Axes
An axis consists of a trajectory generator, PID or stepper control block, and some sort of output resource, either a digital-to-analog converter (DAC) output or a stepper pulse generator output. Servo axes must also have some sort of feedback resource, either an encoder or ADC channel. Closed-loop stepper axes also require a feedback resource, and can use either encoder or ADC inputs. Open-loop stepper axes do not require feedback for correct operation. The following table lists the resource IDs and constants for axes:
| Resource Name | Resource ID | Constant |
|---|---|---|
| Axis Control | 0 (0x00) | NIMC_AXIS_CTRL |
| Axis 1 | 1 (0x01) | NIMC_AXIS1 |
| Axis 2 | 2 (0x02) | NIMC_AXIS2 |
| Axis 3 | 3 (0x03) | NIMC_AXIS3 |
| Axis 4 | 4 (0x04) | NIMC_AXIS4 |
| Axis 5 | 5 (0x05) | NIMC_AXIS5 |
| Axis 6 | 6 (0x06) | NIMC_AXIS6 |
| Axis 7 | 7 (0x07) | NIMC_AXIS7 |
| Axis 8 | 8 (0x08) | NIMC_AXIS8 |
| Axis 9 | 9 (0x09) | NIMC_AXIS9 |
| Axis 10 | 10 (0x0A) | NIMC_AXIS10 |
| Axis 11 | 11 (0x0B) | NIMC_AXIS11 |
| Axis 12 | 12 (0x0C) | NIMC_AXIS12 |
| Axis 13 | 13 (0x0D) | NIMC_AXIS13 |
| Axis 14 | 14 (0x0E) | NIMC_AXIS14 |
| Axis 15 | 15 (0x0F) | NIMC_AXIS15 |
| Axis 16 | 177 (0xB1) | NIMC_AXIS16 |
| Axis 17 | 178 (0xB2) | NIMC_AXIS17 |
| Axis 18 | 179 (0xB3) | NIMC_AXIS18 |
| Axis 19 | 180 (0xB4) | NIMC_AXIS19 |
| Axis 20 | 181 (0xB5) | NIMC_AXIS20 |
| Axis 21 | 182 (0xB6) | NIMC_AXIS21 |
| Axis 22 | 183 (0xB7) | NIMC_AXIS22 |
| Axis 23 | 184 (0xB8) | NIMC_AXIS23 |
| Axis 24 | 185 (0xB9) | NIMC_AXIS24 |
| Axis 25 | 186 (0xBA) | NIMC_AXIS25 |
| Axis 26 | 187 (0xBB) | NIMC_AXIS26 |
| Axis 27 | 188 (0xBC) | NIMC_AXIS27 |
| Axis 28 | 189 (0xBD) | NIMC_AXIS28 |
| Axis 29 | 190 (0xBE) | NIMC_AXIS29 |
| Axis 30 | 191 (0xBF) | NIMC_AXIS30 |
Functions that can operate on multiple axes simultaneously, such as Read Blend Status and Start Motion, can take the axis control (NIMC_AXIS_CTRL) as their resource parameter.
Use the appropriate constant value defined in the MotnCnst.h or motncnst.bas file. For example, to use axis 9 with the Configure Axis Resources function, pass NIMC_AXIS9 for the axis parameter:
status = flex_config_axis(u8 boardID, NIMC_AXIS9, u8 primaryFeedback, u8 secondaryFeedback,
u8 primaryOutput, u8 secondaryOutput);