MultiAxis

Represents multiple axes of motion control, allows you to map two or more Axis objects together for error propagation and commanding coordinated, synchronized motion. Create or get a MultiAxis object using MotionController::MultiAxisGet or MotionController::LoadExistingMultiAxis. More...

Functions
Initialization
void	AxisAdd (Axis *axis)
	Add an Axis to a MultiAxis group.
void	AxesAdd (Axis **axes, int32_t axisCount)
void	AxisRemoveAll ()
	Remove all axes from a MultiAxis group.s.
Information
Axis *	AxisGet (int32_t index)
	Get the Axis class used in this MultiAxis class.
const char *const	UserLabelGet ()
	Get the MultiAxis User defined Label.
void	UserLabelSet (const char *const userLabel)
	Set the MultiAxis User defined Label.
Coordinated Motion
double	VectorVelocityGet ()
	Get the vector velocity.
void	VectorVelocitySet (double velocity)
	Set the vector velocity.
double	VectorAccelerationGet ()
	Get the vector acceleration.
void	VectorAccelerationSet (double acceleration)
	Set the vector acceleration.
double	VectorDecelerationGet ()
	Get the vector deceleration.
void	VectorDecelerationSet (double deceleration)
	Set the vector deceleration.
double	VectorJerkPercentGet ()
	Get the vector jerk percent.
void	VectorJerkPercentSet (double jerkPercent)
	Set the jerk percent for a vector move.
void	MoveVector (const double *const position)
	Point-to-point vector move.
void	MoveVectorRelative (const double *const relativePosition)
Path Motion
double	PathTimeSliceGet ()
	Set the time slice for the Path.
void	PathTimeSliceSet (double seconds)
	Set the time slice for the Path.
void	PathRatioSet (const double *const ratio)
	Set the scale factor ratios for each axis.
double	PathRatioGet (int32_t index)
void	PathBlendSet (bool blend)
	Set the blending attribute.
void	PathPlanTypeSet (RSIPathPlanType type)
	Set the path motion planning type.
RSIPathPlanType	PathPlanTypeGet ()
	Get the path motion planning type.
void	PathListStart (const double *const startPosition)
	Start a line and arc point list for path motion.
void	PathLineAdd (const double *const position)
	Add a line segment to the path.
void	PathArcAdd (const double *const center, double angle)
	Add an arc segment to the path.
void	PathListEnd ()
	End a line and arc point list for path motion.
void	PathMotionStart ()
	Start the path motion.
Point to Point Motion
void	MoveTrapezoidal (const double *const position, const double *const vel, const double *const accel, const double *const decel)
	Point-to-point trapezoidal move.
void	MoveTrapezoidal (const double *const position)
	Point-to-point trapezoidal move using default values from each Axis. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
void	MoveSCurve (const double *const position, const double *const vel, const double *const accel, const double *const decel, const double *const jerkPct)
	Point-to-point S-Curve Move.
void	MoveSCurve (const double *const position)
	Point-to-point S-Curve motion using default Axis values from DefaultVelocitySet, DefaultAccelerationSet, DefaultDecelerationSet, and DefaultJerkPercentSet .
void	MoveSCurve (const double *const position, const double *const vel, const double *const accel, const double *const decel, const double *const jerkPct, const double *const finalVel)
	MoveSCurve with a final velocity array, instead of ending the point-to-point move at zero velocity.
void	MoveVelocity (const double *const velocity, const double *const accel)
	Velocity move.
void	MoveVelocity (const double *const velocity)
	Velocity move using all the Axis default values for accelerations.
void	MoveRelative (const double *const relativePosition, const double *const vel, const double *const accel, const double *const decel, const double *const jerkPct)
	Command a relative point-to-point S-Curve motion.
void	MoveRelative (const double *const relativePosition)
	Command a relative point-to-point S-Curve motion using Axis default values from DefaultVelocitySet, DefaultAccelerationSet, DefaultDecelerationSet, and DefaultJerkPercentSet .
void	MoveRelative (const double *const relativePosition, const double *const vel, const double *const accel, const double *const decel, const double *const jerkPct, const double *const finalVel)
	MoveRelative with a final velocity array, instead of ending the point-to-point move at zero velocity.
void	MoveVelocitySCurve (const double *const velocity, const double *const accel, const double *const jerkPct)
	Velocity move with non-constant acceleration.
uint16_t	MotionIdExecutingGet ()
uint16_t	MotionElementIdExecutingGet ()
int32_t	AxisMapCountGet ()
	Get the number of Axis objects in the Axis map.
uint64_t	AddressGet (RSIMultiAxisAddressType addressType)
	Get the host address for some location on the MultiAxis.
RSIDataType	AddressDataTypeGet (RSIMultiAxisAddressType type)
	Get the data type for an address of the MultiAxis.
bool	AmpEnableGet ()
	Get the enabled/disabled state of the multi axis.
Info
int32_t	NumberGet ()
	Get the axis number.
int32_t	AxisCountGet ()
	Get the axis count.
Action
void	TriggeredModify ()
	Modify the currently executing motion to decelerate the Axis or MultiAxis to a zero velocity IDLE state.
void	Stop ()
	Stop an axis.
void	Resume ()
	Resume an axis.
void	EStop ()
	E-Stop an axis.
void	EStopAbort ()
	E-Stop, then abort an axis.
void	EStopModify ()
	E-Stop with a deceleration rate.
void	EStopModifyAbort ()
void	Abort ()
	Abort an axis.
void	ClearFaults ()
	Clear all faults for an Axis or MultiAxis.
int32_t	AmpEnableSet (bool enable, int32_t ampActiveTimeoutMilliseconds=AmpEnableTimeoutMillisecondsDefault, bool overrideRestrictedState=false)
	Enable all amplifiers.
void	Map ()
	Writes the axis mapping relationship to the Controller.
void	Unmap ()
	Removes the axis mapping relationship of the MultiAxis.
bool	IsMapped ()
	Check to see if the axis mapping is active on the firmware.
void	FeedRateSet (double rate)
	Set the feed rate for an Axis.
double	FeedRateGet ()
	Get the axis feed rate.
State and Status
RSIState	StateGet ()
	Get the Axis or MultiAxis state.
RSISource	SourceGet ()
	Get the source of an error state for an Axis or MultiAxis.
const char *const	SourceNameGet (RSISource source)
	Get the name (string) of the source of an error for an Axis or MultiAxis.
int32_t	MotionDoneWait ()
	Waits for a move to complete.
int32_t	MotionDoneWait (int32_t waitTimeoutMilliseconds)
	Waits for a move to complete.
bool	MotionDoneGet ()
	Check to see if motion is done and settled.
bool	StatusBitGet (RSIEventType bitMask)
	Return the state of a status bit.
uint64_t	StatusBitsGet ()
	Return all the RMP firmware status bits as a 64-bit unsigned bitmask.
Interrupts
void	InterruptEnableSet (bool enable)
	Control interrupts for this class.
void	InterruptWake ()
	Wake all threads waiting for an interrupt on this Axis.
Motion Configuration
double	StopTimeGet ()
	Get Stop Event deceleration time.
void	StopTimeSet (double seconds)
	Set the deceleration time for a Stop Event.
double	EStopTimeGet ()
	Get E-Stop Event deceleration time.
void	EStopTimeSet (double seconds)
	Set the deceleration time for an E-Stop Event.
double	MotionDelayGet ()
	Get the delay (seconds) that will occur before motion starts.
void	MotionDelaySet (double seconds)
	Set the time (seconds) that a motion will wait before starting.
uint16_t	MotionIdGet ()
	Get the motion identifier.
void	MotionIdSet (uint16_t id)
	Set the Motion identifier.
double	MotionFinalVelocityGet ()
	Gets final velocity value (!!! only used if FINAL_VEL motion attribute is used !!!)
void	MotionFinalVelocitySet (double finalVelocity)
	Sets final velocity value in UserUnits (!!! only used if FINAL_VEL motion attribute is used !!!)
RSIMotionHoldType	MotionHoldTypeGet ()
	Get the motion hold attribute type.
void	MotionHoldTypeSet (RSIMotionHoldType type)
	Set the motion hold type.
int32_t	MotionHoldGateNumberGet ()
	Returns the Motion Hold Gate number that the axis or multiaxis is set to.
void	MotionHoldGateNumberSet (int32_t gateNumber)
	Assigns the axis or multiaxis Motion Hold Gate number to the specified controller gate.
double	MotionHoldTimeoutGet ()
	Get the motion hold timeout value.
void	MotionHoldTimeoutSet (double seconds)
	Set the motion hold timeout value.
bool	MotionHoldGateGet ()
	Get the state of the hold gate.
void	MotionHoldGateSet (bool hold)
	Set the Motion Hold Gate.
int32_t	MotionHoldAxisNumberGet ()
	Gets the Axis number.
void	MotionHoldAxisNumberSet (int32_t number)
	Sets the Axis number for Motion Hold.
double	MotionHoldAxisPositionGet ()
	Gets the Axis position.
void	MotionHoldAxisPositionSet (double position)
	Sets the Axis position.
RSIUserLimitLogic	MotionHoldAxisLogicGet ()
	Get the logic when holding for Axis ActualPosition.
void	MotionHoldAxisLogicSet (RSIUserLimitLogic logic)
	Set the logic when holding for Axis ActualPosition.
uint64_t	MotionHoldUserAddressGet ()
	Gets the Motion Hold User Address.
void	MotionHoldUserAddressSet (uint64_t address)
	Sets the Motion Hold User Address.
int32_t	MotionHoldUserMaskGet ()
	Gets the Motion Hold User Mask.
void	MotionHoldUserMaskSet (int32_t holdMask)
	Sets the Motion Hold User bit mask.
int32_t	MotionHoldUserPatternGet ()
	Gets the Motion Hold user bit pattern.
void	MotionHoldUserPatternSet (int32_t pattern)
	Sets the Motion Hold User pattern bit mask.
void	MotionAttributeMaskDefaultSet ()
	Restore the motion attribute mask to the RapidCode default.
bool	MotionAttributeMaskOnGet (RSIMotionAttrMask maskOn)
	Check to see if a particular motion attribute mask is turned on.
void	MotionAttributeMaskOnSet (RSIMotionAttrMask maskOn)
	Turn on a particular motion attribute mask.
void	MotionAttributeMaskOffSet (RSIMotionAttrMask maskOff)
	Turn off a particular motion attribute mask.
Streaming Motion
void	MovePT (RSIMotionType type, const double *const position, const double *const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
	A move commanded by a list of position and time points.
void	MovePVT (const double *const position, const double *const velocity, const double *const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
	Move commanded by list of positions, velocities, and times.
void	MovePVAJT (const double *const position, const double *const velocity, const double *const acceleration, const double *const jerk, const double *const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
void	MovePTF (const double *const position, const double *const time, const double *const feedforward, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
	A move commanded by a list of position, time, and feedforward points.
void	MovePVTF (const double *const position, const double *const velocity, const double *const time, const double *const feedforward, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
	Move commanded by list of positions, velocities, times, and feedforward values.
void	StreamingOutputAdd (int32_t onMask, int32_t offMask, uint64_t address)
void	StreamingOutputAdd (int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex)
	Applies the on and off bitmasks to the controller's memory address when the motion reaches the specified streaming point index. Used to toggle Digital Outputs and/or memory.
void	StreamingOutputAdd (RapidCode::IOPoint *point, bool on)
void	StreamingOutputAdd (RapidCode::IOPoint *point, bool on, int32_t ptPointIndex)
	Sets the state of the specified IOPoint when the motion reaches the specified streaming point index.
void	StreamingOutputsClear ()
	Clear the contents of the Streaming Output List.
void	StreamingOutputsEnableSet (bool enable)
	Sets whether Streaming Output is enabled (true) or disabled (false).
Interrupts
RSIEventType	InterruptWait (int32_t milliseconds)
	Suspend the current thread until an interrupt arrives from the controller.
const char *const	InterruptNameGet ()
	Get the text name of an interrupt type.
int32_t	InterruptSampleTimeGet ()
	Get the sample timer value when the last interrupt was generated.
int32_t	InterruptSourceNumberGet ()
	Get the number (or index) of the object (Axis, Motor, etc) that generated the interrupt.
uint16_t	InterruptMotionIdGet ()
	Get the 16-bit MotionId - only valid if RSIEventType == MOTION_DONE.
void	InterruptMaskClear ()
	Clear the interrupt mask so no interrupts will be generated.
void	InterruptMaskAllSet ()
	Set all the bits of the interrupt mask to get interrupts for ALL sources.
void	InterruptMaskOnSet (RSIEventType eventType)
	Set a bit in the interrupt mask so you will get interrupts for the given RSIEventType.
void	InterruptMaskOffSet (RSIEventType eventType)
	Clear a bit in the interrupt mask so you won't get interrupts for the given RSIEventType.
bool	InterruptMaskOnGet (RSIEventType eventType)
	Get the status of the interrupt mask for the given RSIEventType.
uint64_t	InterruptUserDataGet (uint32_t userDataIndex)
	Get the user data associated with the interrupt, as a 64-bit unsigned integer.
double	InterruptUserDataDoubleGet (uint32_t userDataIndex)
	Get the user data associated with the interrupt, as a 64-bit double.
FirmwareValue	InterruptUserDataValueGet (uint32_t userDataIndex)
	Read the user data associated with the interrupt as a FirmwareValue.
void	InterruptUserDataAddressSet (uint32_t userDataIndex, uint64_t hostAddress)
	Set the interrupt's UserData address.
uint64_t	InterruptUserDataAddressGet (uint32_t userDataIndex)
	Get the 64-bit host address from the interrupt's UserData.
Version
const char *const	VersionGet ()
	Get the RSI RapidCode version.
int32_t	MpiVersionMajor ()
	Get the major MPI version.
int32_t	MpiVersionMinor ()
	Get the minor MPI version.
int32_t	MpiVersionRelease ()
	Get the release MPI version.
int32_t	RSIVersionMajor ()
	Get the major RSI version.
int32_t	RSIVersionMinor ()
	Get the minor RSI version.
int32_t	RSIVersionMicro ()
	Get the micro RSI version.
int32_t	RSIVersionPatch ()
	Get the patch RSI version.
Errors and Exceptions
int32_t	ErrorLogCountGet ()
	Get the number of software errors in the error log.
const RsiError *const	ErrorLogGet ()
	Get the next RsiError in the log.
void	ErrorLogClear ()
	Clear the error log.
void	ThrowExceptions (bool state)
	Configure a class to throw exceptions.
const char *const	RsiErrorMessageGet (RSIErrorMessage msg)
	Get the RSI-specific error message text for a specific RSIErrorMessage.
const char *const	ErrorMessageGet (RSIErrorMessage msg)
	Get the detailed text message for an RSIErrorMessage.
bool	WarningMsgCheck (RSIErrorMessage msg)
	Check to see if an RSIErrorMessage is a warning (true) or not (false).
Tracing
void	Trace (bool state)
	Enables/Disables trace output.
void	TraceMaskOnSet (RSITrace maskOn)
	Turn on a particular trace output mask.
bool	TraceMaskOnGet (RSITrace maskOn)
	Check to see if a particular trace output mask is turned on.
void	TraceMaskOffSet (RSITrace maskOff)
	Turn off a particular trace output mask.
void	TraceMaskClear ()
	Clear the trace output mask.
void	TraceFileSet (const char *const fileName)
	Channels Tracing messages to specified file.
void	TraceFileClose ()
	Stops Logging to the file.
void	TraceInjectMessage (RSITrace traceLevel, const char *const message)
	Add a message to the Trace Log.

Attributes
RapidCode Objects Inherited
MotionController *	rsiControl
	Gets the parent MotionController object.

Static Attributes
static constexpr int32_t	AmpEnableTimeoutMillisecondsDefault = 500
	Default timeout in milliseconds for AmpEnableSet() to wait for AMP_ACTIVE / OPERATION_ENABLED to go high.

Description

Examples

DifferenceOfPositionUserLimit.cpp, HelperFunctions.cs, MultiAxisMotion.cs, MultiaxisMotion.cpp, PVTmotionMultiAxis.cpp, PathMotion.cpp, SyncOutputWithMotion.cpp, Template.cpp, UpdateBufferPoints.cpp, and rttaskglobals.h.

Definition at line 10804 of file rsi.h.