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The MPI is a C language object-oriented interface that makes
it easy for you to develop motion control applications that
run on many different types of platforms. Programs written
using the MPI range from simple single-task, single-controller
applications to complex multi-tasking applications using multiple
motion controllers. The MPI hides platform-specific and firmware
implementation details while providing a rich set of functions
to control motion at any desired level. As a system designer,
you have complete flexibility to choose the level of control
best suited for your application. The MPI library executes
on the host computer, while the firmware executes on the XMP
controller.
The XMP's firmware components are managed by host software
using the MPI (Motion Programming Interface). The MPI provides
direct memory access to all XMP firmware components, delivering
much more performance than competing systems that use command-based
controllers or ASCII interfaces. Designed for multitasking
environments, the MPI can access one or more motion controllers
at maximum bus bandwidth, while efficiently handling controller
interrupts.
Debugging under the MPI environment is simple if you use
the configurable trace and debug features. The trace feature
enables you to follow the progress of an executing program
by observing the stream of messages produced whenever a library
function is entered (displaying calling parameters) and whenever
a library function is exited (displaying the return value).
You also have the ability to validate all library function
parameters, and to stop execution whenever an error occurs,
displaying the source file name and line number where the
error occurred. You can configure the MPI for optimal trace
and debug support during the design and test phase, and then
reconfigure the MPI for optimal performance (without the debugging
support).
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