Motor — motion control object

MOTOR["name"] accesses a motion axis defined in the Motor Editor.

캡처 대기

public/manual/gui/xscript-motor-example.png

Motor object usage

Basic example

MOTOR["M_HeadX"].Home();
if (MOTOR["M_HeadX"].WaitHome(1000) == false)
{
    Log("{0} - Home Failed", MOTOR["M_HeadX"].Description);
    return;
}
 
// Relative move — wait until complete
if (MOTOR["M_HeadX"].MoveRel(10.0, true) == false)
{
    // failure
}
 
// Absolute move — fire-and-forget
MOTOR["M_HeadX"].MoveAbs(100.0, false);

Real-world — spindle control

Adapted from Stage.xms. Dynamically overrides velocity & accel while the motor is already running.

FUNCTION RunSpindle(double rpm, double accel, double decel)
{
    double speed = rpm * ANGLE_SPD_PER_RPM;
 
    if (MOTOR["M_SpindleT"].InMotion)
    {
        if (MOTOR["M_SpindleT"].OverrideAccelVelDecel(speed, accel, decel) == false)
        {
            MOTOR["M_SpindleT"].ShowMotorError(ModuleName);
            return false;
        }
        return true;
    }
 
    MOTOR["M_SpindleT"].SetSpeed(speed, accel, 20.0);
    MOTOR["M_SpindleT"].OverrideSetMaxVel(10000);
 
    if (MOTOR["M_SpindleT"].MoveVel(true) == false)
    {
        MOTOR["M_SpindleT"].ShowMotorError(ModuleName);
        return false;
    }
 
    return true;
}

Motion methods

Signature	Description
`bool MoveAbs(double position, bool wait)`	Absolute move
`bool MoveRel(double position, bool wait)`	Relative move
`bool MoveVel(bool plusDirection)`	Velocity mode
`bool MoveSearchStop(bool plusDirection, SearchSignal signal, bool isUpEdge, bool emgStop)`	Sensor-stop move
`bool Stop(bool wait = true, bool setStopExitSignal = false)`	Normal stop
`bool StopEmergency(bool wait = true, bool setStopExitSignal = true)`	Emergency stop
`bool OverridePos(double pos)`	Force-set current position
`bool OverrideVel(double vel)`	Override velocity while moving

Torque control

Signature	Description
`bool SetTorqueLimit(double plusDirLimit, double minusDirLimit)`	Per-direction torque cap
`bool MoveTorque(bool plusDirection, double torquePercent, double velocity)`	Torque-controlled move
`bool StopTorque(void)`	Exit torque control

Wait / check

Signature	Description
`bool Wait(int timeout = 0)`	Wait for current move (0 = infinite)
`bool WaitPosition(double position, int timeout = 0)`	Wait for target position
`bool WaitHome(int timeout = 0)`	Wait for home complete
`bool CheckInPosition(double pos)`	Inside tolerance window
`uint GetEndStatus(void)`	End-status flags
`string GetEndStatusString(uint endStatus)`	Parse end-status to string

Home / init

Signature	Description
`bool InitBoard(void)`	Initialize board
`bool Home(void)`	Home (synchronous)
`bool ThreadHome(void)`	Home (async, new thread)
`HomeSubFunctionResult ApiHomeFunction(void)`	Low-level home API
`void ClearAlarm(void)`	Clear alarm

Speed settings

Signature	Description
`void SetSpeed(double vel)`	Velocity only
`void SetSpeed(double vel, double accel, double decel = 0)`	Velocity + accel/decel
`void SaveSpeed(void)` / `void RestoreSpeed(void)`	Push/pop speed

Force / calibration

Signature	Description
`bool SetForceAnalogIo(string name)`	Assign analog IO for force reading
`bool SetForce(double value)` / `bool SetVoltage(double value)`	Force / voltage override
`bool ClearForceCalibData(void)`	Reset calibration table
`bool AddForceCalibData(double force, double volt)`	Add calibration sample

I/O

Signature	Description
`bool ReadInBit(int bit)` / `bool ReadOutBit(int bit)`	Read motion board DI/DO
`bool WriteOutBit(int bit, bool on)`	Write motion board DO

Properties

Property	Type	Description
`Name` / `Description`	`string`	Metadata
`CommandPosition` / `ActualPosition` / `TargetPosition`	`double`	Positions
`InMotion`	`bool`	Motion flag
`HomeDone` / `HomeBusy`	`bool`	Home status
`AlarmSignal` / `AlarmLevel` / `AlarmUse`	`bool`	Alarm signal
`ServoOnSignal` / `ServoOnLevel` / `ServoOnUse`	`bool`	Servo-on
`PLimitSensorSignal` / `NLimitSensorSignal`	`bool`	±limit
`HomeSensorSignal` / `HomeSensorLevel` / `HomeSensorUse`	`bool`	Home sensor
`ZPhaseSignal` / `ZPhaseLevel` / `ZPhaseUse`	`bool`	Z-phase
`InpositionSignal` / `InpositionLevel` / `InpositionUse`	`bool`	In-position
`JogVel` / `JogAccel` / `JogDecel`	`double`	Jog params
`RunVel` / `RunAccel` / `RunDecel`	`double`	Run params
`StartSpeed` / `MaxSpeed` / `UnitPerPulse`	`double`	Pulse/velocity scaling
`EncoderUse` / `EncoderInverse` / `EncoderCalib`		Encoder
`HomeTimeOut` / `HomeSlowVel` / `HomeBackOffset` / `HomeAfterDelay`		Home sequence
`HomeReverse` / `HomeInstantMode`	`bool`	Home options
`SwInpositionRange` / `SwInpositionUse` / `SwInpositionError` / `SwInpositionByEncoder`		Soft in-position
`MinPos` / `MaxPos` / `MinMaxAutoSet`		Soft limits
`GantryMode` / `IsGantrySlave` / `LinkMotorIndex`		Gantry link
`IsVelMoveMode` / `IsAbsMoveMode` / `IsRelMoveMode`	`bool`	Current mode
`ForceMode` / `CurrentForce` / `CurrentVoltage`		Force control
`LastErrorCode` / `DefaultErrorCode`	`int`	Error codes

Event hooks

Property	Description
`CheckFunctionName`	Safety check before move
`PreHomeFunctionName`	Hook before home
`AfterHomeFunctionName`	Hook after home
`UseCheckFunctionOnHome`	Also run Check for home

FUNCTION M_U1CNV_Check(string name)
{
    if (IO["I_Emg"] == ON)
    {
        return false;
    }
    return true;
}

Tips

Use MoveAbs(pos, true) to block; MoveAbs(pos, false) + Wait() for async.
Always verify with GetEndStatus() or CheckInPosition().
After a servo alarm, call ClearAlarm() before restart.
Compute accel/decel from RPM delta using master-setup ratios for flexibility.