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NexMotion
1.4.0
Open Robots & Machines [WIP]
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NexMotion
1.4.0
Open Robots & Machines [WIP]
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A head file define API for NexMotion Library. More...
#include "NexMotionDef.h"
Go to the source code of this file.
Macros | |
| #define | FNTYPE __stdcall |
| define marco FNTYPE as __stdcall | |
Functions | |
| I32_T FNTYPE | NMC_GetLibVersion (_opt_null_ I32_T *PRetMajor, _opt_null_ I32_T *PRetMinor, _opt_null_ I32_T *PRetStage, _opt_null_ I32_T *PRetBuild) |
| Return the version number of the Library: Major.Minor.Stage.Build. More... | |
| void FNTYPE | NMC_GetLibVersionString (char *PRetVersionString, U32_T StringSize) |
| Return the version number of the Library in the format of a C string: Major.Minor.Stage.Build. More... | |
| const char *FNTYPE | NMC_GetErrorDescription (RTN_ERR ErrorCode, _opt_null_ char *PRetErrorDesc, U32_T StringSize) |
| Return the error code description in the format of a C string. More... | |
| RTN_ERR FNTYPE | NMC_DeviceOpenUp (I32_T DevType, I32_T DevIndex, I32_T *PRetDevID) |
| Open up the device (Blocking call). More... | |
| RTN_ERR FNTYPE | NMC_DeviceShutdown (I32_T DevID) |
| Shut down the device (Blocking call). More... | |
| RTN_ERR FNTYPE | NMC_DeviceOpenUpRequest (I32_T DevType, I32_T DevIndex) |
| Request the device open up (Non-blocking call). More... | |
| RTN_ERR FNTYPE | NMC_DeviceWaitOpenUpRequest (U32_T WaitMs, I32_T *PRetDevID) |
| Wait for device open up (Blocking call). More... | |
| RTN_ERR FNTYPE | NMC_DeviceShutdownRequest (I32_T DevID) |
| Request the device shut down (Non-blocking call). More... | |
| RTN_ERR FNTYPE | NMC_DeviceWaitShutdownRequest (I32_T DevID, U32_T WaitMs) |
| Wait for device shut down (Blocking call). More... | |
| RTN_ERR FNTYPE | NMC_DeviceWatchdogTimerEnable (I32_T DevID, U32_T TimeoutMs, I32_T Mode) |
| Enable the watch dog timer. More... | |
| RTN_ERR FNTYPE | NMC_DeviceWatchdogTimerDisable (I32_T DevID) |
| Disable the watch dog timer. More... | |
| RTN_ERR FNTYPE | NMC_DeviceWatchdogTimerReset (I32_T DevID) |
| Reset the watch dog timer. More... | |
| RTN_ERR FNTYPE | NMC_DeviceCreate (I32_T DevType, I32_T DevIndex, I32_T *PRetDevID) |
| Create the device ID. More... | |
| RTN_ERR FNTYPE | NMC_DeviceDelete (I32_T DevID) |
| Delete the device ID. More... | |
| RTN_ERR FNTYPE | NMC_DeviceLoadIniConfig (I32_T DevID) |
| Load the device configurations. More... | |
| RTN_ERR FNTYPE | NMC_DeviceResetConfig (I32_T DevID) |
| Reset the device configurations. More... | |
| RTN_ERR FNTYPE | NMC_DeviceStart (I32_T DevID) |
| Start the device (Blocking call). More... | |
| RTN_ERR FNTYPE | NMC_DeviceStop (I32_T DevID) |
| Stop the device (Blocking call). More... | |
| RTN_ERR FNTYPE | NMC_DeviceStartRequest (I32_T DevID) |
| Request the device start (Non-blocking call). More... | |
| RTN_ERR FNTYPE | NMC_DeviceStopRequest (I32_T DevID) |
| Request the device stop (Non-blocking call). More... | |
| RTN_ERR FNTYPE | NMC_DeviceGetState (I32_T DevID, I32_T *PRetDeviceState) |
| Get the device state. More... | |
| RTN_ERR FNTYPE | NMC_DeviceSetParam (I32_T DevID, I32_T ParamNum, I32_T SubIndex, I32_T ParaValue) |
| Set device parameters. More... | |
| RTN_ERR FNTYPE | NMC_DeviceGetParam (I32_T DevID, I32_T ParamNum, I32_T SubIndex, I32_T *PRetParaValue) |
| Get device parameters. More... | |
| RTN_ERR FNTYPE | NMC_SetIniPath (_opt_null_ const char *PIniPath) |
| Set the path of the ini file. More... | |
| RTN_ERR FNTYPE | NMC_GetInputMemorySize (I32_T DevID, U32_T *PRetSizeByte) |
| Get the size of mapped input(Input) memory. More... | |
| RTN_ERR FNTYPE | NMC_GetOutputMemorySize (I32_T DevID, U32_T *PRetSizeByte) |
| Get the size of mapped output (Output) memory. More... | |
| RTN_ERR FNTYPE | NMC_ReadInputMemory (I32_T DevID, U32_T OffsetByte, U32_T SizeByte, void *PRetValue) |
| Read the mapped input (Input) memory. More... | |
| RTN_ERR FNTYPE | NMC_ReadOutputMemory (I32_T DevID, U32_T OffsetByte, U32_T SizeByte, void *PRetValue) |
| Read the mapped output (Output) memory. More... | |
| RTN_ERR FNTYPE | NMC_WriteOutputMemory (I32_T DevID, U32_T OffsetByte, U32_T SizeByte, const void *PValue) |
| Write the mapped output (Output) memory. More... | |
| RTN_ERR FNTYPE | NMC_ReadInputBit (I32_T DevID, U32_T OffsetByte, U32_T BitIndex, BOOL_T *PRetBitValue) |
| Read the mapped input memory by bit, word or dword. More... | |
| RTN_ERR FNTYPE | NMC_ReadInputI8 (I32_T DevID, U32_T OffsetByte, I8_T *PRetI8Value) |
| RTN_ERR FNTYPE | NMC_ReadInputI16 (I32_T DevID, U32_T OffsetByte, I16_T *PRetI16Value) |
| RTN_ERR FNTYPE | NMC_ReadInputI32 (I32_T DevID, U32_T OffsetByte, I32_T *PRetI32Value) |
| RTN_ERR FNTYPE | NMC_ReadOutputBit (I32_T DevID, U32_T OffsetByte, U32_T BitIndex, BOOL_T *PRetBitValue) |
| Read the mapped output memory by bit, word or dword. More... | |
| RTN_ERR FNTYPE | NMC_ReadOutputI8 (I32_T DevID, U32_T OffsetByte, I8_T *PRetI8Value) |
| RTN_ERR FNTYPE | NMC_ReadOutputI16 (I32_T DevID, U32_T OffsetByte, I16_T *PRetI16Value) |
| RTN_ERR FNTYPE | NMC_ReadOutputI32 (I32_T DevID, U32_T OffsetByte, I32_T *PRetI32Value) |
| RTN_ERR FNTYPE | NMC_WriteOutputBit (I32_T DevID, U32_T OffsetByte, U32_T BitIndex, BOOL_T BitValue) |
| Write the mapped output memory by bit, word or dword. More... | |
| RTN_ERR FNTYPE | NMC_WriteOutputI8 (I32_T DevID, U32_T OffsetByte, I8_T I8Value) |
| RTN_ERR FNTYPE | NMC_WriteOutputI16 (I32_T DevID, U32_T OffsetByte, I16_T I16Value) |
| RTN_ERR FNTYPE | NMC_WriteOutputI32 (I32_T DevID, U32_T OffsetByte, I32_T I32Value) |
| RTN_ERR FNTYPE | NMC_DeviceGetAxisCount (I32_T DevID, I32_T *PRetAxisCount) |
| Get the axis quantity. More... | |
| RTN_ERR FNTYPE | NMC_DeviceGetGroupCount (I32_T DevID, I32_T *PRetGroupCount) |
| Get the quantity of group. More... | |
| RTN_ERR FNTYPE | NMC_DeviceGetGroupAxisCount (I32_T DevID, I32_T GroupIndex, I32_T *PRetGroupAxisCount) |
| Get the quantity of group axis. More... | |
| RTN_ERR FNTYPE | NMC_AxisGetDescription (I32_T DevID, I32_T AxisIndex, U32_T DescStrSize, char *PRetAxisDescription) |
| Read the name description information of the specified axis. More... | |
| RTN_ERR FNTYPE | NMC_GroupGetDescription (I32_T DevID, I32_T GroupIndex, U32_T DescStrSize, char *PRetGroupDescription) |
| Read the name desciption information of the specified group. More... | |
| RTN_ERR FNTYPE | NMC_DeviceResetStateAll (I32_T DevID) |
| RTN_ERR FNTYPE | NMC_DeviceEnableAll (I32_T DevID) |
| Enable all axes and groups in the system. More... | |
| RTN_ERR FNTYPE | NMC_DeviceDisableAll (I32_T DevID) |
| Disable all axes and groups in the system. More... | |
| RTN_ERR FNTYPE | NMC_DeviceHaltAll (I32_T DevID) |
| Holt all axes and groups in the system (Stand still state). More... | |
| RTN_ERR FNTYPE | NMC_DeviceStopAll (I32_T DevID) |
| Stop all axes and groups in the system (Stopped state). More... | |
| RTN_ERR FNTYPE | NMC_AxisSetParamI32 (I32_T DevID, I32_T AxisIndex, I32_T ParamNum, I32_T SubIndex, I32_T ParaValueI32) |
| Set the axis parameters (I_32T data type) More... | |
| RTN_ERR FNTYPE | NMC_AxisGetParamI32 (I32_T DevID, I32_T AxisIndex, I32_T ParamNum, I32_T SubIndex, I32_T *PRetParaValueI32) |
| Get the axis parameters (I_32T data type) More... | |
| RTN_ERR FNTYPE | NMC_AxisSetParamF64 (I32_T DevID, I32_T AxisIndex, I32_T ParamNum, I32_T SubIndex, F64_T ParaValueF64) |
| Set the axis patameters (F64_T data type) More... | |
| RTN_ERR FNTYPE | NMC_AxisGetParamF64 (I32_T DevID, I32_T AxisIndex, I32_T ParamNum, I32_T SubIndex, F64_T *PRetParaValueF64) |
| Get the axis parameters (F64_T data type) More... | |
| RTN_ERR FNTYPE | NMC_AxisEnable (I32_T DevID, I32_T AxisIndex) |
| Enable an axis. More... | |
| RTN_ERR FNTYPE | NMC_AxisDisable (I32_T DevID, I32_T AxisIndex) |
| Disable an axis. More... | |
| RTN_ERR FNTYPE | NMC_AxisGetStatus (I32_T DevID, I32_T AxisIndex, I32_T *PRetAxisStatus) |
| Get the status of the axis. More... | |
| RTN_ERR FNTYPE | NMC_AxisGetState (I32_T DevID, I32_T AxisIndex, I32_T *PRetAxisState) |
| Get the state of the axis. More... | |
| RTN_ERR FNTYPE | NMC_AxisResetState (I32_T DevID, I32_T AxisIndex) |
| Reset the state of the axis. More... | |
| RTN_ERR FNTYPE | NMC_AxisResetDriveAlm (I32_T DevID, I32_T AxisIndex) |
| Reset the axis servo alarm. More... | |
| RTN_ERR FNTYPE | NMC_AxisGetDriveAlmCode (I32_T DevID, I32_T AxisIndex, I32_T *PRetAlmCode) |
| Get the axis servo alarm code. More... | |
| RTN_ERR FNTYPE | NMC_AxisGetCommandPos (I32_T DevID, I32_T AxisIndex, F64_T *PRetCmdPos) |
| Get the command position for desired axis. More... | |
| RTN_ERR FNTYPE | NMC_AxisGetActualPos (I32_T DevID, I32_T AxisIndex, F64_T *PRetActPos) |
| Get the encoder feedback position for desired axis. More... | |
| RTN_ERR FNTYPE | NMC_AxisGetCommandVel (I32_T DevID, I32_T AxisIndex, F64_T *PRetCmdVel) |
| Get the command velocity for desired axis. More... | |
| RTN_ERR FNTYPE | NMC_AxisGetActualVel (I32_T DevID, I32_T AxisIndex, F64_T *PRetActVel) |
| Get the encoder feedback velocity for desired axis. More... | |
| RTN_ERR FNTYPE | NMC_AxisGetMotionBuffSpace (I32_T DevID, I32_T AxisIndex, I32_T *PRetFreeSpace) |
| Get the quantity of motions segment which can still be stored into the axis motion queue. More... | |
| RTN_ERR FNTYPE | NMC_AxisPtp (I32_T DevID, I32_T AxisIndex, F64_T TargetPos, _opt_null_ const F64_T *PMaxVel) |
| Execute Point-To-Point Motion according with target position. More... | |
| RTN_ERR FNTYPE | NMC_AxisJog (I32_T DevID, I32_T AxisIndex, I32_T Dir, _opt_null_ const F64_T *PMaxVel) |
| Execute Point-To-Point Motion according with target (or default) velocity. More... | |
| RTN_ERR FNTYPE | NMC_AxisSetHomePos (I32_T DevID, I32_T AxisIndex, F64_T HomePos) |
| Set the origin of a single axis in the axis coordination system. More... | |
| RTN_ERR FNTYPE | NMC_AxisHomeDrive (I32_T DevID, I32_T AxisIndex) |
| Drive an axis to move to the origin (by driver). More... | |
| RTN_ERR FNTYPE | NMC_AxisHalt (I32_T DevID, I32_T AxisIndex) |
| The function can be called to halt the axis motion. More... | |
| RTN_ERR FNTYPE | NMC_AxisStop (I32_T DevID, I32_T AxisIndex) |
| The function can be called to stop the axis motion. More... | |
| RTN_ERR FNTYPE | NMC_AxisHaltAll (I32_T DevID) |
| The function can be called to halt the motions of all axes in a specified device normally. More... | |
| RTN_ERR FNTYPE | NMC_AxisStopAll (I32_T DevID) |
| The function can be called to stop the motions of all axes in a specified device forcedly. More... | |
| RTN_ERR FNTYPE | NMC_AxisVelOverride (I32_T DevID, I32_T AxisIndex, F64_T TargetVel) |
| Override the velocity of a single axis. More... | |
| RTN_ERR FNTYPE | NMC_AxisAccOverride (I32_T DevID, I32_T AxisIndex, F64_T TargetAcc) |
| Override the acceleration of a single axis. More... | |
| RTN_ERR FNTYPE | NMC_AxisDecOverride (I32_T DevID, I32_T AxisIndex, F64_T TargetDec) |
| Override the deceleration of a single axis. More... | |
| RTN_ERR FNTYPE | NMC_AxisSetSpeedRatio (I32_T DevID, I32_T AxisIndex, F64_T Percentage) |
| RTN_ERR FNTYPE | NMC_AxisGetSpeedRatio (I32_T DevID, I32_T AxisIndex, F64_T *PPercentage) |
| RTN_ERR FNTYPE | NMC_GroupSetParamI32 (I32_T DevID, I32_T GroupIndex, I32_T ParamNum, I32_T SubIndex, I32_T ParaValueI32) |
| Set the Group Parameters (I32_T, data type). More... | |
| RTN_ERR FNTYPE | NMC_GroupGetParamI32 (I32_T DevID, I32_T GroupIndex, I32_T ParamNum, I32_T SubIndex, I32_T *PRetParaValueI32) |
| Get the Group Parameters (I32_T, data type). More... | |
| RTN_ERR FNTYPE | NMC_GroupSetParamF64 (I32_T DevID, I32_T GroupIndex, I32_T ParamNum, I32_T SubIndex, F64_T ParaValueF64) |
| Set the group parameters (F64_T, data type). More... | |
| RTN_ERR FNTYPE | NMC_GroupGetParamF64 (I32_T DevID, I32_T GroupIndex, I32_T ParamNum, I32_T SubIndex, F64_T *PRetParaValueF64) |
| Get the group parameters (F64_T, data type). More... | |
| RTN_ERR FNTYPE | NMC_GroupAxSetParamI32 (I32_T DevID, I32_T GroupIndex, I32_T GroupAxisIndex, I32_T ParamNum, I32_T SubIndex, I32_T ParaValueI32) |
| Set the parameters of group axis (I32_T, data type) More... | |
| RTN_ERR FNTYPE | NMC_GroupAxGetParamI32 (I32_T DevID, I32_T GroupIndex, I32_T GroupAxisIndex, I32_T ParamNum, I32_T SubIndex, I32_T *PRetParaValueI32) |
| Get the parameters of group axis (I32_T, data type). More... | |
| RTN_ERR FNTYPE | NMC_GroupAxSetParamF64 (I32_T DevID, I32_T GroupIndex, I32_T GroupAxisIndex, I32_T ParamNum, I32_T SubIndex, F64_T ParaValueF64) |
| Set the parameters of group axis (F64_T, data type) More... | |
| RTN_ERR FNTYPE | NMC_GroupAxGetParamF64 (I32_T DevID, I32_T GroupIndex, I32_T GroupAxisIndex, I32_T ParamNum, I32_T SubIndex, F64_T *PRetParaValueF64) |
| Get the parameters of group axis (F64_T, data type). More... | |
| RTN_ERR FNTYPE | NMC_GroupEnable (I32_T DevID, I32_T GroupIndex) |
| Enable all group axes (Servo On). More... | |
| RTN_ERR FNTYPE | NMC_GroupDisable (I32_T DevID, I32_T GroupIndex) |
| Disable all group axes ( Servo Off ). More... | |
| RTN_ERR FNTYPE | NMC_GroupGetStatus (I32_T DevID, I32_T GroupIndex, I32_T *PRetStatusInBit) |
| Get the group status by bit. More... | |
| RTN_ERR FNTYPE | NMC_GroupGetState (I32_T DevID, I32_T GroupIndex, I32_T *PRetState) |
| Get the state of group. More... | |
| RTN_ERR FNTYPE | NMC_GroupResetState (I32_T DevID, I32_T GroupIndex) |
| Reset the group state . More... | |
| RTN_ERR FNTYPE | NMC_GroupResetDriveAlm (I32_T DevID, I32_T GroupIndex, I32_T GroupAxisIndex) |
| Reset the group servo alarm. More... | |
| RTN_ERR FNTYPE | NMC_GroupResetDriveAlmAll (I32_T DevID, I32_T GroupIndex) |
| Reset all group servo alarms. More... | |
| RTN_ERR FNTYPE | NMC_GroupGetDriveAlmCode (I32_T DevID, I32_T GroupIndex, I32_T GroupAxisIndex, I32_T *PRetAlmCode) |
| Get alarm code fo Drive. More... | |
| RTN_ERR FNTYPE | NMC_GroupSetSpeedRatio (I32_T DevID, I32_T GroupIndex, F64_T Percentage) |
| Set the speed percentage of a group from 0.0 to 100.0%. More... | |
| RTN_ERR FNTYPE | NMC_GroupGetSpeedRatio (I32_T DevID, I32_T GroupIndex, F64_T *PRetPercentage) |
| Get the speed percentage of a group from 0.0 to 100.0%. More... | |
| RTN_ERR FNTYPE | NMC_GroupPtpAcs (I32_T DevID, I32_T GroupIndex, I32_T GroupAxisIndex, F64_T AcsPos, _opt_null_ const F64_T *PAcsMaxVel) |
| Enable the point-to-point motion for a group axis in the a xis coordinate system (ACS). More... | |
| RTN_ERR FNTYPE | NMC_GroupPtpAcsAll (I32_T DevID, I32_T GroupIndex, I32_T GroupAxesIdxMask, const Pos_T *PAcsPos) |
| Enable the point-to-point motion for multiple group axes in the a xis coordinate system (ACS). More... | |
| RTN_ERR FNTYPE | NMC_GroupJogAcs (I32_T DevID, I32_T GroupIndex, I32_T GroupAxisIndex, I32_T Dir, _opt_null_ const F64_T *PAcsMaxVel) |
| Enable the JOG motion for a group axis in the axis coordinate system (ACS). More... | |
| RTN_ERR FNTYPE | NMC_GroupJogTcpFrame (I32_T DevID, I32_T GroupIndex, I32_T CartAxis, I32_T Dir, _opt_null_ const F64_T *PMaxVel) |
| Enable the JOG motion of group axis in the Cartesian coordinate system with respect to the tool center point (TCP). More... | |
| RTN_ERR FNTYPE | NMC_GroupJogPcsFrame (I32_T DevID, I32_T GroupIndex, I32_T CartAxis, I32_T Dir, _opt_null_ const F64_T *PMaxVel) |
| Enable the JOG motion of group axis in the Product coordinate system. More... | |
| RTN_ERR FNTYPE | NMC_GroupPtpCart (I32_T DevID, I32_T GroupIndex, I32_T CartAxis, F64_T CartPos) |
| Enable the point-to-point motion of group axis in the Cartesian coordinate system. More... | |
| RTN_ERR FNTYPE | NMC_GroupPtpCartAll (I32_T DevID, I32_T GroupIndex, I32_T CartAxesMask, const Pos_T *PTargetPos) |
| Enable the point-to-point motion of multiple group axes on the points in the Cartesian coordinate system. More... | |
| RTN_ERR FNTYPE | NMC_GroupHalt (I32_T DevID, I32_T GroupIndex) |
| Halt a group (Stand still state). More... | |
| RTN_ERR FNTYPE | NMC_GroupStop (I32_T DevID, I32_T GroupIndex) |
| Stop a group (Stop state). More... | |
| RTN_ERR FNTYPE | NMC_GroupHaltAll (I32_T DevID) |
| Halt all groups (Stand still state). More... | |
| RTN_ERR FNTYPE | NMC_GroupStopAll (I32_T DevID) |
| Stop all groups (Stop state). More... | |
| RTN_ERR FNTYPE | NMC_GroupGetCommandPosAcs (I32_T DevID, I32_T GroupIndex, Pos_T *PRetCmdPosAcs) |
| Get the command position of a group axis in the axis coordinate system (ACS). More... | |
| RTN_ERR FNTYPE | NMC_GroupGetActualPosAcs (I32_T DevID, I32_T GroupIndex, Pos_T *PRetActPosAcs) |
| Get the actual position of a group axis in the axis coordinate system (ACS). More... | |
| RTN_ERR FNTYPE | NMC_GroupGetCommandPosPcs (I32_T DevID, I32_T GroupIndex, Pos_T *PRetCmdPosPcs) |
| Get the command position of a group axis in the Cartesian coordinate system (PCS). More... | |
| RTN_ERR FNTYPE | NMC_GroupGetActualPosPcs (I32_T DevID, I32_T GroupIndex, Pos_T *PRetActPosPcs) |
| Get the actual position of a group axis in the Cartesian coordinate system (PCS). More... | |
| RTN_ERR FNTYPE | NMC_GroupGetCommandPos (I32_T DevID, I32_T GroupIndex, I32_T CoordSys, Pos_T *PRetCmdPos) |
| Get the command position of a group. More... | |
| RTN_ERR FNTYPE | NMC_GroupGetActualPos (I32_T DevID, I32_T GroupIndex, I32_T CoordSys, Pos_T *PRetActPos) |
| Get the actual position of a group. More... | |
| RTN_ERR FNTYPE | NMC_GroupGetMotionBuffSpace (I32_T DevID, I32_T GroupIndex, I32_T *PRetFreeSpace) |
| Get the size of buffer space of group motion command. More... | |
| RTN_ERR FNTYPE | NMC_GroupSetHomePos (I32_T DevID, I32_T GroupIndex, I32_T GroupAxesIdxMask, const Pos_T *PHomePosAcs) |
| Set the origin of a group axis in the axis coordination system. More... | |
| RTN_ERR FNTYPE | NMC_GroupAxesHomeDrive (I32_T DevID, I32_T GroupIndex, I32_T GroupAxesIdxMask) |
| Drive a group to move to the origin. More... | |
| RTN_ERR FNTYPE | NMC_GroupLineXY (I32_T DevID, I32_T GroupIndex, _opt_null_ const F64_T *PX, _opt_null_ const F64_T *PY, const F64_T _opt_null_ *PMaxVel) |
| Enable the group line interpolation motion on the XY plane from the current position to the target position in the Cartesian coordinate system. More... | |
| RTN_ERR FNTYPE | NMC_GroupCirc2R (I32_T DevID, I32_T GroupIndex, _opt_null_ const F64_T *PEX, _opt_null_ const F64_T *PEY, F64_T Radius, I32_T CW_CCW, _opt_null_ const F64_T *PMaxVel) |
| Enable the group arc interpolation motion on the XY plane from the current position to the target position in the Cartesian coordinate system (radius method). More... | |
| RTN_ERR FNTYPE | NMC_GroupCirc2C (I32_T DevID, I32_T GroupIndex, _opt_null_ const F64_T *PEX, _opt_null_ const F64_T *PEY, _opt_null_ const F64_T *PCXOffset, _opt_null_ const F64_T *PCYOffset, I32_T CW_CCW, _opt_null_ const F64_T *PMaxVel) |
| Enable the group arc interpolation motion on the XY plane from the current position to the target position in the Cartesian coordinate system (circle center method). More... | |
| RTN_ERR FNTYPE | NMC_GroupCirc2B (I32_T DevID, I32_T GroupIndex, _opt_null_ const F64_T *PEX, _opt_null_ const F64_T *PEY, _opt_null_ const F64_T *PBX, _opt_null_ const F64_T *PBY, _opt_null_ const F64_T *PMaxVel) |
| Enable the group arc interpolation motion on the XY plane from the current position to the target position in the Cartesian coordinate system (pass-through method). More... | |
| RTN_ERR FNTYPE | NMC_GroupCirc2BEx (I32_T DevID, I32_T GroupIndex, _opt_null_ const F64_T *PEX, _opt_null_ const F64_T *PEY, _opt_null_ const F64_T *PBX, _opt_null_ const F64_T *PBY, _opt_null_ const F64_T *PAngleDeg, _opt_null_ const F64_T *PMaxVel) |
| RTN_ERR FNTYPE | NMC_GroupLine (I32_T DevID, I32_T GroupIndex, I32_T CartAxisMask, const Pos_T *PCartPos, _opt_null_ const F64_T *PMaxVel) |
| Enable the group line interpolation motion from the current position to the target position in the Cartesian space. More... | |
| RTN_ERR FNTYPE | NMC_GroupCircR (I32_T DevID, I32_T GroupIndex, I32_T CartAxisMask, const Pos_T *PCartPos, const Xyz_T *PNormalVector, F64_T Radius, I32_T CW_CCW, _opt_null_ const F64_T *PMaxVel) |
| Enable the group arc interpolation motion from the current position to the target position in the Cartesian space (radius method). More... | |
| RTN_ERR FNTYPE | NMC_GroupCircC (I32_T DevID, I32_T GroupIndex, I32_T CartAxisMask, const Pos_T *PCartPos, I32_T CenOfsMask, const Xyz_T *PCenOfs, I32_T CW_CCW, _opt_null_ const F64_T *PMaxVel) |
| Enable the group arc interpolation motion from the current position to the target position in the Cartesian space (circle center method). More... | |
| RTN_ERR FNTYPE | NMC_GroupCircB (I32_T DevID, I32_T GroupIndex, I32_T CartAxisMask, const Pos_T *PCartPos, I32_T BorPosMask, const Xyz_T *PBorPoint, _opt_null_ const F64_T *PMaxVel) |
| Enable the group arc interpolation motion from the current position to the target position in the Cartesian space (pass-through method). More... | |
| RTN_ERR FNTYPE | NMC_GroupCircBEx (I32_T DevID, I32_T GroupIndex, I32_T CartAxisMask, const Pos_T *PCartPos, I32_T BorPosMask, const Xyz_T *PBorPoint, _opt_null_ const F64_T *PAngleDeg, _opt_null_ const F64_T *PMaxVel) |
| RTN_ERR FNTYPE | NMC_ToolCalib_4p (const Pos_T *PMcsKinP1, const Pos_T *PMcsKinP2, const Pos_T *PMcsKinP3, const Pos_T *PMcsKinP4, CoordTrans_T *PRetToolCoordTrans, F64_T *PRetTolerance) |
| ool calibration - TCP translation method More... | |
| RTN_ERR FNTYPE | NMC_ToolCalib_4pWithZ (const Pos_T *PMcsKinP1, const Pos_T *PMcsKinP2, const Pos_T *PMcsKinP3, const Pos_T *PMcsKinP4ZDir, CoordTrans_T *PRetToolCoordTrans, F64_T *PRetTolerance) |
| Tool calibration - TCP translation with Z-direction setting method. More... | |
| RTN_ERR FNTYPE | NMC_ToolCalib_4pWithOri (const Pos_T *PMcsKinP1, const Pos_T *PMcsKinP2, const Pos_T *PMcsKinP3, const Pos_T *PMcsKinP4, const Pos_T *PMcsKinMinusZAxisPt, const Pos_T *PMcsKinYZPlanPt, CoordTrans_T *PRetToolCoordTrans, F64_T *PRetTolerance) |
| Tool calibration - TCP translation with orientation setting method. More... | |
| RTN_ERR FNTYPE | NMC_ToolCalib_Ori (const Pos_T *PMcsKinOrg, const Pos_T *PMcsKinMinusZAxisPt, const Pos_T *PMcsKinYZPt, CoordTrans_T *PRetToolCoordTrans) |
| Tool calibration - Orientation setting method. More... | |
| RTN_ERR FNTYPE | NMC_BaseCalib_1p (const Pos_T *PRefBaseP1, CoordTrans_T *PRetBaseCoordTrans) |
| Base teaching - 1 point method. More... | |
| RTN_ERR FNTYPE | NMC_BaseCalib_2p (const Pos_T *PRefBaseP1, const Pos_T *PRefBaseP2, CoordTrans_T *PRetBaseCoordTrans) |
| Base teaching - 2 points method. More... | |
| RTN_ERR FNTYPE | NMC_BaseCalib_3p (const Pos_T *PRefBaseP1, const Pos_T *PRefBaseP2, const Pos_T *PRefBaseP3, CoordTrans_T *PRetBaseCoordTrans) |
| Base teaching - 3 point method. More... | |
| RTN_ERR FNTYPE | NMC_MessagePopFirst (_opt_null_ NmcMsg_T *PRetMsg) |
| Read system message queue. More... | |
| void FNTYPE | NMC_MessageOutputEnable (BOOL_T Enable) |
| Transfer a copy of message to MS Windows system message. More... | |
| void FNTYPE | NMC_DebugSetTraceMode (I32_T TraceMode) |
| Set API trace mode. More... | |
| void FNTYPE | NMC_DebugSetHookData (void *PHookUserData) |
| Set the data structure index for the hook function. More... | |
| void FNTYPE | NMC_DebugSetHookFunction (PF_NmcHookAPI PFHookFuncPtr) |
| Set the hook function. More... | |
| const void *FNTYPE | NMC_DebugGetApiAddress (const char *PApiName) |
| Read the API address. More... | |
| RTN_ERR FNTYPE | NMC_AxisSetVelRatio (I32_T DevID, I32_T AxisIndex, F64_T Percentage) |
| Axis function for setting velocity ratio. More... | |
| RTN_ERR FNTYPE | NMC_AxisGetVelRatio (I32_T DevID, I32_T AxisIndex, F64_T *PPercentage) |
| Axis function for getting velocity ratio. More... | |
| RTN_ERR FNTYPE | NMC_GroupSetVelRatio (I32_T DevID, I32_T GroupIndex, F64_T Percentage) |
| Set the velocity percentage of a group from 0.0 ~ 100.0%. More... | |
| RTN_ERR FNTYPE | NMC_GroupGetVelRatio (I32_T DevID, I32_T GroupIndex, F64_T *PRetPercentage) |
| Get the velocity percentage of a group from 0.0 ~ 100.0%. More... | |
A head file define API for NexMotion Library.
1.8.11