APIs
This section contains the relevant APIs for controlling external axes through EtherCAT. The World Model API is freely available without MotionPlus as of Polyscope 5.16.0.
- Quick Reference
- Configuring Axis Groups and Kinematics
- Getting Axis Group and Axis Properties
- Setting Software Axis Offsets
- Jogging External Axes
- Time Synchronized Robot and Axis Motion
- Coordinated Axis and Robot Motion
- Axis Group Calibration
- Configuring Axes on the EtherCAT Network
- Using the EtherCAT Master
- Enabling/Disabling External Axes
- Handling Errors and Faults
- Homing External Axes
- Get External Axis Positions
- Getting MotionPlus Service Information
- Reading and Writing Services Data Objects (SDO)
- Miscellaneous Utility Functions
- Manipulate Coordinate Frames
- Get Coordinate Frame Properties
- Frame Tracking
- Mass Properties
- Changes to Existing URScript Functions
- MotionPlus EtherCAT API
- MotionPlus Axis Group API
- World Model API
- XML-RPC Interface