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1.16.1
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Mach Modules Documentation
Lua Module API Documentation
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Go to the source code of this file.
Functions | |
| Sim | Create (context) |
| Create a Sim motion controller object for the given Mach4 instance. | |
| Sim | OpenConfiguration () |
| Open the Sim motion controller configuration window. | |
| Sim | Initialization () |
| Perform Sim motion controller initialization at Mach4 startup. | |
| Sim | IsAxisMotorAbsoluteEncoder () |
| Check whether any motor on the specified axis uses an absolute encoder (Sim). | |
| HiCON | IsInitialized () |
| Check whether the HiCON motion controller has completed initialization. | |
| HiCON | ReadAbsoluteEncoderPositions () |
| Read absolute encoder positions for all configured motors on the HiCON controller. | |
| HiCON | IsMotorAbsoluteEncoder () |
| Check whether the specified motor uses an absolute encoder on the HiCON controller. | |
| HiCON | PLCScript () |
| PLC script callback for HiCON motion controller periodic housekeeping. | |
| HiCON | PreEnableReset () |
| Re-read absolute encoder positions before a machine enable reset on the HiCON controller. | |
| HiCON | MotionSync () |
| Synchronize the HiCON motion controller's internal position to the encoder positions. | |
| HiCON | UpdateMotorMapping () |
| Send the UPDATE_SOURCE_SETTINGS command to the HiCON motion controller. | |
| HiCON | SupportsManualModeFeature () |
| Report whether the HiCON motion controller supports the manual mode feature. | |
| HiCON | SetAxisMotorsManualModeOn () |
| Enable manual mode for a specific axis's motors on the HiCON controller. | |
| HiCON | SetAxisMotorsManualModeOff () |
| Disable manual mode for a specific axis's motors on the HiCON controller. | |
| HiCON | PreHoming () |
| Perform pre-homing signal setup for the HiCON motion controller. | |
| HiCON | WaitForHomingToComplete () |
| Wait for HiCON homing motion to complete using a timed please-wait dialog. | |
| HiCON | PostHoming () |
| Perform post-homing signal cleanup for the HiCON motion controller. | |
| M31 | SetManualModeOn () |
| No-op implementation of manual mode on for the M31 motion controller. | |
| M31 | SetManualModeOff () |
| No-op implementation of manual mode off for the M31 motion controller. | |
| RapidPath | OpCmdReg () |
| Get or resolve and cache the operational command register handle for a RapidPath instance. | |
| RapidPath | LogF (...) |
| Write a formatted log message to the Mach4 diagnostic log for this RapidPath instance. | |
| RapidPath | ResolveRPRegister (inst) |
| Resolve a named RapidPath register to its Mach4 handle. | |
| RapidPath | ResolveRPIO (inst) |
| Resolve a named RapidPath I/O point to its Mach4 handle. | |
| RapidPath | MarkSingleMotorConnection (discon) |
| Stage a single motor connection or disconnection change without committing it. | |
| RapidPath | CommitMotorConnections () |
| Commit all staged (queued) motor connection changes to the RapidPath plugin. | |
| RapidPath | RollbackMotorConnections () |
| Discard all staged (queued) motor connection changes without applying them. | |
| RapidPath | ConnectAllMotors () |
| Reconnect all motors to active servo control in the RapidPath plugin. | |
| RapidPath | DisconnectAllMotors () |
| Disconnect all motors from active servo control in the RapidPath plugin. | |
| RapidPath | MarkCommitSingleMotorConnection (discon) |
| Mark and immediately commit a single motor connection or disconnection change. | |
| RapidPath | MarkCommitMultipleMotorConnections (discon_flgs) |
| Mark and immediately commit connection changes for multiple motors (untested). | |
| RapidPath | IsDisconnectedMotor () |
| Check whether a motor is currently disconnected in the RapidPath plugin. | |
| RapidPath | IsDisconnectedMotor_Que () |
| Check whether a motor is queued for disconnection in the RapidPath plugin. | |
| RapidPath | GetMotorCount () |
| Get the total number of motor devices controlled by the RapidPath plugin. | |
| RapidPath | CreatePreCannedCommands () |
| Create all pre-canned user commands for the RapidPath motion controller. | |
| RapidPath | FDC_IsCapturing () |
| Check whether an FDC capture or export session is currently active. | |
| RapidPath | FDC_ClearTraces () |
| Clear all configured FDC traces and discard any accumulated header data. | |
| RapidPath | FDC_ShowTraces () |
| Display information about currently configured FDC traces in a message box. | |
| RapidPath | FDC_StopCapture () |
| Stop an active FDC data capture session. | |
| RapidPath | FDC_StartCapture () |
| Start an FDC data capture session, optionally writing to a specified file. | |
| RapidPath | FDC_Add_MotorCommands () |
| Add FDC traces for commanded (reference) motor position, velocity, and acceleration. | |
| RapidPath | FDC_Add_MotorFeedback () |
| Add FDC traces for actual (feedback) motor position and velocity. | |
| RapidPath | FDC_Add_MotorFWStatus () |
| Add FDC traces for per-motor firmware status words. | |
| RapidPath | FDC_Add_MultiAxisFWStatus () |
| Add FDC traces for the multi-axis firmware motion status word. | |
| RapidPath | FDC_Add_MotorBacklash () |
| Add FDC traces for motor backlash compensation values. | |
| RapidPath | FDC_Add_MotorControlStatusWords () |
| Add FDC traces for CANopen control word and status word for each motor. | |
| RapidPath | FDC_Add_PluginData () |
| Add FDC traces for RapidPath plugin and cycle planner status buffers. | |
| RapidPath | FDC_Add_ProbingData () |
| Add FDC traces for probing status and probe input signals. | |
| RapidPath | FDC_Add_HomingData () |
| Add FDC traces for homing-related signals, user limits, user buffers, and encoder values. | |
| RapidPath | FDC_Add_LaserData () |
| Add FDC traces for laser power, shutter, motion ID, and position error. | |
| RapidPath | FDC_AddHeader_MotorData () |
| Add motor metadata header entries to the FDC export file for all controlled motors. | |
| RapidPath | FDC_AddHeader (value) |
| Add a key-value metadata header entry to the FDC export file. | |
| RapidPath | ReadSDO (subindex, device_spec, byte_count) |
| RapidPath | WriteSDO (index, subindex, device_spec, byte_count) |
| RapidPath | SyncAxisMotorPositions () |
| Synchronize the motor positions for all motors on the specified axis. | |
| RapidPath | GetMotorDisplayName () |
| Get the display name of the device associated with a RapidPath motor. | |
| RapidPath | GetLoadRegister () |
| Get the Mach4 register path for the load (torque percentage) of the given axis. | |
| RapidPath | IsVirtualMotor () |
| Check whether the specified motor is a virtual (non-physical) motor in RapidPath. | |
| RapidPath | GetLoadPercent () |
| Get the load percentage for the specified axis from the RapidPath plugin. | |
| RapidPath | Reconfig () |
| Invalidate cached data after a Mach4 or motion controller reconfiguration. | |
| RapidPath | OperationCommand (target_instance) |
| Send an operation command to the RapidPath plugin and return the result. | |
| RapidPath | ResetAlarms () |
| Wait for RapidPath drives to become operable and clear any active drive alarms. | |
| RapidPath | ResetSafetyRelay () |
| Send a reset command to the RapidPath safety relay watchdog. | |
| RapidPath | IsEnableSequenceFinished () |
| Check whether the machine enable sequence has finished for RapidPath. | |
| RapidPath | IsOperational () |
| Check whether the RapidPath plugin is in a good operational state. | |
| RapidPath | Destroy () |
| Clean up the RapidPath motion controller object before it is released. | |
| RapidPath | OneTimeInitialization () |
| Perform one-time startup initialization for the RapidPath motion controller. | |
| RapidPath | OneTimeOperationalInitialization () |
| Perform one-time initialization that requires RapidPath to be operational. | |
| generator_feedback (hIo) | |
| Return a closure that reads the current state of a generic soft input I/O point. | |
| generator_toggle (hIo, io_path) | |
| Return a closure that toggles the specified generic soft input I/O point. | |
| RapidPath | IsLeader () |
| Determine whether this RapidPath plugin instance is the leader instance. | |
| RapidPath | HandleOperationStatus () |
| Monitor RapidPath plugin operational state and manage the operational status dialog. | |
| fn_table | is_operable (obj, mc_obj) |
| Check whether the RapidPath motion controller is currently operational. | |
| fn_table | summary (obj, mc_obj) |
| Provide the executive summary status string for the OpStatus dialog. | |
| fn_table | level1 (obj, mc_obj) |
| Provide the plugin action status string for the OpStatus dialog. | |
| fn_table | level2 (obj, mc_obj) |
| Provide the controller action status string for the OpStatus dialog. | |
| fn_table | level3 (obj, mc_obj) |
| Provide the detail-level 3 status string for the OpStatus dialog. | |
| fn_table | progress (obj, mc_obj) |
| Provide progress pulse information for the OpStatus dialog. | |
| fn_table | button_label (obj, mc_obj) |
| Provide the label for the optional action button in the OpStatus dialog. | |
| fn_table | button_click (obj, mc_obj) |
| Handle the user clicking the override button in the OpStatus dialog. | |
| fn_table | log (obj_args, fmt,...) |
| Log function for the OpStatus dialog, routing messages to the Mach diagnostic log. | |
| fn_table | wxdialog_ctor (...) |
| Placeholder for optional wxDialog constructor override in the OpStatus function table. | |
| RapidPath | ParseMCodeCategory_RP () |
| Convert from the numeric value for category (used in the M codes) to the corresponding string name. | |
| RapidPath | Profiling_PopulateCategoryInfo () |
| RapidPath | ControlProfilingEx (_category, new_state, alt_cmd, file_path, wait_value) |
| RapidPath | ControlProfilingEx_OpCmd (base_op_cmd, new_state, alt_cmd, file_path, wait_value, feedback) |
| RapidPath | ControlProfilingEx_FDC (preset_name, new_state, alt_cmd, file_path, wait_value) |
| RapidPath | ControlProfilingEx_ParseNewState_VB () |
| Parse a verbose log new_state value into a string action command. | |
| RapidPath | ControlProfilingEx_VerboseLog (preset_name, new_state, alt_cmd, file_path, wait_value) |
| MotionController | Create (Context, DeviceName) |
| Create a motion controller object for the specified Mach4 instance. | |
| MotionController | InitializeGeneric () |
| Initialize generic motion controller profiling resources on first call. | |
| MotionController | InvokeDataViz () |
| Launch the MachMotion Data Visualization tool as an external process. | |
| MotionController | InvokeDataVizAsync () |
| Launch the Data Visualizer asynchronously using a short-delay wxTimer. | |
| MotionController | CreateGenericCommands () |
| Create user commands applicable to all motion controllers. | |
| MotionController | GetName () |
| Return the display name of this motion controller instance. | |
| MotionController | GetMotionDeviceName () |
| Retrieve the name of the motion device configured for the given Mach4 instance. | |
| MotionController | SetDefunct () |
| Mark this motion controller object as defunct or restore it to normal operation. | |
| MotionController | IsDefunct () |
| Check whether this motion controller object has been marked as defunct. | |
| MotionController | GetMasterMotor () |
| Get the master (first) motor ID for the given axis. | |
| MotionController | PreDriveEnable () |
| Base implementation of pre-drive-enable actions for the motion controller. | |
| MotionController | SetAxisMotorsPosition (position) |
| Set the position of an axis's motors by sending a zero-reference message to the plugin. | |
| MotionController | ControlProfilingEx (category, new_state, file_path, wait_value) |
| MotionController | ControlProfiling () |
| Invokes ControlProfilingEx(...) but includes an empty set of options. | |
| MotionController ProfilingLib | ParseNewState (new_state, feedback) |
| MotionController ProfilingLib | IOStateChecker (inst, device_name, io_name) |
| obj | check (self) |
| Check the current state of the I/O point associated with this checker object. | |
| MotionController ProfilingLib | WaitForEffective (desired_state, feedback) |
| Wait for a profiling feedback state to reach a desired value with a 10-second timeout. | |
| MotionController | ParseMCodeCategory_G () |
| Parse an M-code numeric category value into its corresponding string name. | |
| MotionController | ControlProfilingEx_Generic (_category,...) |
| MotionController | ControlProfilingEx_MotionDataProfiler (category, _new_state, alt_cmd, file_path, wait_value) |
| fn_table button_click | ( | obj | , |
| mc_obj | ) |
Handle the user clicking the override button in the OpStatus dialog.
Logs a message indicating the user has confirmed RapidPath ENI regeneration, then sends a 'ConfirmENIRegeneration' command to the RapidPath plugin via w.RegSendCommand(). This is called when the operator clicks the action button shown in the operational status dialog while the OpStat_NeedConfirmation_ENIRegen I/O is active.
| fn_table button_label | ( | obj | , |
| mc_obj | ) |
Provide the label for the optional action button in the OpStatus dialog.
Queries the 'OpStat_NeedConfirmation_ENIRegen' I/O state via the cached handle in mc_obj.op_status.button_label. Returns 'Override ENI File' when the I/O is active (state==1), or nil when the button should not be shown.
| obj | (table) The OpStatus object (first element of the ARGS table) |
| mc_obj | (table) The RapidPath motion controller object |
| obj check | ( | self | ) |
Check the current state of the I/O point associated with this checker object.
Resolves the I/O handle on first call and caches it for subsequent calls. Queries the Mach4 API for the current I/O state and returns true if the state is non-zero (active). Raises an error if the I/O handle cannot be resolved.
| self | (table) The IOStateChecker object containing inst, dev, io, and hIo fields |
| RapidPath CommitMotorConnections | ( | ) |
Commit all staged (queued) motor connection changes to the RapidPath plugin.
Validates that the machine is disabled and that no configuration operation is currently in progress via the 'ConfigRequestCount' register. Sends a 'CommitMotorConnections' operation command to the RapidPath plugin via OpCmdReg() to apply all pending changes staged by one or more MarkSingleMotorConnection() calls. If the machine is enabled, displays a message box and raises an error. If the API call fails, logs a message and returns 'API ERROR'.
| RapidPath ConnectAllMotors | ( | ) |
Reconnect all motors to active servo control in the RapidPath plugin.
Validates that the machine is disabled and that no configuration operation is currently in progress via the 'ConfigRequestCount' register. Sends a 'ConnectAllMotors' operation command to the RapidPath plugin via OpCmdReg(). If the machine is enabled, displays a message box and raises an error. If the API call fails, logs a message and returns 'API ERROR'.
| MotionController ControlProfiling | ( | ) |
Invokes ControlProfilingEx(...) but includes an empty set of options.
Invoke ControlProfilingEx with an empty options table
Convenience wrapper that calls ControlProfilingEx() with an empty options table as the first argument, forwarding all other arguments unchanged. Use this when no special options are required for the profiling operation.
| ... | (any) Arguments forwarded to ControlProfilingEx(): category, new_state, file_path, wait_value |
| RapidPath ControlProfilingEx | ( | _category | , |
| new_state | , | ||
| alt_cmd | , | ||
| file_path | , | ||
| wait_value | ) |
| MotionController ControlProfilingEx | ( | category | , |
| new_state | , | ||
| file_path | , | ||
| wait_value | ) |
| RapidPath ControlProfilingEx_FDC | ( | preset_name | , |
| new_state | , | ||
| alt_cmd | , | ||
| file_path | , | ||
| wait_value | ) |
| MotionController ControlProfilingEx_Generic | ( | _category | , |
| ... ) |
| MotionController ControlProfilingEx_MotionDataProfiler | ( | category | , |
| _new_state | , | ||
| alt_cmd | , | ||
| file_path | , | ||
| wait_value | ) |
| RapidPath ControlProfilingEx_OpCmd | ( | base_op_cmd | , |
| new_state | , | ||
| alt_cmd | , | ||
| file_path | , | ||
| wait_value | , | ||
| feedback | ) |
| RapidPath ControlProfilingEx_ParseNewState_VB | ( | ) |
Parse a verbose log new_state value into a string action command.
Converts the new_state parameter for the VerboseLog profiling category into a string action name ('Clear' or 'Archive'). Accepts boolean, string, or integer input. Boolean true maps to 'Archive', false to 'Clear'. Integer 0 maps to 'Clear', 1 to 'Archive'. String values are returned as-is. Raises an error if the integer value is not 0 or 1, or if the value cannot be parsed as an integer.
| new_state_value | (boolean|string|number) The new state value to parse |
| RapidPath ControlProfilingEx_VerboseLog | ( | preset_name | , |
| new_state | , | ||
| alt_cmd | , | ||
| file_path | , | ||
| wait_value | ) |
| Sim Create | ( | context | ) |
Create a Sim motion controller object for the given Mach4 instance.
Create a Generic motion controller object for the given Mach4 instance.
Create a RapidPath motion controller object for the given Mach4 instance.
Create a TrioMotion motion controller object for the given Mach4 instance.
Create a DSPMC motion controller object for the given Mach4 instance.
Create an M31 motion controller object for the given Mach4 instance.
Create a HiCON motion controller object for the given Mach4 instance.
Instantiates a new Sim motion controller using setmetatable. Sets the defunct flag to false, assigns the instance handle, sets the name to 'Sim0', and sets the register device name to 'Sim0'. Used when the configured motion device is 'Sim0' or 'SimDev0'.
| instance | (number) The Mach4 instance handle for this controller object |
| context | (string) The execution context string (e.g., 'SCREEN' or 'MCODE') |
Instantiates a new HiCON motion controller using setmetatable. Sets the defunct flag to false, assigns the instance handle, sets the name to 'HiCON', and sets the register device name to 'HiCON'.
| instance | (number) The Mach4 instance handle for this controller object |
| context | (string) The execution context string (e.g., 'SCREEN' or 'MCODE') |
Instantiates a new M31 motion controller using setmetatable. Sets the defunct flag to false, assigns the instance handle, sets the name to 'M31', and sets the register device name to 'M31'.
| instance | (number) The Mach4 instance handle for this controller object |
| context | (string) The execution context string (e.g., 'SCREEN' or 'MCODE') |
Instantiates a new DSPMC motion controller using setmetatable. Sets the defunct flag to false, assigns the instance handle, sets the name to 'DSPMC', and sets the register device name to 'DSPMC'.
| instance | (number) The Mach4 instance handle for this controller object |
| context | (string) The execution context string (e.g., 'SCREEN' or 'MCODE') |
Instantiates a new TrioMotion motion controller using setmetatable. Sets the defunct flag to false, assigns the instance handle, sets the name to 'TrioMotion', and sets the register device name to 'TrioMotion'.
| instance | (number) The Mach4 instance handle for this controller object |
| context | (string) The execution context string (e.g., 'SCREEN' or 'MCODE') |
Instantiates a new RapidPath motion controller using setmetatable. Sets the defunct flag to false and assigns the instance handle and device name. When the context is 'SCREEN', resolves and caches register handles for the plugin FSM state, RMP FSM state, and all operational status dialog registers and I/O. Initializes the event handler, calls Profiling_PopulateCategoryInfo() to build profiling metadata, and initializes the load register cache.
| instance | (number) The Mach4 instance handle for this controller object |
| context | (string) The execution context string (e.g., 'SCREEN' or 'MCODE') |
Instantiates a new Generic motion controller using setmetatable. Sets the defunct flag to false and assigns the instance handle. The name field is set to a string combining 'GenericMotionController:' with the motion device name returned by GetMotionDeviceName(). Used as a fallback when no recognized device name is found during MotionController:Create().
| instance | (number) The Mach4 instance handle for this controller object |
| context | (string) The execution context string (e.g., 'SCREEN' or 'MCODE') |
| MotionController Create | ( | Context | , |
| DeviceName | ) |
Create a motion controller object for the specified Mach4 instance.
Factory method that determines the appropriate motion controller subclass to instantiate based on the configured motion device name. If DeviceName is not provided, the device name is queried from the Mach4 machine profile via GetMotionDeviceName(). Supported device names are: 'HiCON', 'M31', 'DSPMC', 'RapidPath', 'Sim0', 'SimDev0'. Any unrecognized device name falls back to the Generic subclass with a log message.
| instance | (number) The Mach4 instance handle for the new controller object |
| Context | (string) The execution context string (e.g., 'SCREEN' or 'MCODE') |
| DeviceName | (string|nil) The motion device name to instantiate. If nil, queries the machine profile |
| MotionController CreateGenericCommands | ( | ) |
Create user commands applicable to all motion controllers.
Initializes generic motion controller resources via InitializeGeneric(), then registers user commands common to all controller types. If the MotionDataProfiler plugin is available (detected via the command register handle), creates a toggle command for MDP motion capture that automatically opens the Data Visualizer after capture stops. Also creates an 'Open Data Visualizer' command that launches the visualizer asynchronously. This method should be called explicitly from all subclass CreatePreCannedCommands() implementations.
| RapidPath CreatePreCannedCommands | ( | ) |
Create all pre-canned user commands for the RapidPath motion controller.
Create pre-canned user commands for the motion controller.
Calls CreateGenericCommands() to register commands common to all controllers, then registers RapidPath-specific commands. For each motor (0 through GetMotorCount()-1), creates 'Disconnect Motor N' (immediate commit) and 'Que Disconnect Motor N' (staged) commands with corresponding feedback. Creates 'Commit Motor Connections', 'Rollback Motor Connections', and 'Connect All Motors' commands. For axes with more than one motor, creates 'Sync Slave Positions' commands. Also creates the full suite of FDC data capture commands (toggle capture, add traces, show/clear traces, options), a Data Visualizer command, and a 'Clear RapidPath Verbose Log' command. FDC capture option flags are managed via the fdc_capture_options table.
Base implementation that creates the generic commands applicable to all motion controllers by calling CreateGenericCommands(). Subclasses such as RapidPath override this to register additional controller-specific commands (motor disconnect, FDC capture, slave sync, etc.) while also calling this base method via self:CreateGenericCommands().
| RapidPath Destroy | ( | ) |
Clean up the RapidPath motion controller object before it is released.
Base implementation to destroy and clean up the motion controller object.
Checks whether an operational status dialog (op_status.notice) is currently open. If a notice exists and was shown, calls EndModal() on it to close the dialog and unblock any modal loop before the object is destroyed. This prevents orphaned dialogs when the motion controller is torn down during Mach4 shutdown or reconfiguration.
Logs a message indicating no destruction method is implemented for the current motion controller type. Subclasses (RapidPath) override this to perform cleanup such as closing open operational status dialogs before the object is released.
| RapidPath DisconnectAllMotors | ( | ) |
Disconnect all motors from active servo control in the RapidPath plugin.
Validates that the machine is disabled and that no configuration operation is currently in progress. Sends a 'DisconnectAllMotors' operation command to the RapidPath plugin via OpCmdReg(). If the machine is enabled, displays a message box and raises an error. If the API call fails, logs a message and returns 'API ERROR'.
| RapidPath FDC_Add_HomingData | ( | ) |
Add FDC traces for homing-related signals, user limits, user buffers, and encoder values.
Wraps _FDC_Add_HomingData() with pcall error handling. For each Mach4 instance and controlled motor, adds: the home switch signal trace (if mapped), two generic user limit status traces, user buffer traces for homing state, motor status, and home generic values, and an encoder value trace. Also adds a homing status bitvec trace and a plugin status trace per instance. Saves home input active-low information and motion group/multi-axis membership as header data.
| RapidPath FDC_Add_LaserData | ( | ) |
Add FDC traces for laser power, shutter, motion ID, and position error.
Wraps _FDC_Add_LaserData() with pcall error handling. For each Mach4 instance, adds an analog output trace for the laser power analog (PV_LASER_ANALOG_NUMBER) and a signal trace for the shutter on signal (OSIG_SHUTTER_ON), saving active low info as header data. If a motion group is found for the instance, also adds traces for MOTION_ID and MOTION_ELEMENT_ID on the first RMP axis in the group, and POSITION_ERROR for all axes in the group. Saves analog output transformation parameters and active low info to FDC headers.
| RapidPath FDC_Add_MotorBacklash | ( | ) |
Add FDC traces for motor backlash compensation values.
Wraps _FDC_Add_MotorBacklash() with pcall error handling. For each Mach4 instance and controlled motor, resolves the RMP axis index and adds a real-time trace for the BACKLASH_VALUE firmware address, captured as a Double. Trace names follow the pattern 'Axis<N>.CurrentBacklash'. Addresses are looked up from the runtime RapidPath properties.
| RapidPath FDC_Add_MotorCommands | ( | ) |
Add FDC traces for commanded (reference) motor position, velocity, and acceleration.
Wraps _FDC_Add_MotorCommands() with pcall error handling. For each Mach4 instance and controlled motor, resolves the RMP axis index and adds real-time Double traces for COMMAND_POSITION, COMMAND_VELOCITY, and COMMAND_ACCELERATION firmware addresses. Trace names follow the pattern 'Axis<N>.CommandPosition', 'Axis<N>.CommandVelocity', and 'Axis<N>.CommandAcceleration'. Addresses are looked up from the runtime RapidPath properties.
| RapidPath FDC_Add_MotorControlStatusWords | ( | ) |
Add FDC traces for CANopen control word and status word for each motor.
Wraps _FDC_Add_MotorControlStatusWords() with pcall error handling. For each Mach4 instance and controlled motor, resolves the RMP axis index and adds two real-time traces: one for the CANopen PDO ControlWord firmware address and one for the StatusWord firmware address. Both are captured as UInt32 values. Trace names follow the pattern 'Axis<N>.ControlWord' and 'Axis<N>.StatusWord'.
| RapidPath FDC_Add_MotorFeedback | ( | ) |
Add FDC traces for actual (feedback) motor position and velocity.
Wraps _FDC_Add_MotorFeedback() with pcall error handling. For each Mach4 instance and controlled motor, resolves the RMP axis index and adds real-time Double traces for ACTUAL_POSITION and ACTUAL_VELOCITY firmware addresses. Trace names follow the pattern 'Axis<N>.ActualPosition' and 'Axis<N>.ActualVelocity'. Addresses are looked up from the runtime RapidPath properties.
| RapidPath FDC_Add_MotorFWStatus | ( | ) |
Add FDC traces for per-motor firmware status words.
Wraps _FDC_Add_MotorFWStatus() with pcall error handling. For each Mach4 instance and controlled motor, resolves the RMP axis index and adds a real-time UInt32 trace for the motor STATUS firmware address. Trace names follow the pattern 'Axis<N>.FirmwareStatus'. Addresses are looked up from the runtime RapidPath properties.
| RapidPath FDC_Add_MultiAxisFWStatus | ( | ) |
Add FDC traces for the multi-axis firmware motion status word.
Wraps _FDC_Add_MultiAxisFWStatus() with pcall error handling. For each Mach4 instance, retrieves the motion group ID and its associated MultiAxis index. Adds a real-time UInt32 trace for the MultiAxis MOTION_STATUS firmware address. Also records the RMP axis indices belonging to the motion group as a semicolon-delimited header entry under the key 'instance.<N>.motion_group.<M>.multi_axis.<K>'.
| RapidPath FDC_Add_PluginData | ( | ) |
Add FDC traces for RapidPath plugin and cycle planner status buffers.
Wraps _FDC_Add_PluginData() with pcall error handling. For each Mach4 instance, adds real-time user buffer traces for: plugin status, cycle planner count, MovePT failure count, MovePT counter, and GM inhibit value. Trace names include the instance number as a suffix. Addresses are looked up from the plugin user buffer firmware address table.
| RapidPath FDC_Add_ProbingData | ( | ) |
Add FDC traces for probing status and probe input signals.
Wraps _FDC_Add_ProbingData() with pcall error handling. For each Mach4 instance, adds a user buffer trace for the probing status bitvec. Then iterates over all probe signal IDs (ISIG_PROBE through ISIG_PROBE9); for each enabled and mapped signal, looks up the associated I/O and device info and adds an I/O trace via 'FDCAddTraceIO'. Saves the active low flag for each probe signal as a header entry.
| RapidPath FDC_AddHeader | ( | value | ) |
Add a key-value metadata header entry to the FDC export file.
Wraps _FDC_AddHeader() with pcall error handling. If the underlying call raises an error, displays a message box describing the failure and re-raises the error via w.Error(). On success, sends a 'FDCAddHeaderData;<path>,
' operation command to the RapidPath plugin.
| path | (string) The dot-separated metadata key path (e.g., 'metadata.preset') |
| value | (any) The value to associate with the key in the FDC export header |
| RapidPath FDC_AddHeader_MotorData | ( | ) |
Add motor metadata header entries to the FDC export file for all controlled motors.
Wraps _FDC_AddHeader_MotorData() with pcall error handling. Iterates over all Mach4 instances and their controlled motor IDs. For each motor, retrieves the motor info struct and writes CountsPerUnit, MaxVelocity, and MaxAcceleration header entries. Also writes the motor's Mach axis ID and RMP axis index as header entries. Header key paths follow the format 'instance.<N>.motors.<M>.<Key>'.
| RapidPath FDC_ClearTraces | ( | ) |
Clear all configured FDC traces and discard any accumulated header data.
Calls _FDC_ClearHeaderData() to remove any pending FDC header entries, then sends the 'FDCClearTraces' operation command to the RapidPath plugin to remove all configured data traces. Returns true if the plugin responds with 'OK', false otherwise.
| RapidPath FDC_IsCapturing | ( | ) |
Check whether an FDC capture or export session is currently active.
Queries two RapidPath I/O points: 'FDC:IsCapturing' (which goes high first when a capture starts) and 'FDC:IsExporting' (which goes low last when export finishes). Returns true if either I/O is active, so that callers can detect the full duration of an FDC session from start of capture through completion of file export.
| RapidPath FDC_ShowTraces | ( | ) |
Display information about currently configured FDC traces in a message box.
Wraps _FDC_ShowTraces() with pcall error handling. If an error occurs, displays a message box describing the failure and re-raises via w.Error(). The inner implementation queries the plugin for the trace count and header data, then iterates over all configured traces to retrieve their info strings. If no traces are configured, shows a message indicating that. All results are concatenated and displayed in a single wxMessageBox.
| RapidPath FDC_StartCapture | ( | ) |
Start an FDC data capture session, optionally writing to a specified file.
Wraps _FDC_StartCapture() with pcall error handling. If an error occurs, displays a message box and re-raises via w.Error(). If capture_file is nil, sends the 'FDCStartCaptureFile' operation command with no file argument, using the plugin's default file naming. If capture_file is provided, appends it as a semicolon-delimited argument to the command.
| capture_file | (string|nil) The output file path for captured data. If nil, uses the plugin default naming |
| RapidPath FDC_StopCapture | ( | ) |
Stop an active FDC data capture session.
Wraps _FDC_StopCapture() with pcall error handling. If an error occurs in the underlying call, displays a message box describing the failure and re-raises the error via w.Error(). On success, sends the 'FDCStopCapture' operation command to the RapidPath plugin, which halts active data capture. The export process may continue after capture stops.
| generator_feedback | ( | hIo | ) |
Return a closure that reads the current state of a generic soft input I/O point.
Creates and returns a function that, when called, queries the Mach4 API for the current state of the I/O point identified by hIo and returns true if the state is non-zero. Used as the feedback function for generic soft input user commands so that button states reflect the current I/O state.
| hIo | (number) The Mach4 I/O handle for the generic soft input point to monitor |
| generator_toggle | ( | hIo | , |
| io_path | ) |
Return a closure that toggles the specified generic soft input I/O point.
Creates and returns a function that, when called, reads the current state of the I/O point identified by hIo, then sends a 'SetGenericSoftInput' operation command to RapidPath to toggle it to the opposite state. The io_path parameter is captured in the closure for use in the command string. The returned function accepts a from_opr_panel parameter that is currently unused.
| hIo | (number) The Mach4 I/O handle for the generic soft input point |
| io_path | (string) The full I/O path string used in the SetGenericSoftInput command |
| MotionController GetLoadPercent | ( | ) |
Get the load percentage for the specified axis from the RapidPath plugin.
Return the load percentage for a given axis.
Returns 0.0 immediately if the controller is defunct or not operational. Queries the master motor for the axis, returns 0.0 if that motor is virtual. Resolves and caches the motor torque percentage register handle on the first call for each axis; subsequent calls use the cached handle. If the handle cannot be resolved, returns 0 and logs a message.
| axis_id | (number) The axis identifier for which to retrieve the load percentage |
Base implementation always returns 0, indicating load percentage reporting is not implemented. Subclasses (RapidPath) override this to query the motor torque percentage register for the axis's master motor, with caching of the register handle for efficiency.
| axis_id | (number) The axis identifier for which to retrieve the load percentage |
| RapidPath GetLoadRegister | ( | ) |
Get the Mach4 register path for the load (torque percentage) of the given axis.
Retrieves the master motor for the axis and queries RapidPath for the motor's display name via GetMotorDisplayName(). If the motor ID is at or above MC_MAX_MOTORS, returns 0 immediately (Mach limitation). The load register path is constructed as '<DisplayName>/MotorTorquePct' and corresponds to the torque percentage reported by the drive.
| axis_id | (number) The axis identifier whose load register path is requested |
| MotionController GetMasterMotor | ( | ) |
Get the master (first) motor ID for the given axis.
Queries Mach4 for the first motor associated with the specified axis using mc.mcAxisGetMotorId(). Returns 0 if the motion controller is defunct or if the API call does not succeed. The master motor is used for load percentage queries and other per-axis motor operations.
| axis_id | (number) The axis identifier whose master motor is requested |
| MotionController GetMotionDeviceName | ( | ) |
Retrieve the name of the motion device configured for the given Mach4 instance.
Reads the 'MotionDevice' key from the 'Preferences' section of the Mach4 machine profile using mc.mcProfileGetString(). Returns an empty string if the key is not set. This is used during controller creation to determine which subclass to instantiate.
| instance | (number) The Mach4 instance handle to query |
| RapidPath GetMotorCount | ( | ) |
Get the total number of motor devices controlled by the RapidPath plugin.
Sends a 'GetMotorDeviceCount' operation command to the RapidPath plugin via OpCmdReg() and returns the result as a number. If the API call fails, logs a message and returns 0.
| RapidPath GetMotorDisplayName | ( | ) |
Get the display name of the device associated with a RapidPath motor.
Returns a fallback string 'MotorN' immediately if the controller is defunct. Checks an internal cache first; if a cached entry exists and the device with that name is still registered in Mach4, returns the cached name. On cache miss or stale entry, sends a 'GetDisplayNameFromMotor;N' operation command to the RapidPath plugin. Raises an error if the plugin reports an invalid or empty name, or if no Mach4 device with the returned name can be found. Updates the cache with the resolved device handle and name on success.
| motor_id | (number) The motor identifier whose display name is requested |
| MotionController GetName | ( | ) |
Return the display name of this motion controller instance.
Returns the value of the 'name' field set during object creation. The name is assigned in each subclass Create() method and typically matches the device name string (e.g., 'HiCON', 'M31', 'RapidPath', 'Sim0').
| RapidPath HandleOperationStatus | ( | ) |
Monitor RapidPath plugin operational state and manage the operational status dialog.
Called periodically (from PLCScript) to verify that the RapidPath plugin is operational. Only executes for the leader instance (first plugin instance). When the plugin is not operational, disables the motion controller config button and shows a non-modal OpStatus dialog containing live status strings from the plugin registers. When the plugin becomes operational again, hides the dialog, re-enables the config button, and triggers a one-time safety relay reset. The OpStatus dialog provides level1/level2/level3 status strings, an optional action button for ENI file override confirmation, and routes log messages to the Mach diagnostic log.
| Sim Initialization | ( | ) |
Perform Sim motion controller initialization at Mach4 startup.
Perform motion controller initialization at Mach4 startup.
Perform RapidPath motion controller initialization at Mach4 startup.
Perform TrioMotion motion controller initialization at Mach4 startup.
Perform DSPMC motion controller initialization at Mach4 startup.
Perform M31 motion controller initialization at Mach4 startup.
Perform HiCON motion controller initialization at Mach4 startup.
Returns immediately if the current instance is not instance 0 (UTI != 0). If Mach4 is in CONFIG state, returns without further action. Otherwise sets the stop status and displays a please-wait dialog (PleaseWaitType.TimeDelay) for 500 milliseconds while the system initializes. If the dialog is cancelled or times out, logs a function error and sets a warning message. On completion, disables the motion controller configuration button in the UI. If AutomaticallyConfigureEnableParameters is set to 'Yes', clears the HardwareEnable and DriveEnable OEM parameters to empty strings.
Returns immediately if Mach4 is in CONFIG state. Otherwise sets the stop status and displays a please-wait dialog (PleaseWaitType.Register) waiting up to 10 seconds for the 'HiCON/StatusBits' register to become non-zero. If the dialog is cancelled or times out, sets a warning message. On success, enables the motion controller configuration button and optionally configures the HardwareEnable and DriveEnable OEM parameters if AutomaticallyConfigureEnableParameters is set to 'Yes'. Finally, calls ReadAbsoluteEncoderPositions() to synchronize absolute encoder motors.
Returns immediately if Mach4 is in CONFIG state. Otherwise sets the stop status and displays a please-wait dialog (PleaseWaitType.Register) waiting up to 10 seconds for the 'M31/StatusBits' register to become non-zero. If the dialog is cancelled or times out, sets a warning message. On success, enables the motion controller configuration button and optionally configures the HardwareEnable and DriveEnable OEM parameters if AutomaticallyConfigureEnableParameters is set to 'Yes'.
Returns immediately if Mach4 is in CONFIG state. Otherwise sets the stop status and displays a please-wait dialog (PleaseWaitType.TimeDelay) for 500 milliseconds while the system initializes. If the dialog is cancelled or times out, sets a warning message. On completion, disables the motion controller configuration button in the UI.
Returns immediately if Mach4 is in CONFIG state. Otherwise sets the stop status and displays a please-wait dialog (PleaseWaitType.Register) waiting up to 10 seconds for the 'M31/StatusBits' register to become non-zero. If initialization times out or is cancelled, sets a warning message. On success, enables the motion controller config button and optionally configures the HardwareEnable and DriveEnable OEM parameters if AutomaticallyConfigureEnableParameters is set to 'Yes'.
Returns immediately if the controller is defunct or if Mach4 is in CONFIG state. Otherwise sets the stop status for the instance and calls OneTimeInitialization() to configure enable signal registers. Unlike other controller Initialization() methods, RapidPath does not show a please-wait dialog here; operational readiness is monitored asynchronously via PLCScript() and HandleOperationStatus().
Base implementation sets the stop status and disables the motion controller configuration button in the UI. Subclasses override this to perform controller-specific initialization such as waiting for firmware startup via a please-wait dialog, configuring enable signal registers, and reading absolute encoder positions.
| MotionController InitializeGeneric | ( | ) |
Initialize generic motion controller profiling resources on first call.
Performs one-time setup of the MotionDataProfiler plugin interface. Resolves and caches the 'MotionDataProfiler/OperationalCommand' register handle, the 'IsProfilingActive' IOStateChecker, and the 'IsProfilingPaused' IOStateChecker. Subsequent calls are no-ops because each resource is only initialized when its field is nil.
| MotionController InvokeDataViz | ( | ) |
Launch the MachMotion Data Visualization tool as an external process.
Constructs a command string that invokes VisualizeData.cmd from the Mach installation tools directory using cmd.exe, starting minimized. The result of os.execute() is logged. This is a blocking call that waits for the shell command to be dispatched; the visualizer itself runs as a separate process.
| MotionController InvokeDataVizAsync | ( | ) |
Launch the Data Visualizer asynchronously using a short-delay wxTimer.
Creates a wxEvtHandler and wxTimer that fires once after 100 milliseconds, at which point InvokeDataViz() is called to launch the visualizer script. After the timer fires the handler and timer objects are cleaned up. This avoids blocking the calling context while still ensuring the visualizer is opened promptly after capture is complete.
| MotionController ProfilingLib IOStateChecker | ( | inst | , |
| device_name | , | ||
| io_name | ) |
| fn_table is_operable | ( | obj | , |
| mc_obj | ) |
Check whether the RapidPath motion controller is currently operational.
Delegates to mc_obj:IsOperational() to determine if the RapidPath plugin is in a good state. Used by the OpStatus dialog to decide whether to keep showing the status notice or to dismiss it. Returns true when both the plugin FSM and RMP FSM report operational states.
| obj | (table) The OpStatus object |
| mc_obj | (table) The RapidPath motion controller object |
| MotionController IsAxisMotorAbsoluteEncoder | ( | ) |
Check whether any motor on the specified axis uses an absolute encoder (Sim).
Base implementation to check whether any motor on an axis uses an absolute encoder.
Check whether any motor on the specified axis uses an absolute encoder (RapidPath).
Check whether any motor on the specified axis uses an absolute encoder (HiCON).
Stub implementation for the Sim motion controller. This function is commented out in the source and was intended to return true unconditionally for testing purposes. The base MotionController:IsAxisMotorAbsoluteEncoder() implementation is used instead.
| axis_id | (number) The axis identifier to check for absolute encoder motors |
First checks whether the AbsoluteEncodersHiCONEnabled OEM parameter is set to 'Yes'. If not, returns false immediately. Otherwise, retrieves the list of child motor IDs for the axis via w.GetAxisChildMotorID() and checks the AbsoluteEncoderEnabledMotor{N} OEM parameter for each motor. Returns true if any motor reports 'Yes' for absolute encoder enablement.
| axis_id | (number) The axis identifier to check for absolute encoder motors |
Retrieves the list of child motor IDs for the axis via w.GetAxisChildMotorID(), then queries each motor's encoder type by sending a 'Motor;N,Get,EncoderType' command to the RapidPath plugin via w.eRegSendCommand(). Returns true if any motor reports 'Absolute' as its encoder type.
| axis_id | (number) The axis identifier to check for absolute encoder motors |
Logs a message indicating no method is implemented for the current motion controller type and returns false. Subclasses (HiCON, RapidPath) override this to iterate over the axis's child motors and query the controller-specific absolute encoder configuration.
| axis_id | (number) The axis identifier to check for absolute encoder motors |
| MotionController IsDefunct | ( | ) |
Check whether this motion controller object has been marked as defunct.
Returns the value of the 'defunct' field. A defunct controller is a valid object that will silently decline to perform operations. If the defunct field has never been set, returns false. Used to guard against operating on a controller whose plugin has failed.
| RapidPath IsDisconnectedMotor | ( | ) |
Check whether a motor is currently disconnected in the RapidPath plugin.
Reads the 'DisconnectedMotor_N' register for the given motor ID from the RapidPath device. This reflects the committed (active) disconnection state of the motor. Returns false if the register cannot be read.
| motor_id | (number) The motor identifier to check for disconnection |
| RapidPath IsDisconnectedMotor_Que | ( | ) |
Check whether a motor is queued for disconnection in the RapidPath plugin.
Reads the 'DisconnectedMotor_Que_N' register for the given motor ID from the RapidPath device. The 'Que' register reflects a pending (staged) disconnection state that has been marked via MarkSingleMotorConnection() but not yet committed. Returns false if the register cannot be read.
| motor_id | (number) The motor identifier to check for a queued disconnection |
| MotionController IsEnableSequenceFinished | ( | ) |
Check whether the machine enable sequence has finished for RapidPath.
Check whether the machine enable sequence has finished.
Extends the base MotionController implementation by additionally requiring that the RapidPath 'IsServoArmed' I/O is active. Reads the MachMotion register 'mm_MachineEnableScriptRunning' to verify the enable script has completed (value == 0), and reads the RapidPath 'IsServoArmed' I/O state to verify drives have armed. Returns true only when both conditions are satisfied simultaneously.
Queries the MachMotion register 'mm_MachineEnableScriptRunning' to determine whether the machine enable script is still executing. Returns true only when the script is no longer running (register value is 0). Raises an error if the register cannot be read. RapidPath overrides this to additionally check the 'IsServoArmed' I/O state.
| HiCON IsInitialized | ( | ) |
Check whether the HiCON motion controller has completed initialization.
Check whether the motion controller has completed initialization and is ready.
Check whether the RapidPath motion controller has completed initialization.
Check whether the TrioMotion controller has completed initialization.
Check whether the M31 motion controller has completed initialization.
Reads the 'StatusBits' register from the 'HiCON' device for this instance and returns true if the value is non-zero, indicating the controller firmware has completed its startup sequence. Returns false if the register cannot be read.
Reads the 'StatusBits' register from the 'M31' device for this instance and returns true if the value is non-zero, indicating the controller firmware has completed its startup sequence. Returns false if the register cannot be read.
Reads the 'StatusBits' register from the 'M31' device for this instance and returns true if the value is non-zero, indicating the controller firmware has completed its startup sequence. Returns false if the register cannot be read.
Delegates directly to IsOperational() to determine if the plugin is in a ready state. The controller is considered initialized when both the plugin FSM and the RMP FSM report operational states.
Base implementation always returns true, indicating the controller is considered initialized by default. Subclasses (HiCON, M31, TrioMotion) override this to check a hardware status register (e.g., 'StatusBits') for a non-zero value indicating the controller firmware has completed its startup sequence.
| RapidPath IsLeader | ( | ) |
Determine whether this RapidPath plugin instance is the leader instance.
Queries the RapidPath plugin via OperationCommand('GetLeaderInstance') to retrieve the instance number of the designated leader. Caches the result after the first call. The leader instance is responsible for showing the operational status dialog and other singleton operations that should only occur once across all plugin instances.
| MotionController IsMotorAbsoluteEncoder | ( | ) |
Check whether the specified motor uses an absolute encoder on the HiCON controller.
Base implementation to check whether a specific motor uses an absolute encoder.
First checks whether the AbsoluteEncodersHiCONEnabled OEM parameter is set to 'Yes'. If not, returns false immediately. Otherwise, reads the AbsoluteEncoderEnabledMotor{N} OEM parameter for the given motor ID and returns true if its value is 'Yes'.
| motor_id | (number) The motor identifier to check for absolute encoder configuration |
Logs a message indicating no method is implemented for the current motion controller type and returns false. Subclasses (HiCON) override this to query the OEM parameter 'AbsoluteEncoderEnabledMotor{N}' for the given motor ID.
| motor_id | (number) The motor identifier to check for absolute encoder configuration |
| RapidPath IsOperational | ( | ) |
Check whether the RapidPath plugin is in a good operational state.
Reads the string values of both the plugin FSM state register (_plugin_fsm) and the RMP (RapidPath Motion Platform) FSM state register (_rmp_fsm). Returns true only when the plugin FSM state is one of the recognized operational states (Operational, Enabling, Disabling, Enabled, Configuration) AND the RMP FSM reports 'Operational'.
| RapidPath IsVirtualMotor | ( | ) |
Check whether the specified motor is a virtual (non-physical) motor in RapidPath.
Sends an 'IsVirtualMotor;N' operation command to the RapidPath plugin and interprets the result. Caches the result for each motor ID to avoid repeated plugin queries. A motor is considered virtual if the result cannot be parsed as a number, or if the numeric result is non-zero. Returns false only when the plugin explicitly returns '0'.
| motor_id | (number) The motor identifier to check |
| fn_table level1 | ( | obj | , |
| mc_obj | ) |
Provide the plugin action status string for the OpStatus dialog.
Reads and returns the current string value of the 'OpStat_Level1' RapidPath register, which contains the plugin-level action description reported by the plugin during initialization or error states. Used by the OpStatus dialog to display what the RapidPath plugin is currently doing.
| obj | (table) The OpStatus object |
| mc_obj | (table) The RapidPath motion controller object |
| fn_table level2 | ( | obj | , |
| mc_obj | ) |
Provide the controller action status string for the OpStatus dialog.
Reads and returns the current string value of the 'OpStat_Level2' RapidPath register, which contains the controller-level action description reported by the plugin during initialization or error states. Used by the OpStatus dialog to display what the motion controller is currently doing.
| obj | (table) The OpStatus object |
| mc_obj | (table) The RapidPath motion controller object |
| fn_table level3 | ( | obj | , |
| mc_obj | ) |
Provide the detail-level 3 status string for the OpStatus dialog.
Reads and returns the current string value of the 'OpStat_Level3' RapidPath register, which contains the lowest-level detail status description reported by the plugin during initialization or error states. Used by the OpStatus dialog to display extended diagnostic information to the operator.
| obj | (table) The OpStatus object |
| mc_obj | (table) The RapidPath motion controller object |
| fn_table log | ( | obj_args | , |
| fmt | , | ||
| ... ) |
Log function for the OpStatus dialog, routing messages to the Mach diagnostic log.
Formats a log message with a prefix identifying the OpStatus instance ID and name, then writes it to the Mach4 diagnostic log via w.Log(). The obj_args parameter is a table where obj_args[1] is the OpStatus object and obj_args[2] is the motion controller object.
| obj_args | (table) Array where [1] is the OpStatus object and [2] is the MotionController object |
| fmt | (string) Format string for the log message |
| ... | (any) Arguments for the format string |
| RapidPath LogF | ( | ... | ) |
Write a formatted log message to the Mach4 diagnostic log for this RapidPath instance.
Formats the message string using string.format if additional arguments are provided, then prepends a '[RapidPath#N] ' prefix identifying the instance. Uses debug.getinfo() to capture the caller's source file and line number for accurate log attribution. If the caller info is unavailable or unresolved, the file name is prefixed with '*'. Writes the final message via mc.mcCntlLog().
| fmt | (string) A format string for the log message |
| ... | (any) Optional arguments for string.format applied to fmt |
| RapidPath MarkCommitMultipleMotorConnections | ( | discon_flgs | ) |
Mark and immediately commit connection changes for multiple motors (untested).
This function was written but not ultimately used and has not been tested. It is intended to stage and atomically commit connection/disconnection changes for a list of motors in a single operation using 'MarkCommitMultipleMotorConnections'. Validates that motor_ids and discon_flgs have the same length and that each element is the correct type before sending the command. Returns a status string from the plugin.
| motor_ids | (table) Array of motor ID numbers to update |
| discon_flgs | (table) Array of boolean disconnection flags, one per motor_id |
| RapidPath MarkCommitSingleMotorConnection | ( | discon | ) |
Mark and immediately commit a single motor connection or disconnection change.
Combines MarkSingleMotorConnection() and CommitMotorConnections() into a single atomic operation for one motor. Validates that the machine is disabled before proceeding. Checks that no configuration operation is currently in progress via the 'ConfigRequestCount' register. Validates that motor_id is a number and discon is a boolean, then sends a 'MarkCommitSingleMotorConnection;N,0|1' command to the RapidPath plugin.
| motor_id | (number) The motor identifier whose connection state should be changed and committed |
| discon | (boolean) True to disconnect the motor, false to reconnect it |
| RapidPath MarkSingleMotorConnection | ( | discon | ) |
Stage a single motor connection or disconnection change without committing it.
Validates that the machine is disabled before proceeding. Checks that no configuration operation is currently in progress via the 'ConfigRequestCount' register. Validates that motor_id is a number and discon is a boolean. Sends a 'MarkSingleMotorConnection;N,0|1' command to the RapidPath plugin via OpCmdReg() to queue the change. The change does not take effect until CommitMotorConnections() is called.
| motor_id | (number) The motor identifier whose connection state should be staged for change |
| discon | (boolean) True to queue a disconnection, false to queue a reconnection |
| HiCON MotionSync | ( | ) |
Synchronize the HiCON motion controller's internal position to the encoder positions.
Base implementation to perform a motion sync on the motion controller.
Synchronize the M31 motion controller's internal position to the encoder positions.
Counts the number of enabled coordinate axes. If fewer than 6 are enabled, sets the HiCON 'AXIS_DISABLE_BITS' register to 95488+63 to disable axes before syncing. Clears any active command by sending an empty string to the Command register, then sends the 'motion_sync' command. If axes were disabled, re-enables them by setting AXIS_DISABLE_BITS back to 0. Raises an error via w.FunctionError() if any register operation fails.
Counts the number of enabled coordinate axes. If fewer than 6 are enabled, sets the M31 'AXIS_DISABLE_BITS' register to 95488+63 to disable axes before syncing. Clears any active command by sending an empty string to the Command register, then sends the 'motion_sync' command. If axes were disabled, re-enables them by setting AXIS_DISABLE_BITS back to 0. Raises an error via w.FunctionError() if any register operation fails.
Logs a message indicating no method is implemented for the current motion controller type. Subclasses (HiCON, M31) override this to synchronize the controller's internal position to the encoder positions by disabling axes, sending a 'motion_sync' command, and re-enabling axes.
| RapidPath OneTimeInitialization | ( | ) |
Perform one-time startup initialization for the RapidPath motion controller.
Guards against repeated execution using the _one_time_initialization flag. Reads the 'AutomaticallyConfigureEnableParameters' OEM parameter and, if set to 'Yes', configures the 'DriveEnable' OEM parameter to point to the RapidPath 'ServoArm' I/O for the current instance. This wires the Mach4 drive enable signal to the RapidPath servo arm output. Called from Initialization() and, where needed, from HandleOperationStatus().
| RapidPath OneTimeOperationalInitialization | ( | ) |
Perform one-time initialization that requires RapidPath to be operational.
Guards against repeated execution using the _one_time_opnl_init flag. When the RapidPath plugin is first detected as operational, queries the plugin for the count of generic soft inputs and creates toggle user commands for each. Each command uses a cached I/O handle and io_path string captured in closures via generator_feedback() and generator_toggle(). After creating all commands, calls w.WriteCommandFile() to update the dashboard command list. This initialization is deferred because generic soft input I/O points do not exist until the plugin is running.
| RapidPath OpCmdReg | ( | ) |
Get or resolve and cache the operational command register handle for a RapidPath instance.
Returns the cached register handle for the 'cmd_Operation' register on the specified instance. If inst is nil, uses self.instance. On cache miss, resolves the handle via ResolveRPRegister() and stores it in the _op_cmd table keyed by instance number.
| inst | (number|nil) The Mach4 instance to get the command register for. If nil, uses self.instance |
| Sim OpenConfiguration | ( | ) |
Open the Sim motion controller configuration window.
Base implementation to open the motion controller configuration UI.
Open the RapidPath motion controller configuration window.
Open the M31 motion controller configuration window.
Open the HiCON motion controller configuration window.
This operation is not possible for the Sim controller and silently does nothing. No configuration UI exists for the simulator motion controller type.
Returns immediately if the controller is defunct. Writes the value 1 to the 'HiCON_Config' register on the HiCON device via w.eSetRegValue() to trigger the plugin to open its configuration UI. Nothing is returned.
Returns immediately if the controller is defunct. Writes the value 1 to the 'M31_Config' register on the M31 device via w.eSetRegValue() to trigger the plugin to open its configuration UI. Nothing is returned.
Returns immediately if the controller is defunct. Sends a 'Configuration;Open' operation command to the RapidPath plugin. If the plugin does not return 'OK', raises an error via w.Error() with a descriptive message. On success, the plugin opens its configuration UI window.
Logs a message indicating no configuration open method is implemented for the current motion controller type. Subclasses (HiCON, M31, RapidPath) override this to trigger the controller-specific configuration window, typically by writing to a dedicated configuration register or sending an operation command.
| RapidPath OperationCommand | ( | target_instance | ) |
Send an operation command to the RapidPath plugin and return the result.
Returns 'DEFUNCT' immediately if the controller has been marked defunct. Logs the command string and the result string via LogF() before returning. The command is sent to the operational command register for the specified target instance via w.api('mcRegSendCommand'). If target_instance is nil, uses the register for the controller's own instance.
| command | (string) The operation command string to send to the RapidPath plugin |
| target_instance | (number|nil) The Mach4 instance to target. If nil, uses self.instance |
| MotionController ParseMCodeCategory_G | ( | ) |
Parse an M-code numeric category value into its corresponding string name.
Converts the numeric category parameter from an M-code invocation to the corresponding string identifier used internally. Currently maps category 0 to 'MotionDataProfiler'. If the input is not a recognized integer, it is returned as-is. Returns nil for unrecognized integer values.
| category | (number|string) The category value from the M-code parameter |
| RapidPath ParseMCodeCategory_RP | ( | ) |
Convert from the numeric value for category (used in the M codes) to the corresponding string name.
Convert a numeric M-code category value to its RapidPath string category name
Maps numeric category identifiers (as passed from M-code parameters) to the corresponding RapidPath profiling category string. Recognized mappings: 100='MotionDataProfiling', 101='MotionLoopProfiling', 102='VerboseLogFile', 110='FirmwareData+Motion', 111='FirmwareData+Probing', 112='FirmwareData+Homing'. Non-integer values are returned as-is. Unrecognized integer values are returned unchanged.
| category | (number|string) The category value from the M-code parameter |
| MotionController ProfilingLib ParseNewState | ( | new_state | , |
| feedback | ) |
| HiCON PLCScript | ( | ) |
PLC script callback for HiCON motion controller periodic housekeeping.
Called periodically from the Mach4 PLC script for motion controller housekeeping.
PLC script callback for RapidPath motion controller periodic housekeeping.
Called periodically from the Mach4 PLC script. Manages the HiCON analog spindle output if HiCONAnalogOutputSpindleEnabled is set to 'Yes'. When enabled, ensures the spindle enable output signal is active, synchronizes the commanded spindle RPM from the analog output speed register, and updates the spindle direction (FWD, REV, or OFF) based on the forward and reverse input signals.
Called periodically from the Mach4 PLC script. Delegates to HandleOperationStatus() to monitor the plugin's operational state and manage the operational status dialog. When the plugin reports as operational, triggers OneTimeOperationalInitialization() to register generic soft input user commands that require the plugin to be running.
Base implementation does nothing. Subclasses (HiCON, RapidPath) override this to perform periodic tasks such as handling analog spindle output, monitoring operational status dialogs, and triggering one-time operational initialization when the controller becomes ready.
| MotionController PostHoming | ( | ) |
Perform post-homing signal cleanup for the HiCON motion controller.
Base implementation of post-homing cleanup for the motion controller.
Perform post-homing signal cleanup for the M31 motion controller.
Called after the homing sequence completes for a given axis. Clears the jog inhibit, MPG inhibit, and motion inhibit signals to restore normal motion and jog behavior after homing is complete.
| axis_id | (number) The axis identifier that has completed homing |
Called after the homing sequence completes for a given axis. Clears the jog inhibit, MPG inhibit, and motion inhibit signals to restore normal motion and jog behavior after homing is complete.
| axis_id | (number) The axis identifier that has completed homing |
Called after the homing sequence completes for a given axis. The base implementation logs a message indicating no method is implemented. Subclasses (HiCON, M31, etc.) override this to release inhibit signals and restore normal motion/jog behavior after homing.
| axis_id | (number) The axis identifier that has completed homing |
| MotionController PreDriveEnable | ( | ) |
Base implementation of pre-drive-enable actions for the motion controller.
Called before the drive enable signal is asserted. The base implementation logs a message indicating no method is implemented. Subclasses may override this to perform controller-specific preparatory actions required before drives are enabled.
| MotionController PreEnableReset | ( | ) |
Re-read absolute encoder positions before a machine enable reset on the HiCON controller.
Base implementation of pre-enable-reset actions for the motion controller.
Checks whether the machine is currently disabled. If the machine is not enabled, calls ReadAbsoluteEncoderPositions() to re-synchronize motor positions from the absolute encoders before the enable reset proceeds. This ensures position accuracy after a drive power cycle or fault reset.
Called before a machine enable reset is performed. The base implementation logs a message indicating no method is implemented. Subclasses (HiCON) override this to perform controller-specific actions such as re-reading absolute encoder positions when the machine is not currently enabled.
| MotionController PreHoming | ( | ) |
Perform pre-homing signal setup for the HiCON motion controller.
Base implementation of pre-homing setup for the motion controller.
Perform pre-homing signal setup for the M31 motion controller.
Called before beginning the homing sequence for a given axis. Sets the jog inhibit signal (twice for reliability) and the motion inhibit signal to prevent interference from jogging or other motion commands during the homing operation.
| axis_id | (number) The axis identifier about to be homed |
Called before beginning the homing sequence for a given axis. Sets the jog inhibit signal (twice for reliability) and the motion inhibit signal to prevent interference from jogging or other motion commands during the homing operation.
| axis_id | (number) The axis identifier about to be homed |
Called before beginning the homing sequence for a given axis. The base implementation logs a message indicating no method is implemented. Subclasses (HiCON, M31) override this to set jog inhibit and motion inhibit signals to prevent interference during homing.
| axis_id | (number) The axis identifier about to be homed |
| RapidPath Profiling_PopulateCategoryInfo | ( | ) |
| fn_table progress | ( | obj | , |
| mc_obj | ) |
Provide progress pulse information for the OpStatus dialog.
Returns nil unconditionally, indicating that no progress bar or pulse animation is provided for the RapidPath operational status dialog. The OpStatus module interprets a nil return as 'no progress to display'.
| obj | (table) The OpStatus object |
| mc_obj | (table) The RapidPath motion controller object |
| HiCON ReadAbsoluteEncoderPositions | ( | ) |
Read absolute encoder positions for all configured motors on the HiCON controller.
Returns immediately if AbsoluteEncodersHiCONEnabled is not set to 'Yes'. Otherwise, temporarily disables drive enable and machine enable to allow encoder communication. For each motor with AbsoluteEncoderEnabledMotor{N} set to 'Yes', sends a SETUP_ABSENC_AXIS_PARAM command with counts-per-revolution and origin offset, then executes EXEC_ABSENC_READ_CMD to read all configured encoders via Port 15 Pin 0. For each successfully read motor, marks the associated axis as homed via mc.mcAxisHomeComplete() and sets the home order to 0 to prevent Mach4 from re-homing. Waits for firmware/plugin synchronization after setup and after reading.
| RapidPath ReadSDO | ( | subindex | , |
| device_spec | , | ||
| byte_count | ) |
| RapidPath Reconfig | ( | ) |
Invalidate cached data after a Mach4 or motion controller reconfiguration.
Called when Mach4 or the motion controller configuration may have changed.
Discards the cached load register handle table and the virtual motor status cache. Called when Mach4 or anything pertaining to the motion controller has been potentially reconfigured, ensuring that stale register handles and motor classification results are not used after a configuration change.
Base implementation does nothing. Subclasses (RapidPath) override this to discard cached data that may be stale after a reconfiguration, such as cached load register handles and virtual motor status entries.
| RapidPath ResetAlarms | ( | ) |
Wait for RapidPath drives to become operable and clear any active drive alarms.
Base implementation to reset drive alarms on the motion controller.
Returns immediately if the controller is defunct. If the RapidPath 'Operable' I/O is not active, displays a please-wait dialog (PleaseWaitType.IO) waiting up to 10 seconds for the drives to become operable (e.g., after a drive reboot following a fault reset). If the timeout or cancellation occurs, sets a warning message and returns early. This function is typically called as part of the machine enable reset sequence.
Does nothing in the base implementation. Subclasses (RapidPath) override this to wait for drives to become operable after a reset and clear any active drive fault conditions before allowing the machine to be re-enabled.
| RapidPath ResetSafetyRelay | ( | ) |
Send a reset command to the RapidPath safety relay watchdog.
Base implementation to reset the safety relay on the motion controller.
Sends a 'ResetSafetyRelay' operation command to the RapidPath plugin for the current instance. Raises an error via w.Error() if the plugin does not return 'OK'. On success, calls w.FunctionCompleted() to log a completion message. This initializes the watchdog I/O for the safety relay circuit, typically called after the plugin becomes operational.
Does nothing in the base implementation. Subclasses (RapidPath) override this to send a 'ResetSafetyRelay' operation command to the plugin, which initializes the watchdog I/O for the safety relay circuit.
| RapidPath ResolveRPIO | ( | inst | ) |
Resolve a named RapidPath I/O point to its Mach4 handle.
Calls w.pcall(w.api, 'mcIoGetHandle') to look up the I/O handle for the path '<_reg_dev>/<io_name>' on the specified instance. If inst is nil, uses self.instance. If the call fails, logs a message indicating the plugin appears defunct, marks the controller as defunct if the failing instance matches self.instance, and raises an error via w.Error() with the failure details.
| io_name | (string) The name of the RapidPath I/O point to resolve |
| inst | (number|nil) The Mach4 instance to query. If nil, uses self.instance |
| RapidPath ResolveRPRegister | ( | inst | ) |
Resolve a named RapidPath register to its Mach4 handle.
Calls w.pcall(w.api, 'mcRegGetHandle') to look up the register handle for the path '<_reg_dev>/<reg_name>' on the specified instance. If inst is nil, uses self.instance. If the call fails, logs a message indicating the plugin appears defunct, marks the controller as defunct if the failing instance matches self.instance, and raises an error via w.Error() with the failure details. The actual HMCREG handle is returned via the second return value of w.pcall (stored in errmsg).
| reg_name | (string) The name of the RapidPath register to resolve |
| inst | (number|nil) The Mach4 instance to query. If nil, uses self.instance |
| RapidPath RollbackMotorConnections | ( | ) |
Discard all staged (queued) motor connection changes without applying them.
Validates that the machine is disabled and that no configuration operation is currently in progress via the 'ConfigRequestCount' register. Sends a 'RollbackMotorConnections' operation command to the RapidPath plugin via OpCmdReg() to undo any pending changes staged by MarkSingleMotorConnection(). If the machine is enabled, displays a message box and raises an error. If the API call fails, logs a message and returns 'API ERROR'.
| MotionController SetAxisMotorsManualModeOff | ( | ) |
Disable manual mode for a specific axis's motors on the HiCON controller.
Base implementation to disable manual mode for a specific axis's motors.
Disable manual mode for a specific axis's motors on the M31 controller.
Retrieves the child motor IDs for the specified axis, then clears the corresponding bits in the HiCON 'AXIS_DISABLE_BITS' register to return the motors to normal servo control. If after clearing all motor bits the register value equals 95488 (the reserved mask for non-coordinate axes), it is reset to 0. Raises an error via w.Error() if any register operation fails.
| axis_id | (number) The axis identifier whose motors should be taken out of manual mode |
Retrieves the child motor IDs for the specified axis, then clears the corresponding bits in the M31 'AXIS_DISABLE_BITS' register to return the motors to normal servo control. If after clearing all motor bits the register value equals 95488 (the reserved mask for non-coordinate axes), it is reset to 0. Raises an error via w.Error() if any register operation fails.
| axis_id | (number) The axis identifier whose motors should be taken out of manual mode |
Called to take an axis's motors out of manual (disconnected) mode and restore normal servo control. The base implementation logs a message indicating no method is implemented and returns false. Subclasses (HiCON, M31) override this to clear the appropriate bits in the AXIS_DISABLE_BITS register for the axis's child motors.
| axis_id | (number) The axis identifier whose motors should be taken out of manual mode |
| MotionController SetAxisMotorsManualModeOn | ( | ) |
Enable manual mode for a specific axis's motors on the HiCON controller.
Base implementation to enable manual mode for a specific axis's motors.
Enable manual mode for a specific axis's motors on the M31 controller.
Retrieves the child motor IDs for the specified axis, then sets the corresponding bits in the HiCON 'AXIS_DISABLE_BITS' register to disconnect the motors from servo control. If the current register value is 0, it is first set to 95488 (the reserved mask for non-coordinate axes) before applying the motor bit. Raises an error via w.Error() if any register operation fails.
| axis_id | (number) The axis identifier whose motors should be placed in manual mode |
Retrieves the child motor IDs for the specified axis, then sets the corresponding bits in the M31 'AXIS_DISABLE_BITS' register to disconnect the motors from servo control. If the current register value is 0, it is first set to 95488 (the reserved mask for non-coordinate axes) before applying the motor bit. Raises an error via w.Error() if any register operation fails.
| axis_id | (number) The axis identifier whose motors should be placed in manual mode |
Called to put an axis's motors into manual (disconnected) mode so they can be moved without servo control. The base implementation logs a message indicating no method is implemented and returns false. Subclasses (HiCON, M31) override this to set the appropriate bits in the AXIS_DISABLE_BITS register for the axis's child motors.
| axis_id | (number) The axis identifier whose motors should be placed in manual mode |
| MotionController SetAxisMotorsPosition | ( | position | ) |
Set the position of an axis's motors by sending a zero-reference message to the plugin.
Retrieves the counts-per-unit for the specified motor from the machine profile and sends a MSG_SET_MOTOR_ZERO message to all plugins with the computed counts value. This effectively tells the motion controller to treat the current position as the given position value. Calls w.FunctionCompleted() on success.
| motor_id | (number) The motor identifier whose position is being set |
| position | (number) The desired position value in machine units |
| MotionController SetDefunct | ( | ) |
Mark this motion controller object as defunct or restore it to normal operation.
Sets the internal 'defunct' flag to the provided value. A defunct controller is a valid Lua object but will silently skip most operations. This is used when the underlying plugin is detected to be unavailable or has encountered a fatal error.
| new_value | (boolean) True to mark the controller as defunct, false to restore normal operation |
| MotionController SetManualModeOff | ( | ) |
No-op implementation of manual mode off for the M31 motion controller.
Disable drive enable to transition the controller into manual mode.
Does nothing. The M31 manual mode is managed per-axis via SetAxisMotorsManualModeOff() rather than at the controller level.
Called as part of the manual mode entry sequence. Disables the drive enable signal so servo drives are no longer actively controlling motors, allowing manual intervention. Raises an error via w.Error() if the SetDriveEnable call fails.
| MotionController SetManualModeOn | ( | ) |
No-op implementation of manual mode on for the M31 motion controller.
Enable drive enable to transition the controller out of manual mode.
Does nothing. The M31 manual mode is managed per-axis via SetAxisMotorsManualModeOn() rather than at the controller level.
Called as part of the manual mode exit sequence. Re-enables the drive enable signal so servo drives resume active motor control after a manual mode session. Raises an error via w.Error() if the SetDriveEnable call fails.
| fn_table summary | ( | obj | , |
| mc_obj | ) |
Provide the executive summary status string for the OpStatus dialog.
Reads and returns the current string value of the 'OpStat_Summary' RapidPath register, which contains the high-level summary description of the plugin's current operational state. Used by the OpStatus dialog as the primary status message shown to the operator.
| obj | (table) The OpStatus object |
| mc_obj | (table) The RapidPath motion controller object |
| MotionController SupportsManualModeFeature | ( | ) |
Report whether the HiCON motion controller supports the manual mode feature.
Report whether this motion controller supports the manual mode feature.
Report whether the RapidPath motion controller supports the manual mode feature.
Report whether the TrioMotion motion controller supports the manual mode feature.
Report whether the DSPMC motion controller supports the manual mode feature.
Report whether the M31 motion controller supports the manual mode feature.
Returns true unconditionally, indicating that HiCON supports the ability to selectively disconnect individual axis motors from servo control via the AXIS_DISABLE_BITS register.
Returns true unconditionally, indicating that M31 supports the ability to selectively disconnect individual axis motors from servo control via the AXIS_DISABLE_BITS register.
Returns true unconditionally, indicating that DSPMC supports the manual mode feature for selectively controlling axis motor drive enable state.
Returns false unconditionally, indicating that TrioMotion does not support the ability to selectively disconnect individual axis motors from servo control.
Returns true unconditionally, indicating that RapidPath supports the ability to selectively disconnect individual axis motors from servo control via the motor connection API (MarkSingleMotorConnection, CommitMotorConnections, etc.).
Returns false in the base implementation, indicating that manual mode (the ability to selectively disconnect individual axis motors from servo control) is not supported. Subclasses such as HiCON, M31, DSPMC, and RapidPath override this to return true when they support the feature.
| RapidPath SyncAxisMotorPositions | ( | ) |
Synchronize the motor positions for all motors on the specified axis.
Sends a 'SyncAxisMotorPositions;N' operation command to the RapidPath plugin for the given axis ID. This is used to align slave motor positions with the master motor after a manual adjustment or reconnection. The result and return code from the plugin are captured but not returned or checked.
| axis_id | (number) The axis identifier whose motor positions should be synchronized |
| MotionController UpdateMotorMapping | ( | ) |
Send the UPDATE_SOURCE_SETTINGS command to the HiCON motion controller.
Base implementation to update motor mapping on the motion controller.
Base stub for updating motor mapping on the RapidPath motion controller.
Send the UPDATE_SOURCE_SETTINGS command to the M31 motion controller.
Clears any active command by sending an empty string to the HiCON Command register, then sends the 'UPDATE_SOURCE_SETTINGS' command to update the motor source mapping. Waits 100 milliseconds after the command to allow the firmware and plugin to synchronize. Raises an error via w.FunctionError() if either register command fails.
Clears any active command by sending an empty string to the M31 Command register, then sends the 'UPDATE_SOURCE_SETTINGS' command to update the motor source mapping. Waits 100 milliseconds after the command to allow the firmware and plugin to synchronize. Raises an error via w.FunctionError() if either register command fails.
Returns false unconditionally, indicating that the UPDATE_SOURCE_SETTINGS operation command has not yet been implemented for RapidPath (unlike HiCON and M31 which send the command via RegSendCommand). A TODO comment marks this for future implementation in the plugin.
Logs a message indicating no method is implemented for the current motion controller type. Subclasses (HiCON, M31) override this to send an 'UPDATE_SOURCE_SETTINGS' command to the controller hardware and allow firmware and plugin to synchronize.
| MotionController ProfilingLib WaitForEffective | ( | desired_state | , |
| feedback | ) |
Wait for a profiling feedback state to reach a desired value with a 10-second timeout.
Polls the provided feedback object's check() method until the state matches the desired_state or a 10-second timeout is reached. Uses w.Sleep() to yield appropriately between screen and M-code chunk contexts. Raises an error if the timeout expires before the desired state is reached.
| desired_state | (boolean) The target state to wait for (true=ON, false=OFF) |
| feedback | (table) A StateChecker object supporting a :check() method and a .path field for error messages |
| MotionController WaitForHomingToComplete | ( | ) |
Wait for HiCON homing motion to complete using a timed please-wait dialog.
Base implementation for waiting until homing motion is complete.
Wait for M31 homing motion to complete using a timed please-wait dialog.
Displays a please-wait dialog (PleaseWaitType.TimeDelay) for 800 milliseconds to allow the HiCON controller to complete its homing motion sequence. Raises an error via w.Error() if the dialog is cancelled or times out.
Displays a please-wait dialog (PleaseWaitType.TimeDelay) for 800 milliseconds to allow the M31 controller to complete its homing motion sequence. Raises an error via w.Error() if the dialog is cancelled or times out.
Called during the homing sequence to wait for the controller to finish its homing motion. The base implementation logs a message indicating no method is implemented. Subclasses (HiCON, M31) override this to display a please-wait dialog with an appropriate time delay before clearing.
| RapidPath WriteSDO | ( | index | , |
| subindex | , | ||
| device_spec | , | ||
| byte_count | ) |
| fn_table wxdialog_ctor | ( | ... | ) |
Placeholder for optional wxDialog constructor override in the OpStatus function table.
This field in the fn_table is reserved for a custom wxDialog constructor function that would override the default dialog creation behavior in the OpStatus module. It is currently commented out and not assigned, indicating default dialog construction is used.
1.16.1