Group State Control Functions. More...

Collaboration diagram for Group_State_Control:

Functions
RTN_ERR FNTYPE	NMC_GroupEnable (I32_T DevID, I32_T GroupIndex)
	Enable all group axes (Servo On). More...

RTN_ERR FNTYPE	NMC_GroupDisable (I32_T DevID, I32_T GroupIndex)
	Disable all group axes ( Servo Off ). More...

RTN_ERR FNTYPE	NMC_GroupGetStatus (I32_T DevID, I32_T GroupIndex, I32_T *PRetStatusInBit)
	Get the group status by bit. More...

RTN_ERR FNTYPE	NMC_GroupGetState (I32_T DevID, I32_T GroupIndex, I32_T *PRetState)
	Get the state of group. More...

RTN_ERR FNTYPE	NMC_GroupResetState (I32_T DevID, I32_T GroupIndex)
	Reset the group state . More...

RTN_ERR FNTYPE	NMC_GroupResetDriveAlm (I32_T DevID, I32_T GroupIndex, I32_T GroupAxisIndex)
	Reset the group servo alarm. More...

RTN_ERR FNTYPE	NMC_GroupResetDriveAlmAll (I32_T DevID, I32_T GroupIndex)
	Reset all group servo alarms. More...

RTN_ERR FNTYPE	NMC_GroupGetDriveAlmCode (I32_T DevID, I32_T GroupIndex, I32_T GroupAxisIndex, I32_T *PRetAlmCode)
	Get alarm code fo Drive. More...

Detailed Description

Group State Control Functions.

Function Documentation

RTN_ERR FNTYPE NMC_GroupDisable	(	I32_T	DevID,
		I32_T	GroupIndex
	)

Disable all group axes ( Servo Off ).

If all group axes are disabled successfully, the group state will transfer to GROUP_DISABLE.

Parameters

DevID	Device ID (DevID)
GroupIndex	Group index

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;
RTN_ERR ret = 0;
ret = NMC_GroupDisable( devID, groupIndex );
if( ret != 0 ) return ret;

Reference:

RTN_ERR FNTYPE NMC_GroupEnable	(	I32_T	DevID,
		I32_T	GroupIndex
	)

Enable all group axes (Servo On).

If all group axes are enabled successfully, the group state will transfer from GROUP_DISABLE to GROUP_ENABLE

Parameters

DevID	Device ID (DevID)
GroupIndex	Group Index

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;
RTN_ERR ret = 0;
ret = NMC_GroupEnable( devID, groupIndex );
if( ret != 0 ) return ret;

Reference:

RTN_ERR FNTYPE NMC_GroupGetDriveAlmCode	(	I32_T	DevID,
		I32_T	GroupIndex,
		I32_T	GroupAxisIndex,
		I32_T *	PRetAlmCode
	)

Get alarm code fo Drive.

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
	GroupAxisIndex	Group axis index
[out]	PRetAlmCode	The alarm code.

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:

Reference:

Todo:: Add more description. The original definition is empty in official pdf manual.

RTN_ERR FNTYPE NMC_GroupGetState	(	I32_T	DevID,
		I32_T	GroupIndex,
		I32_T *	PRetState
	)

Get the state of group.

Please refer to the below table for details.

Value	State	Description
0	GROUP_DISABLE	A group axis is disabled.
1	GROUP_STAND_STILL	A group axes are enabled.
2	GROUP_STOPPED	After NMC_GroupStop() is called, the group is stopped.
3	GROUP_STOPPING	After NMC_GroupStop() is called, the group is stopping.
4	GROUP_MOVING	A group is moving.
5	GROUP_HOMING	A group is homing.
6	GROUP_ERROR_STOP	An error is occured in a group axis.

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
[out]	PRetState	[Input] A pointer variable, [Output] Group state

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 state = 0;
RTN_ERR ret = 0;
ret = NMC_GroupGetState( devID, groupIndex, &state );
if( ret != 0 ) return ret;

Reference:

RTN_ERR FNTYPE NMC_GroupGetStatus	(	I32_T	DevID,
		I32_T	GroupIndex,
		I32_T *	PRetStatusInBit
	)

Get the group status by bit.

The meanings of the bits are describe as follows. if the bit values is 1, the event is triggered.

bit	Description
0	Trigger the external emergency switch
1	Drive alarm
2	Over the positive limit of hardware
3	Over the negative limit of hardware
4	Over the positive limit of soft ware
5	Over the negative limit of software
6	All groups enabled (i.e. all group state are GROUP_STAND_STILL)
7	A group axis error (i.e. a group axis state is GROUP_ERROR_STOP)
9	No position change for all group axes
10	The (line or arc) motion in the Cartesian coordinate system is accelerated (or decelerated) to the maximum velocity. The bit is 0 in case of the PTP or JOG motion.
11	The (line or arc) motion in the Cartesian coordinate system is decelerated to the target velocity or 0. The bit is 0 in case of the PTP or JOG motion.
12	The (line or arc) motion in the Cartesian coordinate system is executed at the maximum velocity. The bit is 0 in case of the PTP or JOG motion.
13	The group is in motion (i.e. the group state is GROUP_MOVING , GROUP_HOMING or GROUP_STOPPING)
14	The group is stopped (i.e. the group state is GROUP_STOPPED)

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
[out]	PRetStatusInBit	[Input]A pointer variable,[Output] Status by bit.

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 group Index = 0;
I32_T statusInBit = 0;
RTN_ERR ret = 0;
ret = NMC_GroupGetStatus( devID, groupIndex, &statusInBit );
if( ret != 0 ) return ret;

Reference:

RTN_ERR FNTYPE NMC_GroupResetDriveAlm	(	I32_T	DevID,
		I32_T	GroupIndex,
		I32_T	GroupAxisIndex
	)

Reset the group servo alarm.

Parameters

DevID	Device ID (DevID)
GroupIndex	Group index
GroupAxisIndex	The index of the group axis which alarm to be reset.

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 =
I32_T groupIndex = 0;
I32_T groupAxisIndex = 0;
RTN_ERR ret = 0;
ret = NMC_GroupResetDriveAlm( devID, groupIndex, groupAxisInde x );
if( ret != 0 ) return ret;

Reference:

RTN_ERR FNTYPE NMC_GroupResetDriveAlmAll	(	I32_T	DevID,
		I32_T	GroupIndex
	)

Reset all group servo alarms.

Parameters

DevID	Device ID (DevID)
GroupIndex	Group Index

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;
RTN_ERR ret = 0;
ret = NMC_GroupResetDriveAlmAll( devID, groupIndex );
if( ret != 0 ) return ret;

Reference:

RTN_ERR FNTYPE NMC_GroupResetState	(	I32_T	DevID,
		I32_T	GroupIndex
	)

Reset the group state .

It can reset the group state from GROUP_STOPPED to GROUP_STAND_STILL. If the group state is GROUP_ERROR_STOP and the API is called, all drive alarms will be reset automatically. Then the group state will transfer to GROUP_STAND_STILL after all drive alarms are reset.

Parameters

DevID	Device ID (DevID)
GroupIndex	Group index

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;
RTN_ERR ret = 0;
ret = NMC_GroupResetState( devID, groupIndex );
if( ret != 0 ) return ret;

Reference: