Property | Type | Description | |
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_CPU | double | ||
_Controller | KM_Controller | ||
_HomingParams | KM_Axis_HomingParams | ||
_ID | int | ||
_JogPercent | double | ||
_JogVelocity | double | ||
_Name | string | ||
_TuningParams | KM_Axis_TuningParams | ||
_Velocity | double |
Method | Description | |
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CheckEnabled ( ) : bool |
Check if the axis is enabled
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Disable ( ) : void |
Disable the axis
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DoHome ( ) : bool |
Executes a homing sequence based on the settings within the HomingParams variable and waits until the execution is complete
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EStop ( ) : void |
Stop the current motion and disable the axis
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Enable ( ) : void |
Bring an axis to an enabled state
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EnableDest ( double dest ) : void |
Bring an axis to an enabled state and specify the commanded destination for the axis dest is multiplied by CPU and sent to KFLOP
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GetActualPosition ( ) : double |
Querys the axis channel for the actual position in user units
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GetActualPositionCounts ( ) : double |
Querys the axis channel for the actual position in counts
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GetCommandedPosition ( ) : double |
Querys the axis channel for the commanded position in user units
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GetCommandedPositionCounts ( ) : double |
Querys the axis channel for the commanded position in counts
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GetHomeFileSource ( ) : string |
Creates the source code for the .c file with an empty main() method
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GetHomeSequence ( ) : string |
Creates the lines of code to place in the main() method
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GetMoveToStateAtVel ( ) : string |
Auto Generates KFLOP C Code to move until an input bit changes
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Jog ( ) : void |
Jog axis at the commanded preset jogvelocity * jogpercentage
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Jog ( double velocity ) : void |
Jog axis at a given velocity
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KM_Axis ( KM_Controller controller, int id, string name ) : System |
Default constructor for the Axis Object
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MotionComplete ( ) : bool |
Checks if the commanded axis motion is completed
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MoveTo ( double pos ) : void |
Calls a move to a given absolute position and blocks the calling thread until the position has been acheived
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RelativeMoveTo ( double pos ) : void |
Calls a move to a given relative position and blocks the calling thread until the position has been acheived
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SetCommandedDest ( double dest ) : void |
Sets the axis node's commanded Destination Caution: changing this may result in a sudden jump in the axis position
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SetCurrentPosition ( double pos ) : void |
Sets the axis node's current position Can be used to "zero" the axis
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StartDoHome ( ) : void |
Executes a homing sequence based on the settings within the HomingParams variable
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StartMoveTo ( double pos ) : void |
Calls a non-blocking move to a given absolute position
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StartRelativeMoveTo ( double pos ) : void |
Calls a non-blocking move to a given relative position
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Stop ( ) : void |
Stop the current motion
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WaitforMotionComplete ( int timeout ) : bool |
Blocks the calling thread until the axis is in position within a specified time limit
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ZeroAxis ( ) : void |
Sets the Axis' current 0.0 point
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Method | Description | |
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GetAutoHomingFileSource ( ) : string |
Generates the automated simple homing routine for this axis
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WriteHomingToFile ( string filesourcecode ) : string |
Creates a new text file in ASCII format containing the source code
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public GetCommandedPositionCounts ( ) : double | ||
return | double |
public Jog ( double velocity ) : void | ||
velocity | double | velocity to jog at : a negative value will reverse the motion |
return | void |
public KM_Axis ( KM_Controller controller, int id, string name ) : System | ||
controller | KM_Controller | |
id | int | |
name | string | |
return | System |
public MoveTo ( double pos ) : void | ||
pos | double | absolute position to move to |
return | void |
public RelativeMoveTo ( double pos ) : void | ||
pos | double | position delta from current position to move to |
return | void |
public SetCommandedDest ( double dest ) : void | ||
dest | double | new value for the commanded destination |
return | void |
public SetCurrentPosition ( double pos ) : void | ||
pos | double | new value for the current position |
return | void |
public StartMoveTo ( double pos ) : void | ||
pos | double | absolute position to move to |
return | void |
public StartRelativeMoveTo ( double pos ) : void | ||
pos | double | position delta from current position to move to |
return | void |
public WaitforMotionComplete ( int timeout ) : bool | ||
timeout | int | time in ms to wait for axis to acheive position, 0 will wait indefinitely |
return | bool |
protected KM_Axis_HomingParams _HomingParams | ||
return | KM_Axis_HomingParams |
protected KM_Axis_TuningParams _TuningParams | ||
return | KM_Axis_TuningParams |