arguments for the NorMBit input function type.

Public Members

unsigned int byteAddress[2]

The byte address of the first user memory bit is specified in byteAddress[0]. The byte address of the second user memory bit is specified in byteAddress[1].

unsigned char bitAddress[2]

The bit address of the first user memory bit is specified in bitAddress[0]. The bit address of the second user memory bit is specified in bitAddress[1].

unsigned char invert[2]

If invert[0] is set to 1, the value of the first user memory bit will be inverted when calculating the event trigger. If invert[0] is set to 0, the first user memory bit is processed normally. If invert[1] is set to 1, the value of the second user memory bit will be inverted when calculating the event trigger. If invert[1] is set to 0, the second user memory bit is processed normally.

struct NotIOBit

This structure contains arguments for the NotIOBit input function type.

Public Members

unsigned int byteAddress

The byte address of the I/O bit.

unsigned char bitAddress

The bit address of the I/O bit.

unsigned char invert

If set to 1, the value of the I/O bit will be inverted when calculating the event trigger. The input function will trigger the event output when the I/O bit is 1. If set to 0, the I/O bit is processed normally.

IOSourceType::T ioSourceType

Determines the source of the I/O (input or output).

struct NotMBit

This structure contains arguments for the NotMBit input function type.

Public Members

unsigned int byteAddress

The byte address of the user memory bit.

unsigned char bitAddress

The bit address of the user memory bit.

unsigned char invert

If set to 1, the value of the user memory bit will be inverted when calculating the event trigger. The input function will trigger the event output when the user memory bit is 1. If set to 0, the user memory bit is processed normally.

struct OpState

This structure contains arguments for the OpState input function type.

Public Members

unsigned int axis

The axis to monitor.

OperationState::T opState

The operation state at which the event output will trigger.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis operation state is not the specified operation state. If set to 0, the input function is processed normally.

struct OrIOBit

This structure contains arguments for the OrIOBit input function type.

Public Members

unsigned int byteAddress[2]

The byte address of the first I/O bit is specified in byteAddress[0]. The byte address of the second I/O bit is specified in byteAddress[1].

unsigned char bitAddress[2]

The bit address of the first I/O bit is specified in bitAddress[0]. The bit address of the second I/O bit is specified in bitAddress[1].

unsigned char invert[2]

If invert[0] is set to 1, the value of the first I/O bit will be inverted when calculating the event trigger. If invert[0] is set to 0, the first I/O bit is processed normally. If invert[1] is set to 1, the value of the second I/O bit will be inverted when calculating the event trigger. If invert[1] is set to 0, the second I/O bit is processed normally.

IOSourceType::T ioSourceType[2]

Determines the source of the I/O (input or output). ioSourceType[0] corresponds to the first I/O bit and ioSourceType[1] corresponds to the second I/O bit.

struct OrMBit

This structure contains arguments for the OrMBit input function type.

Public Members

unsigned int byteAddress[2]

The byte address of the first user memory bit is specified in byteAddress[0]. The byte address of the second user memory bit is specified in byteAddress[1].

unsigned char bitAddress[2]

The bit address of the first user memory bit is specified in bitAddress[0]. The bit address of the second user memory bit is specified in bitAddress[1].

unsigned char invert[2]

If invert[0] is set to 1, the value of the first user memory bit will be inverted when calculating the event trigger. If invert[0] is set to 0, the first user memory bit is processed normally. If invert[1] is set to 1, the value of the second user memory bit will be inverted when calculating the event trigger. If invert[1] is set to 0, the second user memory bit is processed normally.

struct PosSET

This structure contains arguments for the PosSET input function type.

Public Members

unsigned int axis

The axis to monitor.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis position set signal is 0. If set to 0, the input function is processed normally.

struct RemainingDistance

This structure contains arguments for the RemainingDistance input function type.

Public Members

unsigned int axis

The axis to monitor.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis remaining distance for the position command is greater than the specified value. The event will not trigger if the axis is not executing a position command. If set to 0, the input function is processed normally.

double distance

The distance at which the event output will trigger, in user units.

unsigned char disableIdleAxisTrigger

If set to 1, the event will not trigger while the axis is in the Idle operation state. If set to 0, the event will trigger when the axis is in the Idle operation state.

struct RemainingTime

This structure contains arguments for the RemainingTime input function type.

Public Members

unsigned int axis

The axis to monitor.

unsigned char invert

If set to 1, the logic of the input function is inverted. The event will trigger when the axis remaining time for the position command is greater than the specified value. The event will not trigger if the axis is not executing a position command. If set to 0, the input function is processed normally.

double timeMilliseconds

The time at which the event output will trigger, in units of milliseconds.

unsigned char disableIdleAxisTrigger

If set to 1, the event will not trigger while the axis is in the Idle operation state. If set to 0, the event will trigger when the axis is in the Idle operation state.

struct XnorIOBit

This structure contains arguments for the XnorIOBit input function type.

Public Members

unsigned int byteAddress[2]

The byte address of the first I/O bit is specified in byteAddress[0]. The byte address of the second I/O bit is specified in byteAddress[1].

unsigned char bitAddress[2]

The bit address of the first I/O bit is specified in bitAddress[0]. The bit address of the second I/O bit is specified in bitAddress[1].

unsigned char invert[2]

If invert[0] is set to 1, the value of the first I/O bit will be inverted when calculating the event trigger. If invert[0] is set to 0, the first I/O bit is processed normally. If invert[1] is set to 1, the value of the second I/O bit will be inverted when calculating the event trigger. If invert[1] is set to 0, the second I/O bit is processed normally.

IOSourceType::T ioSourceType[2]

Determines the source of the I/O (input or output). ioSourceType[0] corresponds to the first I/O bit and ioSourceType[1] corresponds to the second I/O bit.

struct XnorMBit

This structure contains arguments for the XnorMBit input function type.

Public Members

unsigned int byteAddress[2]

The byte address of the first user memory bit is specified in byteAddress[0]. The byte address of the second user memory bit is specified in byteAddress[1].

unsigned char bitAddress[2]

The bit address of the first user memory bit is specified in bitAddress[0]. The bit address of the second user memory bit is specified in bitAddress[1].

unsigned char invert[2]

If invert[0] is set to 1, the value of the first user memory bit will be inverted when calculating the event trigger. If invert[0] is set to 0, the first user memory bit is processed normally. If invert[1] is set to 1, the value of the second user memory bit will be inverted when calculating the event trigger. If invert[1] is set to 0, the second user memory bit is processed normally.

struct XorIOBit

This structure contains arguments for the XorIOBit input function type.

Public Members

unsigned int byteAddress[2]

The byte address of the first I/O bit is specified in byteAddress[0]. The byte address of the second I/O bit is specified in byteAddress[1].

unsigned char bitAddress[2]

The bit address of the first I/O bit is specified in bitAddress[0]. The bit address of the second I/O bit is specified in bitAddress[1].

unsigned char invert[2]

If invert[0] is set to 1, the value of the first I/O bit will be inverted when calculating the event trigger. If invert[0] is set to 0, the first I/O bit is processed normally. If invert[1] is set to 1, the value of the second I/O bit will be inverted when calculating the event trigger. If invert[1] is set to 0, the second I/O bit is processed normally.

IOSourceType::T ioSourceType[2]

Determines the source of the I/O (input or output). ioSourceType[0] corresponds to the first I/O bit and ioSourceType[1] corresponds to the second I/O bit.

struct XorMBit

This structure contains arguments for the XorMBit input function type.

Public Members

unsigned int byteAddress[2]

The byte address of the first user memory bit is specified in byteAddress[0]. The byte address of the second user memory bit is specified in byteAddress[1].

unsigned char bitAddress[2]

The bit address of the first user memory bit is specified in bitAddress[0]. The bit address of the second user memory bit is specified in bitAddress[1].

unsigned char invert[2]

If invert[0] is set to 1, the value of the first user memory bit will be inverted when calculating the event trigger. If invert[0] is set to 0, the first user memory bit is processed normally. If invert[1] is set to 1, the value of the second user memory bit will be inverted when calculating the event trigger. If invert[1] is set to 0, the second user memory bit is processed normally.

union OutputFunctionArguments

This union defines the structs containing arguments for each output function type.

Public Functions

OutputFunctionArguments()

Public Members

struct wmx3Api::EventControl::Event::OutputFunctionArguments::None none
struct wmx3Api::EventControl::Event::OutputFunctionArguments::SetIOOutBit setIOOutBit
struct wmx3Api::EventControl::Event::OutputFunctionArguments::SetMBit setMBit
struct wmx3Api::EventControl::Event::OutputFunctionArguments::EnableAnotherEvent enableAnotherEvent
struct wmx3Api::EventControl::Event::OutputFunctionArguments::StopSingleAxis stopSingleAxis
struct wmx3Api::EventControl::Event::OutputFunctionArguments::StartSinglePos startSinglePos
struct wmx3Api::EventControl::Event::OutputFunctionArguments::StartSingleMov startSingleMov
struct wmx3Api::EventControl::Event::OutputFunctionArguments::StartMultiplePos startMultiplePos
struct wmx3Api::EventControl::Event::OutputFunctionArguments::StartMultipleMov startMultipleMov
struct wmx3Api::EventControl::Event::OutputFunctionArguments::LinearIntplPos linearIntplPos
struct wmx3Api::EventControl::Event::OutputFunctionArguments::LinearIntplMov linearIntplMov
struct wmx3Api::EventControl::Event::OutputFunctionArguments::StartAPIBuffer startAPIBuffer
struct wmx3Api::EventControl::Event::OutputFunctionArguments::ExecQuickStopSingleAxis execQuickStopSingleAxis
struct wmx3Api::EventControl::Event::OutputFunctionArguments::OverrideVelSingleAxis overrideVelSingleAxis
struct wmx3Api::EventControl::Event::OutputFunctionArguments::ExecEStop execEStop
struct wmx3Api::EventControl::Event::OutputFunctionArguments::TriggerFlightRecorder triggerFlightRecorder
struct wmx3Api::EventControl::Event::OutputFunctionArguments::ResetFlightRecorder resetFlightRecorder
struct EnableAnotherEvent

This structure contains arguments for the EnableAnotherEvent output function type.

Public Members

unsigned int eventID

The event ID of the event to enable or disable.

unsigned char invert

If set to 1, the specified event is disabled when this event is triggered. If set to 0, the specified event is enabled normally.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

unsigned char setOffState

If set to 1, the specified event is disabled when the input function is FALSE (i.e. when the event is not triggered), in addition to the specified event being enabled when the input function is TRUE (i.e. when the event is triggered). Once the specified event is disabled this way, this event output function will not disable it again until the input function becomes TRUE and then FALSE again (so the event enabled state may be overwritten by other functions). If the invert parameter is set to 1, the specified evevnt will be enabled when the input function is FALSE and disabled when the input function is TRUE. If this parameter is set to 0, the specified event will only be enabled when this event is triggered.

struct ExecEStop

This structure contains arguments for the ExecEStop output function type.

Public Members

EStopLevel::T eStopLevel

The level of the emergency stop.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

struct ExecQuickStopSingleAxis

This structure contains arguments for the ExecQuickStopSingleAxis output function type.

Public Members

int axis

The axis to stop.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

struct LinearIntplMov

This structure contains arguments for the LinearIntplMov output function type.

Public Members

unsigned int axisCount

The number of axes of the motion.

int axis[constants::maxEventInterpolationAxes]

The axes of the motion.

double target[constants::maxEventInterpolationAxes]

The target positions of the motion.

double maxVelocity[constants::maxEventInterpolationAxes]

The maximum velocities of the motion.

double maxAcc[constants::maxEventInterpolationAxes]

The maximum accelerations of the motion.

double maxDec[constants::maxEventInterpolationAxes]

The maximum decelerations of the motion.

double maxJerkAcc[constants::maxEventInterpolationAxes]

The maximum acceleration jerks of the motion.

double maxJerkDec[constants::maxEventInterpolationAxes]

The maximum deceleration jerks of the motion.

ProfileType::T type

The profile of the motion.

double velocity

The velocity of the motion.

double acc

The composite acceleration of the motion.

double dec

The composite deceleration of the motion.

double jerkAcc

The composite acceleration jerk of the motion.

double jerkDec

The composite deceleration jerk of the motion.

double jerkAccRatio

The composite acceleration jerk ratio of the motion.

double jerkDecRatio

The composite deceleration jerk ratio of the motion.

double accTime

The composite acceleration time of the motion.

double decTime

The composite deceleration time of the motion.

double startingVelocity

The composite starting velocity of the motion.

double endVelocity

The composite end velocity of the motion.

double secondVelocity

The composite second velocity of the motion.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

struct LinearIntplPos

This structure contains arguments for the LinearIntplPos output function type.

Public Members

unsigned int axisCount

The number of axes of the motion.

int axis[constants::maxEventInterpolationAxes]

The axes of the motion.

double target[constants::maxEventInterpolationAxes]

The target positions of the motion.

double maxVelocity[constants::maxEventInterpolationAxes]

The maximum velocities of the motion.

double maxAcc[constants::maxEventInterpolationAxes]

The maximum accelerations of the motion.

double maxDec[constants::maxEventInterpolationAxes]

The maximum decelerations of the motion.

double maxJerkAcc[constants::maxEventInterpolationAxes]

The maximum acceleration jerks of the motion.

double maxJerkDec[constants::maxEventInterpolationAxes]

The maximum deceleration jerks of the motion.

ProfileType::T type

The profile of the motion.

double velocity

The composite velocity of the motion.

double acc

The composite acceleration of the motion.

double dec

The composite deceleration of the motion.

double jerkAcc

The composite acceleration jerk of the motion.

double jerkDec

The composite deceleration jerk of the motion.

double jerkAccRatio

The composite acceleration jerk ratio of the motion.

double jerkDecRatio

The composite deceleration jerk ratio of the motion.

double accTime

The composite acceleration time of the motion.

double decTime

The composite deceleration time of the motion.

double startingVelocity

The composite starting velocity of the motion.

double endVelocity

The composite end velocity of the motion.

double secondVelocity

The composite second velocity of the motion.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

struct None

This structure contains arguments for the None output function type.

Public Members

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

struct OverrideVelSingleAxis

This structure contains arguments for the OverrideVelSingleAxis output function type.

Public Members

int axis

The axis to stop.

double velocity

The velocity of the motion.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

struct ResetFlightRecorder

This structure contains arguments for the ResetFlightRecorder output function type.

Public Members

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

struct SetIOOutBit

This structure contains arguments for the SetIOOutBit output function type.

Public Members

unsigned int byteAddress

The byte address of the I/O output bit.

unsigned char bitAddress

The bit address of the I/O output bit.

unsigned char invert

If set to 1, the I/O output bit will be set to 0 when the event is triggered. If set to 0, the I/O output bit will be set to 1 normally.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

unsigned char setOffState

If set to 1, the I/O output bit will be set to 0 when the input function is FALSE (i.e. when the event is not triggered), in addition to the I/O output bit being set to 1 when the input function is TRUE (i.e. when the event is triggered). Once the I/O output bit is set to 0 this way, this event output function will not be set it to 0 again until the input function becomes TRUE and then FALSE again (so the I/O output bit may be overwritten by other functions). If the invert parameter is set to 1, the I/O output bit will be set to 1 when the input function is FALSE and set 0 when the input function is TRUE. If this parameter is set to 0, the I/O output bit will only be set when the event is triggered.

struct SetMBit

This structure contains arguments for the SetMBit output function type.

Public Members

unsigned int byteAddress

The byte address of the user memory bit.

unsigned char bitAddress

The bit address of the user memory bit.

unsigned char invert

If set to 1, the user memory bit is set to 0 when the event is triggered. If set to 0, the user memory bit will be set to 1 normally.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

unsigned char setOffState

If set to 1, the user memory bit will be set to 0 when the input function is FALSE (i.e. when the event is not triggered), in addition to the user memory bit being set to 1 when the input function is TRUE (i.e. when the event is triggered). Once the user memory bit is set to 0 this way, this event output function will not be set it to 0 again until the input function becomes TRUE and then FALSE again (so the user memory bit may be overwritten by other functions). If the invert parameter is set to 1, the user memory bit will be set to 1 when the input function is FALSE and set to 0 when the input function is TRUE. If this parameter is set to 0, the user memory bit will only be set when the event is triggered.

struct StartAPIBuffer

This structure contains arguments for the StartAPIBuffer output function type.

Public Members

unsigned int channel

The channel of the API buffer.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

struct StartMultipleMov

This structure contains arguments for the StartMultipleMov output function type.

Public Members

unsigned int axisCount

The number of axes of the motion.

int axis[constants::maxEventInterpolationAxes]

The axes of the motion.

double target[constants::maxEventInterpolationAxes]

The target positions of the motion.

ProfileType::T type[constants::maxEventInterpolationAxes]

The profiles of the motion.

double velocity[constants::maxEventInterpolationAxes]

The velocities of the motion.

double acc[constants::maxEventInterpolationAxes]

The accelerations of the motion.

double dec[constants::maxEventInterpolationAxes]

The decelerations of the motion.

double jerkAcc[constants::maxEventInterpolationAxes]

The acceleration jerks of the motion.

double jerkDec[constants::maxEventInterpolationAxes]

The deceleration jerks of the motion.

double jerkAccRatio[constants::maxEventInterpolationAxes]

The acceleration jerk ratios of the motion.

double jerkDecRatio[constants::maxEventInterpolationAxes]

The deceleration jerk ratios of the motion.

double accTime[constants::maxEventInterpolationAxes]

The acceleration times of the motion.

double decTime[constants::maxEventInterpolationAxes]

The deceleration times of the motion.

double startingVelocity[constants::maxEventInterpolationAxes]

The starting velocities of the motion.

double endVelocity[constants::maxEventInterpolationAxes]

The end velocities of the motion.

double secondVelocity[constants::maxEventInterpolationAxes]

The second velocities of the motion.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

struct StartMultiplePos

This structure contains arguments for the StartMultiplePos output function type.

Public Members

unsigned int axisCount

The number of axes of the motion.

int axis[constants::maxEventInterpolationAxes]

The axes of the motion.

double target[constants::maxEventInterpolationAxes]

The target positions of the motion.

ProfileType::T type[constants::maxEventInterpolationAxes]

The profiles of the motion.

double velocity[constants::maxEventInterpolationAxes]

The velocities of the motion.

double acc[constants::maxEventInterpolationAxes]

The accelerations of the motion.

double dec[constants::maxEventInterpolationAxes]

The decelerations of the motion.

double jerkAcc[constants::maxEventInterpolationAxes]

The acceleration jerks of the motion.

double jerkDec[constants::maxEventInterpolationAxes]

The deceleration jerks of the motion.

double jerkAccRatio[constants::maxEventInterpolationAxes]

The acceleration jerk ratios of the motion.

double jerkDecRatio[constants::maxEventInterpolationAxes]

The deceleration jerk ratios of the motion.

double accTime[constants::maxEventInterpolationAxes]

The acceleration times of the motion.

double decTime[constants::maxEventInterpolationAxes]

The deceleration times of the motion.

double startingVelocity[constants::maxEventInterpolationAxes]

The starting velocities of the motion.

double endVelocity[constants::maxEventInterpolationAxes]

The end velocities of the motion.

double secondVelocity[constants::maxEventInterpolationAxes]

The second velocities of the motion.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

struct StartSingleMov

This structure contains arguments for the StartSingleMov output function type.

Public Members

int axis

The axis of the motion.

double target

The target position of the motion.

ProfileType::T type

The profile of the motion.

double velocity

The velocity of the motion.

double acc

The acceleration of the motion.

double dec

The deceleration of the motion.

double jerkAcc

The acceleration jerk of the motion.

double jerkDec

The deceleration jerk of the motion.

double jerkAccRatio

The acceleration jerk ratio of the motion.

double jerkDecRatio

The deceleration jerk ratio of the motion.

double accTime

The acceleration time of the motion.

double decTime

The deceleration time of the motion.

double startingVelocity

The starting velocity of the motion.

double endVelocity

The end velocity of the motion.

double secondVelocity

The second velocity of the motion.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

struct StartSinglePos

This structure contains arguments for the StartSinglePos output function type.

Public Members

int axis

The axis of the motion.

double target

The target position of the motion.

ProfileType::T type

The profile of the motion.

double velocity

The velocity of the motion.

double acc

The acceleration of the motion.

double dec

The deceleration of the motion.

double jerkAcc

The acceleration jerk of the motion.

double jerkDec

The deceleration jerk of the motion.

double jerkAccRatio

The acceleration jerk ratio of the motion.

double jerkDecRatio

The deceleration jerk ratio of the motion.

double accTime

The acceleration time of the motion.

double decTime

The deceleration time of the motion.

double startingVelocity

The starting velocity of the motion.

double endVelocity

The end velocity of the motion.

double secondVelocity

The second velocity of the motion.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

struct StopSingleAxis

This structure contains arguments for the StopSingleAxis output function type.

Public Members

int axis

The axis to stop.

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.

struct TriggerFlightRecorder

This structure contains arguments for the TriggerFlightRecorder output function type.

Public Members

unsigned char singleShot

If set to 1, the output function is single shot, and the entire event will be deleted after the output function is executed. If set to 0, the event is not deleted after the output function is executed, and may be triggered again.

unsigned char disableAfterActivate

If set to 1, the event will be disabled after the output function is executed. The event is not deleted, and it may be enabled again using the EnableEvent API function. If set to 0, the event remains enabled after the output function is executed.