Overview

Motion functions for moving single axes or the whole positioning system.

This groups defines all functions to perform certain motion tasks like moving single axis, moving multiple axes.

+ Collaboration diagram for Motion:

Functions

long LCA_MoveDistance (dev_hdl hAxis, double fDistance, double fVelocity, unsigned long PrivData)
 Move a certain distance with an axis. More...
 
long LCA_MoveToPos (dev_hdl hAxis, double fPosition, double fVelocity, unsigned long PrivData)
 Move axis to a certain absolute position with a certain velocity. More...
 
long LCA_MoveToPosXY (dev_hdl hAxisSystem, double fPositionX, double fPositionY, double fVelocity, unsigned long PrivData)
 Moves XY positioning system to a certain XY position if coordinate space. More...
 
long LCA_MoveWithVelocity (dev_hdl hAxis, double fVelocity, unsigned long PrivData)
 Move an axis with a certain velocity. More...
 
long LCA_StopMove (dev_hdl hAxisSystem)
 Stop movement of axis system - send stop command to all axis system axes. More...
 
long LCA_StopMoveOfAxis (dev_hdl hAxis)
 Stop axis movement of a single axis. More...
 

Function Documentation

long LCA_MoveDistance ( dev_hdl  hAxis,
double  fDistance,
double  fVelocity,
unsigned long  PrivData 
)

Move a certain distance with an axis.

Executes a relative position move in one or another direction. The

Parameters
[in]hAxisValid axis handle
[in]fDistanceRelative position value in position units
[in]fVelocityVelocity value for the movement
[in]PrivDataAdditional data that may additional drive specific parameters
Returns
Error code - ERR_NOERR indicates success
Examples:
PositionMarker_CAPI.cpp.
long LCA_MoveToPos ( dev_hdl  hAxis,
double  fPosition,
double  fVelocity,
unsigned long  PrivData 
)

Move axis to a certain absolute position with a certain velocity.

Parameters
[in]hAxisValid axis handle
[in]fPositionAbsolute position value in position units
[in]fVelocityVelocity value for the movement
[in]PrivDataAdditional data that may additional drive specific parameters
Returns
Error code - ERR_NOERR indicates success
Examples:
capi_nemaxys_test.cpp, capi_nemesys_test.cpp, and capi_rotaxys_test.cpp.
long LCA_MoveToPosXY ( dev_hdl  hAxisSystem,
double  fPositionX,
double  fPositionY,
double  fVelocity,
unsigned long  PrivData 
)

Moves XY positioning system to a certain XY position if coordinate space.

This function is important for axis system that needs to do some coordinate translation. I.e. the rotAXYS positioning system needs to translate between polar coordinates and cartesian coordinates. So for moving in XY cartesian coordinate space, you can't use the axis functions.

Parameters
[in]hAxisSystemValid axis system handle
[in]fPositionXAbsolute X position value in position units
[in]fPositionYAbsolute Y position value in position units
[in]fVelocityVelocity value from 0 - 1. The velocity value is multiplied with the maximum velocity value of each axis. So a value of 1 means, all axes travel with their maximum velocity. A value of 0.5 means, all axes travel with the half of the maximum velocity.
[in]PrivDataAdditional data that may additional drive specific parameters
Returns
Error code - ERR_NOERR indicates success
Note
A velocity value of <=0 and >1 is not valid and will cause an error
See also
LCA_GetActualPostitionXY()
Examples:
capi_nemaxys_test.cpp, and capi_rotaxys_test.cpp.
long LCA_MoveWithVelocity ( dev_hdl  hAxis,
double  fVelocity,
unsigned long  PrivData 
)

Move an axis with a certain velocity.

Moves an axis with a certain velocity until the maximum or minimum position is reached. The function uses the default velocity unit.

Parameters
[in]hAxisValid axis handle
[in]fVelocityVelocity value for the movement - a negative value moves the axis towards the minimum position, a positive velocity moves the axis to the maximum position.
[in]PrivDataAdditional data that may additional drive specific parameters
Returns
Error code - ERR_NOERR indicates success
long LCA_StopMove ( dev_hdl  hAxisSystem)

Stop movement of axis system - send stop command to all axis system axes.

This stops the motion of the axis by executing the deceleration ramp.

Parameters
[in]hAxisSystemValid axis system handle
Returns
Error code - ERR_NOERR indicates success
long LCA_StopMoveOfAxis ( dev_hdl  hAxis)

Stop axis movement of a single axis.

This stops the motion of the axis by executing the deceleration ramp.

Parameters
[in]hAxisValid axis handle
Returns
Error code - ERR_NOERR indicates success