Class Sync::SyncGroupStatus

Nested Relationships

This class is a nested type of Class Sync.

Class Documentation

class SyncGroupStatus

This class contains the current status of a sync group channel.

Public Functions

SyncGroupStatus()

Public Members

unsigned char enabled

0: Sync group control is disabled, 1: Sync group control is enabled.

unsigned char homeDone

0: Sync group has not finished homing, 1: Sync group has finished homing.

unsigned char catchUpError

0: Sync group has not encountered a catch up error, 1: Sync group has encountered a catch up error. A catch up error occurs during catch up motion when the difference between the command positions of the master and slave axes exceeds maxCatchUpDistance while the startupType is CatchUp and homing is complete.

unsigned char syncError

0: Sync group has not encountered a sync error, 1: Sync group has encountered a sync error. A sync error occurs when the difference between the feedback positions of the master and slave axes exceeds syncErrorTolerance after homing is complete.

unsigned char axisError

0: No sync group axis error is detected. 1: Sync group was enabled while one or more axes in the sync group is also in another enabled sync group.

unsigned char interruptError

0: No sync group interrupt error is detected. 1: Sync group was enabled while containing axes from different interrupts (cyclic handlers).