Group_P2P_Motion_ACS

Group Point-to-Point Motion Function. More...

Collaboration diagram for Group_P2P_Motion_ACS:

Functions
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...

Detailed Description

Group Point-to-Point Motion Function.

(Axis Coordinate System)

Function Documentation

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).

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
GroupAxisIndex	The group axis index to be driven a motion
AcsPos	The point position to be reached
PAcsMaxVel	A pointer variable which can specify 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;
I32_T groupAxisIndex = 2;
F64_T acsPos = 35.5;
F64_T acsMaxVel = 80.0;
RTN_ERR ret = 0;
ret = NMC_GroupPtpAcs( devID, groupIndex, groupAxisIndex, acsPos, &acsMaxVel );
if( ret != 0 ) return ret;

Reference:
None.

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).

The specified group axes will start the motion and reach the target position at the same time.

Parameters

DevID	Device ID (DevID)
GroupIndex	Group index
GroupAxesIdxMask	The group axis index mask is specified to execute the motion. Please refer to the below table.
PAcsPos	A pointer variable to set the target position.

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

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 + + = 133.

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 groupAxes IdxMask = 133; // Move the 1st , 3rd and 8th axes.
Pos_T acsPos = { 10, 20, 30, 40, 50, 60, 70 };
RTN_ERR ret = 0;

ret = NMC_GroupPtpAcsAll( devID, groupIndex, groupAxesIdxMask, &acsPos );
if( ret != 0 ) return ret;

Reference:
None.