Group_P2P_Motion_PCS

Group Point-to-Point Motion Functions. More...

Collaboration diagram for Group_P2P_Motion_PCS:

Functions
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...

Detailed Description

Group Point-to-Point Motion Functions.

(Cartesian Coordinate System)

Function Documentation

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.

Parameters

DevID	Device ID (DevID)
GroupIndex	Group index
CartAxis	The Coordinate axis index for the motion in the Cartesin coordinate system. Please refer to the below table.
CartPos	The point position to be reached.

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:

Cartesian Coordinate	U	V	C	B	A	Z	Y	X
Axis Value	7	6	5	4	3	2	1	0

The usage of the coordinate axis index in the Cartesian coordinate system (CartAxis) is described as follows: If the motion is executed on the z-axis in the Cartesian coordinate system, the CartAxis is 2.

Examples:

I32_T devID = 0;
I32_T groupIndex = 0;
I32_T cartAxis = 2;
F64_T cartPos = 55.5;
RTN_ERR ret = 0;
ret = NMC_GroupPtpCart( devID, groupIndex, cartAxis, cartPos );
if( ret != 0 ) return ret;

Reference:
None.

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.

Parameters

DevID	Device ID (DevID)
GroupIndex	Group index
CartAxesMask	The group axis index mask is specified to execute the point-to-point motion in the Cartesian coordinate system. Please refer to the below table.
PTargetPos	A pointer variable to set the target position.

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:

Cartesian Coordinate	U	V	C	B	A	Z	Y	X
Axis Value/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 in the Cartesian coordinate system (CartAxesMask) is described as follows: If the group axes to be moved are the X-, Z- and A-axis, the GroupAxesIdxMask is + + = 13.

Examples:

I32_T devID = 0;
I32_T groupIndex = 0;
I32_T cartAxesMask = 13;
// Move the X-, Z- and A-axis
Pos_T targetPos = { 10, 20, 30, 40, 50, 60, 70 };
RTN_ERR ret = 0;
ret = NMC_GroupPtpCartAll( devID, groupIndex, cartAxesMask, &targetPos );
if( ret != 0 ) return ret;

Reference:
None.