Class Torque 

Parameters:: pTrqCommand – [in] A pointer to an object of the TriggerTrqCommand class that contains the parameters of the triggered torque command.

WMX3APIFUNC StartTrq(TrqCommand *pTrqCommand, TriggerEvents *pTriggerEvents)

Start a triggered torque command with multiple trigger events.

This function will start a torque command. The OperationState of the axis will become Trq.

Remark

While executing a torque command, the axis will apply a constant torque in the specified direction. Depending on the load on the axis, the axis position may move during a torque command.

This function can only command axes in the Torque command mode. For additional information, see SetAxisCommandMode.

In order to use this function, the axis must be configured to receive cyclic torque commands. The trqCommandSupport status returned by GetStatus will contain TRUE if the axis is configured to receive cyclic torque commands. Even if the axis is configured to receive cyclic torque commands, this function will not work if the axis servo does not support torque commands.

The torque argument has units of %.

The motion will begin when the specified multi-event trigger condition is satisfied.

See also

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartTrq(unsigned int numCommands, TrqCommand *pTrqCommand)

Start torque commands for multiple axes.

This function executes the StartTrq API function for multiple axes.

Remark

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pTrqCommand – [in] A pointer to an array of objects of the TrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.

WMX3APIFUNC StartTrq(unsigned int numCommands, TriggerTrqCommand *pTrqCommand)

Start triggered torque commands for multiple axes.

This function executes the StartTrq API function for multiple axes.

Remark

The motion will begin for each axis when the specified trigger condition for that axis is satisfied.

See also

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pTrqCommand – [in] A pointer to an array of objects of the TriggerTrqCommand class that contain the parameters of the triggered torque commands. The number of elements in the array must equal numCommands.

WMX3APIFUNC StartTrq(unsigned int numCommands, TrqCommand *pTrqCommand, TriggerEvents *pTriggerEvents)

Start triggered torque commands with multiple trigger events for multiple axes.

This function executes the StartTrq API function for multiple axes.

Remark

The motion will begin for all axes when the specified multi-event trigger condition is satisfied.

See also

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pTrqCommand – [in] A pointer to an array of objects of the TrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartTrq(TrqCommand *pTrqCommand, double maxMotorSpeed)

Start a torque command and set the maximum motor speed.

This function is an overloaded function of StartTrq that also sets the Max Motor Speed parameter. The Max Motor Speed will be fixed to the specified value while this torque command executes. After the torque command is stopped or overridden, the Max Motor Speed will remain at the specified value until modified by another function. The Max Motor Speed parameter is specified in units of rpm.

Remark

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
maxMotorSpeed – [in] The maximum motor speed to apply.

WMX3APIFUNC StartTrq(TriggerTrqCommand *pTrqCommand, double maxMotorSpeed)

Start a triggered torque command and set the maximum motor speed.

This function is an overloaded function of StartTrq that also sets the Max Motor Speed parameter. The Max Motor Speed will be fixed to the specified value while this torque command executes. After the torque command is stopped or overridden, the Max Motor Speed will remain at the specified value until modified by another function. The Max Motor Speed parameter is specified in units of rpm.

Remark

Parameters:

pTrqCommand – [in] A pointer to an object of the TriggerTrqCommand class that contains the parameters of the triggered torque command.
maxMotorSpeed – [in] The maximum motor speed to apply.

WMX3APIFUNC StartTrq(TrqCommand *pTrqCommand, double maxMotorSpeed, TriggerEvents *pTriggerEvents)

Start a triggered torque command with multiple trigger events and set the maximum motor speed.

This function is an overloaded function of StartTrq that also sets the Max Motor Speed parameter. The Max Motor Speed will be fixed to the specified value while this torque command executes. After the torque command is stopped or overridden, the Max Motor Speed will remain at the specified value until modified by another function. The Max Motor Speed parameter is specified in units of rpm.

Remark

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
maxMotorSpeed – [in] The maximum motor speed to apply.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartTrq(unsigned int numCommands, TrqCommand *pTrqCommand, double *pMaxMotorSpeed)

Start torque commands for multiple axes and set the maximum motor speeds of the commanded axes.

This function executes the StartTrq API function for multiple axes.

Remark

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pTrqCommand – [in] A pointer to an array of objects of the TrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.
pMaxMotorSpeed – [in] A pointer to an array of maximum motor speeds to apply. Each maximum motor speed will be applied to the axis of the torque command of the same index.

WMX3APIFUNC StartTrq(unsigned int numCommands, TriggerTrqCommand *pTrqCommand, double *pMaxMotorSpeed)

Start triggered torque commands for multiple axes and set the maximum motor speeds of the commanded axes.

This function executes the StartTrq API function for multiple axes.

Remark

The motion will begin for each axis when the specified trigger condition for that axis is satisfied.

See also

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pTrqCommand – [in] A pointer to an array of objects of the TriggerTrqCommand class that contain the parameters of the triggered torque commands. The number of elements in the array must equal numCommands.
pMaxMotorSpeed – [in] A pointer to an array of maximum motor speeds to apply. Each maximum motor speed will be applied to the axis of the torque command of the same index.

WMX3APIFUNC StartTrq(unsigned int numCommands, TrqCommand *pTrqCommand, double *pMaxMotorSpeed, TriggerEvents *pTriggerEvents)

Start triggered torque commands with multiple trigger events for multiple axes and set the maximum motor speeds of the commanded axes.

This function executes the StartTrq API function for multiple axes.

Remark

The motion will begin for all axes when the specified multi-event trigger condition is satisfied.

See also

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pTrqCommand – [in] A pointer to an array of objects of the TrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.
pMaxMotorSpeed – [in] A pointer to an array of maximum motor speeds to apply. Each maximum motor speed will be applied to the axis of the torque command of the same index.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartRampTimeTrq(TrqCommand *pTrqCommand, unsigned int rampCycleTime)

Start a torque command in which the torque is changed over time.

This function will start a torque command. Compared to the StartTrq function, the torque will be changed over a number of communication cycles.

Remark

The Cycle Time Milliseconds status obtained with GetStatus can be used to find the number of milliseconds per communication cycle.

The torque will change at a constant rate over the specified time. This rate is dependent on the target torque and the current torque command of the axis. This function can command an axis that is already executing a torque command. Other torque commands can override this torque command, even while the torque is still changing.

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
rampCycleTime – [in] The number of communication cycles that the torque will be changed over. If 0 or 1 is specified, the torque will be changed over 1 cycle.

WMX3APIFUNC StartRampTimeTrq(TriggerTrqCommand *pTrqCommand, unsigned int rampCycleTime)

Start a triggered torque command in which the torque is changed over time.

This function will start a torque command. Compared to the StartTrq function, the torque will be changed over a number of communication cycles.

Remark

The Cycle Time Milliseconds status obtained with GetStatus can be used to find the number of milliseconds per communication cycle.

The torque will change at a constant rate over the specified time. This rate is dependent on the target torque and the current torque command of the axis. This function can command an axis that is already executing a torque command. Other torque commands can override this torque command, even while the torque is still changing.

The motion will begin when the specified trigger condition is satisfied.

See also

Parameters:

pTrqCommand – [in] A pointer to an object of the TriggerTrqCommand class that contains the parameters of the triggered torque command.
rampCycleTime – [in] The number of communication cycles that the torque will be changed over. If 0 or 1 is specified, the torque will be changed over 1 cycle.

WMX3APIFUNC StartRampTimeTrq(TrqCommand *pTrqCommand, unsigned int rampCycleTime, TriggerEvents *pTriggerEvents)

Start a triggered torque command with multiple trigger events in which the torque is changed over time.

This function will start a torque command. Compared to the StartTrq function, the torque will be changed over a number of communication cycles.

Remark

The Cycle Time Milliseconds status obtained with GetStatus can be used to find the number of milliseconds per communication cycle.

The torque will change at a constant rate over the specified time. This rate is dependent on the target torque and the current torque command of the axis. This function can command an axis that is already executing a torque command. Other torque commands can override this torque command, even while the torque is still changing.

The motion will begin when the specified multi-event trigger condition is satisfied.

See also

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
rampCycleTime – [in] The number of communication cycles that the torque will be changed over. If 0 or 1 is specified, the torque will be changed over 1 cycle.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartRampTimeTrq(unsigned int numCommands, RampTimeTrqCommand *pRampTimeTrqCommand)

Start torque commands in which the torque is changed over time for multiple axes.

This function executes the StartRampTimeTrq API function for multiple axes.

Remark

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampTimeTrqCommand – [in] A pointer to an array of objects of the RampTimeTrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.

WMX3APIFUNC StartRampTimeTrq(unsigned int numCommands, TriggerRampTimeTrqCommand *pRampTimeTrqCommand)

Start triggered torque commands in which the torque is changed over time for multiple axes.

This function executes the StartRampTimeTrq API function for multiple axes.

Remark

The motion will begin for each axis when the specified trigger condition for that axis is satisfied.

See also

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampTimeTrqCommand – [in] A pointer to an array of objects of the TriggerRampTimeTrqCommand class that contain the parameters of the triggered torque commands. The number of elements in the array must equal numCommands.

WMX3APIFUNC StartRampTimeTrq(unsigned int numCommands, RampTimeTrqCommand *pRampTimeTrqCommand, TriggerEvents *pTriggerEvents)

Start triggered torque commands with multiple trigger events in which the torque is changed over time for multiple axes.

This function executes the StartRampTimeTrq API function for multiple axes.

Remark

The motion will begin for all axes when the specified multi-event trigger condition is satisfied.

See also

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampTimeTrqCommand – [in] A pointer to an array of objects of the RampTimeTrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartRampTimeTrq(TrqCommand *pTrqCommand, unsigned int rampCycleTime, double maxMotorSpeed)

Start a torque command in which the torque is changed over time and set the maximum motor speed.

This function is an overloaded function of StartRampTimeTrq that also sets the Max Motor Speed parameter. The Max Motor Speed will be fixed to the specified value while this torque command executes. After the torque command is stopped or overridden, the Max Motor Speed will remain at the specified value until modified by another function. The Max Motor Speed parameter is specified in units of rpm.

Remark

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
rampCycleTime – [in] The number of communication cycles that the torque will be changed over. If 0 or 1 is specified, the torque will be changed over 1 cycle.
maxMotorSpeed – [in] The maximum motor speed to apply.

WMX3APIFUNC StartRampTimeTrq(TriggerTrqCommand *pTrqCommand, unsigned int rampCycleTime, double maxMotorSpeed)

Start a triggered torque command in which the torque is changed over time and set the maximum motor speed.

This function is an overloaded function of StartRampTimeTrq that also sets the Max Motor Speed parameter. The Max Motor Speed will be fixed to the specified value while this torque command executes. After the torque command is stopped or overridden, the Max Motor Speed will remain at the specified value until modified by another function. The Max Motor Speed parameter is specified in units of rpm.

Remark

Parameters:

pTrqCommand – [in] A pointer to an object of the TriggerTrqCommand class that contains the parameters of the triggered torque command.
rampCycleTime – [in] The number of communication cycles that the torque will be changed over. If 0 or 1 is specified, the torque will be changed over 1 cycle.
maxMotorSpeed – [in] The maximum motor speed to apply.

WMX3APIFUNC StartRampTimeTrq(TrqCommand *pTrqCommand, unsigned int rampCycleTime, double maxMotorSpeed, TriggerEvents *pTriggerEvents)

Start a triggered torque command with multiple trigger events in which the torque is changed over time and set the maximum motor speed.

This function is an overloaded function of StartRampTimeTrq that also sets the Max Motor Speed parameter. The Max Motor Speed will be fixed to the specified value while this torque command executes. After the torque command is stopped or overridden, the Max Motor Speed will remain at the specified value until modified by another function. The Max Motor Speed parameter is specified in units of rpm.

Remark

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
rampCycleTime – [in] The number of communication cycles that the torque will be changed over. If 0 or 1 is specified, the torque will be changed over 1 cycle.
maxMotorSpeed – [in] The maximum motor speed to apply.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartRampTimeTrq(unsigned int numCommands, RampTimeTrqCommand *pRampTimeTrqCommand, double *pMaxMotorSpeed)

Start torque commands in which the torque is changed over time for multiple axes and set the maximum motor speeds of the commanded axes.

This function executes the StartRampTimeTrq API function for multiple axes.

Remark

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampTimeTrqCommand – [in] A pointer to an array of objects of the RampTimeTrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.
pMaxMotorSpeed – [in] A pointer to an array of maximum motor speeds to apply. Each maximum motor speed will be applied to the axis of the torque command of the same index.

WMX3APIFUNC StartRampTimeTrq(unsigned int numCommands, TriggerRampTimeTrqCommand *pRampTimeTrqCommand, double *pMaxMotorSpeed)

Start triggered torque commands in which the torque is changed over time for multiple axes and set the maximum motor speeds of the commanded axes.

This function executes the StartRampTimeTrq API function for multiple axes.

Remark

The motion will begin for each axis when the specified trigger condition for that axis is satisfied.

See also

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampTimeTrqCommand – [in] A pointer to an array of objects of the TriggerRampTimeTrqCommand class that contain the parameters of the triggered torque commands. The number of elements in the array must equal numCommands.
pMaxMotorSpeed – [in] A pointer to an array of maximum motor speeds to apply. Each maximum motor speed will be applied to the axis of the torque command of the same index.

WMX3APIFUNC StartRampTimeTrq(unsigned int numCommands, RampTimeTrqCommand *pRampTimeTrqCommand, double *pMaxMotorSpeed, TriggerEvents *pTriggerEvents)

Start triggered torque commands with multiple trigger events in which the torque is changed over time for multiple axes and set the maximum motor speeds of the commanded axes.

This function executes the StartRampTimeTrq API function for multiple axes.

Remark

The motion will begin for all axes when the specified multi-event trigger condition is satisfied.

See also

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampTimeTrqCommand – [in] A pointer to an array of objects of the RampTimeTrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.
pMaxMotorSpeed – [in] A pointer to an array of maximum motor speeds to apply. Each maximum motor speed will be applied to the axis of the torque command of the same index.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartRampRateTrq(TrqCommand *pTrqCommand, double rampRate)

Start a torque command in which the torque is changed at a specified rate.

This function will start a torque command. Compared to the StartTrq function, the torque will change at the specified rate until the target torque is reached.

Remark

This function can command an axis that is already executing a torque command. Other torque commands can override this torque command, even while the torque is still changing.

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
rampRate – [in] The rate at which the torque is changed, in units of % per second.

WMX3APIFUNC StartRampRateTrq(TriggerTrqCommand *pTrqCommand, double rampRate)

Start a triggered torque command in which the torque is changed at a specified rate.

This function will start a torque command. Compared to the StartTrq function, the torque will change at the specified rate until the target torque is reached.

Remark

This function can command an axis that is already executing a torque command. Other torque commands can override this torque command, even while the torque is still changing.

The motion will begin when the specified trigger condition is satisfied.

See also

Parameters:

pTrqCommand – [in] A pointer to an object of the TriggerTrqCommand class that contains the parameters of the triggered torque command.
rampRate – [in] The rate at which the torque is changed, in units of % per second.

WMX3APIFUNC StartRampRateTrq(TrqCommand *pTrqCommand, double rampRate, TriggerEvents *pTriggerEvents)

Start a triggered torque command with multiple trigger events in which the torque is changed at a specified rate.

This function will start a torque command. Compared to the StartTrq function, the torque will change at the specified rate until the target torque is reached.

Remark

This function can command an axis that is already executing a torque command. Other torque commands can override this torque command, even while the torque is still changing.

The motion will begin when the specified multi-event trigger condition is satisfied.

See also

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
rampRate – [in] The rate at which the torque is changed, in units of % per second.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartRampRateTrq(unsigned int numCommands, RampRateTrqCommand *pRampRateTrqCommand)

Start torque commands in which the torque is changed at a specified rate for multiple axes.

This function executes the StartRampRateTrq API function for multiple axes.

Remark

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampRateTrqCommand – [in] A pointer to an array of objects of the RampRateTrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.

WMX3APIFUNC StartRampRateTrq(unsigned int numCommands, TriggerRampRateTrqCommand *pRampRateTrqCommand)

Start triggered torque commands in which the torque is changed at a specified rate for multiple axes.

This function executes the StartRampRateTrq API function for multiple axes.

Remark

The motion will begin for each axis when the specified trigger condition for that axis is satisfied.

See also

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampRateTrqCommand – [in] A pointer to an array of objects of the TriggerRampRateTrqCommand class that contain the parameters of the triggered torque commands. The number of elements in the array must equal numCommands.

WMX3APIFUNC StartRampRateTrq(unsigned int numCommands, RampRateTrqCommand *pRampRateTrqCommand, TriggerEvents *pTriggerEvents)

Start triggered torque commands with multiple trigger events in which the torque is changed at a specified rate for multiple axes.

This function executes the StartRampRateTrq API function for multiple axes.

Remark

The motion will begin for all axes when the specified multi-event trigger condition is satisfied.

See also

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampRateTrqCommand – [in] A pointer to an array of objects of the RampRateTrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartRampRateTrq(TrqCommand *pTrqCommand, double rampRate, double maxMotorSpeed)

Start a torque command in which the torque is changed at a specified rate and set the maximum motor speed.

This function is an overloaded function of StartRampRateTrq that also sets the Max Motor Speed parameter. The Max Motor Speed will be fixed to the specified value while this torque command executes. After the torque command is stopped or overridden, the Max Motor Speed will remain at the specified value until modified by another function. The Max Motor Speed parameter is specified in units of rpm.

Remark

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
rampRate – [in] The rate at which the torque is changed, in units of % per second.
maxMotorSpeed – [in] The maximum motor speed to apply.

WMX3APIFUNC StartRampRateTrq(TriggerTrqCommand *pTrqCommand, double rampRate, double maxMotorSpeed)

Start a triggered torque command in which the torque is changed at a specified rate and set the maximum motor speed.

This function is an overloaded function of StartRampRateTrq that also sets the Max Motor Speed parameter. The Max Motor Speed will be fixed to the specified value while this torque command executes. After the torque command is stopped or overridden, the Max Motor Speed will remain at the specified value until modified by another function. The Max Motor Speed parameter is specified in units of rpm.

Remark

Parameters:

pTrqCommand – [in] A pointer to an object of the TriggerTrqCommand class that contains the parameters of the triggered torque command.
rampRate – [in] The rate at which the torque is changed, in units of % per second.
maxMotorSpeed – [in] The maximum motor speed to apply.

WMX3APIFUNC StartRampRateTrq(TrqCommand *pTrqCommand, double rampRate, double maxMotorSpeed, TriggerEvents *pTriggerEvents)

Start a triggered torque command with multiple trigger events in which the torque is changed at a specified rate and set the maximum motor speed.

This function is an overloaded function of StartRampRateTrq that also sets the Max Motor Speed parameter. The Max Motor Speed will be fixed to the specified value while this torque command executes. After the torque command is stopped or overridden, the Max Motor Speed will remain at the specified value until modified by another function. The Max Motor Speed parameter is specified in units of rpm.

Remark

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
rampRate – [in] The rate at which the torque is changed, in units of % per second.
maxMotorSpeed – [in] The maximum motor speed to apply.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartRampRateTrq(unsigned int numCommands, RampRateTrqCommand *pRampRateTrqCommand, double *pMaxMotorSpeed)

Start torque commands in which the torque is changed at a specified rate for multiple axes and set the maximum motor speeds of the commanded axes.

This function executes the StartRampRateTrq API function for multiple axes.

Remark

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampRateTrqCommand – [in] A pointer to an array of objects of the RampRateTrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.
pMaxMotorSpeed – [in] A pointer to an array of maximum motor speeds to apply. Each maximum motor speed will be applied to the axis of the torque command of the same index.

WMX3APIFUNC StartRampRateTrq(unsigned int numCommands, TriggerRampRateTrqCommand *pRampRateTrqCommand, double *pMaxMotorSpeed)

Start triggered torque commands in which the torque is changed at a specified rate for multiple axes and set the maximum motor speeds of the commanded axes.

This function executes the StartRampRateTrq API function for multiple axes.

Remark

The motion will begin for each axis when the specified trigger condition for that axis is satisfied.

See also

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampRateTrqCommand – [in] A pointer to an array of objects of the TriggerRampRateTrqCommand class that contain the parameters of the triggered torque commands. The number of elements in the array must equal numCommands.
pMaxMotorSpeed – [in] A pointer to an array of maximum motor speeds to apply. Each maximum motor speed will be applied to the axis of the torque command of the same index.

WMX3APIFUNC StartRampRateTrq(unsigned int numCommands, RampRateTrqCommand *pRampRateTrqCommand, double *pMaxMotorSpeed, TriggerEvents *pTriggerEvents)

Start triggered torque commands with multiple trigger events in which the torque is changed at a specified rate for multiple axes and set the maximum motor speeds of the commanded axes.

This function executes the StartRampRateTrq API function for multiple axes.

Remark

The motion will begin for all axes when the specified multi-event trigger condition is satisfied.

See also

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampRateTrqCommand – [in] A pointer to an array of objects of the RampRateTrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.
pMaxMotorSpeed – [in] A pointer to an array of maximum motor speeds to apply. Each maximum motor speed will be applied to the axis of the torque command of the same index.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StopTrq(int axis)

Stop a torque command.

This function will stop the torque command for an axis executing a torque command.

Remark

This function will only stop axes running in Torque command mode. To stop axes running in Position command mode, use the Stop function. To stop axes running in Velocity command mode, use the Stop function.

If the commanded axis is in Idle state, this function will return no error.

Parameters:: axis – [in] The axis to stop.

WMX3APIFUNC StopTrq(AxisSelection *pAxisSelection)

Stop torque commands for multiple axes.

This function is an overloaded function of StopTrq API function that stops torque commands for multiple axes.

Remark

If any of the commanded axes are in an invalid state, this function will return an error but the remainder of the commanded axes will be stopped. An axis is in an invalid state if the axis servo is not on, if the axis command mode is not Torque, or if the axis is receiving or has received a new motion command to be started on the next communication cycle.

Parameters:: pAxisSelection – [in] A pointer to an AxisSelection class that specifies the axes to stop.

WMX3APIFUNC StartPosToTrq(TriggerTrqCommand *pTriggerTrqCommand)

Start a triggered torque command for an axis that is currently executing a position command.

This function will override a position command with a torque command when the trigger condition is satisfied. The axis command mode will automatically change from Position mode to Torque mode.

Remark

The axis commanded by this function must be in the Position command mode when this function is called. When the trigger condition is satisfied, the axis will change to Torque mode. The axis will remain in Torque mode even after the torque command is stopped with the StopTrq function. To return the axis to Position mode, use a function to set the axis command mode (such as SetAxisCommandMode).

The axis commanded by this function must either be in Idle state or be executing a position command in the Pos state. If the axis started in Idle state or the position command finishes before the trigger condition is satisfied, the axis will continue to wait for the trigger condition to become satisfied. When the trigger condition is satisfied, the axis will change to Torque mode and start executing the torque command.

To stop this command before the trigger condition is satisfied, use the Stop function. To stop this command after the trigger condition has been satisfied and the torque command has been executed, use the StopTrq function.

This function does not support the SameTimeCompletion, StaggeredTimeCompletion, and StaggeredDistanceCompletion trigger types. Specifying these trigger types will cause the TriggerTypeNotSupported error to be returned.

See also

Parameters:: pTriggerTrqCommand – [in] A pointer to an object of the TriggerTrqCommand class that contains the torque command parameters.

WMX3APIFUNC StartPosToTrq(unsigned int numCommands, TriggerTrqCommand *pTriggerTrqCommand)

Start triggered torque commands for multiple axes that are currently executing position commands.

This function executes the StartPosToTrq API function for multiple axes.

Remark

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pTriggerTrqCommand – [in] A pointer to an array of objects of the TriggerTrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.

WMX3APIFUNC StartPosToTrq(TrqCommand *pTrqCommand, TriggerEvents *pTriggerEvents)

Start a triggered torque command for an axis that is currently executing a position command. The trigger condition can have multiple trigger events.

This function will override a position command with a torque command when the multiple event trigger condition is satisfied. The axis command mode will automatically change from Position mode to Torque mode.

Remark

The axis commanded by this function must be in the Position command mode when this function is called. When the trigger condition is satisfied, the axis will change to Torque mode. The axis will remain in Torque mode even after the torque command is stopped with the StopTrq function. To return the axis to Position mode, use a function to set the axis command mode (such as SetAxisCommandMode).

The axis commanded by this function must either be in Idle state or be executing a position command in the Pos state. If the axis started in Idle state or the position command finishes before the trigger condition is satisfied, the axis will continue to wait for the trigger condition to become satisfied. When the trigger condition is satisfied, the axis will change to Torque mode and start executing the torque command.

To stop this command before the trigger condition is satisfied, use the Stop function. To stop this command after the trigger condition has been satisfied and the torque command has been executed, use the StopTrq function.

This function does not support the SameTimeCompletion, StaggeredTimeCompletion, and StaggeredDistanceCompletion trigger types. Specifying these trigger types will cause the TriggerTypeNotSupported error to be returned.

See also

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartPosToTrq(unsigned int numCommands, TrqCommand *pTrqCommand, TriggerEvents *pTriggerEvents)

Start triggered torque commands for multiple axes that are currently executing position commands. The trigger conditions can have multiple trigger events.

This function executes the StartPosToTrq API function for multiple axes. All commanded axes share the same trigger events.

Remark

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pTrqCommand – [in] A pointer to an array of objects of the TrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartPosToRampTimeTrq(TrqCommand *pTrqCommand, unsigned int rampCycleTime, Trigger *pTrigger)

Start a triggered torque command in which the torque is changed over time for an axis that is currently executing a position command.

This function will override a position command with a torque command when the trigger condition is satisfied. Compared to the StartPosToTrq function, the torque will be changed over a number of communication cycles.

Remark

The Cycle Time Milliseconds status obtained with GetStatus can be used to find the number of milliseconds per communication cycle.

When the trigger condition is satisfied, the torque command will equal the Actual Torque. The commanded torque will change at a constant rate over the specified time. This rate is dependent on the target torque and the Actual Torque at the time that the trigger condition is satisfied. Other torque commands can override this torque command, even while the torque is still changing.

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
rampCycleTime – [in] The number of communication cycles that the torque will be changed over. If 0 or 1 is specified, the torque will be changed over 1 cycle.
pTrigger – [in] A pointer to an object of the Trigger class that specifies the trigger condition.

WMX3APIFUNC StartPosToRampTimeTrq(unsigned int numCommands, TriggerRampTimeTrqCommand *pTriggerRampTimeTrqCommand)

Start triggered torque commands in which the torque is changed over time for multiple axes that are currently executing position commands.

This function executes the StartPosToRampTimeTrq API function for multiple axes.

Remark

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pTriggerRampTimeTrqCommand – [in] A pointer to an array of objects of the TriggerRampTimeTrqCommand class that contain the parameters of the triggered torque commands. The number of elements in the array must equal numCommands.

WMX3APIFUNC StartPosToRampTimeTrq(TrqCommand *pTrqCommand, unsigned int rampCycleTime, TriggerEvents *pTriggerEvents)

Start a triggered torque command in which the torque is changed over time for an axis that is currently executing a position command.

This function will override a position command with a torque command when the multiple event trigger condition is satisfied. Compared to the StartPosToTrq function, the torque will be changed over a number of communication cycles.

Remark

The Cycle Time Milliseconds status obtained with GetStatus can be used to find the number of milliseconds per communication cycle.

When the trigger condition is satisfied, the torque command will equal the Actual Torque. The commanded torque will change at a constant rate over the specified time. This rate is dependent on the target torque and the Actual Torque at the time that the trigger condition is satisfied. Other torque commands can override this torque command, even while the torque is still changing.

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
rampCycleTime – [in] The number of communication cycles that the torque will be changed over. If 0 or 1 is specified, the torque will be changed over 1 cycle.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartPosToRampTimeTrq(unsigned int numCommands, RampTimeTrqCommand *pRampTimeTrqCommand, TriggerEvents *pTriggerEvents)

Start triggered torque commands in which the torque is changed over time for multiple axes that are currently executing position commands. The trigger conditions can have multiple trigger events.

This function executes the StartPosToRampTimeTrq API function for multiple axes. All commanded axes share the same trigger events.

Remark

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampTimeTrqCommand – [in] A pointer to an array of objects of the RampTimeTrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartPosToRampRateTrq(TrqCommand *pTrqCommand, double rampRate, Trigger *pTrigger)

Start a triggered torque command in which the torque is changed at a specified rate for an axis that is currently executing a position command.

This function will override a position command with a torque command when the trigger condition is satisfied. Compared to the StartPosToTrq function, the torque will change at the specified rate until the target torque is reached.

Remark

When the trigger condition is satisfied, the torque command will equal the Actual Torque. The commanded torque will change at the specified rate until the target torque is reached. Other torque commands can override this torque command, even while the torque is still changing.

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
rampRate – [in] The rate at which the torque is changed, in units of % per second.
pTrigger – [in] A pointer to an object of the Trigger class that specifies the trigger condition.

WMX3APIFUNC StartPosToRampRateTrq(unsigned int numCommands, TriggerRampRateTrqCommand *pTriggerRampRateTrqCommand)

Start triggered torque commands in which the torque is changed at a specified rate for multiple axes that are currently executing position commands.

This function executes the StartPosToRampRateTrq API function for multiple axes.

Remark

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pTriggerRampRateTrqCommand – [in] A pointer to an array of objects of the TriggerRampRateTrqCommand class that contain the parameters of the triggered torque commands. The number of elements in the array must equal numCommands.

WMX3APIFUNC StartPosToRampRateTrq(TrqCommand *pTrqCommand, double rampRate, TriggerEvents *pTriggerEvents)

Start a triggered torque command in which the torque is changed at a specified rate for an axis that is currently executing a position command.

This function will override a position command with a torque command when the multiple event trigger condition is satisfied. Compared to the StartPosToTrq function, the torque will change at the specified rate until the target torque is reached.

Remark

When the trigger condition is satisfied, the torque command will equal the Actual Torque. The commanded torque will change at the specified rate until the target torque is reached. Other torque commands can override this torque command, even while the torque is still changing.

Parameters:

pTrqCommand – [in] A pointer to an object of the TrqCommand class that contains the parameters of the torque command.
rampRate – [in] The rate at which the torque is changed, in units of % per second.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartPosToRampRateTrq(unsigned int numCommands, RampRateTrqCommand *pRampRateTrqCommand, TriggerEvents *pTriggerEvents)

Start triggered torque commands in which the torque is changed at a specified rate for multiple axes that are currently executing position commands. The trigger conditions can have multiple trigger events.

This function executes the StartPosToRampRateTrq API function for multiple axes. All commanded axes share the same trigger events.

Remark

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pRampRateTrqCommand – [in] A pointer to an array of objects of the RampRateTrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.
pTriggerEvents – [in] A pointer to an object of the TriggerEvents class that contains the trigger events.

WMX3APIFUNC StartVelToTrq(TriggerTrqCommand *pTriggerTrqCommand)

Start a triggered torque command for an axis that is currently executing a velocity command.

This function will override a velocity command with a torque command when the trigger condition is satisfied. The axis command mode will automatically change from Velocity mode to Torque mode.

Remark

The axis commanded by this function must be in the Velocity command mode when this function is called. When the trigger condition is satisfied, the axis will change to Torque mode. The axis will remain in Torque mode even after the torque command is stopped with the StopTrq function. To return the axis to Velocity mode, use a function to set the axis command mode (such as SetAxisCommandMode).

The axis commanded by this function must either be in Idle state or be executing a velocity command in the Velocity state. If the axis started in Idle state or the velocity command finishes before the trigger condition is satisfied, the axis will continue to wait for the trigger condition to become satisfied. When the trigger condition is satisfied, the axis will change to Torque mode and start executing the torque command.

To stop this command before the trigger condition is satisfied, use the Stop function. To stop this command after the trigger condition has been satisfied and the torque command has been executed, use the StopTrq function.

This function does not support the SameTimeCompletion, StaggeredTimeCompletion, and StaggeredDistanceCompletion trigger types. Specifying these trigger types will cause the TriggerTypeNotSupported error to be returned.

See also

Parameters:: pTriggerTrqCommand – [in] A pointer to an object of the TriggerTrqCommand class that contains the torque command parameters.

WMX3APIFUNC StartVelToTrq(unsigned int numCommands, TriggerTrqCommand *pTriggerTrqCommand)

Start triggered torque commands for multiple axes that are currently executing velocity commands.

This function executes the StartVelToTrq API function for multiple axes.

Remark

Parameters:

numCommands – [in] The number of torque commands. Each command controls a single axis.
pTriggerTrqCommand – [in] A pointer to an array of objects of the TriggerTrqCommand class that contain the parameters of the torque commands. The number of elements in the array must equal numCommands.

WMX3APIFUNC StartVelToTrq(TrqCommand *pTrqCommand, TriggerEvents *pTriggerEvents)

Start a triggered torque command for an axis that is currently executing a velocity command. The trigger condition can have multiple trigger events.

This function will override a velocity command with a torque command when the multiple event trigger condition is satisfied. The axis command mode will automatically change from Velocity mode to Torque mode.

Remark

The axis commanded by this function must be in the Velocity command mode when this function is called. When the trigger condition is satisfied, the axis will change to Torque mode. The axis will remain in Torque mode even after the torque command is stopped with the StopTrq function. To return the axis to Velocity mode, use a function to set the axis command mode (such as SetAxisCommandMode).

The axis commanded by this function must either be in Idle state or be executing a velocity command in the Velocity state. If the axis started in Idle state or the velocity command finishes before the trigger condition is satisfied, the axis will continue to wait for the trigger condition to become satisfied. When the trigger condition is satisfied, the axis will change to Torque mode and start executing the torque command.

To stop this command before the trigger condition is satisfied, use the Stop function. To stop this command after the trigger condition has been satisfied and the torque command has been executed, use the StopTrq function.

This function does not support the SameTimeCompletion, StaggeredTimeCompletion, and StaggeredDistanceCompletion trigger types. Specifying these trigger types will cause the TriggerTypeNotSupported error to be returned.

See also