NexMotion  1.4.0
Open Robots & Machines [WIP]
Functions
Group_Homing
Group_API

Group Returns to Home Functions. More...

Collaboration diagram for Group_Homing:

Functions

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...
 

Detailed Description

Group Returns to Home Functions.

Function Documentation

RTN_ERR FNTYPE NMC_GroupAxesHomeDrive ( I32_T  DevID,
I32_T  GroupIndex,
I32_T  GroupAxesIdxMask 
)

Drive a group to move to the origin.

Parameters
DevIDDevice ID (DevID)
GroupIndexGroup Index
GroupAxesIdxMaskThe group axis index mask is specified to execute the motion.
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:

Group Axis 8 7 6 5 4 3 2 1
Bit index 7 6 5 4 3 2 1 0
The power is the index of bit $2^7$ $2^6$ $2^5$ $2^4$ $2^3$ $2^2$ $2^1$ $2^0$

The usage of the group axis index mask (GroupAxesIdxMask) is described as follows: If the group axes to be moved are the 1st, 3rd and 8th axes, the GroupAxesIdxMask is $2^0$ + $2^2$ + $2^7$ = 133.

Examples:

Reference:
None.

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.

Parameters
DevIDDevice ID (DevID)
GroupIndexGroup Index
GroupAxesIdxMaskThe group axis index mask is specified toexecute the motion.
PHomePosAcsA pointer variable to set the origin in the axis coordinate system (ACS).
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:

Group Axis 8 7 6 5 4 3 2 1
Bit index 7 6 5 4 3 2 1 0
The power is the index of bit $2^7$ $2^6$ $2^5$ $2^4$ $2^3$ $2^2$ $2^1$ $2^0$

The usage of the group axis index mask (GroupAxesIdxMask) is described as follows: If the group axes to be moved are the 1st, 3rd and 8th axes, the GroupAxesIdxMask is $2^0$ + $2^2$ + $2^7$ = 133.

Examples:

Reference:
None.