labbCAN_MotionControl_API.h File Reference
labbCAN Motion Control Application Programming Interface More...
#include "labbCAN_Bus_API.h"
Include dependency graph for labbCAN_MotionControl_API.h:
Macros | |
| #define | CENTI -2 |
| CENTI. | |
| #define | DECI -1 |
| DECI. | |
| #define | DEGREE 65 |
| Angle in degrees (0 - 360) | |
| #define | DEVICE 0 |
| use native device unit | |
| #define | LCA_MAX_VELOCITY 0xFFFFFFFF |
| lca_posmark More... | |
| #define | METERS 1 |
| METERS. | |
| #define | MICRO -6 |
| MICRO. | |
| #define | MILLI -3 |
| MILLI. | |
| #define | PER_HOUR 3600 |
| PER_HOUR. | |
| #define | PER_MINUTE 60 |
| PER_MINUTE. | |
| #define | PER_SECOND 1 |
| PER_SECOND. | |
| #define | POS_MARKER_EDGE_ALL 0 |
| Detects all edges. More... | |
| #define | POS_MARKER_EDGE_FALLING 2 |
| Detects falling edges. More... | |
| #define | POS_MARKER_EDGE_RISING 1 |
| Detects rising edges. More... | |
| #define | POS_MARKER_MODE_CONTINUOUS 0 |
| On every detected edge (of correct kind) the position will be captured. More... | |
| #define | POS_MARKER_MODE_MULTIPLE 2 |
| The positions at the detected edges will be captured until the history buffer is full. More... | |
| #define | POS_MARKER_MODE_SINGLE 1 |
| Only the position at the first detected edge will be captured. More... | |
| #define | RADIAN 16 |
| Angle in radian (0 - 2pi) | |
| #define | REVOLUTIONS 254 |
| REVOLUTIONS. | |
| #define | UNIT 0 |
| use base unit | |
Enumerations | |
| enum | LCA_DeviceProperties { RotaxysPropertySafeRotation = 0, RotaxysPropertyUpperLimitSensorState = 1, Rotaxys360PropertyRotationReversalAngleDegree = 2 } |
| Device property identifiers that can be used with the LCB_GetDeviceProperty() and LCB_SetDeviceProperty() function to read and write certain device properties. More... | |
Functions | |
| long | LCA_AxisCount () |
| Returns the number of available axes registered in the labbCAN environment. More... | |
| long | LCA_ClearAxisFault (dev_hdl hAxis) |
| Clear fault condition. More... | |
| long | LCA_ClearCapturedPositions (dev_hdl hAxis) |
| Clear captured positions. 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_GetActualPostitionXY (dev_hdl hAxisSystem, double *pfPosIsX, double *pfPosIsY) |
| Query the actual XY position of the axis system. More... | |
| long | LCA_GetAxisHandle (dev_hdl hAxisSystem, unsigned char AxisId, dev_hdl *AxisHandle) |
| Get an handle for a certain axis The functions LCB_ReadDevParam() and LCB_WriteDevParam() require a valid device handle to read and write device specific parameters. More... | |
| long | LCA_GetAxisHomingSwitchSpeed (dev_hdl hAxis, double *pfSpeed) |
| Query speed for move to homing or limit switch. More... | |
| long | LCA_GetAxisPosCnt (dev_hdl hAxis, long *pPosCntValue) |
| Query the value of the internal axis position counter. More... | |
| long | LCA_GetAxisPosIs (dev_hdl hAxis, double *pfPosIs) |
| Query the actual position of the axis. 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_GetAxisSystemAxisNumber (dev_hdl hAxisSystem) |
| Returns the number of axes of a certain axis system. More... | |
| long | LCA_GetAxisSystemHandle (unsigned char Index, dev_hdl *AxisSystemHandle) |
| Get an axis system handle by its index. More... | |
| long | LCA_GetAxisVelIs (dev_hdl hAxis, double *pfVelIs) |
| Query actual speed of the 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_GetDevErrMsg (dev_hdl hAxis, long DevErr, char *pStringBuf, short BufSize) |
| Get descriptive error message for a certain device error that cured. More... | |
| long | LCA_GetNoOfAxisSystems () |
| Query number of detected axis systems. More... | |
| long | LCA_GetPositionHistorySize (dev_hdl hAxis) |
| Query size of position history. 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_IsPosMarkerSupported (dev_hdl hAxis) |
| Check if a certain axis supports position marker functionality. More... | |
| long | LCA_IsTargetPosReached (dev_hdl hAxisSystem) |
| Check if an axis system reached its target position. More... | |
| long | LCA_LookupAxisByName (const char *pAxisName, dev_hdl *AxisHandle) |
| Lookup an axis by its name. More... | |
| long | LCA_LookupAxisSystemByName (const char *AxisSystemName, dev_hdl *AxisSystemHandle) |
| Lookup an axis system by its name. More... | |
| 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_ReadCapturedPosition (dev_hdl hAxis, unsigned short PosHistoryIndex, double *pfCapturedPosition) |
| Read captured position from device. More... | |
| long | LCA_ReadLastAxisDevErr (dev_hdl hAxis, long *pLastDevErr) |
| Query last occurred error code. More... | |
| long | LCA_ReadPosMarkerCounter (dev_hdl hAxis, unsigned short *pPosCounter) |
| Reads the number of detected edges from device. More... | |
| long | LCA_ReadPosMarkerEdgeType (dev_hdl hAxis, unsigned short *pEdgeType) |
| Reads the edge type for position capturing from device. More... | |
| long | LCA_ReadPosMarkerMode (dev_hdl hAxis, unsigned short *pMode) |
| Reads the capturing mode from device. 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... | |
| 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... | |
| 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... | |
| long | LCA_WritePosMarkerEdgeType (dev_hdl hAxis, unsigned short EdgeType) |
| Configure the edge type for position capturing. More... | |
| long | LCA_WritePosMarkerMode (dev_hdl hAxis, unsigned short Mode) |
| Configures the capturing mode. More... | |
Detailed Description
labbCAN Motion Control Application Programming Interface
- Date
- 2012/05/29