Overview

Axis system configuration functions This groups defines all functions to configure labCAN axis systems properly.

Collaboration diagram for Axis System Configuration:

Functions
long	LCA_GetAxisHomingSwitchSpeed (dev_hdl hAxis, double *pfSpeed)
	Query speed for move to homing or limit switch. More...

long	LCA_GetAxisPosMax (dev_hdl hAxis, double *pfPosMax)
	Query maximum position limit for axis. More...

long	LCA_GetAxisPosMin (dev_hdl hAxis, double *pfPosMin)
	Query minimum position limit for axis. More...

long	LCA_GetAxisVelMax (dev_hdl hAxis, double *pfVelMax)
	Query maximum velocity for axis. More...

long	LCA_GetDefaultPosUnit (dev_hdl hAxis, int pPrefix, int pPositionUnit)
	Queries the default position unit. More...

long	LCA_GetDefaultVelUnit (dev_hdl hAxis, int pPrefix, int pPositionUnit, int *pTimeUnit)
	Queries the default velocity unit. More...

long	LCA_SetDefaultPosUnit (dev_hdl hAxis, int Prefix, int PositionUnit)
	Set default position unit. More...

long	LCA_SetDefaultVelUnit (dev_hdl hAxis, int Prefix, int PositionUnit, int TimeUnit)
	Set default velocity unit. More...

Function Documentation

long LCA_GetAxisHomingSwitchSpeed	(	dev_hdl	hAxis,
		double *	pfSpeed
	)

Query speed for move to homing or limit switch.

The function LCA_FindHome() or LCA_FindHomeOfAxis() execute homing moves for a certain axis or a number axes. This function reads the speed used during this homing move while axis searches for the home switch or limit switch.

Parameters

[in]	hAxis	Valid axis handle
[out]	pfSpeed	Returns speed value for limit switch search

Returns: Error code - ERR_NOERR indicates success

long LCA_GetAxisPosMax	(	dev_hdl	hAxis,
		double *	pfPosMax
	)

Query maximum position limit for axis.

The travel range of the axis is the range between minimum and maximum position.

Parameters

[in]	hAxis	Valid axis handle
[out]	pfPosMax	Stores maximum axis position in position units

Returns: The maximum position in position units

See also: LCA_GetAxisPosMin()

Examples:: capi_nemaxys_test.cpp, capi_nemesys_test.cpp, and capi_rotaxys_test.cpp.

long LCA_GetAxisPosMin	(	dev_hdl	hAxis,
		double *	pfPosMin
	)

Query minimum position limit for axis.

The travel range of the axis is the range between minimum and maximum position.

Parameters

[in]	hAxis	Valid axis handle
[out]	pfPosMin	Stores maximum axis position in position units

Returns: The maximum position in position units

See also: LCA_GetAxisPosMax()

Examples:: capi_nemaxys_test.cpp, and capi_nemesys_test.cpp.

long LCA_GetAxisVelMax	(	dev_hdl	hAxis,
		double *	pfVelMax
	)

Query maximum velocity for axis.

The minimum velocity is considered 0

Parameters

[in]	hAxis	Valid axis handle
[out]	pfVelMax	Stores maximum axis velocity in velocity units

Returns: The maximum velocity in velocity units

Examples:: capi_nemaxys_test.cpp, and capi_nemesys_test.cpp.

long LCA_GetDefaultPosUnit	(	dev_hdl	hAxis,
		int *	pPrefix,
		int *	pPositionUnit
	)

Queries the default position unit.

Parameters

[in]	hAxis	Valid axis handle
[out]	pPrefix	Returns the prefix of the SIunit (i.e MILLI - see Prefix Constants)
[out]	pPositionUnit	Returns the position unit identifier (i.e. METERS - see Position Units)

Returns: Error code - ERR_NOERR indicates success

long LCA_GetDefaultVelUnit	(	dev_hdl	hAxis,
		int *	pPrefix,
		int *	pPositionUnit,
		int *	pTimeUnit
	)

Queries the default velocity unit.

Parameters

[in]	hAxis	Valid axis handle
[out]	pPrefix	Returns the prefix of the velocity unit (see Prefix Constants)
[out]	pPositionUnit	Returns the position unit (numerator) of the velocity unit (i.e. METERS - see Position Units)
[out]	pTimeUnit	Returns the time unit (denominator) of the velocity unit. (i.e. PER_SECOND - see Time Units)

Returns: Error code - ERR_NOERR indicates success

long LCA_SetDefaultPosUnit	(	dev_hdl	hAxis,
		int	Prefix,
		int	PositionUnit
	)

Set default position unit.

This function sets the default position unit. All parameters of subsequent move function calls are given in this new unit. Example to select millimeters as position unit. Example:

1 long Result = LCA_SetDefaultPosUnit(hAxis, MILLI, METERS);

Parameters

[in]	hAxis	Valid axis handle
[in]	Prefix	The prefix of the SIunit (i.e MILLI - see Prefix Constants)
[in]	PositionUnit	The position unit identifier (i.e. METERS - see Position Units)

Returns: Error code - ERR_NOERR indicates success

Warning: Take care if you work with axis systems. Axis systems may rely on a certain position and velocity unit of their axis devices. If you change the position unit or velocity unit, you should restore the default unit prior to using the axis system functions.

long LCA_SetDefaultVelUnit	(	dev_hdl	hAxis,
		int	Prefix,
		int	PositionUnit,
		int	TimeUnit
	)

Set default velocity unit.

This function sets the default velocity unit.

1 long Result = LCA_SetDefaultVelUnit(hAxis, MILLI, METERS, PER_SECOND);

Parameters

[in]	hAxis	Valid axis handle
[in]	Prefix	The prefix of the velocity unit (see Prefix Constants)
[in]	PositionUnit	The position unit (numerator) of the velocity unit (i.e. METERS - see Position Units)
[in]	TimeUnit	The time unit (denominator) of the velocity unit. (i.e. PER_SECOND - see Time Units)

Returns: Error code - ERR_NOERR indicates success

Warning: Take care if you work with axis systems. Axis systems may rely on a certain position and velocity unit of their axis devices. If you change the position unit or velocity unit, you should restore the default unit prior to using the axis system functions.

Overview

Functions

Function Documentation