Motion Class

Represents motion control.

Inheritance Hierarchy

System.Object
  IntervalZero.KINGSTAR.OpcUa.Api

Namespace: IntervalZero.KINGSTAR.OpcUa.Api

Assembly: IntervalZero.KINGSTAR.OpcUa.Api (in IntervalZero.KINGSTAR.OpcUa.Client.dll) Version: 4.4.0.0

Syntax

public class Motion

Public Class Motion

The Motion class exposes the following members.

Constructors

	Name	Description
	Motion	Initializes a new instance of the Motion Class.

Methods

Usable EtherCAT states for Motion methods: ecatOP.

Axis configuration methods

Configures an axis.

	Name	Description
	EnableAxisUnitConversion	Enables the axis to use a real-world unit.
	GetAxisAvailableControlModes	Checks the control modes the axis can use.
	GetAxisParameter	Gets the value of a vendor-specific parameter from an axis.
	SetAxisControlMode	Sets a control mode of an axis at run time.
	SetAxisCountsPerUnit	Sets the conversion ratio of the user-defined position unit to the count (pulse) unit used by an axis.
	SetAxisDirection	Sets the direction of an axis' position.
	SetAxisEncoder	Sets an encoder to use with an axis.
	SetAxisHomeSwitch	Sets a digital sensor to be used as a homing switch.
	SetAxisInterpolation	Sets the interpolation time of an axis.
	SetAxisMotionProfile	Configures the motion settings of an axis.
	SetAxisMotionProfileOverride	Sets the override values for the whole axis, and all methods that are working on that axis.
	SetAxisNegativeLimitSwitch	Sets a negative limit switch for an axis.
	SetAxisParameter	Sets the value of a vendor-specific parameter for an axis.
	SetAxisPositionOffset	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 causing any movement (recalibration with same following error).
	SetAxisPositiveLimitSwitch	Sets a positive limit switch for an axis.
	SetAxisSecondEncoderCountsPerUnit	Sets the conversion ratio of the user-defined position unit to the count (pulse) unit used by an axis for the secondary encoder.
	SetAxisTorquePid	Configures the PID settings used by an axis in the torque mode.
	SetAxisTorquePolarity	Sets the direction of an axis' torque.
	SetAxisVelocityPid	Configures the PID settings used by an axis in the velocity mode.
	SetVirtualAxis	Assigns the signals to link a simulated axis with real hardware.

Axis control

Controls the power of an axis, resets an axis, records the position of an axis, and use it to control a switch.

	Name	Description
	PowerAxis	Enables or disables the operation of an axis.
	ReleaseAxis	Releases an axis from the Stopping state or detaches it from camming or gearing.
	ResetAxis	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.
	SetAxisCamSwitch	Uses an axis' position to control a switch that triggers a digital output.
	SetAxisCyclicSwitch	Uses an axis' position to control a switch that triggers a digital output repeatedly.
	SetAxisTouchProbe	Records the position of an axis at a trigger event.

Axis PTP motion

Controls the movement of a single axis.

	Name	Description
	AxisWaitForTrigger	An axis starts a new move when the trigger condition is met.
	HaltAxis	Commands a controlled motion stop.
	HomeAxis	Commands the axis to perform the "search home" sequence.
	InchAxis	Commands a never-ending controlled motion at a specified velocity with a maximum distance.
	JogAxis	Commands a never-ending controlled motion at a specified velocity.
	MoveAxisAbsolute	Commands a controlled motion to a specified absolute position.
	MoveAxisAdditive	Adds a relative distance based on the last commanded position in the Discrete Motion state.
	MoveAxisContinuousAbsolute	Commands a controlled motion to a specified absolute position ending with the specified velocity.
	MoveAxisContinuousRelative	Commands a controlled motion of a specified relative distance ending with the specified velocity.
	MoveAxisRelative	Commands a controlled motion of a specified distance relative to the current set position.
	MoveAxisVelocity	Commands a never-ending controlled motion at a specified velocity.
	SimulateAxisAbsolute	Calculates the duration an absolute move takes to complete.
	SimulateAxisRelative	Calculates the duration a relative move takes to complete.
	StopAxis	Commands a controlled motion stop and sets an axis to the Stopping state.
	TestAxis	Runs a command test to check the drive response to the commanded value, such as commanded position, velocity, or torque.
	UpdateCommand	Updates the motion parameters of a command.

Axis status

Gets the current state of an axis, including the error, power, motion, homing states.

	Name	Description
	GetAxesStatus	Gets the states of the selected axes.
	GetAxisError	Gets general axis errors not relating to the methods, such as axis errors, drive errors, and communication errors.
	GetAxisInfo	Gets information concerning an axis, such as modes, inputs directly related to the axis, and certain status information.
	GetAxisMotionState	Gets the state of the axis in connection with the motion currently in progress.
	GetAxisState	Gets the state of the selected axis.

Axis synchronized motion

Synchronizes axes and moves them. The movement includes cam and gear motion.

	Name	Description
	GetAxisCamInfo	Gets the cam information from an axis that is currently set as cam slave.
	GetCamTable	Gets the information of a cam table.
	SetAxisCam	Links the axes and starts to cam.
	SetAxisGear	Commands a ratio between the velocity of the slave and master axis.
	SetAxisGearInPos	Commands a gear ratio between the position of the slave and master axes from the synchronization point onwards.
	SetCamTable	Sets a cam table by setting the connections to a relevant table.
	SimulateAxisCam	Simulates the cam interpolation results.

Axis variable

Sets or gets a value of position, velocity, torque, input, and output from an axis.

	Name	Description
	GetAxisDigitalInput	Gets the value of a digital input indicated by the index.
	GetAxisDigitalOutput	Gets the value of a digital output indicated by the index.
	GetAxisFollowingError	Gets the following error from an axis.
	GetAxisPosition	Gets the current position from an axis.
	GetAxisTorque	Gets the current torque from an axis.
	GetAxisTorqueOffset	Gets the torque offset from an axis.
	GetAxisVelocity	Gets the current velocity from an axis.
	SetAxisDigitalOutput	Sets a bool value to an output indicated by the index.
	SetAxisPosition	Sets the target position of an axis.
	SetAxisTorque	Sets the target torque of an axis.
	SetAxisTorqueOffset	Sets a torque offset of an axis.
	SetAxisVelocity	Sets the target velocity of an axis.

Group configuration

Configures an axis group.

	Name	Description
	AddAxisToGroup	Adds an axis to a group.
	GetCartesianTransform	Gets the parameters of the Cartesian transformation that is active between the MCS and PCS.
	GetGroupAcceleration	Gets a group's acceleration in the selected coordinate system of an axis group.
	GetGroupConfiguration	Gets the index of an axis according to the given group index to read the current configuration of an axis group.
	GetGroupParameter	Gets the value of a parameter from an axis group.
	GetGroupPosition	Gets a group's position in the selected coordinate system of an axis group.
	GetGroupVelocity	Gets a group's velocity in the selected coordinate system of an axis group.
	GetKinTransform	Gets the kinematic transformation that is active between the ACS and MCS.
	RemoveAxisFromGroup	Removes an axis from a group.
	SetCartesianTransform	Sets a Cartesian transformation between the MCS and PCS.
	SetGroupParameter	Sets the value of a parameter for an axis group.
	SetKinTransform	Sets a kinematic transformation between the ACS and MCS based on the predefined kinematic model.
	UngroupAllAxes	Removes all axes from a group.

Group control

Controls the working states, the override values of an axis group, and sets the positions of all axes in it.

	Name	Description
	DisableGroup	Changes the state of a group to GroupDisabled.
	EnableGroup	Changes the state of a group from GroupDisabled to GroupStandstill.
	ResetGroup	Changes the state GroupErrorStop to GroupStandstill by resetting all internal group-related errors.
	SetGroupMotionProfileOverride	Sets the override values for an axis group, and all methods that are working on that group.
	SetGroupPositionOffset	Sets the position of all axes in a group without moving the axes.

Group motion

Controls the movement of an axis group.

	Name	Description
	CreateSpline	Creates a spline curve.
	DeleteSpline	Deletes a spline curve.
	GroupWaitForTrigger	A group starts a new move when the trigger condition is met.
	HaltGroup	Commands a controlled motion stop.
	InchGroup	Commands a never-ending controlled motion at a specified velocity for an axis group with a maximum distance.
	JogGroup	Commands a never-ending controlled motion at a specified velocity for an axis group.
	MoveCircularAbsolute	Commands an interpolated circular movement on an axis group from the current position of the tool center point.
	MoveCircularAdditive	Commands an interpolated circular movement on an axis group from the current position of the tool center point.
	MoveCircularRelative	Commands an interpolated circular movement on an axis group from the current position of the tool center point.
	MoveDirectAbsolute	Commands a movement of an axis group to a specified absolute position in the specified coordinate system without taking care of how (on which path) the target position is reached.
	MoveDirectRelative	Commands a movement of an axis group to a relative position without taking care of how (on which path) the target position is reached.
	MoveHelicalAbsolute	Commands an interpolated helical movement on an axis group from the current position of the tool center point.
	MoveHelicalAdditive	Commands an interpolated helical movement on an axis group from the current position of the tool center point.
	MoveHelicalRelative	Commands an interpolated helical movement on an axis group from the current position of the tool center point.
	MoveLinearAbsolute	Commands an interpolated linear movement on an axis group from the current position of the tool center point to an absolute position in the specified coordinate system.
	MoveLinearAdditive	Commands an interpolated linear movement on an axis group from the current position of the tool center point to a relative position in the specified coordinate system.
	MoveLinearRelative	Commands an interpolated linear movement on an axis group from the current position of the tool center point to a relative position in the specified coordinate system.
	MoveSpline	Moves an axis group along a spline curve.
	ReleaseGroup	Release a group from the GroupStopping state.
	SetGroupPathCamSwitch	Uses an axis group's travel distance to control a switch that triggers a digital output.
	StopGroup	Commands a controlled motion stop and transfers the axis group to the state GroupStopping.

Group status

Gets the states of an axis group.

	Name	Description
	GetGroupError	Gets general axis group errors not relevant to the methods.
	GetGroupsStatus	Gets the state of axis groups according to the active grouped method.
	GetGroupState	Gets the state of an axis group according to the active grouped method.

See also

IntervalZero.KINGSTAR.OpcUa.Api Namespace