 | KM_ |
Axis class for KM_Controller
Use to control a single axis channel
The axis channel can be configured via a c program and the KM_Controller
or
Use the configuration methods to set the desired parameters
Inheritance HierarchyNamespace: KMotion_dotNet
Assembly: KMotion_dotNet (in KMotion_dotNet.dll) Version: 1.0.1.0 (1.0.1.0)
SyntaxThe KM_Axis type exposes the following members.
ConstructorsProperties| Name | Description | |
|---|---|---|
 | Acceleration | Acceleration to use during Rapids and Independent Motion |
| CoordAccel | Max Acceleration to to use during Coordinated Motion Feeds |
| CoordVelocity | Max Commanded velocity to use during Coordinated Motion Feeds |
| CPU | Counts per unit, must set before Velocity, Acceleration, and Jerk |
| CPU_is_mm | Indicates if CPU (Counts/unit) is mm otherwise inches |
| HomingParams | Data memeber for thr homing sequence attributes |
| ID | Axis Channel Number Valid range = ( 0 - 7 ) |
| Jerk | Jerk to to use during Rapids and Independent Motion |
| JogPercent | The level of jog percenatage computed from the commanded jog velocity |
| JogVelocity | Commanded jog velocity |
| Name | Call Name Use to describe what the Axis controls i.e. Positioning Fence 1, X, etc... |
| TuningParams | Accessor to the axis channel's tuning parameters |
| Velocity | Commanded velocity to use during Rapids and Independent Motion |
Methods| Name | Description | |
|---|---|---|
 | CheckEnabled | Check if the axis is enabled |
| Disable | Disable the axis |
| DoHome | Executes a homing sequence based on the settings within the HomingParams variable and waits until the execution is complete |
| Enable | Bring an axis to an enabled state |
| EnableDest | Bring an axis to an enabled state and specify the commanded destination for the axis dest is multiplied by CPU and sent to KFLOP |
| Equals | Determines whether the specified object is equal to the current object. (Inherited from Object) |
| EStop | Stop the current motion and disable the axis |
 | Finalize | Allows an object to try to free resources and perform other cleanup operations before it is reclaimed by garbage collection. (Inherited from Object) |
| GetActualPosition | Querys the axis channel for the actual position in user units |
| GetActualPositionCounts | Querys the axis channel for the actual position in counts |
| GetCommandedPosition | Querys the axis channel for the commanded position in user units |
| GetCommandedPositionCounts | Querys the axis channel for the commanded position in counts |
| GetHashCode | Serves as the default hash function. (Inherited from Object) |
| GetHomeFileSource | Creates the source code for the .c file with an empty main() method |
| GetHomeSequence | Creates the lines of code to place in the main() method |
| GetMoveToStateAtVel | Auto Generates KFLOP C Code to move until an input bit changes |
| GetType | Gets the Type of the current instance. (Inherited from Object) |
| Jog | Jog axis at the commanded preset jogvelocity * jogpercentage |
| Jog(Double) | Jog axis at a given velocity |
| MemberwiseClone | Creates a shallow copy of the current Object. (Inherited from Object) |
| MotionComplete | Checks if the commanded axis motion is completed |
| MoveTo | Calls a move to a given absolute position and blocks the calling thread until the position has been acheived |
| RelativeMoveTo | Calls a move to a given relative position and blocks the calling thread until the position has been acheived |
| SetCommandedDest | Sets the axis node's commanded Destination Caution: changing this may result in a sudden jump in the axis position |
| SetCurrentPosition | Sets the axis node's current position Can be used to "zero" the axis |
| StartDoHome | Executes a homing sequence based on the settings within the HomingParams variable |
| StartMoveTo | Calls a non-blocking move to a given absolute position |
| StartRelativeMoveTo | Calls a non-blocking move to a given relative position |
| Stop | Stop the current motion |
| ToString | Returns a string that represents the current object. (Inherited from Object) |
| WaitforMotionComplete | Blocks the calling thread until the axis is in position within a specified time limit |
| ZeroAxis | Sets the Axis' current 0.0 point |
Fields| Name | Description | |
|---|---|---|
 | _Controller | KM_Controller Object for used for device access |
| _CoordAccel | Acceleration to use during Coordinated Motion using Trajectory Planner |
| _CoordVelocity | Velocity to use during Coordinated Motion using Trajectory Planner |
| _CPU | Multiplier for the velocity in counts/unit |
| _CPU_is_mm | The level of jog percenatage computed from the commanded jog velocity |
| _HomingParams | Data memeber for thr homing sequence attributes |
| _ID | Axis Channel Number Valid range = ( 0 - 7 ) |
| _JogPercent | The level of jog percenatage computed from the commanded jog velocity |
| _JogVelocity | Commanded jog velocity |
| _Name | Call Name Use to describe what the Axis controls i.e. Positioning Fence 1, X, etc... |
| _TuningParams | Accessor to the axis channel's tuning parameters |
| _Velocity | Velocity to use during positioning Jogging uses its own velocity passed in |
See Also