| Introduction | |
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A Compare object manages a compare engine in the motion controller hardware. The compare engine compares the actual position feedback from a motor to a preloaded position value. When the actual position feedback exceeds the value, the compare engine sets an output bit to the specified state. Since the compare occurs in hardware, the latency is minimal. Typically, the MPI is used to configure the compare engine, load the compare value, and arm the compare. The condition of the compare engine can be determined by reading its status. |
| Create, Delete, Validate Methods | ||
| mpiCompareCreate | Create Compare object | |
| mpiCompareDelete | Delete Compare object | |
| mpiCompareValidate | Validate Compare object | |
| Configuration and Information Methods | ||
| mpiCompareConfigGet | Get Compare configuration | |
| mpiCompareConfigSet | Set Compare configuration | |
| mpiCompareFlashConfigGet | Get flash configuration for Compare | |
| mpiCompareFlashConfigSet | Set flash configuration for Compare | |
| mpiCompareStatus | Get Compare's status | |
| Memory Methods | ||
| mpiCompareMemory | Set Compare memory address | |
| mpiCompareMemoryGet | Copy bytes of Compare memory to application memory | |
| mpiCompareMemorySet | Copy bytes of application memory to Compare memory | |
| Action Methods | ||
| mpiCompareArm | Arm Compare object | |
| mpiCompareLoad | ||
| Relational Methods | ||
| mpiCompareControl | Return handle of Control that is assoiciated with Compare | |
| mpiCompareNumber | Get index of Compare (for Control list) | |
| MPICompareConfig / MEICompareConfig | ||
| MPICompareMessage | ||
| MPICompareParams | ||
| MPIComparePosition | ||
| MPICompareState | ||
| MPICompareStatus | ||
| MPIComparePositionCountMAX | ||
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