Group_2D_Motion

Group 2D Line or Arc Interpolation Motion Functions. More...

Collaboration diagram for Group_2D_Motion:

Functions
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)

Detailed Description

Group 2D Line or Arc Interpolation Motion Functions.

Todo:

Add description to NMC_GroupCirc2BEx function

Function Documentation

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).

The group state will transfer from GROUP_STAND_STILL to GROUP_MOVING. If the group reaches the target position (i.e. the velocity is decreased to 0), the group state will transfer to GROUP_STAND_STILL. The default maximum velocity will refer to the value in the input parameters. If required, the maximum velocity can be set in the API, and the specified value will be stored in the corresponding parameters automatically.

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
[in]	PEX	A pointer variable to set the target position at X-axis. Input NULL (0) to ignore the parameter (not to move).
[in]	PEY	A pointer variable to set the target position at Y-axis. Input NULL (0) to ignore the parameter (not to move).
[in]	PBX	A pointer variable to set the pass-through point at X-axis. Input NULL (0) to ignore the parameter (not to move).
[in]	PBY	A pointer variable to set the pass-through point at Y-axis. Input NULL (0) to ignore the parameter (not to move).
[in]	PMaxVel	A pointer variable to set the maximum velocity. Input NULL (0) to ignore the parameter.

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

I32_T devID = 0;
I32_T groupIndex = 0;
F64_T posTarX = 20.0;
F64_T posTarY = 20.0;
F64_T posBorX = 0.0;
F64_T posBorY = 20.0;
RTN_ERR ret = 0;
ret = NMC_GroupCirc2B( devID, groupIndex, &posTarX, &posTarY, &posBorX, &posBorY, NULL );
if( ret != 0 ) return ret;

Reference:
None.

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).

The group state will transfer from GROUP_STAND_STILL to GROUP_MOVING. If the group reaches the target position (i.e. the velocity is decreased to 0), the group state will transfer to GROUP_STAND_STILL. The default maximum velocity will refer to the value in the input parameters. If required, the maximum velocity can be set in the API, and the specified value will be stored in the corresponding parameters automatically.

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
[in]	PEX	A pointer variable to set the target position at X-axis. Input NULL (0) to ignore the parameter (not to move).
[in]	PEY	A pointer variable to set the target position at Y-axis. Input NULL (0) to ignore the parameter (not to move).
[in]	PCXOffset	A pointer variable to set the position of the circle center at X-axis. Input NULL (0) to ignore the parameter (not to move).
[in]	PCYOffset	A pointer variable to set the position of the circle center at Y-axis. Input NULL (0) to ignore the parameter (not to move).
	CW_CCW	Rotation direction of arc (0=CW; 1=CCW)
[in]	PMaxVel	A pointer variable to set the maximum velocity. Input NULL (0) to ignore the parameter.

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

I32_T devID = 0;
I32_T groupIndex = 0;
F64_T posTarX = 20.0;
F64_T posTarY = 0.0;
F64_T posCenX = 10.0;
F64_T posCenY = 0.0;
I32_T cwCcw = 1;
RTN_ERR ret = 0;
ret = NMC_GroupCirc2C( devID, groupIndex, &posTarX, NULL, &posCenX, NULL, cwCcw, NULL );
if( ret != 0 ) return ret;

Reference:
None.

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).

The group state will transfer from GROUP_STAND_STILL to GROUP_MOVING. If the group reaches the target position (i.e. the velocity is decreased to 0), the group state will transfer to GROUP_STAND_STILL. The default maximum velocity will refer to the value in the input parameters. If required, the maximum velocity can be set in the API, and the specified value will be stored in the corresponding parameters automatically.

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
[in]	PEX	A pointer variable to set the target position at X-axis. Input NULL (0) to ignore the parameter (not to move).
[in]	PEY	A pointer variable to set the target position at Y-axis. Input NULL (0) to ignore the parameter (not to move).
	Radius	Radius of arc (negative value indicates the larger radian path).
	CW_CCW	Rotation direction of arc (0=CW; 1=CCW)
[in]	PMaxVel	A pointer variable to set the maximum velocity. Input NULL (0) to ignore the parameter.

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

I32_T devID = 0;
I32_T groupIndex = 0;
F64_T posX = 50.0;
F64_T posY = 50.0;
F64_T radius = 25.0;
I32_T cwCcw = 1;
RTN_ERR ret = 0;

ret = NMC_GroupCirc2R( devID, groupIndex, &posX, &posX, radius, cwCcw, NULL );
if( ret != 0 ) return ret;

Reference:
None.

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.

The group state will transfer from GROUP_STAND_STILL to GROUP_MOVING. If the group reaches the target position (i.e. the velocity is decreased to 0), the group state will transfer to GROUP_STAND_STILL. The default maximum velocity will refer to the value in the input parameters. If required, the maximum velocity can be set in the API, and the specified value will be stored in the corresponding parameters automatically.

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
[in]	PX	A pointer variable to set the target position at X-axis. Input NULL (0) to ignore the parameter (not to move).
[in]	PY	A pointer variable to set the target position at Y-axis. Input NULL (0) to ignore the parameter (not to move).
[in]	PMaxVel	A pointer variable to set the maximum velocity. Input NULL (0) to ignore the parameter.

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

I32_T devID = 0;
I32_T groupIndex = 0;
F64_T posX= 10.0;
F64_T posY = 20.0;
RTN_ERR ret = 0;

ret = NMC_GroupLineXY( devID, groupIndex, &posX, &posY, NULL );
if( ret != 0 ) return ret;

Reference:
None.