flex_read_vs_pos |
Read Vector Space Position
Usage
status = flex_read_vs_pos(u8 boardID, u8 vectorSpace, u8 returnVector);
Purpose
Reads the position of all axes in a vector space.
Parameters
| Name | Type | Description |
|---|---|---|
| boardID | u8 | assigned by Measurement & Automation Explorer (MAX) |
| vectorSpace | u8 | vector space to read |
| returnVector | u8 | destination for the return data |
Parameter Discussion
vectorSpace is the vector space to read. Valid values are NIMC_VECTOR_SPACE1 through NIMC_VECTOR_SPACE15. On motion controllers that support fewer than thirty axes, reading non-existent vector spaces returns error 70006 (NIMC_badResourceIDOrAxisError). Refer to Vector Spaces for vector space resource IDs.
inputVector indicates the source data for this function. Available input vectors include input data to the host (0xFF), to a variable (0x01 through 0x78), to an indirect variable (0x81 through 0xF8), and return no data (0). Refer to Input and Return Vectors for more detailed information.
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Note The suffix _rtn on the function indicates that the data must be returned to the host. When this calling convention is used, no returnVector is required. |
Using This Function
This function returns the instantaneous positions of the axes in the specified vector space. For servo axes, it returns the primary feedback position in counts. For open-loop stepper axes, it returns the number of steps generated. For closed-loop stepper axes, it converts the primary feedback position from counts to steps and then returns the value in steps. Closed-loop stepper axes require correctly loaded values of steps per revolution and counts per revolution to function correctly.
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Note For closed-loop axes, this function always returns the position of the primary feedback resource. |