Overview

Status query functions.

This groups defines all functions to query the status of single axes or the status of the whole axis system

+ Collaboration diagram for Status:

Functions

long LCA_GetActualPostitionXY (dev_hdl hAxisSystem, double *pfPosIsX, double *pfPosIsY)
 Query the actual XY position of the axis system. More...
 
long LCA_GetAxisPosIs (dev_hdl hAxis, double *pfPosIs)
 Query the actual position of the axis. More...
 
long LCA_GetAxisVelIs (dev_hdl hAxis, double *pfVelIs)
 Query actual speed of the axis. More...
 
long LCA_IsAxisEnabled (dev_hdl hAxis)
 Query if axis is enabled. More...
 
long LCA_IsAxisHomingPosAttained (dev_hdl hAxis)
 Check if homing is attained by device. More...
 
long LCA_IsAxisInFaultState (dev_hdl hAxis)
 Check if axis is in a fault state. More...
 
long LCA_IsAxisStopped (dev_hdl hAxis)
 Check if drive is stopped or if it is moving. More...
 
long LCA_IsAxisTargetPosReached (dev_hdl hAxis)
 Check if device reached its target position. More...
 
long LCA_IsHomingPosAttained (dev_hdl hAxisSystem)
 Check if homing position of the given axis system is attained. More...
 
long LCA_IsTargetPosReached (dev_hdl hAxisSystem)
 Check if an axis system reached its target position. More...
 

Function Documentation

long LCA_GetActualPostitionXY ( dev_hdl  hAxisSystem,
double *  pfPosIsX,
double *  pfPosIsY 
)

Query the actual XY position of the axis system.

Some axis systems, i.e. rotAXYS, needs to do some translation between its axis coordinates (polar coordinates) and the XY cartesian coordinates. It is not possible to use the axis functions directly in this cas

Parameters
[in]hAxisSystemValid axis system handle
[out]pfPosIsXStores actual X position
[out]pfPosIsYStores actual Y position
Returns
Error code - ERR_NOERR indicates success
See also
LCA_MoveToPosXY()
Examples:
capi_rotaxys_test.cpp.
long LCA_GetAxisPosIs ( dev_hdl  hAxis,
double *  pfPosIs 
)

Query the actual position of the axis.

Parameters
[in]hAxisValid axis handle
[out]pfPosIsStores actual position of the axis
Returns
Error code - ERR_NOERR indicates success
Examples:
capi_rotaxys_test.cpp.
long LCA_GetAxisVelIs ( dev_hdl  hAxis,
double *  pfVelIs 
)

Query actual speed of the axis.

Parameters
[in]hAxisValid axis handle
[out]pfVelIsReturns the actual velocity of the axis
Returns
Error code - ERR_NOERR indicates success
long LCA_IsAxisEnabled ( dev_hdl  hAxis)

Query if axis is enabled.

Only if the axis is enable it is possible to execute moves

Parameters
[in]hAxisValid axis handle
Return values
>0 Axis is enabled
=0 Axis is disabled
<0 Error code
Examples:
capi_nemaxys_test.cpp, and capi_rotaxys_test.cpp.
long LCA_IsAxisHomingPosAttained ( dev_hdl  hAxis)

Check if homing is attained by device.

Parameters
[in]hAxisValid axis handle
Return values
>0 Axis reached its homing position
=0 Axis did not reach its homing position
<0 Error code
Examples:
capi_nemaxys_test.cpp, and capi_rotaxys_test.cpp.
long LCA_IsAxisInFaultState ( dev_hdl  hAxis)

Check if axis is in a fault state.

Parameters
[in]hAxisValid axis handle
Return values
>0 Axis is in fault state
=0 Axis is not in fault state
<0 Error code
Examples:
capi_nemaxys_test.cpp, and capi_rotaxys_test.cpp.
long LCA_IsAxisStopped ( dev_hdl  hAxis)

Check if drive is stopped or if it is moving.

Parameters
[in]hAxisValid axis handle
Return values
>0 Axis is stopped
=0 Axis is moving
<0 Error code
long LCA_IsAxisTargetPosReached ( dev_hdl  hAxis)

Check if device reached its target position.

Parameters
[in]hAxisValid axis handle
Return values
>0 Axis reached its target position
=0 Axis did not reach its target position yet
<0 Error code
Examples:
capi_nemaxys_test.cpp, capi_nemesys_test.cpp, capi_rotaxys_test.cpp, and PositionMarker_CAPI.cpp.
long LCA_IsHomingPosAttained ( dev_hdl  hAxisSystem)

Check if homing position of the given axis system is attained.

Homing it attained, if all axes reached their homing positions

Parameters
[in]hAxisSystemValid axis system handle
Return values
>0 Axis reached its homing position
=0 Axis did not reach its homing position
<0 Error code
Examples:
AxisSystem_CAPI_Init.cpp, capi_nemaxys_test.cpp, and capi_rotaxys_test.cpp.
long LCA_IsTargetPosReached ( dev_hdl  hAxisSystem)

Check if an axis system reached its target position.

The target position is reached, if all axis devices of an axis system reached their target positions.

Parameters
[in]hAxisSystemValid axissysem handle
Return values
>0 Axis reached its target position
=0 Axis did not reach its target position yet
<0 Error code
Examples:
capi_nemaxys_test.cpp, and capi_rotaxys_test.cpp.