Uranus is a C++ library that implements the part 1 & 2 of PLCopen motion control standard.
| Function Block | Description |
|---|---|
| MC_Power | Controls the power stage (On or Off). |
| MC_Home | Commands the axis to perform the «search home» sequence. |
| MC_Stop | Commands a controlled motion stop and transfers the axis to the state ‘Stopping’. |
| MC_Halt | Commands a controlled motion stop and transfers the axis to the state ‘StandStill’. |
| MC_MoveAbsolute | Commands a controlled motion to a specified absolute position. |
| MC_MoveRelative | Commands a controlled motion of a specified distance relative to the set position at the time of the execution. |
| MC_MoveAdditive | Commands a controlled motion of a specified relative distance additional to the most recent commanded position. |
| MC_MoveVelocity | Commands a never ending controlled motion at a specified velocity. |
| MC_ReadStatus | Returns in detail the status of the state diagram of the selected axis. |
| MC_ReadMotionState | Returns in detail the status of the axis with respect to the motion currently in progress. |
| MC_ReadAxisError | Reads information concerning an axis, like modes, inputs directly related to the axis, and certain status information. |
| MC_EmergencyStop | Commands the axis to stop immediately and transfers the axis to the state ‘ErrorStop’. |
| MC_Reset | Makes the transition from the state ‘ErrorStop’ to ‘Standstill’ or ‘Disabled’ by resetting all internal axis-related errors. |
| MC_ReadActualPosition | Returns the actual position. |
| MC_ReadCommandPosition | Returns the command position. |
| MC_ReadActualVelocity | Returns the actual velocity. |
| MC_ReadCommandVelocity | Returns the command velocity. |
mkdir build
cd build
cmake ..
make
sudo make install