C
LEAR
P
ATH
-SC
U
SER
M
ANUAL
R
EV
.
1.36
85
T
EKNIC
,
I
NC
. T
EL
.
(585)
784-7454
• Serial number
• Node type
• Firmware version
• User defined node specific information
IStatus
This class obj
ect accesses and manages the node status information in
status/alert registers. These registers include information such as:
• In Range status
• Input A/B
• Ready status
• Shutdown state
• In Motion status
IStatusAdv
This class accesses and ma
nages the advanced node status information. It
provides access to position capture registers (available on advanced
models only).
IHoming
This class object gives you
hooks into Teknic's homing engine so you can
initiate, and check the status of a homing move.
Note: The IHoming class does not configure homing parameters (homing
direction, homing speed, etc.). Homing parameters are set quickly and
easily right in the ClearView software UI.
ILimits
This class accesses th
e global torque limit and positional tracking error
limit.
ISetup
This class object access
es and manages node
setup features such as
loading and saving motor configuration files to and from nodes.
IP
ORT
(P
ORT
L
EVEL
C
LASSES
)
The IPort class is used to interface with a port on your computer which, in
turn, interfaces to a series of nodes. This class defines a "super" Port
whose framework exposes the Port Level features available for your
application by a series of public attribute references. You can think of the
IPort class as "owning" all other port level classes. Port Level functions
and structures are defined separately for each port in a system.
F
EATURES
/A
CTIONS
• Request node counts
• Restart nodes on a port network
• Determine the port network's operational state
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