Overview

Axis system specific initialization functions This groups defines all functions to setup and initialize labCAN axis systems properly.

Collaboration diagram for Axis System Initialization:

Functions
long	LCA_ClearAxisFault (dev_hdl hAxis)
	Clear fault condition. More...

long	LCA_Disable (dev_hdl hAxisSystem)
	Set all axis of an axis system into disabled state. More...

long	LCA_DisableAxis (dev_hdl hAxis)
	Set a certain axis of an axis system into disabled state. More...

long	LCA_Enable (dev_hdl hAxisSystem)
	Set all axis of an axis system into enabled (operational) state. More...

long	LCA_EnableAxis (dev_hdl hAxis)
	Set single axis into enabled state. More...

long	LCA_FindHome (dev_hdl hAxisSystem)
	Move all axis into its home position The axis system should manage the order of the movement and should know how to move all axis into a home state. More...

long	LCA_FindHomeOfAxis (dev_hdl hAxis)
	Move single axis into its home position. More...

long	LCA_GetAxisPosCnt (dev_hdl hAxis, long *pPosCntValue)
	Query the value of the internal axis position counter. More...

long	LCA_RestoreAxisPosCnt (dev_hdl hAxis, long PosCntValue)
	Restore internal hardware position counter value. More...

long	LCA_SetAxisHomingOffset (dev_hdl hAxis, double fOffset)
	Set the home offset used for homing moves. More...

long	LCA_SetAxisHomingSwitchSpeed (dev_hdl hAxis, double fSpeed)
	Set speed for move to homing or limit switch. More...

Function Documentation

long LCA_ClearAxisFault ( dev_hdl hAxis )

Clear fault condition.

This is some kind of error acknowledge that clears the last fault and sets the device in an error free state

Parameters

[in] hAxis Valid axis handle

Returns: Error code - ERR_NOERR indicates success

long LCA_Disable ( dev_hdl hAxisSystem )

Set all axis of an axis system into disabled state.

You have to be carefull if you set axis system into disabled state. If an axis is set disabled, the voltage is switched of so there is no force on an axis and if it is a vertical axis the axis may move because of gravity.

Parameters

[in] hAxisSystem Valid axis system object handle

Returns: Error code - ERR_NOERR indicates success

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

long LCA_DisableAxis ( dev_hdl hAxis )

Set a certain axis of an axis system into disabled state.

You have to be careful if you set axis system into disabled state. If an axis is set disabled, the voltage is switched of so there is no force on an axis and if it is a vertical axis the axis may move because of gravity.

Parameters

[in] hAxis Valid axis handle

Returns: Error code - ERR_NOERR indicates success

long LCA_Enable ( dev_hdl hAxisSystem )

Set all axis of an axis system into enabled (operational) state.

Parameters

[in] hAxisSystem Valid axis system object handle

Returns: Error code - ERR_NOERR indicates success

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

long LCA_EnableAxis ( dev_hdl hAxis )

Set single axis into enabled state.

Parameters

[in] hAxis Valid axis handle

Returns: Error code - ERR_NOERR indicates success

long LCA_FindHome ( dev_hdl hAxisSystem )

Move all axis into its home position The axis system should manage the order of the movement and should know how to move all axis into a home state.

Parameters

[in] hAxisSystem Valid axis system handle

Returns: Error code - ERR_NOERR indicates success

Note: The function returns a soon as the homing move started. A successfull return does not indicate, that the homing procedure was successfull.

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

long LCA_FindHomeOfAxis ( dev_hdl hAxis )

Move single axis into its home position.

Parameters

[in] hAxis Valid axis handle

Returns: Error code - ERR_NOERR indicates success

long LCA_GetAxisPosCnt	(	dev_hdl	hAxis,
		long *	pPosCntValue
	)

Query the value of the internal axis position counter.

See also: LCA_RestoreAxisPosCnt()

Parameters

[in]	hAxis	Valid axis handle
[out]	pPosCntValue	Returns the actual value of the position counter

Returns: Error code - ERR_NOERR indicates success

long LCA_RestoreAxisPosCnt	(	dev_hdl	hAxis,
		long	PosCntValue
	)

Restore internal hardware position counter value.

The function restores the internal position counter value saved with LCA_GetAxisPosCnt().

Note: In many axis systems the actual position value is countet by a quadrature decoder. This internal position counter value will get lost, as soon as the device is switched off. In order to restore this positon counter value after power on, an application can query the internal position counter value (LCA_GetAxisPosCnt()), store it persistenly into a configuration file and restore it later by calling this function.

See also: LCA_GetAxisPosCnt()

Parameters

[in]	hAxis	Valid axis handle
[in]	PosCntValue	The position counter value to restore

Returns: Error code - ERR_NOERR indicates success

long LCA_SetAxisHomingOffset	(	dev_hdl	hAxis,
		double	fOffset
	)

Set the home offset used for homing moves.

The home offset is a moving distance in homing procedure. It is useful to move away from a detected position e.g. mechanical border or limit switch at the end of the homing sequence. This move could prevent the axis from a border damage resp. limit switch error.

Parameters

[in]	hAxis	Valid axis handle
[in]	fOffset	The home offset value in position units

Returns: Error code - ERR_NOERR indicates success

long LCA_SetAxisHomingSwitchSpeed	(	dev_hdl	hAxis,
		double	fSpeed
	)

Set 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 configures the speed to use during this homing move if when axis searches for the homing or limit switch.

Parameters

[in]	hAxis	Valid axis handle
[in]	fSpeed	Speed value for search for homing or limit switch

Returns: Error code - ERR_NOERR indicates success

Overview

Functions

Function Documentation