| Introduction | |
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A Motor object manages a single motor on a controller. It represents the physical connections between the motor, drive, and associated I/O. The Motor object contains encoder data, limit switch, home sensor, amp fault and amp enable states, DAC outputs, and other status information. For simple systems, there is a one-to-one relationship between the Axis, Filter and Motor objects. For information about using absolute encoders with the MPI click here. |
| Create, Delete, Validate Methods | ||
| mpiMotorCreate | Create Motor object | |
| mpiMotorDelete | Delete Motor object | |
| mpiMotorValidate | Validate Motor object | |
| Configuration and Information Methods | ||
| mpiMotorAmpEnableGet | Get state of amp enable output | |
| mpiMotorAmpEnableSet | Set state of amp enable output | |
| mpiMotorAxisMapGet | Get object map of axes | |
| meiMotorCommutationModeGet | Gets the commutation mode of a motor. | |
| meiMotorCommutationModeSet | Sets the commutation mode of a motor. | |
| mpiMotorConfigGet | Get motor configuration | |
| mpiMotorConfigSet | Set motor configuration | |
| meiMotorConfigStepper | Configures a motor for stepper mode. | |
| meiMotorDacConfigGet | Get a Motor's (motor) Dac configuration | |
| meiMotorDacConfigSet | Set a Motor's (motor) Dac configuration | |
| mpiMotorFeedbackGet | Get feedback position | |
| mpiMotorFlashConfigGet | Get flash config of motor | |
| mpiMotorFlashConfigSet | Set flash config of motor | |
| mpiMotorIoGet | Get dedicated I/O bits | |
| mpiMotorIoSet | Set dedicated I/O bits | |
| mpiMotorStatus / meiMotorStatus | Get motor status | |
| mpiMotorType | Get Motor type | |
| Event Methods | ||
| mpiMotorEventConfigGet | Get motor's event configuration | |
| mpiMotorEventConfigSet | Set motor's event configuration | |
| mpiMotorEventNotifyGet | Get motor's event mask for host notification. | |
| mpiMotorEventNotifySet | Set motor's event mask for host notification. | |
| mpiMotorEventReset | Reset events specified in event mask | |
| mpiMotorEventWait | Set the contents of the structure pointed to by status. | |
| Memory Methods | ||
| mpiMotorMemory | Get address of motor memory | |
| mpiMotorMemoryGet | Copy motor memory to application memory | |
| mpiMotorMemorySet | Copy application memory to motor memory | |
| Action Methods | ||
| meiMotorEncoderInit | Initializes an absolute encoder. | |
| meiMotorEncoderReset | Resets an absolute encoder. | |
| Relational Methods | ||
| mpiMotorControl | Get handle to associated Control object | |
| mpiMotorFilterMapGet | Get object map of associated Filters | |
| mpiMotorFilterMapSet | Set the Filters using object map | |
| mpiMotorNumber | Get index number of motor (in Control list) | |
| Other Methods | ||
| meiMotorCompareListGet | ||
| mpiMotorDedicatedInAddrGet | Get the address of the Dedicated IO for the Motor | |
| meiMotorDedicatedIoAddrDecode | ||
| meiMotorDedicatedOutAddrGet | ||
| meiMotorEncoderRatio | Get encoder ratio from the XMP. | |
| meiMotorRelatedStepMotorGet | ||
Data Types
| mpiMotorEncoderFaultMaskBIT | ||
