C
LEAR
P
ATH
-SC
U
SER
M
ANUAL
R
EV
.
1.36
84
T
EKNIC
,
I
NC
. T
EL
.
(585)
784-7454
IN
ODE
(N
ODE
L
EVEL
C
LASSES
)
The INode class is used to interface with a node in an application
(remember, each node is just a motor). Node level functions and
structures are defined separately for each node in a system, so your
application will have one instance of each of these structures for each
node (motor) in your system.
This class defines a "super" Node whose framework exposes the Node
level features available to your application by a series of public attribute
references. You can think of each instance of the INode class as "owning"
all Node level classes linked to the same node.
F
EATURES
/A
CTIONS
• Issue Enable requests to motors
• Assign units for torque, velocity, and acceleration
• Provides a simple and safe mutex mechanism
• Read Node level inputs
• Provide access to all other Node level features
O
THER
N
ODE
L
EVEL
C
LASSES
IMotion
This class is used to set up, initiate, and cancel motion on an individual
node. This class contains functions to:
• Start moves (positional, velocity)
• Query the MoveDone status (to determine whether a move has
completed)
• Query the Ready status (to determine whether a node is ready to
initiate a move)
• Set/get the velocity limit for moves
• Set/get the acceleration limit for moves
• Query instantaneous commanded and measured position,
velocity, and torque
• Provide access to homing and advanced motion features
IMotionAdv
This class object allows setup and initiation of adva
nced motion features
(available only in advanced models) including:
• Head/tail moves
• Asymmetric moves
• Triggered moves
• A after start/ B before end events
IInfo
This class object provid
es access to node information including:
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