AxisSystem_CAPI_Init.cpp

Axis system initialization.The following examples shows how to lookup, initialize and enable an axis system and how to execute a homing move for all axes.

//===========================================================================
//                               INCLUDES
//===========================================================================
#include "labbCAN_Bus_API.h"
#include "labbCAN_MotionControl_API.h"


//===========================================================================
//                             STATIC DATA
//===========================================================================
static dev_hdl hAxisSystem;      // stores axis system handle


//===========================================================================
//                       Axis system initialisation
//===========================================================================
TErrCode InitAxisSystem(void)
{
    TErrCode Result;

    //
    // Get the axis system handle for the axis system that is registered with
    // the name neMAXYS1
    //
    hAxisSystem = LCA_LookupAxisSystemByName("neMAXYS1");
    if (hAxisSystem <= 0)
    {
        // handle error properly here
        return -ERR_NOENT;
    }

    //
    // Now we enable the axis system. Enabling the axis system means, power
    // will be applied to power stage of all motion control units of this
    // axis system. If the axis system is in fault state, then this function
    // clears the fault state first, and then enables the axis device.
    //
    Result = LCA_Enable(hAxisSystem);
    if (Result != ERR_NOERR)
    {
        // handle error properly here
        return Result;
    }

    //
    // We execute a homing move to bring all axes of the axis system into their
    // home positions and to reset the internal device position counters to
    // zero. We use the FindHome position ofthe axis system to ensure a proper
    // order of axis initialisation.
    //
    Result = LCA_FindHome(hAxisSystem);
    if (Result != ERR_NOERR)
    {
        // handle error properly here
        return Result;
    }

    //
    // Give drives some time to start their homing moves
    //
    Sleep(100);

    //
    // Now we wait, until the positioning system reaches its home position.
    // The home position is reached, if all axes of this positioning system
    // reached their home positions.
    //
    while (1)
    {
        Result = LCA_IsHomingPosAttained(hAxisSystem);
        //
        // If all axes reached their homing position stop the loop
        // and continue
        //
        if (Result > 0)
        {
           break;
        }

        if (Result != ERR_NOERR)
        {
            // handle error properly here
            return Result;
        }
        Sleep(50); // do not take all processor time with this loop
    } // while (1)


    // now the axis system is properly initialized and we can start positioning
    return Result;
}