Class PMMotion

Defined in File PMMotionApi.h

Class Documentation

class PMMotion

This class contains PM motion functions.

Public Functions

PMMotion(WMX3Api *f): Constructor to initialize an object of this class. The device created by the WMX3Api object passed to this constructor is used to execute API functions. Also see Devices.

PMMotion(const PMMotion &src): Copy constructor to initialize an object of this class based on an existing object of this class. Also see Copy Operators.

PMMotion &operator=(const PMMotion &src): Copy assignment operator to initialize an object of this class based on an existing object of this class. Also see Copy Operators.

PMMotion(): Constructor to initialize an object of this class with a self device. Also see Self Devices.

~PMMotion(): Destructor for this class.

bool IsDeviceValid()

Return TRUE if this class object has access to a device, and FALSE otherwise. A device is required to execute most functions in this class. If this function returns FALSE, a device can be created by calling the CreateDevice function from the WMX3Api object that was passed to the constructor of this class.

WMX3APIFUNC GetVersion(int *pMajorVersion, int *pMinorVersion, int *pRevisionVersion, int *pFixVersion)

Get the version of the module rtdll.

Parameters:

pMajorVersion – [out] The major version number.
pMinorVersion – [out] The minor version number.
pRevisionVersion – [out] The revision version number.
pFixVersion – [out] The fix version number.

WMX3APIFUNC GetStatus(PMMotionStatus *status)

Read the system status of PM motion from the engine.

This function obtains the system status of PM motion. This function is typically called at regular intervals using a timer loop in order to monitor the status of the system and update the user interface.

Remark

Statuses will be taken from a snapshot from the last communication cycle. This ensures that the statuses are not taken from two different communication cycles, e.g. the position data of axis 0 is from one cycle and the position data of axis 1 is from the next cycle.

This function has a comparatively low execution overhead, as the statuses are read directly from memory without communicating with the engine.

Parameters:: status – [out] A pointer to an object of the PMMotionStatus class that will be filled in with the current PM motion system status.

Public Members

PMAxisControl *axisControl

PMAxisMotion *motion

PMAxisHome *home

PMAxisVelocity *velocity

PMAxisTorque *torque

PMAxisControl::HomeProfiles *homeProfiles

PMAxisControl::VelocityProfiles *velProfiles

PMAxisControl::TorqueProfiles *trqProfiles

Public Static Functions

static WMX3APIFUNC ErrorToString(int errCode, char *pString, unsigned int size)

Get a string representation of the specified error code.

This function returns a string representation of the specified error code. The error code must be defined in the PMMotionErrorCode enum or the ErrorCode enum in the WMX3Api.h header. All errors returned by functions in class PMMotion will be defined in one of these enums. Errors returned by functions in other classes may not be defined in one of these enums, and when such errors are passed to this function, an ErrorCodeNotDefined error will be returned and pString will contain the string representation of this error.

Remark

If pString is too small to contain the entire string representation of the error code, pString will be set to an empty string. An array size of 256 characters will be enough to hold all string representations.

This function is static, and may be called without declaring an instance of the PMMotion class or creating a device.

Parameters:

errCode – [in] The error code to get the string representation of.
pString – [in] A char array that will contain the string representation of the error.
size – [in] The size of the char array in number of characters.

static WMX3APIFUNC ErrorToString(int errCode, wchar_t *pString, unsigned int size)

Get a string representation of the specified error code.

This function is a variation of ErrorToString that accepts a wchar_t array. Use this function when using Unicode character sets.

Remark

Parameters:

errCode – [in] The error code to get the string representation of.
pString – [in] A wchar_t array that will contain the string representation of the error.
size – [in] The size of the wchar_t array in number of characters.

static WMX3APIFUNC ApiLogToString(unsigned char *pLogData, unsigned int logDataSize, char *pString, unsigned int size)

Get a string representation of the raw data of an API log.

This function converts the raw data for one API function call that was extracted from the API log with the GetApiLogData function.

Remark