Group_Motion_Status

Group Motion Status Functions. More...

Collaboration diagram for Group_Motion_Status:

Functions
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...

Detailed Description

Group Motion Status Functions.

Function Documentation

RTN_ERR FNTYPE NMC_GroupGetActualPos	(	I32_T	DevID,
		I32_T	GroupIndex,
		I32_T	CoordSys,
		Pos_T *	PRetActPos
	)

Get the actual position of a group.

The returned value is specified depended on the coordinate system.

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
	CoordSys	Specified the coordinate system ( 0:MCS, 1:PCS, 2:ACS )
[out]	PRetActPos	[Input] A pointer variable, [Output] The command position depended on the specified coordinate system

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;
I32_T coordSys = 2; // Get the actual position in the axis coordinate system
Pos_T actPos = { 0 };
RTN_ERR ret = 0;
ret = NMC_GroupGetActualPos( devID, groupIndex, coordSys, &actPos );
if( ret != 0 ) return ret;

Reference:
None.

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).

The actual value is converted from the count value of the encoder based on the gear ratio or the lead screw pitch in the axis coordinate system (ACS).

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
[out]	PRetActPosAcs	[Input] A pointer variable, [Output] The actual position of each group axis.

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;
Pos_T actPosAcs = { 0 };
RTN_ERR ret = 0;
ret = NMC_GroupGetActualPosAcs( devID, groupIndex, &actPosAcs );
if( ret != 0 ) return ret;

Reference:
None.

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).

The actual value is converted from the count value of the encoder based on the gear ratio or the lead screw pitch in the Cartesian coordinate system (PCS).

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
[out]	PRetActPosPcs	[Input] A pointer variable, [Output] The actual position of each group axis.

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;
Pos_T actPosPcs = { 0 };
RTN_ERR ret = 0;
ret = NMC_GroupGetActualPosPcs( devID, groupIndex, &actPosPcs );
if( ret != 0 ) return ret;

Reference:
None.

RTN_ERR FNTYPE NMC_GroupGetCommandPos	(	I32_T	DevID,
		I32_T	GroupIndex,
		I32_T	CoordSys,
		Pos_T *	PRetCmdPos
	)

Get the command position of a group.

The returned value is specified depended on the coordinate system.

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
	CoordSys	Specified the coordinate system ( 0:MCS, 1:PCS, 2:ACS )
[out]	PRetCmdPos	[Input] A pointer variable, [Output] The command position depended on the specified coordinate system

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;
I32_T coordSys = 2; // Get the command position in the axis coordinate system
Pos_T cmdPos = { 0 };
RTN_ERR ret = 0;

ret = NMC_GroupGetCommandPos( devID, groupIndex, coordSys, &cmdPos );
if( ret != 0 ) return ret;

Reference:
None.

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).

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
[out]	PRetCmdPosAcs	[Input] A pointer variable, [Output] The command position of the specified group axis.

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;
Pos_T cmdPosAcs = {0};
RTN_ERR ret = 0;

ret = NMC_GroupGetCommandPosAcs(devID, groupIndex, &cmdPosAcs);
if(ret != 0) return ret;

Reference:
None.

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).

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
[out]	PRetCmdPosPcs	[Input] A pointer variable, [Output] The command position of the specified group axis.

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;
Pos_T cmdPosPcs = { 0 };
RTN_ERR ret = 0;
ret = NMC_GroupGetCommandPosPcs( devID, groupIndex, &cmdPosPcs );
if( ret != 0 ) return ret;

Reference:
None.

RTN_ERR FNTYPE NMC_GroupGetMotionBuffSpace	(	I32_T	DevID,
		I32_T	GroupIndex,
		I32_T *	PRetFreeSpace
	)

Get the size of buffer space of group motion command.

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
[out]	PRetFreeSpace	[Input] A pointer variable, [Output] The free size of the motion buffer

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;
I32_T freeSpace = 0;
RTN_ERR ret = 0;
ret = NMC_GroupGetMotionBuffSpace( devID, groupIndex, &freeSpace );
if( ret != 0 ) return ret;

Reference:
None.