C
L E A R
P
A T H
- S C
U
S E R
M
A N U A L
R
E V
.
1 . 3 6
8 4
T
EKNIC
,
I
NC
. T
EL
.
(585)
784-7454
IN
ODE
(N
ODE
L
EVEL
C
LASSES
)
The INode class is used to interface with a node in an application
(remember, each node is just a motor). Node level functions and
structures are defined separately for each node in a system, so your
application will have one instance of each of these structures for each
node (motor) in your system.
This class defines a "super" Node whose framework exposes the Node
level features available to your application by a series of public attribute
references. You can think of each instance of the INode class as "owning"
all Node level classes linked to the same node.
F
EATURES
/A
CTIONS
•
Issue Enable requests to motors
•
Assign units for torque, velocity, and acceleration
•
Provides a simple and safe mutex mechanism
•
Read Node level inputs
•
Provide access to all other Node level features
O
THER
N
ODE
L
EVEL
C
LASSES
IMotion
This class is used to set up, initiate, and cancel motion on an individual
node. This class contains functions to:
•
Start moves (positional, velocity)
•
Query the MoveDone status (to determine whether a move has
completed)
•
Query the Ready status (to determine whether a node is ready to
initiate a move)
•
Set/get the velocity limit for moves
•
Set/get the acceleration limit for moves
•
Query instantaneous commanded and measured position,
velocity, and torque
•
Provide access to homing and advanced motion features
IMotionAdv
This class object allows setup and initiation of advanced motion features
(available only in advanced models) including:
•
Head/tail moves
•
Asymmetric moves
•
Triggered moves
•
A after start/ B before end events
IInfo
This class object provides access to node information including:
