Modules and Platforms
Each platform module provides the functionality to connect to a specific network. The simulator platform simulates a network without connecting to any hardware.
Each motion module provides a package of functions. Unused modules may be disabled to improve performance.
Section Separators
The keys of Module.ini can be specified under one of the following sections, or at the beginning of the file as a global setting.
Name |
Description |
Valid Values |
|---|---|---|
Global (No Section Name) |
By entering the key at the beginning of the file before the first section, the setting will be applied globally. |
- |
[Platform X] |
A platform module. Platform modules define the network communication interface and contain API functions to interact with the network. |
X: Assign a consecutive ID number to each platform module, starting from 0. |
[Module X] |
A motion module. Motion modules contain API functions for different types of motion and other functionality. |
X: Assign a consectuive ID number to each motion module, starting from 0. |
Global (No Section Name):
Global settings are defined at the beginning of the file before the first section.
[Platform X]:
Platform modules define the network communication interface and contain API functions to interact with the network.
The number of masters, DLL name, module location, enabled/disabled states, and other settings can be configured for a platform module.
Example:
[Platform 0]
Location = .\\platform\\simu\\
DllName = SimuPlatform
NumOfMaster = 1
disable = 1
[Module X]:
Motion modules contain API functions for different types of motion and other functionality.
The DLL name, module location, enabled/disabled states, and other settings can be configured for a motion module.
Example:
[Module 0]
DllName = CoreMotion
Location = .\\motion\\
disable = 0
Keys
Key Name |
Supported Section Types |
Description |
How to Apply |
Setting Range |
Default Value |
|---|---|---|---|---|---|
MessageLevel |
Global |
Set the message level of the WMX3 engine. 0: Display only errors. 1: Display errors and warnings. 2: Display errors, warnings, and configuration parameters. 3: Display errors, warnings, configuration parameters, and debug messages. |
Restart communication with servo network |
0/1/2/3 |
0 |
PrintLog |
Global |
Set the message output flag for the WMX3 engine. 0: Do not output messages. 1: Do output messages. |
Restart communication with servo network |
0/1 |
0 |
StdOut |
Global/Platform/Module |
Set the message output method of the WMX3 engine. 0: Output messages to console. 1: Do not output messages. 2: Output to the message output buffer of the WMX3 engine. Messages accumulated in the message output buffer can be get by calling the WMX3Api GetStdOutStr function. For details on the function, refer to the description of the function in the Motion Help. |
Restart WMX3 engine |
0/1/2 |
0 |
ImAliveTimeOut |
Global |
Set the device timeout time in milliseconds. The user application creates a device when the CreateDevice function in WMX3Api is executed, and sends an “alive” signal to the WMX3 engine at regular intervals. If the ImAliveTimeOut time elapses with no “alive” signal received from the device, the WMX3 engine automatically closes the device. For example, if the user application has hung or is stopped by the debugger, the device cannot send the “alive” signal. If this is set to 0, the WMX3 engine will not close the device even if there is no “alive” signal from the device. The timeout time for each device can also be set by calling the WMX3Api SetWatchdog function. |
Restart WMX3 engine |
0, 1000~ units: ms |
15000 |
Suspend |
Platform |
Set the suspend flag of the loaded Platform module. Platform modules with the suspend flag set will not be loaded when communication starts. 0: Platform module is not suspended. 1: Platform module is suspended. Suspended Platform modules can be loaded by setting the suspend flag to 0 with the WMX3Api SetModuleSuspend function and restarting communication. |
Restart communication with servo network |
0/1 |
0 |
Location |
Global/Platform/Module |
Set the module location that the WMX3 engine loads from. Both relative paths from Module.ini and absolute paths can be specified. |
Restart WMX3 engine |
N/A |
N/A |
Disable |
Platform/Module |
Set the disable load flag of the module. 0: Module is loaded by the WMX3 engine. 1: Module is not loaded by the WMX3 engine. |
Restart WMX3 engine |
0/1 |
0 |
DllName |
Platform/Module |
Set the name of the module. The file extension is not required. |
Restart WMX3 engine |
N/A |
N/A |