IAxis Interface

Represents an axis.

Inheritance hierarchy

System.Object
  System.ComponentModel.INotifyPropertyChanged
    IntervalZero.KINGSTAR.Base.Class.IModule
      IntervalZero.KINGSTAR.Base.Class.IAxis

Namespace: IntervalZero.KINGSTAR.Base.Class

Assembly: IntervalZero.KINGSTAR.Base.Class (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0

Syntax

C#VB 
public interface IAxis : IModule, INotifyPropertyChanged
Public Interface IAxis Inherits IModule, INotifyPropertyChanged

 

The IAxis interface exposes the following members.

Methods

  Name Description
Cam Links the axes and starts to cam.
CancelDigitalCamSwitch Cancels a Digital Cam Switch configuration.
CancelHome Cancels the IsHomed signal.
CyclicSwitch Uses an axis' position to control a switch that triggers a digital output repeatedly.
DigitalCamSwitch Uses an axis' position to control a switch that triggers a digital output.
ForceDigitalInput Writes a bool value into an input of an axis.
Gear Commands a ratio between the velocity of the slave and master axis.
GearInPos Commands a gear ratio between the position of the slave and master axes from the synchronization point onwards.
Halt Commands a controlled motion stop.
Home Commands the axis to perform the "search home" sequence.
Inch Commands a never-ending controlled motion at a specified velocity with a maximum distance.
Jog Commands a never-ending controlled motion at a specified velocity.
MoveAbsolute Commands a controlled motion to a specified absolute position.
MoveAdditive Adds a relative distance based on the last commanded position in the Discrete Motion state.
MoveContinuousAbsolute Commands a controlled motion to a specified absolute position ending with the specified velocity.
MoveContinuousRelative Commands a controlled motion of a specified relative distance ending with the specified velocity.
MoveRelative Commands a controlled motion of a specified distance relative to the current set position.
MoveVelocity Commands a never-ending controlled motion at a specified velocity.
Power Enables or disables the operation of an axis.
ReadCustomInput1 Reads the first custom input variable you added in IntervalZeroDevices database or UserDevices database, in which you can use KINGSTAR ESI Import Tool to add two custom input variables.
ReadCustomInput2 Reads the second custom input variable you added in IntervalZeroDevices database or UserDevices database, in which you can use KINGSTAR ESI Import Tool to add two custom input variables.
ReadDigitalInput Reads the value of an input from an axis.
Reset Makes the transition from the state ErrorStop to Standstill or Disabled by resetting all internal axis-related errors — it doesn't affect the output of the method instances.
SetControlMode Sets a control mode of an axis at run time.
SetPositionOffset Shifts the coordinate system of an axis by manipulating both the setpoint position as well as the actual position of an axis with the same value without any movement caused (recalibration with same following error).
SetSlaveHomeOffset Sets the home offset distance the axis adds to the home position to configure its zero position once the homing is completed.
SetSlaveHomingMode Selects one of the homing modes offered by a servo drive.
SetVirtualAxis Assigns the signals to link a simulated axis with real hardware.
Stop Commands a controlled motion stop and sets an axis to the Stopping state.
Test Runs a command test to check the drive response to the commanded value, such as commanded positon, velocity, or torque.
TouchProbe Records the position of an axis at a trigger event.
WaitForTrigger An axis starts a new move when the trigger condition is met.
WriteCustomOutput1 Writes a value into the first custom output variable you added in IntervalZeroDevices database or UserDevices database, in which you can use KINGSTAR ESI Import Tool to add two custom output variables.
WriteCustomOutput2 Writes a value into the second custom output variable you added in IntervalZeroDevices database or UserDevices database, in which you can use KINGSTAR ESI Import Tool to add two custom output variables.
WriteDigitalOutput Writes a bool value into an output of an axis.

Properties

  Name Description
AvailableControlModes Checks the control modes the axis can use.
CommunicationReady Checks whether the EtherCAT network is initialized and ready for communication.
ControlMode The mode of how your application, KINGSTAR Subsystem, and servo drives interact with each other.
ControlStatus Gets the live states from an axis.
Direction The moving direction of an axis.
EnableNegativeSoftLimit Enables or disables a negative software limit switch.
EnablePositionLagMonitoring Enables or disables monitoring for the position lag (following error).
EnablePositiveSoftLimit Enables and disables a positive software limit switch.
Encoder An encoder used with an axis.
Error The general axis errors not relating to the methods, such as axis errors, drive errors, communication errors.
FeedbackDelay Number of cycles for the master to receive the feedback of a position command. Usually 3 cycles.
HomeAbsSwitch Checks whether the digital home switch input is active.
HomeSwitch The state of a homing switch.
Interpolation The interpolation time of an axis.
IoStatus The state of an I/O module.
IsHomed Checks whether the axis is homed successfully after the axis is homed.
LimitSwitchNegative The current state of a negative limit switch.
LimitSwitchPositive The current state of a positive limit switch.
MaxCurrent The maximum current of an axis.
MaxTorque The maximum torque of an axis.
MotionProfile Configures the motion parameters for an axis.
MotionState The state of the axis in connection with the motion currently in progress.
NegativeLimit Gets the state of a digital input used as minimum limit sensor.
NegativeSoftLimit The position of a negative software limit switch.
Override Sets the override values for the whole axis, and all methods that are working on that axis.
PositiveLimit Gets the state of a digital input used as maximum limit sensor.
PositiveSoftLimit The position of a positive software limit switch.
PosToVelRatio Converts the velocity from count per second to the unit a servo drive uses.
PowerOn Checks whether the axis is enabled.
PowerOnNegative Checks whether the axis can be moved to the negative direction.
PowerOnPositive Checks whether the axis can be moved to the positive direction.
ReadyForPowerOn Checks whether the axis is ready to be enabled (power on).
Resolution Gets the encoder resolution of the axis.
SecondEncoder The unit conversion parameters for the second encoder of an axis.
SlaveControlLimit Determines whether to use the limit (such as software and sensor limit) when using modeSlaveInt in McControlMode and homingSlave in McHomingMode.
SlaveHomeOffset The distance the axis adds to the home position to configure its zero position once the homing is completed.
SlaveHomingMode Selects one of the homing modes offered by a servo drive.
State The state of the selected axis.
TorqueOffset A torque offset of an axis.
TorquePid Configures the PID settings used by an axis in the torque mode.
TorqueReverse Reverses the torque direction.
Unit Sets the conversion ratio of the user-defined position unit to the count (pulse) unit used by an axis.
UnitConversion Enables or disables the unit conversion.
VelocityPid Configures the PID settings used by an axis in the velocity mode.
Warning Checks whether warnings on the axis are present.

See also

IntervalZero.KINGSTAR.Base.Class Namespace