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] hAxis Valid axis handle [in] fDistance Relative position value in position units [in] fVelocity Velocity value for the movement [in] PrivData Additional 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] hAxis Valid axis handle [in] fPosition Absolute position value in position units [in] fVelocity Velocity value for the movement [in] PrivData Additional 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] hAxisSystem Valid axis system handle [in] fPositionX Absolute X position value in position units [in] fPositionY Absolute Y position value in position units [in] fVelocity Velocity 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] PrivData Additional 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] hAxis Valid axis handle [in] fVelocity Velocity 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] PrivData Additional 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] hAxisSystem Valid 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] hAxis Valid axis handle
- Returns
- Error code - ERR_NOERR indicates success