Represents a single axis of motion control. This class provides an interface for commanding motion, reading trajectory parameters, configuring filter (control law) parameters, homing, limit switch configuration, motor configuration, position capture, electronic gearing and node information.

Provides an interface to a group or collection of axes. Use the MultiAxis class when coordinated, synchronized or path motion is required.

Provides an interface to general controller configuration, firmware upload/download, network, and data recording.

Point to Point and velocity motion trajectories can be modified on-the-fly, including positions, velocities, accelerations, deceleration, and jerk percents.

Moves from current command position to a new position: Trapezoidal or S-Curve Move.

Execute pre-defined or custom homing routines.

Multiple control schemes are available including algorithms where separate PID’s control the linear and Yaw Axis.

Maintain constant velocity between points. An example is Conveyor axis. The ability to gradually ramp up or ramp down the velocity.

Stream of raw data points which represent an entire motion profile. PT, PVT, PVAJT motion streaming types are available.

Configure input comparisons to trigger outputs or other events. Conditions are monitored at the firmware level. When the condition is true, the configured response is generated.

Provides a mechanism to collect and buffer any data in memory. The data is later polled via interrupt-based events.

Enable secondary feedback.

Configure an axis’ commanded position to be geared off of another axis.