KM_MainStatus Structure

Bulk status record uploaded from KFLOP

Inheritance Hierarchy

SystemObject
SystemValueType
KMotion_dotNetKM_MainStatus

Namespace: KMotion_dotNet
Assembly: KMotion_dotNet (in KMotion_dotNet.dll) Version: 1.0.1.0 (1.0.1.0)

Syntax

C++

Copy

public struct KM_MainStatus

Public Structure KM_MainStatus

public value class KM_MainStatus

The KM_MainStatus type exposes the following members.

Properties

	Name	Description
	ADC	Bulk status record ADC values (8 Kanalog + 2 x 8 SnapAmp)
	AxisDone	Bulk status record Current axis completes
	BitsDirection	Bulk status record Current KFLOP 64 IO Bit directions (inputs vs outputs)
	BitsDirection200	Bulk status record Current Kogna IO Bit directions (inputs vs outputs) Kogna - 24 bits 200-223 of I/O direction 1 = output
	BitsDirection280	Bulk status record Current Kogna IO Bit directions (inputs vs outputs) Kogna - 10 bits 280-289 of I/O direction 1 = output
	BitsState	Bulk status record Current KFLOP/Kogna 64 IO Bit states
	BitsState200	Bulk status record Current KFLOP/Kogna 64 IO Bit states Kogna - 90 bits 200-289 of state lsb=I/O bit200
	DAC	Bulk status record DAC values (8 Kanalog)
	Destination	Bulk status record Axis Commanded Destinations
	Enables	Bulk status record Current axis enables
	HRPWM	Bulk status record Kogna current Kogna Kogna 4 HRPWMs Pulse widths
	HRPWMPeriod01	Bulk status record Kogna current Kogna HRPWMs Periods (common for HRPWM 0 and 1)
	HRPWMPeriod2	Bulk status record Kogna current Kogna HRPWM Periods (for HRPWM 2)
	HRPWMPeriod3	Bulk status record Kogna current Kogna HRPWM Periods (for HRPWM 3)
	InputModes	Bulk status record feedback selected input modes Axes 0-3
	InputModes2	Bulk status record feedback selected input modes #2 Axes 4-7
	InputModes3	Bulk status record feedback selected input modes #3 Axes 8-11
	InputModes4	Bulk status record feedback selected input modes #4 Axes 12-15
	KanalogBitsStateInputs	Bulk status record Current Kanalog Input Bit States
	KanalogBitsStateOutputs	Bulk status record Current Kanalog Output Bit States
	Kogna_ADC	Bulk status record Kogna 4 ADCs format 12 bits data (signed extended to 16 bits)
	Kogna_DAC	Bulk status record Kogna 8 DACSs format 12 bits data (signed extended to 16 bits)
	Kogna_PWM	Bulk status record Kogna current pulse settings of all 8 8-bit IO PWMs
	Kogna_PWM_Enables	Bulk status record Kogna current PWM Enables to control Pin of all 8 8-bit IO PWMs
	Kogna_PWM_Prescale	Bulk status record Kogna Prescale sets frequency of all 8 8-bit PWMs
	OutputChan0	Bulk status record Axis First output channel specified
	OutputModes	Bulk status record feedback selected output modes Axes 0-3
	OutputModes2	Bulk status record feedback selected output modes #2 Axes 4-7
	OutputModes3	Bulk status record feedback selected output modes #3 Axes 8-11
	OutputModes4	Bulk status record feedback selected output modes #4 Axes 11-15
	PC_comm	Bulk status record KFLOP-PC 8 Communication variables 100-107
	PinMuxModes	Bulk status record Kogna - 10 Pin function modes 2 bits per pin 4 HRPWM + 6 SPI
	Position	Bulk status record Axis Measured positions (Encoder or other sensing device)
	PWM	Bulk status record PWM values (8 obsolete PWMS + 2 x 4 SnapAmp)
	RunOnStartUp	Bulk status record Current Boot Thread Startup Enables
	SnapBitsDirection0	Bulk status record Current SnapAmp #0 IO Bit directions (inputs vs outputs)
	SnapBitsDirection1	Bulk status record Current SnapAmp #1 IO Bit directions (inputs vs outputs)
	SnapBitsState0	Bulk status record Current SnapAmp #0 IO Bit States
	SnapBitsState1	Bulk status record Current SnapAmp #1 IO Bit States
	StopImmediateState	Bulk status record current StopImmediate (feedhold) state
	ThreadActive	Bulk status record Current Thread Execution State
	TicksAtUpdate	Bulk status record Windows Time when status was updates (millisec since Windows Started)
	TimeStamp	Bulk status record Time Stamp in seconds of when status was acquired
	VersionAndSize	Bulk status record packed version and size info bits 16-23 = version, bits 0-15 = size in words
	VirtualBits	Bulk status record Virtual bits packed 16 per word 48-63
	VirtualBitsEx0	Bulk status record Extended Virtual bits packed 32 per word 1024-1055

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Methods

	Name	Description
	Equals	Indicates whether this instance and a specified object are equal. (Inherited from ValueType)
	GetADC	Bulk status record ADC values (Kanalog)
	GetAxisComplete	Bulk status record Current axis completes
	GetAxisEnabled	Bulk status record Current axis enables
	GetBitDirection200	Bulk status record Current Kogna 24 IO Bit directions for Bits 200-223(inputs vs outputs)
	GetBitDirection280	Bulk status record Current Kogna 10 IO Bit directions for Bits 280-289(inputs vs outputs)
	GetBitState200	Bulk status record Current Kogna 90 IO Bit states (Bits 200-289)
	GetDAC	Bulk status record DAC values (Kanalog)
	GetDestination	Bulk status record Axis Commanded Destinations
	GetHashCode	Returns the hash code for this instance. (Inherited from ValueType)
	GetInputMode	Bulk status record feedback selected 4-bit input mode
	GetKanalogBitsStateInputs	Bulk status record Current Kanalog Input Bit States
	GetKanalogBitsStateOutputs	Bulk status record Current Kanalog Output Bit States
	GetKFlopBitDirection	Bulk status record Current KFLOP/Kogna 64 IO Bit directions (inputs vs outputs)
	GetKFlopBitState	Bulk status record Current KFLOP/Kogna 64 IO Bit states
	GetKognaADC	Bulk status record Current Kogna ADC
	GetKognaDAC	Bulk status record Current Kogna DAC
	GetKognaHRPWM	Bulk status record Current Kogna Hi-Res 12-bit PWM pulse setting
	GetKognaPWM	Bulk status record Current Kogna 8-bit PWM pulse setting
	GetKognaPWMEnables	Bulk status record Current Kogna 8-bit PWM Enables
	GetOutputChannel0	Bulk status record Axis First output channel specified
	GetOutputMode	Bulk status record 4-bit output mode
	GetPC_comm	Bulk status record Current PC-KFLOP Comm regs
	GetPinMuxModes	Bulk status record Current Kogna 10 Pin function modes 2 bits per pin 4 HRPWM + 6 SPI
	GetPosition	Bulk status record Axis Measured positions (Encoder or other sensing device)
	GetPWM	Bulk status record PWM values (SnapAmp)
	GetRunOnStartUp	Bulk status record Current Boot Thread Startup Enables
	GetSnapBitsDirection0	Bulk status record Current SnapAmp #0 IO Bit directions (inputs vs outputs)
	GetSnapBitsDirection1	Bulk status record Current SnapAmp #1 IO Bit directions (inputs vs outputs)
	GetSnapBitsState0	Bulk status record Current SnapAmp #0 IO Bit States
	GetSnapBitsState1	Bulk status record Current SnapAmp #1 IO Bit States
	GetThreadActive	Bulk status record Current Thread Execution State
	GetType	Gets the Type of the current instance. (Inherited from Object)
	GetVirtualBits	Bulk status record Current Virtual Bit States
	GetVirtualBitsEx0	Bulk status record Current Extended Virtual Bit States
	ToString	Returns the fully qualified type name of this instance. (Inherited from ValueType)

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Fields

	Name	Description
	_TicksAtUpdate	Time in milliseconds since Windows Started where Status record was last uploaded Note: rolls over every 49 days
	MainStatus	This structure matches exactly the binary form as the Kogna/KFLOP MAIN_STATUS Structure so it can be uploaded as a binary image.

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Reference

KMotion_dotNet Namespace