ecmcMotion.h File Reference

Motion commands. More...

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Macros
#define	CHECK_AXIS_RETURN_IF_ERROR(axisIndex)
#define	CHECK_AXIS_RETURN_IF_ERROR_AND_BLOCK_COM(axisIndex)
#define	CHECK_AXIS_ENCODER_RETURN_IF_ERROR(axisIndex)
#define	CHECK_AXIS_ENCODER_CFG_RETURN_IF_ERROR(axisIndex)
#define	CHECK_AXIS_CONTROLLER_RETURN_IF_ERROR(axisIndex)
#define	CHECK_AXIS_DRIVE_RETURN_IF_ERROR(axisIndex)
#define	CHECK_AXIS_TRAJ_RETURN_IF_ERROR(axisIndex)
#define	CHECK_AXIS_SEQ_RETURN_IF_ERROR(axisIndex)
#define	CHECK_AXIS_MON_RETURN_IF_ERROR(axisIndex)

Functions
int	moveAbsolutePosition (int axisIndex, double positionSet, double velocitySet, double accelerationSet, double decelerationSet)
	Move axis to an absolute position. .
int	moveRelativePosition (int axisIndex, double positionSet, double velocitySet, double accelerationSet, double decelerationSet)
	Move axis to a relative position. .
int	moveVelocity (int axisIndex, double velocitySet, double accelerationSet, double decelerationSet)
	Move axis in a constant velocity. .
int	stopMotion (int axisIndex, int killAmplifier)
	Stop axis. .
int	moveHome (int axisIndex, int nCmdData, double homePositionSet, double velocityTowardsCamSet, double velocityOffCamSet, double accelerationSet, double decelerationSet)
	Execute homing sequence. .
int	setPosition (int axisIndex, double homePositionSet)
	set position. used by epics autosave to restore axis value after ioc reboot.
int	getAxisError (int axisIndex)
	Get axis error state. .
int	getAxisErrorID (int axisIndex)
	Get axis error code. .
int	getAxisCycleCounter (int axisIndex, int *counter)
	Get axis execution cycle counter. Can be used for checking that logic for an axis object is executing. .
int	getAxisDebugInfoData (int axisIndex, char *buffer, int bufferByteSize)
	Get axis debug information string. .
int	getAxisStatusStructV2 (int axisIndex, char *buffer, int bufferByteSize)
	Get axis status structure V2. .
int	getAxisExecute (int axisIndex, int *value)
	Get axis execute bit. .
int	getAxisCommand (int axisIndex, int *value)
	Get axis command word. .
int	getAxisCmdData (int axisIndex, int *value)
	Get axis command data word. .
int	getAxisReset (int axisIndex, int *value)
	Get axis reset bit. .
int	getAxisEnabled (int axisIndex, int *value)
	Get axis amplifier state bit. .
int	getAxisEnable (int axisIndex, int *value)
	Get axis amplifier command bit. .
int	getAxisBlockCom (int axisIndex, int *block)
	Get axis block external com. If true the axis will not take any active commands via cmd parser (statuses can still be read). .
int	getAxisBusy (int axisIndex, int *value)
	Get axis busy bit. .
int	getAxisEncVelo (int axisIndex, double *velo)
	Get axis act velo. .
int	getAxisTrajVelo (int axisIndex, double *velo)
	Get axis traj velo. .
int	getAxisID (int axisIndex, int *value)
	Get axis index. .
int	getAxisEnableAlarmAtHardLimits (int axisIndex, int *value)
	Get enable alarms at limits bit. .
int	getAxisSoftLimitPosBwd (int axisIndex, double *value)
	Get backward soft-limit position. .
int	getAxisSoftLimitPosFwd (int axisIndex, double *value)
	Get forward soft-limit position. .
int	getAxisEnableSoftLimitBwd (int axisIndex, int *value)
	Get backward soft-limit enabled state of an axis. .
int	getAxisEnableSoftLimitFwd (int axisIndex, int *value)
	Get forward soft-limit enabled state of an axis. .
int	getAxisAcceleration (int axisIndex, double *value)
	Get axis acceleration setpoint. .
int	getAxisDeceleration (int axisIndex, double *value)
	Get axis deceleration setpoint. .
int	getAxisTargetPos (int axisIndex, double *value)
	Get axis target position setpoint. .
int	getAxisTargetVel (int axisIndex, double *value)
	Get axis target velocity setpoint. .
int	getAxisDone (int axisIndex, int *value)
	Get axis done bit. .
int	getAxisAtHardFwd (int axisIndex, int *value)
	Get state of forward hard limit. .
int	getAxisLimitSwitchFwd (int axisIndex, int *value)
	Same as getAxisAtHardFwd() but better name. .
int	getAxisAtHardBwd (int axisIndex, int *value)
	Get state of backward hard limit. .
int	getAxisLimitSwitchBwd (int axisIndex, int *value)
	Same as getAxisAtHardBwd() but better name. .
int	getAxisEncHomed (int axisIndex, int *value)
	Get encoder homed bit. .
int	getAxisEncPosAct (int axisIndex, double *value)
	Get actual encoder position. .
int	getAxisEncVelAct (int axisIndex, double *value)
	Get actual encoder velocity. .
int	getAxisAtHome (int axisIndex, int *value)
	Get state of reference/home switch. .
int	getAxisCntrlError (int axisIndex, double *value)
	Get actual pid controller error. .
int	getAxisHomeVelOffCam (int axisIndex, double *value)
	Get off cam referencing/homing velocity setpoint. .
int	getAxisHomeVelTowardsCam (int axisIndex, double *value)
	Get Towards cam referencing/homing velocity setpoint. .
int	getAxisEncScaleNum (int axisIndex, double *value)
	Get the numerator part of the encoder scale. .
int	getAxisEncScaleDenom (int axisIndex, double *value)
	Get the denominator part of the encoder scale. .
int	getAxisEncPosRaw (int axisIndex, int64_t *value)
	Get raw unscaled encoder value. .
int	getAxisCntrlOutPpart (int axisIndex, double *value)
	Get PID-controller proportional output part. .
int	getAxisCntrlOutIpart (int axisIndex, double *value)
	Get PID-controller integral output part. .
int	getAxisCntrlOutDpart (int axisIndex, double *value)
	Get PID-controller differential output part. .
int	getAxisCntrlOutFFpart (int axisIndex, double *value)
	Get PID-controller feed forward output part. .
int	getAxisCntrlOutput (int axisIndex, double *value)
	Get PID-controllegetAxisAtHomer total output part. .
int	getAxisDrvScale (int axisIndex, double *value)
	Get the drive output scale factor. .
int	getAxisDrvEnable (int axisIndex, int *value)
	Get enable state of drive. .
int	getAxisMonAtTarget (int axisIndex, int *value)
	Get at target. .
int	getAxisType (int axisIndex, int *value)
	Get axis type. .
const char *	getAxisTrajTransExpr (int axisIndex, int *error)
	Get axis trajectory transformation expression. .
const char *	getAxisEncTransExpr (int axisIndex, int *error)
	Get axis encoder transformation expression. .
const char *	getAxisPLCExpr (int axisIndex, int *error)
	Get axis sync. PLC expression. .
int	getAxisTrajSource (int axisIndex, int *value)
	Get axis trajectory data source. .
int	getAxisEncSource (int axisIndex, int *value)
	Get axis encoder data source. .
int	getAxisAllowCommandsFromPLC (int axisIndex, int *value)
	Get axis allow command from PLC. .
int	getAxisPLCEnable (int axisIndex, int *value)
	Get axis enable for axis sync. PLC. .
int	setAxisExecute (int axisIndex, int value)
	Set axis execute bit. .
int	setAxisCommand (int axisIndex, int value)
	Set axis command word. .
int	setAxisCmdData (int axisIndex, int value)
	Set axis command data word. .
int	setAxisEnable (int axisIndex, int value)
	Set axis amplifier enable command bit. .
int	setAxisEnableMotionFunctions (int axisIndex, int enablePos, int enableConstVel, int enableHome)
	Set enable of motion functions. .
int	setAxisEnableAlarmAtHardLimits (int axisIndex, int value)
	Set enable alarms at limits bit. .
int	setAxisBlockCom (int axisIndex, int block)
	Block/unblock communicatiom from via cmd parser. .
int	setAxisEnableSoftLimitBwd (int axisIndex, int value)
	Set enable backward soft-limit of an axis. .
int	setAxisEnableSoftLimitFwd (int axisIndex, int value)
	Set enable forward soft-limit of an axis. .
int	setAxisSoftLimitPosBwd (int axisIndex, double value)
	Set backward soft-limit position. .
int	setAxisSoftLimitPosFwd (int axisIndex, double value)
	Set forward soft-limit position. .
int	setAxisEnableAlarmAtSoftLimit (int axisIndex, int value)
	Enable alarm when at softlimit.
int	setAxisAcceleration (int axisIndex, double value)
	Set axis acceleration setpoint. .
int	setAxisDeceleration (int axisIndex, double value)
	Set axis deceleration setpoint. .
int	setAxisEmergDeceleration (int axisIndex, double value)
	Set axis emergency deceleration setpoint. .
int	setAxisJerk (int axisIndex, double value)
	Set axis maximum jerk setpoint. .
int	setAxisTargetPos (int axisIndex, double value)
	Set axis target position setpoint. .
int	setAxisTargetVel (int axisIndex, double value)
	Set axis target velocity setpoint. .
int	setAxisJogVel (int axisIndex, double value)
	Set axis jog velocity setpoint. .
int	setAxisExtSetPos (int axisIndex, double value)
	Set axis external position setpoint. .
int	setAxisEncScaleDenom (int axisIndex, double value)
	Set the denominator part of the encoder scale. .
int	setAxisEncScaleNum (int axisIndex, double value)
	Set the numerator part of the encoder scale. .
int	setAxisEncInvHwReady (int axisIndex, int invert)
	Invert Encoder Ready bit.
int	setAxisHomePos (int axisIndex, double value)
	Set axis home reference position setpoint. .
int	setAxisErrorId (int axisIndex, int errorId)
	Set axis error code. .
int	setAxisEncHomeLatchCountOffset (int axisIndex, int count)
	Set home index pulse count offset. .
int	setAxisHomeVelTowardsCam (int axisIndex, double dVel)
	Set Towards cam referencing/homing velocity setpoint. .
int	setAxisHomeVelOffCam (int axisIndex, double dVel)
	Set off cam referencing/homing velocity setpoint. .
int	axisErrorReset (int axisIndex, int value)
	Set gear ration setting. .
int	setAxisPLCTrajVelFilterEnable (int axisIndex, int enable)
	Enables/disables velocity filter of external setpoint. .
int	setAxisPLCTrajVelFilterSize (int axisIndex, int size)
	Set size of external trajectory velocity filter. .
int	setAxisPLCEncVelFilterEnable (int axisIndex, int enable)
	Enables/disables velocity filter of external actual value. .
int	setAxisPLCEncVelFilterSize (int axisIndex, int size)
	Set size of external encoder velocity filter. .
int	setAxisEncVelFilterSize (int axisIndex, int size)
	Set size of encoder velocity filter. .
int	setAxisEncPosFilterSize (int axisIndex, int size)
	Set size of encoder position filter. .
int	setAxisEncPosFilterEnable (int axisIndex, int enable)
	Enables/disables encoder position filter. .
int	setAxisTrajSource (int axisIndex, int value)
	Set axis trajectory data source. .
int	setAxisEncSource (int axisIndex, int value)
	Set axis encoder data source. .
int	setAxisTrajStartPos (int axisIndex, double value)
	Set axis trajectory start position. NOTE: NOT USED!!. .
int	setAxisEncOffset (int axisIndex, double value)
	Set encoder offset value. .
int	setAxisEncType (int axisIndex, int value)
	Set encoder type. .
int	setAxisEncBits (int axisIndex, int bits)
	Set encoder register bit count. .
int	setAxisEncAbsBits (int axisIndex, int bits)
	Set encoder register bit count for absolute data. .
int	setAxisEncRawMask (int axisIndex, uint64_t rawMask)
	Set encoder raw data mask. .
int	addAxisEnc (int axisIndex)
	Add encoder object to axis. .
int	selectAxisEncPrimary (int axisIndex, int index)
	Select encoder to be used for control. .
int	selectAxisEncConfig (int axisIndex, int index)
	Select encoder to configured. .
int	setAxisEncEnableRefAtHome (int axisIndex, int enable)
	Set referance this encoder at homing.
int	getAxisEncPrimaryIndex (int axisIndex, int *index)
	Get index of current encoder being used for control (PID). .
int	getAxisEncConfigIndex (int axisIndex, int *index)
	Get index of current encoder being configured. .
int	setAxisEncRefToOtherEncAtStartup (int axisIndex, int encRef)
	Reference this encoder to other encoder at startup. .
int	setAxisEncMaxDiffToPrimEnc (int axisIndex, double value)
	Set maximum position deviation between current encoder and primary encoder. .
int	setAxisCntrlKp (int axisIndex, double value)
	Set PID-controller proportional gain. .
int	setAxisCntrlKi (int axisIndex, double value)
	Set PID-controller integral gain. .
int	setAxisCntrlKd (int axisIndex, double value)
	Set PID-controller differential gain. .
int	setAxisCntrlKff (int axisIndex, double value)
	Set PID-controller feed forward gain. .
int	setAxisCntrlDeadband (int axisIndex, double value)
	Set PID-controller deadband. .
int	setAxisCntrlDeadbandTime (int axisIndex, int value)
	Set PID-controller deadband time filter. .
int	setAxisCntrlInnerParams (int axisIndex, double kp, double ki, double kd, double tol)
	Use a differnt set of pid parameters if within a certain distance of target.
int	setAxisCntrlOutHL (int axisIndex, double value)
	Set PID-controller maximum output value. .
int	setAxisCntrlOutLL (int axisIndex, double value)
	Set PID-controller minimum output value. .
int	setAxisCntrlIpartLL (int axisIndex, double value)
	Set PID-controller minimum integral part output value. .
int	setAxisCntrlIpartHL (int axisIndex, double value)
	Set PID-controller maximum integral part output value. .
int	getAxisDrvScaleNum (int axisIndex, double *value)
	Get drive output scale numerator. .
int	setAxisDrvScaleNum (int axisIndex, double value)
	Set drive output scale numerator. .
int	setAxisDrvScaleDenom (int axisIndex, double value)
	Set drive output scale denominator. .
int	setAxisDrvVelSetOffsetRaw (int axisIndex, double value)
	Set drive raw velocity offset. .
int	setAxisDrvBrakeEnable (int axisIndex, int enable)
	Set enable of brake. .
int	setAxisDrvBrakeOpenDelayTime (int axisIndex, int delayTime)
	Set brake open delay time . .
int	setAxisDrvBrakeCloseAheadTime (int axisIndex, int aheadTime)
	Set brake close ahead time . .
int	setAxisDrvStateMachineTimeout (int axisIndex, double seconds)
	Set drive timeout . .
int	setAxisDrvReduceTorqueEnable (int axisIndex, int enable)
	Set enable of reduce torque functionality. .
int	getAxisMonAtTargetTol (int axisIndex, double *value)
	Set drive type. OBSOLETE COMMAND. USE CREATEAXIS(id,type,drvtype).
int	setAxisMonAtTargetTol (int axisIndex, double value)
	Set "at target" monitoring tolerance. .
int	setAxisEnableCheckEncsDiff (int axisIndex, int enable)
	Set "at target" monitoring tolerance. .
int	getAxisMonAtTargetTime (int axisIndex, int *value)
	Get "at target" monitoring time (cycles). .
int	setAxisMonAtTargetTime (int axisIndex, int value)
	Set "at target" monitoring time (cycles). .
int	getAxisMonEnableAtTargetMon (int axisIndex, int *value)
	Get enable "at target" monitoring. .
int	setAxisMonEnableAtTargetMon (int axisIndex, int value)
	Enable "at target" monitoring. .
int	getAxisMonPosLagTol (int axisIndex, double *value)
	Get position lag maximum monitoring tolerance. .
int	setAxisMonPosLagTol (int axisIndex, double value)
	Set position lag maximum monitoring tolerance. .
int	getAxisMonPosLagTime (int axisIndex, int *value)
	Get position lag monitoring time (cycles). .
int	setAxisMonPosLagTime (int axisIndex, int value)
	Set position lag monitoring time (cycles). .
int	getAxisMonEnableLagMon (int axisIndex, int *value)
	Get position lag monitoring enable. .
int	setAxisMonEnableLagMon (int axisIndex, int value)
	Enable position lag monitoring. .
int	getAxisMonMaxVel (int axisIndex, double *value)
	Get maximum allowed velocity. .
int	setAxisMonMaxVel (int axisIndex, double value)
	Set maximum allowed velocity. .
int	setAxisMonEnableMaxVel (int axisIndex, int value)
	Enable maximum velocity monitoring (over speed). .
int	getAxisMonEnableMaxVel (int axisIndex, int *value)
	Get enable maximum velocity monitoring (over speed). .
int	setAxisMonMaxVelDriveILDelay (int axisIndex, int value)
	Set velocity monitoring interlock delay for drive. .
int	setAxisMonMaxVelTrajILDelay (int axisIndex, int value)
	Set velocity monitoring interlock delay for trajectory. .
int	getAxisMonLatchLimit (int axisIndex, int *value)
	Get latch on limit settings. .
int	setAxisMonLatchLimit (int axisIndex, int value)
	Set latch limit settings. .
int	setAxisSeqTimeout (int axisIndex, int value)
	Set sequence timeout time in seconds. .
int	setAxisHomeSeqId (int axisIndex, int value)
	Set homing sequence id for current encoder beeing configured. .
int	setAxisHomeAcc (int axisIndex, double acc)
	Set homing acceleration for current encoder beeing configured. .
int	setAxisHomeDec (int axisIndex, double acc)
	Set homing deceleration for current encoder beeing configured. .
int	setAxisHomePostMoveEnable (int axisIndex, int enable)
	Set homing post movement enable.
int	setAxisHomePostMoveTargetPosition (int axisIndex, double targetPosition)
	Set homing post movement target position.
int	setAxisMonEnableCntrlOutHLMon (int axisIndex, int value)
	Enable controller output high limit monitoring. .
int	setAxisMonCntrlOutHL (int axisIndex, double value)
	Set monitoring controller output high limit. .
int	setAxisMonEnableVelocityDiff (int axisIndex, int value)
	Enable monitoring of velocity difference. .
int	setAxisMonVelDiffTrajILDelay (int axisIndex, int value)
	Set trajectory interlock filter time in cycles for velocity difference monitoring. .
int	setAxisMonVelDiffDriveILDelay (int axisIndex, int value)
	Set drive interlock filter time in cycles for velocity difference monitoring. .
int	setAxisMonVelDiffTol (int axisIndex, double value)
	Set maximum allowed difference between setpoint speed and actual speed±n.
int	setAxisMonEnableExternalInterlock (int axisIndex, int value)
	Enable motion axis interlock from EtherCAT entry. .
int	setAxisMonEnableAnalogInterlock (int axisIndex, int value)
	Enable motion axis interlock from analog EtherCAT entry. A typical usecase is temperature sensors. .
int	setAxisMonExtHWInterlockPolarity (int axisIndex, int value)
	Set polarity of motion axis interlock from EtherCAT entry. .
int	setAxisMonAnalogInterlockPolarity (int axisIndex, int value)
	Set polarity of motion axis interlock from EtherCAT entry. .
int	setAxisMonAnalogInterlockRawLimit (int axisIndex, double value)
	Set analog interlock raw value limit . .
int	getAxisMonExtHWInterlockPolarity (int axisIndex, int *pol)
	Get polarity of motion axis interlock from EtherCAT entry. .
int	setAxisMonLimitBwdPolarity (int axisIndex, int value)
	Set polarity of hard low limit switch. .
int	getAxisMonLimitBwdPolarity (int axisIndex, int *pol)
	Get polarity of hard low limit switch. .
int	setAxisMonLimitFwdPolarity (int axisIndex, int value)
	Set polarity of hard high limit switch. .
int	getAxisMonLimitFwdPolarity (int axisIndex, int *pol)
	Get polarity of hard high limit switch. .
int	setAxisMonHomeSwitchPolarity (int axisIndex, int value)
	Set polarity of home switch. .
int	getAxisMonHomeSwitchPolarity (int axisIndex, int *pol)
	Get polarity of home switch. .
int	setAxisAllowCommandsFromPLC (int axisIndex, int value)
	Allow commands from PLCs. .
int	setAxisPLCEnable (int axisIndex, int value)
	Enable axis sync PLC expression. .
int	appendAxisPLCExpr (int axisIndex, char *expr)
	Append axis sync. PLC expression. .
int	compileAxisPLCExpr (int axisIndex)
	Compile Axis PLC code .
int	createAxis (int axisIndex, int axisType, int drvType, int trajType)
	Creates an axis object at index axisIndex.
int	linkEcEntryToAxisEnc (int slaveBusPosition, char *entryIdString, int axisIndex, int encoderEntryIndex, int entryBitIndex)
	Links an EtherCAT entry to the encoder object of the axis at axisIndex.
int	linkEcEntryToAxisDrv (int slaveBusPosition, char *entryIdString, int axisIndex, int driveEntryIndex, int entryBitIndex)
	Links an EtherCAT entry to the drive object of the axis at axisIndex.
int	linkEcEntryToAxisMon (int slaveBusPosition, char *entryIdString, int axisIndex, int monitorEntryIndex, int entryBitIndex)
	Links an EtherCAT entry to the monitor object of the axis at axisIndex .
int	linkEcEntryToAxisStatusOutput (int slaveIndex, char *entryIDString, int axisIndex)
	Links an EtherCAT entry to the an axis object for status output .
int	linkEcEntryToAxisSeqAutoModeSet (int slaveIndex, char *entryIDString, int axisIndex)
	Links an EtherCAT entry to the an axis object for setting drive mode .
int	linkEcEntryToAxisSeqAutoModeAct (int slaveIndex, char *entryIDString, int axisIndex)
	Links an EtherCAT entry to the an axis object for reading actual drive mode .
int	setAxisAutoModeCmdHoming (int axisIndex, int cmd)
	Set axis auto mode command for homing. .
int	setAxisAutoModeCmdMotion (int axisIndex, int cmd)
	Set axis auto mode command for motion. .
int	setDiagAxisIndex (int axisIndex)
	Set axis index for detailed motion diagnostics. .
int	setDiagAxisFreq (int freq)
	Set axis frequency of detailed motion diagnostics printouts. .
int	setDiagAxisEnable (int enable)
	Enable detailed motion diagnostics printouts. .
int	getAxisModRange (int axisIndex, double *range)
	Get axis modulo range. .
int	setAxisModRange (int axisIndex, double range)
	Set axis modulo range. .
int	setAxisModType (int axisIndex, int type)
	Set axis modulo motion type. .
int	getAxisModType (int axisIndex, int *value)
	Set axis modulo motion type. .
int	setAxisDisableAtErrorReset (int axisIndex, int disable)
	Disable axis at error reset .
int	setAxisAllowSourceChangeWhenEnabled (int axisIndex, int allow)
	Allow change of encoder and trajectory source when axis is enabled.
int	getAxisValid (int axisIndex)
	Returns 1 if axis index is in use.
int	setAxisEmergencyStopInterlock (int axisIndex, int stop)
	Init emergency stop ramp for an axis.

Detailed Description

Motion commands.

Macro Definition Documentation

CHECK_AXIS_CONTROLLER_RETURN_IF_ERROR

#define CHECK_AXIS_CONTROLLER_RETURN_IF_ERROR

(

axisIndex

)

Value:

        {\
          CHECK_AXIS_RETURN_IF_ERROR(axisIndex);\
          if (axes[axisIndex]->getCntrl() == NULL) {\
            LOGERR("ERROR: Controller object NULL.\n");\
            return ERROR_MAIN_CONTROLLER_OBJECT_NULL;\
          }\
        }\

CHECK_AXIS_DRIVE_RETURN_IF_ERROR

#define CHECK_AXIS_DRIVE_RETURN_IF_ERROR

(

axisIndex

)

Value:

        {\
          CHECK_AXIS_RETURN_IF_ERROR(axisIndex);\
          if (axes[axisIndex]->getDrv() == NULL) {\
            LOGERR("ERROR: Drive object NULL.\n");\
            return ERROR_MAIN_DRIVE_OBJECT_NULL;\
          }\
        }\

CHECK_AXIS_ENCODER_CFG_RETURN_IF_ERROR

#define CHECK_AXIS_ENCODER_CFG_RETURN_IF_ERROR

(

axisIndex

)

Value:

        {\
          CHECK_AXIS_RETURN_IF_ERROR(axisIndex);\
          if (axes[axisIndex]->\
              getConfigEnc() == NULL) {\
            LOGERR("ERROR: Encoder object NULL.\n");\
            return ERROR_MAIN_ENCODER_OBJECT_NULL;\
          }\
        }\

CHECK_AXIS_ENCODER_RETURN_IF_ERROR

#define CHECK_AXIS_ENCODER_RETURN_IF_ERROR

(

axisIndex

)

Value:

        {\
          CHECK_AXIS_RETURN_IF_ERROR(axisIndex);\
          if (axes[axisIndex]->\
              getEnc() == NULL) {\
            LOGERR("ERROR: Encoder object NULL.\n");\
            return ERROR_MAIN_ENCODER_OBJECT_NULL;\
          }\
        }\

CHECK_AXIS_MON_RETURN_IF_ERROR

#define CHECK_AXIS_MON_RETURN_IF_ERROR

(

axisIndex

)

Value:

        {\
          CHECK_AXIS_RETURN_IF_ERROR(axisIndex);\
          if (axes[axisIndex]->getMon() == NULL) {\
            LOGERR("ERROR: Monitor object NULL.\n");\
            return ERROR_MAIN_MONITOR_OBJECT_NULL;\
          }\
        }\

CHECK_AXIS_RETURN_IF_ERROR

#define CHECK_AXIS_RETURN_IF_ERROR

(

axisIndex

)

Value:

        {\
          if (axisIndex >= ECMC_MAX_AXES || axisIndex <= 0) {\
            LOGERR("ERROR: Axis index out of range.\n");\
            return ERROR_MAIN_AXIS_INDEX_OUT_OF_RANGE;\
          }\
          if (axes[axisIndex] == NULL) {\
            LOGERR("ERROR: Axis object NULL\n");\
            return ERROR_MAIN_AXIS_OBJECT_NULL;\
          }\
        }\

CHECK_AXIS_RETURN_IF_ERROR_AND_BLOCK_COM

#define CHECK_AXIS_RETURN_IF_ERROR_AND_BLOCK_COM

(

axisIndex

)

Value:

        {\
          CHECK_AXIS_RETURN_IF_ERROR(axisIndex);\
          if (axes[axisIndex]->getBlockExtCom()) {\
            LOGERR("ERROR: External Commands Disabled\n");\
            return ERROR_MAIN_AXIS_EXTERNAL_COM_DISABLED;\
          }\
        }\

CHECK_AXIS_SEQ_RETURN_IF_ERROR

#define CHECK_AXIS_SEQ_RETURN_IF_ERROR

(

axisIndex

)

Value:

        {\
          CHECK_AXIS_RETURN_IF_ERROR(axisIndex);\
          if (axes[axisIndex]->getSeq() == NULL) {\
            LOGERR("ERROR: Sequence object NULL.\n");\
            return ERROR_MAIN_SEQUENCE_OBJECT_NULL;\
          }\
        }\

CHECK_AXIS_TRAJ_RETURN_IF_ERROR

#define CHECK_AXIS_TRAJ_RETURN_IF_ERROR

(

axisIndex

)

Value:

        {\
          CHECK_AXIS_RETURN_IF_ERROR(axisIndex);\
          if (axes[axisIndex]->getTraj() == NULL) {\
            LOGERR("ERROR: Trajectory object NULL.\n");\
            return ERROR_MAIN_TRAJECTORY_OBJECT_NULL;\
          }\
        }\

Function Documentation

addAxisEnc()

int addAxisEnc

(

int

axisIndex

)

Add encoder object to axis.
.

Adds another encoder to axis object(max is 8).
After this command have been executed, all following encoder configuration
commands will be applied to the newly created encoder object.
Note: An encoder object will be automatically created when the axis object is created,
this encoder will have index 0. The first "extra" encoder created with addAxisEnc
function will therefore have encoder index 1, the next 2....

Parameters

[in]

axisIndex

Axis index.

Returns

0 if success or otherwise an error code.

Note

Example: Add encoder to axis object 3.
"Cfg.AddAxisEnc(3)" //Command string to ecmcCmdParser.c.

appendAxisPLCExpr()

int appendAxisPLCExpr	(	int	axisIndex,
		char *	expr )

Append axis sync. PLC expression.
.

Add one line to the axis PLC code.
The axis PLC expression is used for enabling and executing of axes based on mathematical expressions. This is useful when synchronizing axes i.e. a slave axis could be enabled and executed at the same time as the master axis.
Example: Enable of axis 2 is related to the enable command of axis 1 and 5. The execute command is related to an expression including the execute command for axis 2 and 7.
"ax2.drv.enable:=ax1.drv.enable or ax5.drv.enable|".
For more syntax help plese view PLC syntax (setPLCExpr()).

Parameters

[in]	axisIndex	Axis index.
[in]	expr	PLC expression.

Returns

0 if success or otherwise an error code.

Note

Example: Set PLC expression for axes 5 to ax2.drv.enable:=ax1.drv.enable or ax5.drv.enable|.
"Cfg.setAxisPLCExpr(5)=ax2.drv.enable:=ax1.drv.enable or ax5.drv.enable|" //Command string to ecmcCmdParser.c.

axisErrorReset()

int axisErrorReset	(	int	axisIndex,
		int	value )

Set gear ration setting.
.

Note: The gear ratio is only valid during synchronized motions.

Parameters

[in]	axisIndex	Axis index.
[in]	ratioNum	Gear ratio factor numerator.
[in]	ratioDenom	Gear ratio factor denominator.

Returns

0 if success or otherwise an error code.

Note

Example: Set gear ratio setting for axis 3 to 1/7.
"Cfg.SetAxisGearRatio(3,1,7)" //Command string to ecmcCmdParser.c.
Set axis reset bit.

Parameters

[in]	axisIndex	Axis index.
[in]	value	State of axis reset bit.

Returns

0 if success or otherwise an error code.

Note

Example: Set reset bit for axis 3.
"Main.M3.bReset=1" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

compileAxisPLCExpr()

int compileAxisPLCExpr

(

int

axisIndex

)

Compile Axis PLC code
.

For more syntax help plese view PLC syntax (setPLCExpr()).

Parameters

[in]

axisIndex

Axis index.

Returns

0 if success or otherwise an error code.

Note

Example: Compile code for the PLC of axis 5.
"Cfg.CompileAxisPLC(5)" //Command string to ecmcCmdParser.c.

createAxis()

int createAxis	(	int	axisIndex,
		int	axisType,
		int	drvType,
		int	trajType )

Creates an axis object at index axisIndex.

Parameters

[in]	axisIndex	Index of axis to address.
[in]	axisType	Type of axis. type = 1 : Normal axis (drive, encoder, monitor,pid-controller,trajectory). type = 2 : Virtual axis (encoder, monitor, trajectory).
[in]	drvType	Type of axis. type = 0 : Simple drive (stepper). type = 1 : DS402 drive.
[in]	trajType	Type of trajectory generator. type = 0 : Trapetzoidal. type = 1 : Jerk limited (s-curve, ruckig).

Returns

0 if success or otherwise an error code.

Note

Example: Create a normal axis with stepper drive at axisIndex 1.
"Cfg.CreateAxis(1)" //Command string to ecmcCmdParser.c

Example: Create a virtual axis at axisIndex 1 (no drive).
"Cfg.CreateAxis(1,2)" //Command string to ecmcCmdParser.c

Example: Create a normal axis with DS402 drive at axisIndex 1.
"Cfg.CreateAxis(1,2,1)" //Command string to ecmcCmdParser.c

Example: Create a normal axis with DS402 drive and S-curve traj.
"Cfg.CreateAxis(1,2,1,1)" //Command string to ecmcCmdParser.c

getAxisAcceleration()

int getAxisAcceleration	(	int	axisIndex,
		double *	value )

Get axis acceleration setpoint.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	acceleration setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Get acceleration setpoint for axis 3.
"Main.M3.fAcceleration?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisAllowCommandsFromPLC()

int getAxisAllowCommandsFromPLC	(	int	axisIndex,
		int *	value )

Get axis allow command from PLC.
.

An axis can receive commands from PLCs (expressions).
However, the axis must be allow to receive these commands, see command getAxisPLCExpr() for more information.

Parameters

[in]	axisIndex	Axis index.
[out]	value	enable.

Returns

0 if success or otherwise an error code.

Note

Example: Get axis enable command from other axis for axis 3.
"getAxisAllowCommandsFromPLC(3)" //Command string to ecmcCmdParser.c.

getAxisAtHardBwd()

int getAxisAtHardBwd	(	int	axisIndex,
		int *	value )

Get state of backward hard limit.
.

Checks state of backward hard limit switch.

Parameters

[in]	axisIndex	Axis index.
[out]	value	state of backward limit switch.

Returns

0 if success or otherwise an error code.

Note

Example: Get state of backward limit switch for axis 3.
"Main.M3.bLimitBwd?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisAtHardFwd()

int getAxisAtHardFwd	(	int	axisIndex,
		int *	value )

Get state of forward hard limit.
.

Checks state of forward hard limit switch.

Parameters

[in]	axisIndex	Axis index.
[out]	value	state of forward limit switch.

Returns

0 if success or otherwise an error code.

Note

Example: Get state of forward limit switch for axis 3.
"Main.M3.bLimitFwd?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisAtHome()

int getAxisAtHome	(	int	axisIndex,
		int *	value )

Get state of reference/home switch.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	state of reference/home switch.

Returns

0 if success or otherwise an error code.

Note

Example: Get state of reference/home switch for axis 3.
"Main.M3.stAxisStatus?" //The command returns a complete structure of information including the state of the reference switch //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisBlockCom()

int getAxisBlockCom	(	int	axisIndex,
		int *	block )

Get axis block external com.
If true the axis will not take any active commands via cmd
parser (statuses can still be read).
.

Parameters

[in]	axisIndex	Axis index.
[out]	block	Axis blocked.

Returns

0 if success or otherwise an error code.

Note

Example: Get axis block for axis 3.
"GetAxisBlockCom(3)" //Command string to ecmcCmdParser.c.

getAxisBusy()

int getAxisBusy	(	int	axisIndex,
		int *	value )

Get axis busy bit.
.

The axis busy bit is high while an command is executed or while synchronizing to other axes.

Parameters

[in]	axisIndex	Axis index.
[out]	value	state of axis busy bit.

Returns

0 if success or otherwise an error code.

Note

Example: Get busy state for axis 3.
"Main.M3.bBusy?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisCmdData()

int getAxisCmdData	(	int	axisIndex,
		int *	value )

Get axis command data word.
.

The command data word is an argument linked to the axis command. See fbDriveVirtual manual for more information.

Parameters

[in]	axisIndex	Axis index.
[out]	value	axis command data word. Command word = 10 (homing): value 1..6: Different homing sequences. Command word = 4 (absolute positioning): value 1: Go to start position of trajectory generator external transformation expressions. This is useful to avoid jumps during start phase when absolute synchronizing.

Returns

0 if success or otherwise an error code.

Note

Example: Get command data word for axis 3.
"Main.M3.nCmdData?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisCntrlError()

int getAxisCntrlError	(	int	axisIndex,
		double *	value )

Get actual pid controller error.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	actual error of pid controller.

Returns

0 if success or otherwise an error code.

Note

Example: Get pid controller error for axis 3.
"Main.M3.stAxisStatus?" //The command returns a complete structure of information including the state of the pid controller error * //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisCntrlOutDpart()

int getAxisCntrlOutDpart	(	int	axisIndex,
		double *	value )

Get PID-controller differential output part.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	PID-controller differential output.

Returns

0 if success or otherwise an error code.

Note

No command string implemented in the ecmcCmdParser.c parser.

getAxisCntrlOutFFpart()

int getAxisCntrlOutFFpart	(	int	axisIndex,
		double *	value )

Get PID-controller feed forward output part.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	PID-controller feed forward output.

Returns

0 if success or otherwise an error code.

Note

No command string implemented in the ecmcCmdParser.c parser.

getAxisCntrlOutIpart()

int getAxisCntrlOutIpart	(	int	axisIndex,
		double *	value )

Get PID-controller integral output part.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	PID-controller integral output.

Returns

0 if success or otherwise an error code.

Note

No command string implemented in the ecmcCmdParser.c parser.

getAxisCntrlOutPpart()

int getAxisCntrlOutPpart	(	int	axisIndex,
		double *	value )

Get PID-controller proportional output part.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	PID-controller proportional output.

Returns

0 if success or otherwise an error code.

Note

No command string implemented in the ecmcCmdParser.c parser.

getAxisCntrlOutput()

int getAxisCntrlOutput	(	int	axisIndex,
		double *	value )

Get PID-controllegetAxisAtHomer total output part.
.

The current total output from the PID-controller (the sum of the P,I,D and FF part).

Parameters

[in]	axisIndex	Axis index.
[out]	value	PID-controller total output.

Returns

0 if success or otherwise an error code.

Note

No command string implemented in the ecmcCmdParser.c parser.

getAxisCommand()

int getAxisCommand	(	int	axisIndex,
		int *	value )

Get axis command word.
.

The command word defines different modes of operation for and axis. See fbDriveVirtual manual for more information.

Parameters

[in]	axisIndex	Axis index.
[out]	value	axis command word. value = 0: Jog. value = 1: Constant Velocity. value = 2: Relative Positioning. value = 3: Absolute Positioning. value = 10: Homing. See manual for fbDriveVirtual for more information.

Returns

0 if success or otherwise an error code.

Note

Example: Get command word for axis 3.
"Main.M3.nCommand?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisCycleCounter()

int getAxisCycleCounter	(	int	axisIndex,
		int *	counter )

Get axis execution cycle counter.
Can be used for checking that logic for an axis object is executing.
.

Parameters

[in]	axisIndex	Axis index.
[out]	counter	Execution cycle counter.

Returns

error code.

Note

The counter can overflow.

Example: Get cycle counter of axis 3.
"GetAxisCycleCounter(3)" //Command string to ecmcCmdParser.c.

getAxisDebugInfoData()

int getAxisDebugInfoData	(	int	axisIndex,
		char *	buffer,
		int	bufferByteSize )

Get axis debug information string.
.

Parameters

[in]	axisIndex	Axis index.
[in,out]	buffer	Pointer to char output data buffer.
[in]	bufferByteSize	Size of data buffer.

Returns

error code.

Note

Example: Get information of axis 3.
"GetAxisDebugInfoData(3)" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisDeceleration()

int getAxisDeceleration	(	int	axisIndex,
		double *	value )

Get axis deceleration setpoint.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	deceleration setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Get deceleration setpoint for axis 3.
"Main.M3.fDeceleration?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisDone()

int getAxisDone	(	int	axisIndex,
		int *	value )

Get axis done bit.
.

The axis done bit is high when an axis is ready to take a new command (inverse of busy bit).

Parameters

[in]	axisIndex	Axis index.
[out]	value	state of axis done bit.

Returns

0 if success or otherwise an error code.

Note

Example: Get done state for axis 3.
"Main.M3.bDone?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisDrvEnable()

int getAxisDrvEnable	(	int	axisIndex,
		int *	value )

Get enable state of drive.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	Drive enabled.

Returns

0 if success or otherwise an error code.

Note

No command string implemented in the ecmcCmdParser.c parser.

getAxisDrvScale()

int getAxisDrvScale	(	int	axisIndex,
		double *	value )

Get the drive output scale factor.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	Drive output scale factor.

Returns

0 if success or otherwise an error code.

Note

No command string implemented in the ecmcCmdParser.c parser.

getAxisDrvScaleNum()

int getAxisDrvScaleNum	(	int	axisIndex,
		double *	value )

Get drive output scale numerator.
.

Parameters

[in]	axisIndex	Axis index.
[out]	pointer	to return value Scale numerator.

Returns

0 if success or otherwise an error code.

getAxisEnable()

int getAxisEnable	(	int	axisIndex,
		int *	value )

Get axis amplifier command bit.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	state of axis amplifier command bit.

Returns

0 if success or otherwise an error code.

Note

Example: Get amplifier enable command bit for axis 3.
"Main.M3.bEnable?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisEnableAlarmAtHardLimits()

int getAxisEnableAlarmAtHardLimits	(	int	axisIndex,
		int *	value )

Get enable alarms at limits bit.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	state of enable alarm at limits bit.

Returns

0 if success or otherwise an error code.

Note

Example: Get state of enable alarm at limits bit for axis 3.
"GetAxisEnableAlarmAtHardLimits(3)" //Command string to ecmcCmdParser.c.

getAxisEnabled()

int getAxisEnabled	(	int	axisIndex,
		int *	value )

Get axis amplifier state bit.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	state of axis amplifier.

Returns

0 if success or otherwise an error code.

Note

Example: Get amplifier actual state for axis 3.
"Main.M3.bEnabled?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisEnableSoftLimitBwd()

int getAxisEnableSoftLimitBwd	(	int	axisIndex,
		int *	value )

Get backward soft-limit enabled state of an axis.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	soft-limit enabled.

Returns

0 if success or otherwise an error code.

Note

Example: Get soft-limit backward enabled state for axis 3.
"ADSPORT=501/.ADR.16#5003,16#B,2,2?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisEnableSoftLimitFwd()

int getAxisEnableSoftLimitFwd	(	int	axisIndex,
		int *	value )

Get forward soft-limit enabled state of an axis.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	soft-limit enabled.

Returns

0 if success or otherwise an error code.

Note

Example: Get soft-limit forward enabled state for axis 3.
"ADSPORT=501/.ADR.16#5001,16#C,2,2?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisEncConfigIndex()

int getAxisEncConfigIndex	(	int	axisIndex,
		int *	index )

Get index of current encoder being configured.
.

Note

: The returned index starts at 1 (first encoder for axis has index 1).

Parameters

[in]

axisIndex

Axis index.

Returns

0 if success or otherwise an error code.

Note

Example: Get index of current encoder being configured for axis 3.
"Cfg.GetAxisEncConfigIndex(3)" //Command string to ecmcCmdParser.c.

getAxisEncHomed()

int getAxisEncHomed	(	int	axisIndex,
		int *	value )

Get encoder homed bit.
.

Checks if encoder has been homed.

Parameters

[in]	axisIndex	Axis index.
[out]	value	state of encoder homed bit.

Returns

0 if success or otherwise an error code.

Note

Example: Check if encoder of axis 3 has been homed.
"Main.M3.bHomed?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisEncPosAct()

int getAxisEncPosAct	(	int	axisIndex,
		double *	value )

Get actual encoder position.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	encoder actual position.

Returns

0 if success or otherwise an error code.

Note

Example: Get actual encoder position for axis 3.
"Main.M3.fActPosition?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisEncPosRaw()

int getAxisEncPosRaw	(	int	axisIndex,
		int64_t *	value )

Get raw unscaled encoder value.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	Raw encoder value.

Returns

0 if success or otherwise an error code.

Note

Example: Get raw encoder value for axis 3.
"GetAxisEncPosRaw(3)" //Command string to ecmcCmdParser.c.

getAxisEncPrimaryIndex()

int getAxisEncPrimaryIndex	(	int	axisIndex,
		int *	index )

Get index of current encoder being used for control (PID).
.

Note

: The returned index starts at 1 (first encoder for axis has index 1).

Parameters

[in]

axisIndex

Axis index.

Returns

0 if success or otherwise an error code.

Note

Example: Get index of current encoder being used for control for axis 3.
"Cfg.GetAxisEncPrimaryIndex(3)" //Command string to ecmcCmdParser.c.

getAxisEncScaleDenom()

int getAxisEncScaleDenom	(	int	axisIndex,
		double *	value )

Get the denominator part of the encoder scale.
.

The encoder scale factor is divided into one numerator and one denominator part. This function reads the denominator part.

Parameters

[in]	axisIndex	Axis index.
[out]	value	Encoder scale denominator part.

Returns

0 if success or otherwise an error code.

Note

Example: Get encoder scale denominator for axes 8.
"ADSPORT=501/.ADR.16#5008,16#24,8,5?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisEncScaleNum()

int getAxisEncScaleNum	(	int	axisIndex,
		double *	value )

Get the numerator part of the encoder scale.
.

The encoder scale factor is divided into one numerator and one denominator part. This function reads the numerator part.

Parameters

[in]	axisIndex	Axis index.
[out]	value	Encoder scale numerator part.

Returns

0 if success or otherwise an error code.

Note

Example: Get encoder scale numerator for axes 3.
"ADSPORT=501/.ADR.16#5003,16#23,8,5?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisEncSource()

int getAxisEncSource	(	int	axisIndex,
		int *	value )

Get axis encoder data source.
.

An axis encoder can get actual position from different sources:
source = 0 : Internal (EtherCAT entry).
source = 1 : External from transformation expression (synchronization).

Parameters

[in]	axisIndex	Axis index.
[out]	value	Source type.

Returns

0 if success or otherwise an error code.

Note

Example: Get encoder generator data source type for axis 3.
"GetAxisEncSourceType(3)" //Command string to ecmcCmdParser.c.

getAxisEncTransExpr()

const char * getAxisEncTransExpr	(	int	axisIndex,
		int *	error )

Get axis encoder transformation expression.
.

The axis transformation expression is used for synchronization of axes. The expression is a mathematical expression describing relation ship between different axes.
Example: "out:=sin(traj1+enc5)/500;".
traj1 = trajectory setpoint of axis 1.
enc5 = actual encoder position of axis 5.
out = the encoder setpoint for the current axis (axes[axisIndex]).

Parameters

[in]	axisIndex	Axis index.
[out]	error	Error code. error = 0: No error. error > 0: Error.

Returns

pointer to transformation expression.

Note

Example: Get encoder transformation expression for axes 5.
"GetAxisEncTransExpr(5)" //Command string to ecmcCmdParser.c.

getAxisEncVelAct()

int getAxisEncVelAct	(	int	axisIndex,
		double *	value )

Get actual encoder velocity.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	encoder actual velocity.

Returns

0 if success or otherwise an error code.

Note

Example: Get actual encoder velocity for axis 3.
"Main.M3.fActVelocity?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisEncVelo()

int getAxisEncVelo	(	int	axisIndex,
		double *	velo )

Get axis act velo.
.

The axis busy bit is high while an command is executed or while synchronizing to other axes.

Parameters

[in]	axisIndex	Axis index.
[out]	velo	Axis velocity.

Returns

0 if success or otherwise an error code.

getAxisError()

int getAxisError

(

int

axisIndex

)

Get axis error state.
.

Parameters

[in]

axisIndex

Axis index.

Returns

axis error state.

Note

Example: Get error code of axis 3.
"Main.M3.bError?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisErrorID()

int getAxisErrorID

(

int

axisIndex

)

Get axis error code.
.

Parameters

[in]

axisIndex

Axis index.

Returns

axis error code.

Note

Example: Get error code of axis 3.
"Main.M3.nErrorId?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisExecute()

int getAxisExecute	(	int	axisIndex,
		int *	value )

Get axis execute bit.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	state of axis execute bit.

Returns

0 if success or otherwise an error code.

Note

Example: Get execute bit for axis 3.
"Main.M3.bExecute?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisHomeVelOffCam()

int getAxisHomeVelOffCam	(	int	axisIndex,
		double *	value )

Get off cam referencing/homing velocity setpoint.
.

This velocity setpoint is only used during homing sequence when the reference switch already have been found. See command "getAxisHomeVelTowardsCam()" for more information.

Parameters

[in]	axisIndex	Axis index.
[out]	value	Velocity setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Get off cam referencing/homing velocity setpoint for axes 3.
"ADSPORT=501/.ADR.16#4003,16#7,8,5?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisHomeVelTowardsCam()

int getAxisHomeVelTowardsCam	(	int	axisIndex,
		double *	value )

Get Towards cam referencing/homing velocity setpoint.
.

This velocity setpoint is only used during homing sequence when finding the reference switch. See command "getAxisHomeVelTowardsCam()" for more information.

Parameters

[in]	axisIndex	Axis index.
[out]	value	Velocity setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Get Towards cam referencing/homing velocity setpoint for axes 3.
"ADSPORT=501/.ADR.16#4003,16#6,8,5?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisID()

int getAxisID	(	int	axisIndex,
		int *	value )

Get axis index.
.

This function is only implemented for compatibility reasons with the ESS MCAG TwinCAT implementation. (An TwinCAT plc axis can be linked to different NC-axis).

If the axis at axisIndex exists, axisIndex will be "returned" in the value parameter.

Parameters

[in]	axisIndex	Axis index.
[out]	value	axis index of chosen axis.

Returns

0 if success or otherwise an error code.

Note

Example: Get busy state for axis 3.
"Main.M3.nMotionAxisID?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisLimitSwitchBwd()

int getAxisLimitSwitchBwd	(	int	axisIndex,
		int *	value )

Same as getAxisAtHardBwd() but better name.
.

getAxisAtHardBwd() is kept for backward compatibility

getAxisLimitSwitchFwd()

int getAxisLimitSwitchFwd	(	int	axisIndex,
		int *	value )

Same as getAxisAtHardFwd() but better name.
.

getAxisAtHardFwd() is kept for backward compatibility

getAxisModRange()

int getAxisModRange	(	int	axisIndex,
		double *	range )

Get axis modulo range.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	modulo range.

Returns

0 if success or otherwise an error code.

Note

Example: Get modulo range for axis 3.
"GetAxisModRange(3)" //Command string to ecmcCmdParser.c.

getAxisModType()

int getAxisModType	(	int	axisIndex,
		int *	value )

Set axis modulo motion type.
.

Parameters

[in]	axisIndex	Axis index.
[out]	type	Modulo type. type = 0 : ECMC_MOD_MOTION_NORMAL 1: ECMC_MOD_MOTION_FWD (Always forward) 2: ECMC_MOD_MOTION_BWD (always backward) 3: ECMC_MOD_MOTION_CLOSEST (closest path)

Returns

0 if success or otherwise an error code.

Note

Example: Get modulo type for axis 3.
"GetAxisModType(3)" //Command string to ecmcCmdParser.c.

getAxisMonAtTarget()

int getAxisMonAtTarget	(	int	axisIndex,
		int *	value )

Get at target.
.

Checks if axis is within a certain tolerance from target position.

Parameters

[in]	axisIndex	Axis index.
[out]	value	At target.

Returns

0 if success or otherwise an error code.

Note

No command string implemented in the ecmcCmdParser.c parser.

getAxisMonAtTargetTime()

int getAxisMonAtTargetTime	(	int	axisIndex,
		int *	value )

Get "at target" monitoring time (cycles).
.

Parameters

[in]	axisIndex	Axis index.
[out]	pointer	to return value At target time (cycles) .

Returns

0 if success or otherwise an error code.

getAxisMonAtTargetTol()

int getAxisMonAtTargetTol	(	int	axisIndex,
		double *	value )

Set drive type.
OBSOLETE COMMAND. USE CREATEAXIS(id,type,drvtype).

Note

ALL SETTINGS MADE TO THE DRIVE WILL BE OVERWRITTEN.

Parameters

[in]	axisIndex	Axis index.
[in]	type	Drive type. 0 = Stepper drive. 1 = DS402 drive.

Returns

0 if success or otherwise an error code.

Note

Example: Set axis 3 drive type to stepper.
"Cfg.SetAxisDrvType(3,0)" //Command string to ecmcCmdParser.c.
Get "at target" monitoring tolerance.

Parameters

[in]	axisIndex	Axis index.
[out]	pointer	to return value At target tolerance.

Returns

0 if success or otherwise an error code.

getAxisMonEnableAtTargetMon()

int getAxisMonEnableAtTargetMon	(	int	axisIndex,
		int *	value )

Get enable "at target" monitoring.
.

Parameters

[in]	axisIndex	Axis index.
[out]	pointer	to return value Enable monitoring .

Returns

0 if success or otherwise an error code.

getAxisMonEnableLagMon()

int getAxisMonEnableLagMon	(	int	axisIndex,
		int *	value )

Get position lag monitoring enable.
.

The position lag monitoring functionality monitors the difference between the actual position and trajectory generated setpoint position. The motion can be interlocked if the difference exceeds a certain tolerance for a certain number of cycles, see command setAxisMonPosLagTime() and setAxisMonPosLagTol() for more information.
A big position lag error during a motion could be generated by bad tuning or mechanical issues.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Enable monitoring. .

Returns

0 if success or otherwise an error code.

getAxisMonEnableMaxVel()

int getAxisMonEnableMaxVel	(	int	axisIndex,
		int *	value )

Get enable maximum velocity monitoring (over speed).
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	Enable monitoring.

Returns

0 if success or otherwise an error code.

getAxisMonExtHWInterlockPolarity()

int getAxisMonExtHWInterlockPolarity	(	int	axisIndex,
		int *	pol )

Get polarity of motion axis interlock from EtherCAT entry.
.

The motion can be interlocked based on an EtherCAT entry. See command linkEcEntryToAxisMon() for more information.

Parameters

[in]	axisIndex	Axis index.
[out]	value	Polarity external interlock. 0 = NC (High is OK) Default. 1 = NO (Low is OK).

Note

WARNING: If an error is detected, the enable (power) will be removed from the axis. Please always ensure that the power less state is the safe state.

Returns

0 if success or otherwise an error code.

Note

Example: Get external interlock polarity for axis 7.
"GetAxisMonExtHWInterlockPolarity(7)" //Command string to ecmcCmdParser.c.

getAxisMonHomeSwitchPolarity()

int getAxisMonHomeSwitchPolarity	(	int	axisIndex,
		int *	pol )

Get polarity of home switch.
.

Parameters

[in]	axisIndex	Axis index.
[out]	pol	Polarity. 0 = NC (High is 1) Default. 1 = NO (Low is 1).

Returns

0 if success or otherwise an error code.

Note

Example: Get home switch polarity for axis 7.
"GetAxisMonHomeSwitchPolarity(7)" //Command string to ecmcCmdParser.c.

getAxisMonLatchLimit()

int getAxisMonLatchLimit	(	int	axisIndex,
		int *	value )

Get latch on limit settings.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	pointer to latch on limit setting value .

Returns

0 if success or otherwise an error code.

getAxisMonLimitBwdPolarity()

int getAxisMonLimitBwdPolarity	(	int	axisIndex,
		int *	pol )

Get polarity of hard low limit switch.
.

Parameters

[in]	axisIndex	Axis index.
[out]	pol	Polarity. 0 = NC (High is OK) Default. 1 = NO (Low is OK).

Returns

0 if success or otherwise an error code.

Note

Example: Get low limit polarity for axis 7.
"GetAxisMonLimitBwdPolarity(7)" //Command string to ecmcCmdParser.c.

getAxisMonLimitFwdPolarity()

int getAxisMonLimitFwdPolarity	(	int	axisIndex,
		int *	pol )

Get polarity of hard high limit switch.
.

Parameters

[in]	axisIndex	Axis index.
[out]	pol	Polarity. 0 = NC (High is OK) Default. 1 = NO (Low is OK).

Returns

0 if success or otherwise an error code.

Note

Example: Get high limit polarity for axis 7.
"GetAxisMonLimitFwdPolarity(7)" //Command string to ecmcCmdParser.c.

getAxisMonMaxVel()

int getAxisMonMaxVel	(	int	axisIndex,
		double *	value )

Get maximum allowed velocity.
.

The motion will be interlocked if the actual velocity or the velocity setpoint exceeds this value.

Parameters

[in]	axisIndex	Axis index.
[out]	value	Maximum velocity.

Returns

0 if success or otherwise an error code.

getAxisMonPosLagTime()

int getAxisMonPosLagTime	(	int	axisIndex,
		int *	value )

Get position lag monitoring time (cycles).
.

Parameters

[in]	axisIndex	Axis index.
[out]	pointer	to return value Position lag time (cycles).

Returns

0 if success or otherwise an error code.

getAxisMonPosLagTol()

int getAxisMonPosLagTol	(	int	axisIndex,
		double *	value )

Get position lag maximum monitoring tolerance.
.

Parameters

[in]	axisIndex	Axis index.
[out]	pointer	to return value Position lag maximum tolerance.

Returns

0 if success or otherwise an error code.

getAxisPLCEnable()

int getAxisPLCEnable	(	int	axisIndex,
		int *	value )

Get axis enable for axis sync. PLC.
.

The axis sync. PLC expression can be enabled/disabled. see command getAxisPLCExpr() for more information.

Parameters

[in]	axisIndex	Axis index.
[out]	value	enable.

Returns

0 if success or otherwise an error code.

Note

Example: Get axis enable command transform for axis 5.
"getAxisPLCEnable(5)" //Command string to ecmcCmdParser.c.

getAxisPLCExpr()

const char * getAxisPLCExpr	(	int	axisIndex,
		int *	error )

Get axis sync. PLC expression.
.

The axis sync PLC expression is used for enabling and executing of
axes based on mathematical expressions. This is useful when synchronizing
axes i.e. a slave axis could recive an custom trajatory, other enabled based\ on other axes or ethercat data in the form of mathematical expressions.

Parameters

[in]	axisIndex	Axis index.
[out]	error	Error code. error = 0: No error. error > 0: Error.

Returns

pointer to transformation expression.

Note

Example: Get axis sync. PLC expression for axes 5.
"getAxisPLCExpr(5)" //Command string to ecmcCmdParser.c.

getAxisReset()

int getAxisReset	(	int	axisIndex,
		int *	value )

Get axis reset bit.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	state of axis reset bit.

Returns

0 if success or otherwise an error code.

Note

Example: Get reset bit for axis 3.
"Main.M3.bReset?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisSoftLimitPosBwd()

int getAxisSoftLimitPosBwd	(	int	axisIndex,
		double *	value )

Get backward soft-limit position.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	soft-limit position.

Returns

0 if success or otherwise an error code.

Note

Example: Get soft-limit backward position for axis 3.
"ADSPORT=501/.ADR.16#5003,16#D,8,5?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisSoftLimitPosFwd()

int getAxisSoftLimitPosFwd	(	int	axisIndex,
		double *	value )

Get forward soft-limit position.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	Soft-limit position.

Returns

0 if success or otherwise an error code.

Note

Example: Get soft-limit forward position for axis 3.
"ADSPORT=501/.ADR.16#5003,16#E,8,5?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisStatusStructV2()

int getAxisStatusStructV2	(	int	axisIndex,
		char *	buffer,
		int	bufferByteSize )

Get axis status structure V2.
.

Parameters

[in]	axisIndex	Axis index.
[in,out]	buffer	Pointer to char output data buffer.
[in]	bufferByteSize	Size of data buffer.

Returns

error code.

Note

Example: Get information of axis 3.
"Main.M3.stAxisStatusV2?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisTargetPos()

int getAxisTargetPos	(	int	axisIndex,
		double *	value )

Get axis target position setpoint.
.

The target position is the desired end setpoint of a motion.

Parameters

[in]	axisIndex	Axis index.
[out]	value	target position setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Get target position setpoint for axis 3.
"Main.M3.fPosition?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisTargetVel()

int getAxisTargetVel	(	int	axisIndex,
		double *	value )

Get axis target velocity setpoint.
.

The target velocity is the desired velocity of a motion.
Note: The actual velocity can be higher than this setpoint.

Parameters

[in]	axisIndex	Axis index.
[out]	value	target velocity setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Get target velocity setpoint for axis 3.
"Main.M3.fVelocity?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

getAxisTrajSource()

int getAxisTrajSource	(	int	axisIndex,
		int *	value )

Get axis trajectory data source.
.

An axis trajectory generator can get position setpoints from different sources:
source = 0 : Internal (normal trajectory generation).
source = 1 : External from transformation expression (synchronization).

Parameters

[in]	axisIndex	Axis index.
[out]	value	Source type.

Returns

0 if success or otherwise an error code.

Note

Example: Get trajectory generator data source type for axis 3.
"GetAxisTrajSourceType(3)" //Command string to ecmcCmdParser.c.

getAxisTrajTransExpr()

const char * getAxisTrajTransExpr	(	int	axisIndex,
		int *	error )

Get axis trajectory transformation expression.
.

The axis transformation expression is used for synchronization of axes. The expression is a mathematical expression describing relation ship between different axes.
Example: "out:=sin(traj1+enc5)/500;".
traj1 = trajectory setpoint of axis 1.
enc5 = actual encoder position of axis 5.
out = the trajectory setpoint for the current axis (axes[axisIndex]).

Parameters

[in]	axisIndex	Axis index.
[out]	error	Error code. error = 0: No error. error > 0: Error.

Returns

pointer to transformation expression.

Note

Example: Get trajectory transformation expression for axes 5.
"GetAxisTrajTransExpr(5)" //Command string to ecmcCmdParser.c.

getAxisTrajVelo()

int getAxisTrajVelo	(	int	axisIndex,
		double *	velo )

Get axis traj velo.
.

The axis busy bit is high while an command is executed or while synchronizing to other axes.

Parameters

[in]	axisIndex	Axis index.
[out]	velo	Axis velocity.

Returns

0 if success or otherwise an error code.

getAxisType()

int getAxisType	(	int	axisIndex,
		int *	value )

Get axis type.
.

An axis can be of the following types: type = 1 : Normal axis (drive, encoder, monitor,pid-controller,trajectory).
type = 2 : Virtual axis (encoder, monitor, trajectory).

Parameters

[in]	axisIndex	Axis index.
[out]	value	Axis type.

Returns

0 if success or otherwise an error code.

Note

Example: Get encoder scale denominator for axes 8.
"GetAxisType(8)" //Command string to ecmcCmdParser.c.

getAxisValid()

int getAxisValid

(

int

axisIndex

)

Returns 1 if axis index is in use.

Parameters

[in]

axisIndex

Axis index.

linkEcEntryToAxisDrv()

int linkEcEntryToAxisDrv	(	int	slaveBusPosition,
		char *	entryIdString,
		int	axisIndex,
		int	driveEntryIndex,
		int	entryBitIndex )

Links an EtherCAT entry to the drive object of the axis at axisIndex.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveBusPosition = 0..65535: Addressing of normal EtherCAT slaves
[in]	entryIdString	String for addressing purpose (see command "Cfg.EcAddEntryComplete() for more information"). If left blank driveEntryIndex == 3 or4, the corresponding functionality will be disabled.
[in]	axisIndex	Index of axis to link to.
[in]	driveEntryIndex	Index of drive objects entry list. driveEntryIndex = 0: Amplifier enable (output). driveEntryIndex = 1: Velocity setpoint (output). driveEntryIndex = 2: Amplifier enabled (input). driveEntryIndex = 3: Brake (output). Brake func will be enabled. driveEntryIndex = 4: Reduce torque (output). Reduce torque func will be enabled.
[in]	entryBitIndex	Bit index of EtherCAT entry to use. entryBitIndex = -1: All bits of the entry will be used. entryBitIndex = 0..64: Only the selected bit will be used.

Returns

0 if success or otherwise an error code.

Note

Example 1: Link an EtherCAT entry configured as "VELOCITY_SET" in slave 3 as velocity setpoint entry for the drive object of axis 5.
"Cfg.LinkEcEntryToAxisDrive(3,VELOCITY_SET,5,1,-1)" //Command string to ecmcCmdParser.c
Example 2: Link bit 0 of an EtherCAT entry configured as "STM_CONTROL" in slave 3 as enable amplifier output entry for the drive object of axis 5.
"Cfg.LinkEcEntryToAxisDrive(3,STM_CONTROL,5,0,0)" //Command string to ecmcCmdParser.c
Example 3: If a drive have no feedback for enable, a simulation slave and entry can be used. The simulation EtherCAT slave can be addressed with a slaveBusIndex of -1. The simulation slave contains two entries, "ZERO" with default value zero and "ONE" with default value set to 1.
"Cfg.LinkEcEntryToAxisDrive(-1,ONE,5,0,0)" //Command string to ecmcCmdParser.c

linkEcEntryToAxisEnc()

int linkEcEntryToAxisEnc	(	int	slaveBusPosition,
		char *	entryIdString,
		int	axisIndex,
		int	encoderEntryIndex,
		int	entryBitIndex )

Links an EtherCAT entry to the encoder object of the axis at axisIndex.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveBusPosition = 0..65535: Addressing of normal EtherCAT slaves
[in]	entryIdString	String for addressing purpose (see command "Cfg.EcAddEntryComplete() for more information").
[in]	axisIndex	Index of axis to link to.
[in]	encoderEntryIndex	Index of encoder objects entry list. encoderEntryIndex = 0: Actual position (input).
[in]	entryBitIndex	Bit index of EtherCAT entry to use. entryBitIndex = -1: All bits of the entry will be used. entryBitIndex = 0..64: Only the selected bit will be used.

Returns

0 if success or otherwise an error code.

Note

Example: Link an EtherCAT entry configured as "POSITION_ACT" in slave 1 as actual position for the encoder of axis 5.
"Cfg.LinkEcEntryToAxisEncoder(1,POSITION_ACT,5,0,-1)" //Command string to ecmcCmdParser.c

linkEcEntryToAxisMon()

int linkEcEntryToAxisMon	(	int	slaveBusPosition,
		char *	entryIdString,
		int	axisIndex,
		int	monitorEntryIndex,
		int	entryBitIndex )

Links an EtherCAT entry to the monitor object of the axis at axisIndex
.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveBusPosition = 0..65535: Addressing of normal EtherCAT slaves.
[in]	entryIdString	String for addressing purpose (see command "Cfg.EcAddEntryComplete() for more information").
[in]	axisIndex	Index of axis to link to.
[in]	monitorEntryIndex	Index of monitor objects entry list. monitorEntryIndex = 0: Limit switch backward direction. monitorEntryIndex = 1: Limit switch forward direction. monitorEntryIndex = 2: Reference switch (homing). monitorEntryIndex = 3: External interlock input (optional). monitorEntryIndex = 4: External analog interlock input (optional).
[in]	entryBitIndex	Bit index of EtherCAT entry to use. entryBitIndex = -1: All bits of the entry will be used. entryBitIndex = 0..64: Only the selected bit will be used.

Returns

0 if success or otherwise an error code.

Note

Example 1: Link an EtherCAT entry configured as "INPUT_0" in slave 1 as forward limit switch entry for the monitor object of axis 5.
"Cfg.LinkEcEntryToAxisMonitor(1,"INPUT_0",5,1,0)" //Command string to ecmcCmdParser.c
Example 2: If an axis is not equipped with limit switches the entries for limit switches needs to be linked to the simulation entries. The simulation slave contains two entries, "ZERO" with default value zero and "ONE" with default value set to 1.
"Cfg.LinkEcEntryToAxisMonitor(-1,ONE,5,1,0)" //Command string to ecmcCmdParser.c

linkEcEntryToAxisSeqAutoModeAct()

int linkEcEntryToAxisSeqAutoModeAct	(	int	slaveIndex,
		char *	entryIDString,
		int	axisIndex )

Links an EtherCAT entry to the an axis object for
reading actual drive mode
.

Parameters

[in]	slaveIndex	Position of the EtherCAT slave on the bus. slaveIndex = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveIndex = 0..65535: Addressing of normal EtherCAT slaves.
[in]	entryIdString	String for addressing purpose (see command "Cfg.EcAddEntryComplete() for more information").
[in]	axisIndex	Index of axis.

Returns

0 if success or otherwise an error code.

linkEcEntryToAxisSeqAutoModeSet()

int linkEcEntryToAxisSeqAutoModeSet	(	int	slaveIndex,
		char *	entryIDString,
		int	axisIndex )

Links an EtherCAT entry to the an axis object for
setting drive mode
.

Parameters

[in]	slaveIndex	Position of the EtherCAT slave on the bus. slaveIndex = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveIndex = 0..65535: Addressing of normal EtherCAT slaves.
[in]	entryIdString	String for addressing purpose (see command "Cfg.EcAddEntryComplete() for more information").
[in]	axisIndex	Index of axis.

Returns

0 if success or otherwise an error code.

linkEcEntryToAxisStatusOutput()

int linkEcEntryToAxisStatusOutput	(	int	slaveIndex,
		char *	entryIDString,
		int	axisIndex )

Links an EtherCAT entry to the an axis object for status output
.

The output will be high when the axis object is without error code and otherwise zero.

Parameters

[in]	slaveIndex	Position of the EtherCAT slave on the bus. slaveIndex = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveIndex = 0..65535: Addressing of normal EtherCAT slaves.
[in]	entryIdString	String for addressing purpose (see command "Cfg.EcAddEntryComplete() for more information").
[in]	axisIndex	Index of axis.

Returns

0 if success or otherwise an error code.

Note

Example 1: Link an EtherCAT entry configured as "OUTPUT_0" in slave 1 as status output for axis with index 2.
"Cfg.LinkEcEntryToAxisStatusOutput(1,"OUTPUT_0",2)" //Command string to ecmcCmdParser.c

moveAbsolutePosition()

int moveAbsolutePosition	(	int	axisIndex,
		double	positionSet,
		double	velocitySet,
		double	accelerationSet,
		double	decelerationSet )

Move axis to an absolute position.
.

Parameters

[in]	axisIndex	Axis index.
[in]	positionSet	Position setpoint.
[in]	velocitySet	Velocity setpoint.
[in]	accelerationSet	Acceleration setpoint.
[in]	decelerationSet	Deceleration setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Move axis 5 to position 1234 with a velocity of 10, acceleration of 100, and deceleration of 200.
"MoveAbsolutePosition(5,1234,10,100,200)" //Command string to ecmcCmdParser.c

moveHome()

int moveHome	(	int	axisIndex,
		int	nCmdData,
		double	homePositionSet,
		double	velocityTowardsCamSet,
		double	velocityOffCamSet,
		double	accelerationSet,
		double	decelerationSet )

Execute homing sequence.
.

Parameters

[in]	axisIndex	Axis index.
[in]	nCmdData	Homing sequence number.
[in]	homePositionSet	Position to set at homing.
[in]	velocityTowardsCamSet	Velocity setpoint Towards cam.
[in]	velocityOffCamSet	Velocity setpoint off cam.
[in]	accelerationSet	Acceleration setpoint.
[in]	decelerationSet	Deceleration setpoint.

Returns

0 if success or otherwise an error code.

moveRelativePosition()

int moveRelativePosition	(	int	axisIndex,
		double	positionSet,
		double	velocitySet,
		double	accelerationSet,
		double	decelerationSet )

Move axis to a relative position.
.

Parameters

[in]	axisIndex	Axis index.
[in]	positionSet	Relative position setpoint.
[in]	velocitySet	Velocity setpoint.
[in]	accelerationSet	Acceleration setpoint.
[in]	decelerationSet	Deceleration setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Move axis 5 to 123 relative to current position with a velocity of 10, acceleration of 100, and deceleration of 200.
"MoveRelativePosition(5,1234,10,100,200)" //Command string to ecmcCmdParser.c

moveVelocity()

int moveVelocity	(	int	axisIndex,
		double	velocitySet,
		double	accelerationSet,
		double	decelerationSet )

Move axis in a constant velocity.
.

Parameters

[in]	axisIndex	Axis index.
[in]	velocitySet	Velocity setpoint.
[in]	accelerationSet	Acceleration setpoint.
[in]	decelerationSet	Deceleration setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Move axis 5 at a constant velocity of 10, acceleration of 100, and deceleration of 200.
"MoveVelocity(5,10,100,200)" //Command string to ecmcCmdParser.c

selectAxisEncConfig()

int selectAxisEncConfig	(	int	axisIndex,
		int	index )

Select encoder to configured.
.

Select an encoder to be configured (default encoder index 1 is used).

Parameters

[in]	axisIndex	Axis index.
[in]	encindex	Encoder index (first index is 0).

Returns

0 if success or otherwise an error code.

Note

: The encoder index starts at 1 (first encoder for axis has index 1).

Example: Select encoder 2 of axis 3 for configiuration.
"Cfg.SelectAxisEncConfig(3,2)" //Command string to ecmcCmdParser.c.

selectAxisEncPrimary()

int selectAxisEncPrimary	(	int	axisIndex,
		int	index )

Select encoder to be used for control.
.

Select an encoder to use for closed loop control (default encoder index 1 is used).

Note

IMPROTANT: The homing encoder will also be set to the selected encoder,
see selectAxisEncHome().

Parameters

[in]	axisIndex	Axis index.
[in]	encindex	Encoder index (first index is 0).

Returns

0 if success or otherwise an error code.

Note

: The encoder index starts at 1 (first encoder for axis has index 1).

Example: Select to use the third encoder object for closed loop control of axis 3.
"Cfg.SelectAxisEncPrimary(3,2)" //Command string to ecmcCmdParser.c.

setAxisAcceleration()

int setAxisAcceleration	(	int	axisIndex,
		double	value )

Set axis acceleration setpoint.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Acceleration setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Set acceleration setpoint for axis 3 to 500.
"Main.M3.fAcceleration=500" //Command string to ecmcCmdParser.c.

Example: Set deceleration setpoint for axis 3 to 500.
"Cfg.SetAxisAcc(3,500)" //Command string to ecmcCmdParser.c.

setAxisAllowCommandsFromPLC()

int setAxisAllowCommandsFromPLC	(	int	axisIndex,
		int	value )

Allow commands from PLCs.
.

An axis can receive commands from PLCs (see PLC syntax). However, the axis must be allow to receive these commands, see command setAxisPLCExpr() for more information.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Enable.

Returns

0 if success or otherwise an error code.

Note

Example: Enable command from PLC for axis 3.
"Cfg.setAxisAllowCommandsFromPLC(3,1)" //Command string to ecmcCmdParser.c.

setAxisAllowSourceChangeWhenEnabled()

int setAxisAllowSourceChangeWhenEnabled	(	int	axisIndex,
		int	allow )

Allow change of encoder and trajectory source when axis is enabled.

Parameters

[in]	axisIndex	Axis index.
[in]	allow	allow source change (default false).

Returns

0 if success or otherwise an error code.

Note

Example: Allow change of traj and enc source when enabled for axis 3.
"Cfg.SetAxisAllowSourceChangeWhenEnabled(3,1)" //Command string to ecmcCmdParser.c.

setAxisAutoModeCmdHoming()

int setAxisAutoModeCmdHoming	(	int	axisIndex,
		int	cmd )

Set axis auto mode command for homing.
.

Only relveant if an ethercat entry have been linked with "linkEcEntryToAxisSeqAutoModeSet()"

Parameters

[in]	axisIndex	Axis index.
[in]	cmd	command mode value for drive homing.

Returns

0 if success or otherwise an error code.

Note

Example: Set drive mode to 8 for when homing. "Cfg.setAxisAutoModeCmdHoming(3,8)" //Command string to ecmcCmdParser.c.

setAxisAutoModeCmdMotion()

int setAxisAutoModeCmdMotion	(	int	axisIndex,
		int	cmd )

Set axis auto mode command for motion.
.

Only relveant if an ethercat entry have been linked with "linkEcEntryToAxisSeqAutoModeSet()"

Parameters

[in]	axisIndex	Axis index.
[in]	cmd	command mode value for drive homing.

Returns

0 if success or otherwise an error code.

Note

Example: Set drive mode to 18 for when homing. "Cfg.setAxisAutoModeCmdMotion(3,18)" //Command string to ecmcCmdParser.c.

setAxisBlockCom()

int setAxisBlockCom	(	int	axisIndex,
		int	block )

Block/unblock communicatiom from via cmd parser.
.

Parameters

[in]	axisIndex	Axis index.
[in]	block	block or unblock com.

Returns

0 if success or otherwise an error code.

Note

Example: Block Com for axis 3.
"Cfg.SetAxisBlockCom(3,1)" //Command string to ecmcCmdParser.c.

setAxisCmdData()

int setAxisCmdData	(	int	axisIndex,
		int	value )

Set axis command data word.
.

The command data word is an argument linked to the axis command. See fbDriveVirtual manual for more information.
A new command will be triggered with a positive edge on the bExecute flag.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Axis command data word. The command data word have different meaning depending on the command word. Command word = 1 (Move velocity): Command data 0: Move Velocity Command word = 2 (Relative positioning): Command data 0: Move relative Command word = 3 (absolute positioning): Command data 0: Default absolute positioning Command Data 1: Go to start position of trajectory generator external transformation expressions. This is useful to avoid jumps during start phase when absolute synchronizing. Command word = 10 (Referencing to fHomePosition): Command Data 0: Simplest homing sequence. The actual position of the encoder will be set to fHomePosition. Command Data 1: Ref. on low limit switch. Command Data 2: Ref. on high limit switch. Command Data 3: Ref. on home sensor via low limit switch. Command Data 4: Ref. on home sensor via high limit switch. Command Data 5: Ref. on center of home sensor via low limit switch. Command Data 6: Ref. on center of home sensor via high limit switch.

Returns

0 if success or otherwise an error code.

Note

Example: Prepare homing sequence 3 at next positive edge of execute for axis 3 (two command needed).
"Main.M3.nCommand=10" //Set homing. Command string to ecmcCmdParser.c.
"Main.M3.nCmdData=3" //Set homing sequence. Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisCntrlDeadband()

int setAxisCntrlDeadband	(	int	axisIndex,
		double	value )

Set PID-controller deadband.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	deadband tolerance.

Returns

0 if success or otherwise an error code.

Note

Example: Set PID-controller deadband to 4.1 for axis 3.
"Cfg.SetAxisCntrlDeadband(3,4.1)" //Command string to ecmcCmdParser.c.

setAxisCntrlDeadbandTime()

int setAxisCntrlDeadbandTime	(	int	axisIndex,
		int	value )

Set PID-controller deadband time filter.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	deadband cycles to be withing tolerance.

Returns

0 if success or otherwise an error code.

Note

Example: Set PID-controller deadband time to 100 cycles for axis 3.
"Cfg.SetAxisCntrlDeadbandTime(3,100)" //Command string to ecmcCmdParser.c.

setAxisCntrlInnerParams()

int setAxisCntrlInnerParams	(	int	axisIndex,
		double	kp,
		double	ki,
		double	kd,
		double	tol )

Use a differnt set of pid parameters if within a certain distance of target.

Parameters

[in]	axisIndex	Axis index.
[in]	kp	Prop gain.
[in]	ki	Integarl gain.
[in]	kd	Derivative gain.
[in]	tol	Tolerance from target.

Note

tolerance needs to bigger than 0 for functionality to be enabled

Returns

0 if success or otherwise an error code.

Note

Example: Set PID-controller params for use abs(actpos - targpos)<tol "Cfg.setAxisCntrlInnerParams(3,4.1,2,5,0.1)" //Command string to ecmcCmdParser.c.

setAxisCntrlIpartHL()

int setAxisCntrlIpartHL	(	int	axisIndex,
		double	value )

Set PID-controller maximum integral part output value.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Max integral value.

Returns

0 if success or otherwise an error code.

Note

Example: Set PID-controller maximum integral part output value to 700 for axis 3.
"Cfg.SetAxisCntrlIPartHL(3,700)" //Command string to ecmcCmdParser.c.

setAxisCntrlIpartLL()

int setAxisCntrlIpartLL	(	int	axisIndex,
		double	value )

Set PID-controller minimum integral part output value.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Min integral value.

Returns

0 if success or otherwise an error code.

Note

Example: Set PID-controller minimum integral part output value to -700 for axis 3.
"Cfg.SetAxisCntrlIPartLL(3,-700)" //Command string to ecmcCmdParser.c.

setAxisCntrlKd()

int setAxisCntrlKd	(	int	axisIndex,
		double	value )

Set PID-controller differential gain.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Differential gain.

Returns

0 if success or otherwise an error code.

Note

Example: Set PID-controller differential gain to 1.1 for axis 3.
"Cfg.SetAxisCntrlKd(3,1.1)" //Command string to ecmcCmdParser.c.

setAxisCntrlKff()

int setAxisCntrlKff	(	int	axisIndex,
		double	value )

Set PID-controller feed forward gain.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Feed forward gain.

Returns

0 if success or otherwise an error code.

Note

Example: Set PID-controller feed forward gain to 4.1 for axis 3.
"Cfg.SetAxisCntrlKff(3,4.1)" //Command string to ecmcCmdParser.c.

setAxisCntrlKi()

int setAxisCntrlKi	(	int	axisIndex,
		double	value )

Set PID-controller integral gain.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Integral gain.

Returns

0 if success or otherwise an error code.

Note

Example: Set PID-controller integral gain to 0.1 for axis 3.
"Cfg.SetAxisCntrlKi(3,0.1)" //Command string to ecmcCmdParser.c.

setAxisCntrlKp()

int setAxisCntrlKp	(	int	axisIndex,
		double	value )

Set PID-controller proportional gain.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Proportional gain.

Returns

0 if success or otherwise an error code.

Note

Example: Set PID-controller proportional gain to 1.5 for axis 3.
"Cfg.SetAxisCntrlKp(3,1.5)" //Command string to ecmcCmdParser.c.

setAxisCntrlOutHL()

int setAxisCntrlOutHL	(	int	axisIndex,
		double	value )

Set PID-controller maximum output value.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Max value.

Returns

0 if success or otherwise an error code.

Note

Example: Set PID-controller max value to 1000 for axis 3.
"Cfg.SetAxisCntrlOutHL(3,1000)" //Command string to ecmcCmdParser.c.

setAxisCntrlOutLL()

int setAxisCntrlOutLL	(	int	axisIndex,
		double	value )

Set PID-controller minimum output value.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Min value.

Returns

0 if success or otherwise an error code.

Note

Example: Set PID-controller min value to -1000 for axis 3.
"Cfg.SetAxisCntrlOutLL(3,-1000)" //Command string to ecmcCmdParser.c.

setAxisCommand()

int setAxisCommand	(	int	axisIndex,
		int	value )

Set axis command word.
.

The command word defines different modes of operation for and axis. See fbDriveVirtual manual for more information.

Parameters

[in]	axisIndex	Axis index.
[in]	value	axis command word. value = 0: Jog. value = 1: Constant Velocity. value = 2: Relative Positioning. value = 3: Absolute Positioning. value = 10: Homing.

Returns

0 if success or otherwise an error code.

Note

Example: Set command word to absolute positioning for axis 4.
"Main.M4.nCommand=3" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisDeceleration()

int setAxisDeceleration	(	int	axisIndex,
		double	value )

Set axis deceleration setpoint.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Deceleration setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Set deceleration setpoint for axis 3 to 500.
"Main.M3.fDeceleration=500" //Command string to ecmcCmdParser.c.

Example: Set deceleration setpoint for axis 3 to 500.
"Cfg.SetAxisDec(3,500)" //Command string to ecmcCmdParser.c.

setAxisDisableAtErrorReset()

int setAxisDisableAtErrorReset	(	int	axisIndex,
		int	disable )

Disable axis at error reset
.

If axis is in error state and a reset command is issued,
then the axis will be disabled.

Parameters

[in]	axisIndex	Axis index.
[in]	disable	disable at error reset.

Returns

0 if success or otherwise an error code.

Note

Example: Disable axis at error reset for axis 3.
"Cfg.SetAxisDisableAtErrorReset(3,1)" //Command string to ecmcCmdParser.c.

setAxisDrvBrakeCloseAheadTime()

int setAxisDrvBrakeCloseAheadTime	(	int	axisIndex,
		int	aheadTime )

Set brake close ahead time .
.

Activation of the brake will be made prior to disabling the amplifier.
Note: A valid EtherCAT entry must be linked to the drive objects brake entry in order to work like intended.

Parameters

[in]	axisIndex	Axis index.
[in]	aheadTime	Ahead time in cycles.

Returns

0 if success or otherwise an error code.

Note

Example: Set brake close ahead time for axis 3 to 100 cycles.
"Cfg.SetAxisDrvBrakeCloseAheadTime(3,100)" //Command string to ecmcCmdParser.c.

setAxisDrvBrakeEnable()

int setAxisDrvBrakeEnable	(	int	axisIndex,
		int	enable )

Set enable of brake.
.

The brake output will follow the amplifier enable state of the drive. The brake is high when amplifier enable is high and low when amplifier enable is low.
Note: Delays are can be configured with:
-setAxisDrvBrakeOpenDelayTime()
-setAxisDrvBrakeCloseAheadTime()
Note: A valid EtherCAT entry must be linked to the drive objects brake entry in order to work like intended.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Brake enable.

Returns

0 if success or otherwise an error code.

Note

Example: Enable brake for axis 3.
"Cfg.SetAxisDrvBrakeEnable(3,1)" //Command string to ecmcCmdParser.c.

setAxisDrvBrakeOpenDelayTime()

int setAxisDrvBrakeOpenDelayTime	(	int	axisIndex,
		int	delayTime )

Set brake open delay time .
.

The release of the brake will be delayed for an additional delay time when enabling the amplifier.

Note: A valid EtherCAT entry must be linked to the drive objects brake entry in order to work like intended.

Parameters

[in]	axisIndex	Axis index.
[in]	delayTime	Delay time in cycles.

Returns

0 if success or otherwise an error code.

Note

Example: Set brake open delay time for axis 3 to 100 cycles.
"Cfg.SetAxisDrvBrakeOpenDelayTime(3,100)" //Command string to ecmcCmdParser.c.

setAxisDrvReduceTorqueEnable()

int setAxisDrvReduceTorqueEnable	(	int	axisIndex,
		int	enable )

Set enable of reduce torque functionality.
.

The reduce torque output will go high when the axis is atTarget. The "atTarget" monitoring functionality needs to be configured in order to reduce torque at the correct time.
Note: A valid EtherCAT entry must be linked to the drive objects reduce torque entry in order to work like intended.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Reduce torque enable.

Returns

0 if success or otherwise an error code.

Note

Example: Enable reduce torque for axis 3.
"Cfg.SetAxisDrvReduceTorqueEnable(3,1)" //Command string to ecmcCmdParser.c.

setAxisDrvScaleDenom()

int setAxisDrvScaleDenom	(	int	axisIndex,
		double	value )

Set drive output scale denominator.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Scale denominator.

Returns

0 if success or otherwise an error code.

Note

Example: Set drive output scale denominator to 32000 for axis 3.
"Cfg.SetAxisDrvScaleDenom(3,32000)" //Command string to ecmcCmdParser.c.

setAxisDrvScaleNum()

int setAxisDrvScaleNum	(	int	axisIndex,
		double	value )

Set drive output scale numerator.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Scale numerator.

Returns

0 if success or otherwise an error code.

Note

Example: Set drive output scale numerator to 10000 for axis 3.
"Cfg.SetAxisDrvScaleNum(3,10000)" //Command string to ecmcCmdParser.c.

setAxisDrvStateMachineTimeout()

int setAxisDrvStateMachineTimeout	(	int	axisIndex,
		double	seconds )

Set drive timeout .
.

Timeout for transition between disabled->enabled when enable command is sent. For DS402 drives this time is used as timeout between the DS402 states.

Parameters

[in]	axisIndex	Axis index.
[in]	timeout	Ahead time in cycles.

Returns

0 if success or otherwise an error code.

Note

Example: Set drive timeout for axis 3 to 10 seconds.
"Cfg.SetAxisDrvStateMachineTimout(3,10.0)" //Command string to ecmcCmdParser.c.

setAxisDrvVelSetOffsetRaw()

int setAxisDrvVelSetOffsetRaw	(	int	axisIndex,
		double	value )

Set drive raw velocity offset.
.

Can be used to offset the velocity drive range. can be usefull
if "0" doeas not correspont to 0 speed. basically this value is
added to the raw velocity setpoint just before sent to the slave.
The value should be specified in raw units.

Parameters

[in]	axisIndex	Axis index.
[in]	value	velocity offset.

Returns

0 if success or otherwise an error code.

Note

Example: Set drive raw velo offset to 700 for axis 3.
"Cfg.SetAxisDrvVelSetOffsetRaw(3,700)" //Command string to ecmcCmdParser.c.

setAxisEmergDeceleration()

int setAxisEmergDeceleration	(	int	axisIndex,
		double	value )

Set axis emergency deceleration setpoint.
.

The emergency deceleration setpoint is used:

• limit switch is engaged.
  
• both limit switches are engaged.
  
• ...

Parameters

[in]	axisIndex	Axis index.
[in]	value	Emergency deceleration setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Set emergency deceleration setpoint for axis 3 to 54321.
"Cfg.SetAxisEmergDeceleration(3,54321)" //Command string to ecmcCmdParser.c.

setAxisEmergencyStopInterlock()

int setAxisEmergencyStopInterlock	(	int	axisIndex,
		int	stop )

Init emergency stop ramp for an axis.

Note

This is not related to safety.
The system just tries to ramp down.
The real safety must be handled in a safety PLC.

Parameters

[in]	axisIndex	Axis index.
[in]	stop	stop axis.

setAxisEnable()

int setAxisEnable	(	int	axisIndex,
		int	value )

Set axis amplifier enable command bit.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	State of axis amplifier command bit.

Returns

0 if success or otherwise an error code.

Note

Example: Set amplifier enable command bit for axis 3.
"Main.M3.bEnable=1" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisEnableAlarmAtHardLimits()

int setAxisEnableAlarmAtHardLimits	(	int	axisIndex,
		int	value )

Set enable alarms at limits bit.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Enable alarm at limits bit.

Returns

0 if success or otherwise an error code.

Note

Example: Enable alarm at limits bit for axis 3.
"Cfg.SetAxisEnableAlarmAtHardLimits(3,1)" //Command string to ecmcCmdParser.c.

setAxisEnableAlarmAtSoftLimit()

int setAxisEnableAlarmAtSoftLimit	(	int	axisIndex,
		int	value )

Enable alarm when at softlimit.

Parameters

[in]	axisIndex	Axis index.
[in]	value	alarm enable command.

Returns

0 if success or otherwise an error code.

Note

Example: Enable alarm for soft-limits for axis 3.
"Cfg.SetAxisEnableAlarmAtSoftLimit(3,1)" //Command string to ecmcCmdParser.c.

setAxisEnableCheckEncsDiff()

int setAxisEnableCheckEncsDiff	(	int	axisIndex,
		int	enable )

Set "at target" monitoring tolerance.
.

Enable check of difference between encoders
(if more than one encoder is configutred for teh axis)

Parameters

[in]	axisIndex	Axis index.
[in]	enable	Enable monitoring of encoder diffs (if more than one enc per axis is configured).

Returns

0 if success or otherwise an error code.

Note

Example: Enable funtionallity for axis 7.
"Cfg.SetAxisMonEnableEncsDiff(7,1)" //Command string to ecmcCmdParser.c.

setAxisEnableMotionFunctions()

int setAxisEnableMotionFunctions	(	int	axisIndex,
		int	enablePos,
		int	enableConstVel,
		int	enableHome )

Set enable of motion functions.
.

Parameters

[in]	axisIndex	Axis index.
[in]	enablePos	Allow positioning (default = true).
[in]	enableConstVel	Allow constant velocity (default = true).
[in]	enableHome	Allow homing (default = true).

Returns

0 if success or otherwise an error code.

Note

Example: Only allow positioning for axis 3.
"Cfg.setAxisEnableMotionFunctions(3,1,0,0)" //Command string to ecmcCmdParser.c.

setAxisEnableSoftLimitBwd()

int setAxisEnableSoftLimitBwd	(	int	axisIndex,
		int	value )

Set enable backward soft-limit of an axis.
.

Parameters

[in]	axisIndex	Axis index.
[out]	value	Soft-limit enable command.

Returns

0 if success or otherwise an error code.

Note

Example: Disable backward soft-limit for axis 3.
"ADSPORT=501/.ADR.16#5003,16#B,2,2=0" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisEnableSoftLimitFwd()

int setAxisEnableSoftLimitFwd	(	int	axisIndex,
		int	value )

Set enable forward soft-limit of an axis.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Soft-limit enable command.

Returns

0 if success or otherwise an error code.

Note

Example: Enable forward soft-limit for axis 3.
"ADSPORT=501/.ADR.16#5001,16#C,2,2=1" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisEncAbsBits()

int setAxisEncAbsBits	(	int	axisIndex,
		int	bits )

Set encoder register bit count for absolute data.
.

This setting is used for homing of partly absolute encoders
like resolvers (single turn absolute). The data is always
considered to be located at the least significant bits
of the encoder data (masked). See setAxisEncBits() and
setAxisEncRawMask() for more information.

Parameters

[in]	axisIndex	Axis index.
[in]	bits	Encoder register bit count for absolute data.

Returns

0 if success or otherwise an error code.

Note

Example: Set encoder absolute bit count to 10 for axis 3.
"Cfg.SetAxisEncAbsBits(3,10)" //Command string to ecmcCmdParser.c.

setAxisEncBits()

int setAxisEncBits	(	int	axisIndex,
		int	bits )

Set encoder register bit count.
.

The bit count is used to handle over/under flow.

Note

: The bits will be considered to be the least significant
of the encoder data area. The raw encoder mask will therefore
be set to 2^bits-1 (see setAxisEncRawMask() for more info). If
bits need to be filtered away then use setAxisEncRawMask() command
instead.

Parameters

[in]	axisIndex	Axis index.
[in]	bits	Encoder register bit count.

Returns

0 if success or otherwise an error code.

Note

Example: Set encoder bit count to 16 for axis 3.
"Cfg.SetAxisEncBits(3,16)" //Command string to ecmcCmdParser.c.

setAxisEncEnableRefAtHome()

int setAxisEncEnableRefAtHome	(	int	axisIndex,
		int	enable )

Set referance this encoder at homing.

Referance this encoder during homing. If true, this encoder will be
set to the resulting value of a hoing sequence (based on any encoder).

Parameters

[in]	axisIndex	Axis index.
[in]	enable	Enable referencing.

Returns

0 if success or otherwise an error code.

Note

Example: Ref this encoder at homing of axis 3.
"Cfg.SetAxisEncEnableRefAtHome(3,1)" //Command string to ecmcCmdParser.c.

setAxisEncHomeLatchCountOffset()

int setAxisEncHomeLatchCountOffset	(	int	axisIndex,
		int	count )

Set home index pulse count offset.
.

Sets number of latches before homing is made for the current
encoder beeing configured.

Note

Only valid for some homing sequences when\ homing on hardware latched position (encoder index or external hw latch).

Parameters

[in]	axisIndex	Axis index.
[in]	count	Number of latches before homing.

Returns

0 if success or otherwise an error code.

Note

Example: Set home latch count to 1 for axis 10.
"Cfg.SetAxisEncHomeLatchCountOffset(10,1)" //Command string to ecmcCmdParser.c.

setAxisEncInvHwReady()

int setAxisEncInvHwReady	(	int	axisIndex,
		int	invert )

Invert Encoder Ready bit.

Some hardwares, i.e. EL72XX have a inverted encoder ready bit. part. This function reads the numerator part.

Note: Encoder error bit can also be used for this purpose.

Parameters

[in]	axisIndex	Axis index.
[in]	invert	Invert encoder ready bit.

Returns

0 if success or otherwise an error code.

Note

Example: Set invert encoder ready numerator for axes 3
"Cfg.SetAxisEncInvHwReady(3,1)" //Command string to ecmcCmdParser.c.

setAxisEncMaxDiffToPrimEnc()

int setAxisEncMaxDiffToPrimEnc	(	int	axisIndex,
		double	value )

Set maximum position deviation between current encoder and primary encoder.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Maximum allowed position deviation.

Returns

0 if success or otherwise an error code.

Note

Example: Set maximum allowed devaition between this encoder and
the primary encoder to 0.1 for axis 3.
"Cfg.SetAxisEncMaxDiffToPrimEnc(3,0.1)" //Command string to ecmcCmdParser.c.

setAxisEncOffset()

int setAxisEncOffset	(	int	axisIndex,
		double	value )

Set encoder offset value.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Offset position.

Returns

0 if success or otherwise an error code.

Note

Example: Set encoder offset value to 100 for axis 3.
"Cfg.SetAxisEncOffset(3,100)" //Command string to ecmcCmdParser.c.

setAxisEncPosFilterEnable()

int setAxisEncPosFilterEnable	(	int	axisIndex,
		int	enable )

Enables/disables encoder position filter.
.

Parameters

[in]	axisIndex	Axis index.
[in]	enable	Enable/disable (default disabled).

Returns

0 if success or otherwise an error code.

Note

Example: Enable filter for axis 7.
"Cfg.SetAxisEncPosFilterEnable(7,1)" //Command string to ecmcCmdParser.c.

setAxisEncPosFilterSize()

int setAxisEncPosFilterSize	(	int	axisIndex,
		int	size )

Set size of encoder position filter.
.

Sets the size of the low pass filter for the encoder value.
Needed when resolution of encoder is low compared to
sample rate and speed.

Parameters

[in]	axisIndex	Axis index.
[in]	size	Size of filter (default 10), filter disables if size<=1.

Returns

0 if success or otherwise an error code.

Note

Example: Set filter size to 10 for for axis 7.
"Cfg.SetAxisEncPosFilterSize(7,10)" //Command string to ecmcCmdParser.c.

setAxisEncRawMask()

int setAxisEncRawMask	(	int	axisIndex,
		uint64_t	rawMask )

Set encoder raw data mask.
.

Mask to filter Encoder data from encoder 64bit data
Also calculates bit-count of encoder data. If this function
is used then the setAxisEncBits() should NOT be used since
. setAxisEncBits() also calculates and sets the a raw-mask
(but based on all data located on the least significant bits).

Parameters

[in]	axisIndex	Axis index.
[in]	rawMask	Encoder raw mask.

Returns

0 if success or otherwise an error code.

Note

Example: Set encoder mask to 0xFFFF for axis 3.
"Cfg.SetAxisEncRawMask(3,0xFFFF)" //Command string to ecmcCmdParser.c.

setAxisEncRefToOtherEncAtStartup()

int setAxisEncRefToOtherEncAtStartup	(	int	axisIndex,
		int	encRef )

Reference this encoder to other encoder at startup.
.

For axes with multiple encoders an encoder can be referenced to other
encoder at startup. This is typically usefull for referencing a
relative encoder to an absolute encoder.

Parameters

[in]	axisIndex	Axis index.
[in]	encRef	Encoder reference index (first index is 0).

Returns

0 if success or otherwise an error code.

Note

Example: Reference this encoder to encoder 0 of axis 4 "Cfg.SetAxisEncRefToOtherEncAtStartup(4,0)" //Command string to ecmcCmdParser.c.

setAxisEncScaleDenom()

int setAxisEncScaleDenom	(	int	axisIndex,
		double	value )

Set the denominator part of the encoder scale.
.

The encoder scale factor is divided into one numerator and one denominator part. This function reads the denominator part.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Encoder scale denominator part.

Returns

0 if success or otherwise an error code.

Note

Example: Set encoder scale denominator for axes 8 to 4096.
"ADSPORT=501/.ADR.16#5008,16#24,8,5=4096" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisEncScaleNum()

int setAxisEncScaleNum	(	int	axisIndex,
		double	value )

Set the numerator part of the encoder scale.
.

The encoder scale factor is divided into one numerator and one denominator part. This function reads the numerator part.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Encoder scale numerator part.

Returns

0 if success or otherwise an error code.

Note

Example: Set encoder scale numerator for axes 3 to 360.
"ADSPORT=501/.ADR.16#5003,16#23,8,5=360" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisEncSource()

int setAxisEncSource	(	int	axisIndex,
		int	value )

Set axis encoder data source.
.

An axis encoder can get actual position from different sources:
source = 0 : Internal (EtherCAT entry).
source = 1 : External from transformation expression (synchronization).

Parameters

[in]	axisIndex	Axis index.
[in]	value	Source type.

Returns

0 if success or otherwise an error code.

Note

Example: Set encoder data source type for axis 3 to external.
"Cfg.SetAxisEncSourceType(3,1)" //Command string to ecmcCmdParser.c.

setAxisEncType()

int setAxisEncType	(	int	axisIndex,
		int	value )

Set encoder type.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Encoder type. value = 0: Incremental encoder. value = 1: Absolute encoder.

Returns

0 if success or otherwise an error code.

Note

Example: Set encoder type to absolute for axis 3.
"Cfg.SetAxisEncType(3,1)" //Command string to ecmcCmdParser.c.

setAxisEncVelFilterSize()

int setAxisEncVelFilterSize	(	int	axisIndex,
		int	size )

Set size of encoder velocity filter.
.

Sets the size of the low pass filter for velocity.
Needed when resolution of encoder is low compared to
sample rate and speed.

Parameters

[in]	axisIndex	Axis index.
[in]	size	Size of filter (default 100), needs to be >0.

Returns

0 if success or otherwise an error code.

Note

Example: Set filter size to 10 for for axis 7.
"Cfg.SetAxisEncVelFilterSize(7,10)" //Command string to ecmcCmdParser.c.

setAxisErrorId()

int setAxisErrorId	(	int	axisIndex,
		int	errorId )

Set axis error code.
.

Set axis error, can be used to provoke an error in an axis.

Parameters

[in]	axisIndex	Axis index.
[in]	errorId	Error id.

Returns

0 if success or otherwise an error code.

Note

Example: Set errorid of axis 10 to 111 (dec).
"Cfg.SetAxisErrorId(10,111)" //Command string to ecmcCmdParser.c.

setAxisExecute()

int setAxisExecute	(	int	axisIndex,
		int	value )

Set axis execute bit.
.

An positive edge of the execute bit triggers a new command.
Motion is interlocked when the execute bit is low.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Execute bit.

Returns

0 if success or otherwise an error code.

Note

Example: Set execute bit for axis 3.
"Main.M3.bExecute=1" //Command string to ecmcCmdParser.c.
Example: Stop motion on axis 3.
"Main.M3.bExecute=0" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisExtSetPos()

int setAxisExtSetPos	(	int	axisIndex,
		double	value )

Set axis external position setpoint.
.

Set the external sync/plc setpoint for an axis

Parameters

[in]	axisIndex	Axis index.
[in]	value	external position setpoint.

Returns

0 if success or otherwise an error code.

setAxisHomeAcc()

int setAxisHomeAcc	(	int	axisIndex,
		double	acc )

Set homing acceleration for current encoder beeing configured.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	acceleration.

Returns

0 if success or otherwise an error code.

Note

Example: Set homing acceleration to 15 for axis 2.
"Cfg.SetAxisHomeAcc(2,15)" //Command string to ecmcCmdParser.c.

setAxisHomeDec()

int setAxisHomeDec	(	int	axisIndex,
		double	acc )

Set homing deceleration for current encoder beeing configured.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	deceleration.

Returns

0 if success or otherwise an error code.

Note

Example: Set homing deceleration to 15 for axis 2.
"Cfg.SetAxisHomeDec(2,15)" //Command string to ecmcCmdParser.c.

setAxisHomePos()

int setAxisHomePos	(	int	axisIndex,
		double	value )

Set axis home reference position setpoint.
.

The home reference position setpoint is only used during referencing/homing sequence. The final referencing will be done to this position (the reference switch edge will have this positon after referenceing).

Parameters

[in]	axisIndex	Axis index.
[in]	value	Home position setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Set home position setpoint for axis 3 to 111.
"Main.M3.fHomePosition=111" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisHomePostMoveEnable()

int setAxisHomePostMoveEnable	(	int	axisIndex,
		int	enable )

Set homing post movement enable.

After successfull homing sequence an absolute positioning command can be executed.
If enabled the axis will issue an motion command to the target position defined by
setAxisHomePostMoveTargetPosition()

Parameters

[in]	axisIndex	Axis index.
[in]	enable	enable functionality.

Returns

0 if success or otherwise an error code.

Note

Example: Enable post home movement for axis 2
"Cfg.SetAxisHomePostMoveEnable(2,1)" //Command string to ecmcCmdParser.c.

setAxisHomePostMoveTargetPosition()

int setAxisHomePostMoveTargetPosition	(	int	axisIndex,
		double	targetPosition )

Set homing post movement target position.

After successfull homing sequence an absolute positioning command can be executed.
If enabled the axis will issue an motion command to the target position defined by
by this function

Parameters

[in]	axisIndex	Axis index.
[in]	targetPosition	Target position for post home seq movement.

Returns

0 if success or otherwise an error code.

Note

Example: Set a post home movement target position of 100 for axis 2
"Cfg.SetAxisHomePostMoveTargetPosition(2,100)" //Command string to ecmcCmdParser.c.

setAxisHomeSeqId()

int setAxisHomeSeqId	(	int	axisIndex,
		int	value )

Set homing sequence id for current encoder beeing configured.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	seq id time.

Returns

0 if success or otherwise an error code.

Note

Example: Set sequence id to 15 for axis 2.
"Cfg.SetAxisHomeSeqId(2,15)" //Command string to ecmcCmdParser.c.

setAxisHomeVelOffCam()

int setAxisHomeVelOffCam	(	int	axisIndex,
		double	dVel )

Set off cam referencing/homing velocity setpoint.
.

This velocity setpoint is only used during homing sequence when the reference switch already have been found. See command "getAxisHomeVelTowardsCam()" for more information.
Normally the off cam velocity setpoint is lower than the Towards cam setpoint since the accuracy of homing is depending on how accurate the signal edge of the reference switch can be identified.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Velocity setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Set off cam referencing/homing velocity setpoint for axes 3 to 7.5.
"ADSPORT=501/.ADR.16#4003,16#7,8,5=7.5" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisHomeVelTowardsCam()

int setAxisHomeVelTowardsCam	(	int	axisIndex,
		double	dVel )

Set Towards cam referencing/homing velocity setpoint.
.

This velocity setpoint is only used during homing sequence when finding the reference switch. See command "getAxisHomeVelTowardsCam()" for more information.
Normally the off cam velocity setpoint is lower than the towards cam setpoint since the accuracy of homing is depending on how accurate the signal edge of the reference switch can be identified.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Velocity setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Set towards cam referencing/homing velocity setpoint for axes 3 to 10.
"ADSPORT=501/.ADR.16#4003,16#6,8,5=10" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisJerk()

int setAxisJerk	(	int	axisIndex,
		double	value )

Set axis maximum jerk setpoint.
.

Note

Only used for ruckig trajectories (traj type 1).

Parameters

[in]	axisIndex	Axis index.
[in]	value	Jerk setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Set jerk to 23.2 for axis 3.
"Cfg.SetAxisJerk(3,23.2)" //Command string to ecmcCmdParser.c.

setAxisJogVel()

int setAxisJogVel	(	int	axisIndex,
		double	value )

Set axis jog velocity setpoint.
.

The jog velocity is the desired velocity of a motion when executing a jog command (command=10).
Note: The actual velocity can be higher than this setpoint.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Jog velocity setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Set target velocity setpoint for axis 3 to 55.
"Cfg.SetAxisJogVel(3,55)" //Command string to ecmcCmdParser.c.

setAxisModRange()

int setAxisModRange	(	int	axisIndex,
		double	range )

Set axis modulo range.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	modulo range.

Returns

0 if success or otherwise an error code.

Note

Example: Set modulo range for axis 3 to 360.
"Cfg.SetAxisModRange(3,360)" //Command string to ecmcCmdParser.c.

setAxisModType()

int setAxisModType	(	int	axisIndex,
		int	type )

Set axis modulo motion type.
.

Used for positioning if modulo range is set (setAxisModRange())
to a value greater than 0.

Parameters

[in]	axisIndex	Axis index.
[in]	type	Modulo type. type = 0 : ECMC_MOD_MOTION_NORMAL 1: ECMC_MOD_MOTION_FWD (Always forward) 2: ECMC_MOD_MOTION_BWD (always backward) 3: ECMC_MOD_MOTION_CLOSEST (closest path)

Returns

0 if success or otherwise an error code.

Note

Example: Set modulo type to "ECMC_MOD_MOTION_BWD"
for axis 3.
"Cfg.SetAxisModType(3,2)" //Command string to ecmcCmdParser.c.

setAxisMonAnalogInterlockPolarity()

int setAxisMonAnalogInterlockPolarity	(	int	axisIndex,
		int	value )

Set polarity of motion axis interlock from EtherCAT entry.
.

The motion can be interlocked based on an EtherCAT entry. See command linkEcEntryToAxisMon() for more information.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Polarity analog interlock (inversed from digital interlock). 0 = High value is bad. 1 = Low value is bad.

Returns

0 if success or otherwise an error code.

Note

Example: Set analog interlock to 1 for axis 7.
"Cfg.SetAxisMonAnalogInterlockPolarity(7,1)" //Command string to ecmcCmdParser.c.

setAxisMonAnalogInterlockRawLimit()

int setAxisMonAnalogInterlockRawLimit	(	int	axisIndex,
		double	value )

Set analog interlock raw value limit .
.

The motion can be interlocked based on an EtherCAT entry. See command linkEcEntryToAxisMon() for more information.

Parameters

[in]	axisIndex	Axis index.
[in]	value	raw value limit.

Returns

0 if success or otherwise an error code.

Note

Example: Set analog raw value limit to 3200 for axis 7.
"Cfg.SetAxisMonAnalogInterlockRawLimit(7,3200)" //Command string to ecmcCmdParser.c.

setAxisMonAtTargetTime()

int setAxisMonAtTargetTime	(	int	axisIndex,
		int	value )

Set "at target" monitoring time (cycles).
.

The motion will be considered to have reached the target position when the difference between the actual position and target position is within a certain tolerance for a this number of cycles, see command setAxisMonAtTargetTol() for more information.
Note: The "at target" functionality needs to be enabled by the command setAxisMonEnableAtTargetMon().

Parameters

[in]	axisIndex	Axis index.
[in]	value	At target time (cycles) .

Returns

0 if success or otherwise an error code.

Note

Example: Set at target tolerance time (cycles) to 10 for axis 7.
"Cfg.SetAxisMonAtTargetTime(7,10)" //Command string to ecmcCmdParser.c.

setAxisMonAtTargetTol()

int setAxisMonAtTargetTol	(	int	axisIndex,
		double	value )

Set "at target" monitoring tolerance.
.

The motion will be considered to have reached the target position when the difference between the actual position and target position is within this tolerance for a certain number of cycles, see command setAxisMonAtTargetTime() for more information.
Note: The "at target" functionality needs to be enabled by the command setAxisMonEnableAtTargetMon().

Parameters

[in]	axisIndex	Axis index.
[in]	value	At target tolerance.

Returns

0 if success or otherwise an error code.

Note

Example: Set at target tolerance to 0.1 for axis 7.
"Cfg.SetAxisMonAtTargetTol(7,0.1)" //Command string to ecmcCmdParser.c.

setAxisMonCntrlOutHL()

int setAxisMonCntrlOutHL	(	int	axisIndex,
		double	value )

Set monitoring controller output high limit.
.

Set maximum allowed controller output for an axis.
A high controller output during a motion could be generated by bad tuning or mechanical issues, see command setAxisMonEnableCntrlOutHLMon()for more information.

Note

WARNING: If an error is detected, the enable (power) will be removed from the axis. Please always ensure that the power less state is the safe state.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Maximum allowed controller output.

Returns

0 if success or otherwise an error code.

Note

Example: Set maximum allowed output to 2000 for for axis 3.
"Cfg.SetAxisMonCntrlOutHL(3,2000)" //Command string to ecmcCmdParser.c.

setAxisMonEnableAnalogInterlock()

int setAxisMonEnableAnalogInterlock	(	int	axisIndex,
		int	value )

Enable motion axis interlock from analog EtherCAT entry.
A typical usecase is temperature sensors.
.

The motion can be interlocked based on an analog EtherCAT entry. See command linkEcEntryToAxisMon() for more information.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Enable external interlock.

Note

WARNING: If an error is detected, the enable (power) will be removed from the axis. Please always ensure that the power less state is the safe state.

Returns

0 if success or otherwise an error code.

Note

Example: Enable analog interlock for axis 7.
"Cfg.SetAxisMonEnableAnalogInterlock(7,1)" //Command string to ecmcCmdParser.c.

setAxisMonEnableAtTargetMon()

int setAxisMonEnableAtTargetMon	(	int	axisIndex,
		int	value )

Enable "at target" monitoring.
.

The motion will be considered to have reached the target position when the difference between the actual position and target position is within a certain tolerance for a this number of cycles, see command setAxisMonAtTargetTol() and setAxisMonAtTargetTime() for more information.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Enable monitoring .

Returns

0 if success or otherwise an error code.

Note

Example: Enable at target monitoring for axis 7.
"Cfg.SetAxisMonEnableAtTargetMon(7,1)" //Command string to ecmcCmdParser.c.

setAxisMonEnableCntrlOutHLMon()

int setAxisMonEnableCntrlOutHLMon	(	int	axisIndex,
		int	value )

Enable controller output high limit monitoring.
.

The controller output high limit monitoring functionality monitors the controller output. The motion can be interlocked if the controller output exceeds a certain tolerance, see command setAxisMonCntrlOutHL() for more information.
A high controller output during a motion could be generated by bad tuning or mechanical issues.

Note

WARNING: If an error is detected, the enable (power) will be removed from the axis. Please always ensure that the power less state is the safe state.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Enable monitoring.

Returns

0 if success or otherwise an error code.

Note

Example: Disable controller output high limit monitoring for axis 2.
"Cfg.SetAxisMonEnableCntrlOutHLMon(2,0)" //Command string to ecmcCmdParser.c.

setAxisMonEnableExternalInterlock()

int setAxisMonEnableExternalInterlock	(	int	axisIndex,
		int	value )

Enable motion axis interlock from EtherCAT entry.
.

The motion can be interlocked based on an EtherCAT entry. See command linkEcEntryToAxisMon() for more information.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Enable external interlock.

Note

WARNING: If an error is detected, the enable (power) will be removed from the axis. Please always ensure that the power less state is the safe state.

Returns

0 if success or otherwise an error code.

Note

Example: Enable external interlock for axis 7.
"Cfg.SetAxisMonEnableExtHWInterlock(7,1)" //Command string to ecmcCmdParser.c.

setAxisMonEnableLagMon()

int setAxisMonEnableLagMon	(	int	axisIndex,
		int	value )

Enable position lag monitoring.
.

The position lag monitoring functionality monitors the difference between the actual position and trajectory generated setpoint position. The motion can be interlocked if the difference exceeds a certain tolerance for a certain number of cycles, see command setAxisMonPosLagTime() and setAxisMonPosLagTol() for more information.
A big position lag error during a motion could be generated by bad tuning or mechanical issues.

Parameters

[in]	axisIndex	Axis index.
[in]	value	monitoring enabled. .

Returns

0 if success or otherwise an error code.

Note

Example: Disable position lag monitoring for axis 2.
"Cfg.SetAxisMonEnableLagMon(2,0)" //Command string to ecmcCmdParser.c.

setAxisMonEnableMaxVel()

int setAxisMonEnableMaxVel	(	int	axisIndex,
		int	value )

Enable maximum velocity monitoring (over speed).
.

The motion will be interlocked if the actual velocity or the velocity setpoint exceeds the limit value set by the command setAxisMonMaxVel().

Parameters

[in]	axisIndex	Axis index.
[in]	value	Enable monitoring.

Returns

0 if success or otherwise an error code.

Note

Example: Enable over speed monitoring for axis 3.
"Cfg.SetAxisMonEnableMaxVel(3,1)" //Command string to ecmcCmdParser.c.

setAxisMonEnableVelocityDiff()

int setAxisMonEnableVelocityDiff	(	int	axisIndex,
		int	value )

Enable monitoring of velocity difference.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Enable monitoring.

Returns

0 if success or otherwise an error code.

Note

Example: Enable monitoring for axis 2.
"Cfg.SetAxisMonEnableVelocityDiff(2,1)" //Command string to ecmcCmdParser.c.

setAxisMonExtHWInterlockPolarity()

int setAxisMonExtHWInterlockPolarity	(	int	axisIndex,
		int	value )

Set polarity of motion axis interlock from EtherCAT entry.
.

The motion can be interlocked based on an EtherCAT entry. See command linkEcEntryToAxisMon() for more information.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Polarity external interlock. 0 = NC (High is OK) Default. 1 = NO (Low is OK).

Note

WARNING: If an error is detected, the enable (power) will be removed from the axis. Please always ensure that the power less state is the safe state.

Returns

0 if success or otherwise an error code.

Note

Example: Set external interlock to NC for axis 7.
"Cfg.SetAxisMonExtHWInterlockPolarity(7,0)" //Command string to ecmcCmdParser.c.

setAxisMonHomeSwitchPolarity()

int setAxisMonHomeSwitchPolarity	(	int	axisIndex,
		int	value )

Set polarity of home switch.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Polarity. 0 = NC (High is 1) Default. 1 = NO (Low is 1).

Returns

0 if success or otherwise an error code.

Note

Example: Set home switch polarity to NC for axis 7.
"Cfg.SetAxisMonHomeSwitchPolarity(7,0)" //Command string to ecmcCmdParser.c.

setAxisMonLatchLimit()

int setAxisMonLatchLimit	(	int	axisIndex,
		int	value )

Set latch limit settings.
.

If set: limit switch is latched even if just a "bounce"
Then motion must stop before a new motion can be activated.
Otherwise motion will be allowed as long as limit is OK

Parameters

[in]	axisIndex	Axis index.
[in]	value	latch on limit setting value. 0: disable 1: enable (default)

Note

Example: Disable latch limit for for axis 4.
"Cfg.SetAxisMonLatchLimit(4,0)" //Command string to ecmcCmdParser.c.

Returns

0 if success or otherwise an error code.

setAxisMonLimitBwdPolarity()

int setAxisMonLimitBwdPolarity	(	int	axisIndex,
		int	value )

Set polarity of hard low limit switch.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Polarity. 0 = NC (High is OK) Default. 1 = NO (Low is OK).

Returns

0 if success or otherwise an error code.

Note

Example: Set low limit polarity to NC for axis 7.
"Cfg.SetAxisMonLimitBwdPolarity(7,0)" //Command string to ecmcCmdParser.c.

setAxisMonLimitFwdPolarity()

int setAxisMonLimitFwdPolarity	(	int	axisIndex,
		int	value )

Set polarity of hard high limit switch.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Polarity. 0 = NC (High is OK) Default. 1 = NO (Low is OK).

Returns

0 if success or otherwise an error code.

Note

Example: Set high limit polarity to NC for axis 7.
"Cfg.SetAxisMonLimitFwdPolarity(7,0)" //Command string to ecmcCmdParser.c.

setAxisMonMaxVel()

int setAxisMonMaxVel	(	int	axisIndex,
		double	value )

Set maximum allowed velocity.
.

The motion will be interlocked if the actual velocity or the velocity setpoint exceeds this value.
Note: The maximum velocity monitoring needs to be enabled with the command setAxisMonEnableMaxVel().

Parameters

[in]	axisIndex	Axis index.
[in]	value	Maximum velocity.

Returns

0 if success or otherwise an error code.

Note

Example: Set maximum velocoity for axis 3 to 20.
"Cfg.SetAxisMonMaxVel(3,20)" //Command string to ecmcCmdParser.c.

setAxisMonMaxVelDriveILDelay()

int setAxisMonMaxVelDriveILDelay	(	int	axisIndex,
		int	value )

Set velocity monitoring interlock delay for drive.
.

The over speed interlock for the drive can be delayed in order ensure that encoder noise reulsting in a high velocity will not interlock motion. If the overspeed interlock is still active after this amount of cycles the drive will be interlocked and the amplifier will be turned off.
Note: The maximum velocity monitoring needs to be enabled with the command setAxisMonEnableMaxVel().

Parameters

[in]	axisIndex	Axis index.
[in]	value	Delay cycles.

Returns

0 if success or otherwise an error code.

Note

Example: Set drive over speed interlock delay to 10 cycles for axis 4.
"Cfg.SetAxisMonMaxVelDriveILDelay(4,10)" //Command string to ecmcCmdParser.c.

setAxisMonMaxVelTrajILDelay()

int setAxisMonMaxVelTrajILDelay	(	int	axisIndex,
		int	value )

Set velocity monitoring interlock delay for trajectory.
.

The over speed interlock for the trajectory generator can be delayed in order ensure that encoder noise reulsting in a high velocity will not interlock motion. If the overspeed interlock is still active after this amount of cycles the trajectory generator will be interlocked and velocity will be ramped down to stand still.
Note: The maximum velocity monitoring needs to be enabled with the command setAxisMonEnableMaxVel().

Parameters

[in]	axisIndex	Axis index.
[in]	value	Delay cycles.

Returns

0 if success or otherwise an error code.

Note

Example: Set trajectory generator over speed interlock delay to 10 cycles for axis 4.
"Cfg.SetAxisMonMaxVelTrajILDelay(4,10)" //Command string to ecmcCmdParser.c.

setAxisMonPosLagTime()

int setAxisMonPosLagTime	(	int	axisIndex,
		int	value )

Set position lag monitoring time (cycles).
.

The position lag monitoring functionality monitors the difference between the actual position and trajectory generated setpoint position. The motion can be interlocked if the difference exceeds a certain tolerance for a this number of cycles, see command setAxisMonPosLagTol() for more information.
A big position lag error during a motion could be generated by bad tuning or mechanical issues.
Note: The position lag functionality needs to be enabled with the command setAxisMonEnableLagMon().

Parameters

[in]	axisIndex	Axis index.
[in]	value	Position lag time (cycles).

Returns

0 if success or otherwise an error code.

Note

Example: Set position lag time (cycles) to 10 for axis 7.
"Cfg.SetAxisMonPosLagTime(7,10)" //Command string to ecmcCmdParser.c.

setAxisMonPosLagTol()

int setAxisMonPosLagTol	(	int	axisIndex,
		double	value )

Set position lag maximum monitoring tolerance.
.

The position lag monitoring functionality monitors the difference between the actual position and trajectory generated setpoint position. The motion can be interlocked if the difference exceeds this tolerance for a certain number of cycles, see command setAxisMonPosLagTime() for more information.
A big position lag error during a motion could be generated by bad tuning or mechanical issues.
Note: The position lag functionality needs to be enabled with the command setAxisMonEnableLagMon().

Parameters

[in]	axisIndex	Axis index.
[in]	value	Position lag maximum tolerance.

Returns

0 if success or otherwise an error code.

Note

Example: Set maximum position lag tolerance to 0.2 for axis 7.
"Cfg.SetAxisMonPosLagTol(7,0.2)" //Command string to ecmcCmdParser.c.

setAxisMonVelDiffDriveILDelay()

int setAxisMonVelDiffDriveILDelay	(	int	axisIndex,
		int	value )

Set drive interlock filter time in cycles for velocity difference monitoring.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Time in cycles.

Returns

0 if success or otherwise an error code.

Note

Example: Set filter time to 500 cycles for axis 2.
"Cfg.SetAxisMonVelDiffDriveILDelay(2,500)" //Command string to ecmcCmdParser.c.

setAxisMonVelDiffTol()

int setAxisMonVelDiffTol	(	int	axisIndex,
		double	value )

Set maximum allowed difference between setpoint speed and actual speed±n.

Parameters

[in]	axisIndex	Axis index.
[in]	value	velocity difference.

Returns

0 if success or otherwise an error code.

Note

Example: Set maximum difference 0.5 for axis 2.
"Cfg.SetAxisMonVelDiffTol(2,0.5)" //Command string to ecmcCmdParser.c.

setAxisMonVelDiffTrajILDelay()

int setAxisMonVelDiffTrajILDelay	(	int	axisIndex,
		int	value )

Set trajectory interlock filter time in cycles for velocity difference monitoring.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Time in cycles.

Returns

0 if success or otherwise an error code.

Note

Example: Set filter time to 100 cycles for axis 2.
"Cfg.SetAxisMonVelDiffTrajILDelay(2,100)" //Command string to ecmcCmdParser.c.

setAxisPLCEnable()

int setAxisPLCEnable	(	int	axisIndex,
		int	value )

Enable axis sync PLC expression.
.

The axis sync PLC expression for an axis can be enabled/disabled. see command setAxisPLCExpr() for more information.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Enable.

Returns

0 if success or otherwise an error code.

Note

Example: Disable command transformation expression axis 5.
"Cfg.SetAxisPLCEnable(5,0)" //Command string to ecmcCmdParser.c.

setAxisPLCEncVelFilterEnable()

int setAxisPLCEncVelFilterEnable	(	int	axisIndex,
		int	enable )

Enables/disables velocity filter of external actual value.
.

NOTE: This filter is currentlly not used.

Parameters

[in]	axisIndex	Axis index.
[in]	enable	enable filter.

Returns

0 if success or otherwise an error code.

Note

Example: Enable velocity filter for external actual position for axis 5. "Cfg.SetAxisPLCEncVelFilterEnable(5,1)" //Command string to ecmcCmdParser.c.

setAxisPLCEncVelFilterSize()

int setAxisPLCEncVelFilterSize	(	int	axisIndex,
		int	size )

Set size of external encoder velocity filter.
.

NOTE: This filter is currentlly not used.
Sets the size of the filter for velocity from "external" PLC code.

Parameters

[in]	axisIndex	Axis index.
[in]	size	Size of filter (default 100).

Returns

0 if success or otherwise an error code.

Note

Example: Set filter size to 10 for for axis 7.
"Cfg.SetAxisPLCEncVelFilterSize(7,10)" //Command string to ecmcCmdParser.c.

setAxisPLCTrajVelFilterEnable()

int setAxisPLCTrajVelFilterEnable	(	int	axisIndex,
		int	enable )

Enables/disables velocity filter of external setpoint.
.

This filter is needed in order to have a smoth feedforward value when
reciving setpoints form an PLC. If filter is disabled the velocity will
be calculated based on the last two postion values recived from PLC. In many
cases this will result in a "unstable signal" depending onresoltions of the
values involved in the calculation. Using a filter will smoth the velocity
feed forward value and will thereby result in a smoother motion.

Note

: This filter is only enabled when the axis recives setpoin ts from an PLC.

Parameters

[in]	axisIndex	Axis index.
[in]	enable	enable filter.

Returns

0 if success or otherwise an error code.

Note

Example: Enable velocity filter for external setpoint position for axis 5. "Cfg.SetAxisPLCTrajVelFilterEnable(5,1) //Command string to ecmcCmdParser.c.

setAxisPLCTrajVelFilterSize()

int setAxisPLCTrajVelFilterSize	(	int	axisIndex,
		int	size )

Set size of external trajectory velocity filter.
.

Sets the size of the filter for velocity from "external" PLC code.
This filter is needed in order to have a smoth feedforward value when
reciving setpoints form an PLC. If filter is disabled the velocity will
be calculated based on the last two postion values recived from PLC. In many
cases this will result in a "unstable signal" depending onresoltions of the
values involved in the calculation. Using a filter will smoth the velocity
feed forward value and will thereby rresult in a smoother motion.

Note

: This filter is only enabled when the axis recives setpoin ts from an PLC.

Parameters

[in]	axisIndex	Axis index.
[in]	size	Size of filter (default 100).

Returns

0 if success or otherwise an error code.

Note

Example: Set filter size to 10 for for axis 7.
"Cfg.SetAxisPLCTrajVelFilterSize(7,10)" //Command string to ecmcCmdParser.c.

setAxisSeqTimeout()

int setAxisSeqTimeout	(	int	axisIndex,
		int	value )

Set sequence timeout time in seconds.
.

The motion sequences (mainly related to homing) can be aborted if not finalized within a certain time. This is to prevent that the motion control hangs in one sequence. This could happen if the reference switch for some reason is not encountered.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Timeout time.

Returns

0 if success or otherwise an error code.

Note

Example: Set sequence timeout value for axis 2 to 1 minute.
"Cfg.SetAxisSeqTimeout(2,60)" //Command string to ecmcCmdParser.c.

setAxisSoftLimitPosBwd()

int setAxisSoftLimitPosBwd	(	int	axisIndex,
		double	value )

Set backward soft-limit position.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Soft-limit position.

Returns

0 if success or otherwise an error code.

Note

Example: Set backward soft-limit position to -100 for axis 3.
"ADSPORT=501/.ADR.16#5003,16#E,8,5=-100" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisSoftLimitPosFwd()

int setAxisSoftLimitPosFwd	(	int	axisIndex,
		double	value )

Set forward soft-limit position.
.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Soft-limit position.

Returns

0 if success or otherwise an error code.

Note

Example: Set forward soft-limit position to 123 for axis 3.
"ADSPORT=501/.ADR.16#5003,16#E,8,5=123" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisTargetPos()

int setAxisTargetPos	(	int	axisIndex,
		double	value )

Set axis target position setpoint.
.

The target position is the desired end setpoint of a motion.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Target position setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Set target position setpoint for axis 3 to 111.
"Main.M3.fPosition=111" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

setAxisTargetVel()

int setAxisTargetVel	(	int	axisIndex,
		double	value )

Set axis target velocity setpoint.
.

The target velocity is the desired velocity of a motion.
Note: The actual velocity can be higher than this setpoint.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Target velocity setpoint.

Returns

0 if success or otherwise an error code.

Note

Example: Set target velocity setpoint for axis 3 to 55.
"Cfg.SetAxisVel(3,55)" //Command string to ecmcCmdParser.c.

Example: Set target velocity setpoint for axis 3 to 55 in
"TwinCAT" syntax.
"Main.M3.fVelocity=55" //Command string to ecmcCmdParser.c.

The "CfgSetAxisVelAccDecTime()" Command can be used to set
velocity, acceleration and decelartion simultaneously
Acceleration and deceleration are defined by time to reach target velocity
Syntax: "Cfg.SetAxisVelAccDecTime(axisIndex,targetVel,timeToVel)"

Example: Set target velocity setpoint for axis 3 to 55 and time to reach target velocity to 2s (acc and dec will be set to the same
value).
"Cfg.SetAxisVelAccDecTime(3,55,2)" //Command string to ecmcCmdParser.c.

setAxisTrajSource()

int setAxisTrajSource	(	int	axisIndex,
		int	value )

Set axis trajectory data source.
.

An axis trajectory generator can get position setpoints from different sources:
source = 0 : Internal (normal trajectory generation).
source = 1 : External from transformation expression (synchronization).

Parameters

[in]	axisIndex	Axis index.
[in]	value	Source type.

Returns

0 if success or otherwise an error code.

Note

Example: Set trajectory generator data source type for axis 3 to internal.
"Cfg.SetAxisTrajSourceType(3,0)" //Command string to ecmcCmdParser.c.

setAxisTrajStartPos()

int setAxisTrajStartPos	(	int	axisIndex,
		double	value )

Set axis trajectory start position. NOTE: NOT USED!!.
.

Note

This function is not used currently.

Parameters

[in]	axisIndex	Axis index.
[in]	value	Start position.

Returns

0 if success or otherwise an error code.

Note

Example: Set trajectory start position to 100 for axis 3.
"Cfg.SetAxisTrajStartPos(3,100)" //Command string to ecmcCmdParser.c.

setDiagAxisEnable()

int setDiagAxisEnable

(

int

enable

)

Enable detailed motion diagnostics printouts.
.

The detailed motion diagnostics prints valuable motion related information for one axis.
See setDiagAxisIndex() and setDiagAxisFreq() for more information.

Parameters

[in]

enable

Enable printouts.

Returns

0 if success or otherwise an error code.

Note

Example: Enable printout of detailed motion diagnostics.
"Cfg.SetDiagAxisEnable(1)" //Command string to ecmcCmdParser.c

setDiagAxisFreq()

int setDiagAxisFreq

(

int

freq

)

Set axis frequency of detailed motion diagnostics printouts.
.

Parameters

[in]

freq

Printout frequency.

Returns

0 if success or otherwise an error code.

Note

Example: Set printout frequency to 10.
"Cfg.SetDiagAxisFreq(10)" //Command string to ecmcCmdParser.c

setDiagAxisIndex()

int setDiagAxisIndex

(

int

axisIndex

)

Set axis index for detailed motion diagnostics.
.

Parameters

[in]

axisIndex

Index of axis.

Returns

0 if success or otherwise an error code.

Note

Example: Choose detailed motion diagnostics for axis 3.
"Cfg.SetDiagAxisIndex(3)" //Command string to ecmcCmdParser.c

setPosition()

int setPosition	(	int	axisIndex,
		double	homePositionSet )

set position.
used by epics autosave to restore axis value after ioc reboot.

Parameters

[in]	axisIndex	Axis index.
[in]	homePositionSet	Position to set at homing.

Returns

0 if success or otherwise an error code.

stopMotion()

int stopMotion	(	int	axisIndex,
		int	killAmplifier )

Stop axis.
.

Parameters

[in]	axisIndex	Axis index.
[in]	killAmplifier	Disable amplifier.

Returns

0 if success or otherwise an error code.

Note

Example: Stop motion and kill amplifier of axis 2.
"StopMotion(2,1)" //Command string to ecmcCmdParser.c