Flexmotn.h File Reference

#include "motncnst.h"
#include "MotnErr.h"
#include "FlexComp.h"

Include dependency graph for Flexmotn.h:

Go to the source code of this file.

Classes
struct	PID
struct	REGSTRY

Macros
#define	BOARD   u8 boardID
#define	BOARDID   boardID
#define	FAR
#define	FLEXFUNC   i32
#define	MAXBOARDS   0x20

Typedefs
typedef struct REGSTRY	REGISTRY

Functions
FLEXFUNC	flex_acquire_trajectory_data (BOARD, u16 axisMap, u16 numberOfSamples, u16 timePeriod)
FLEXFUNC	flex_add_vars (BOARD, u8 variable1, u8 variable2, u8 returnVector)
FLEXFUNC	flex_and_vars (BOARD, u8 variable1, u8 variable2, u8 returnVector)
FLEXFUNC	flex_begin_store (BOARD, u8 program)
FLEXFUNC	flex_blend (BOARD, u8 axisOrVectorSpace, u16 axisOrVSMap)
FLEXFUNC	flex_check_blend_complete_status (BOARD, u8 axisOrVectorSpace, u16 axisOrVSMap, u16 *blendComplete)
FLEXFUNC	flex_check_buffer (BOARD, u8 buffer, u8 returnVector)
FLEXFUNC	flex_check_buffer_rtn (BOARD, u8 buffer, u32 *backlog, u16 *bufferState, u32 *pointsDone)
FLEXFUNC	flex_check_move_complete_status (BOARD, u8 axisOrVectorSpace, u16 axisOrVSMap, u16 *moveComplete)
FLEXFUNC	flex_clear_buffer (BOARD, u8 buffer)
FLEXFUNC	flex_clear_pu_status (BOARD)
FLEXFUNC	flex_communicate (BOARD, u8 mode, u8 wordCount, u8 FAR *resource, u16 FAR *command, u16 FAR *data, u8 vector)
FLEXFUNC	flex_config_axis (BOARD, u8 axis, u8 primaryFeedback, u8 secondaryFeedback, u8 primaryOutput, u8 secondaryOutput)
FLEXFUNC	flex_config_gear_master (BOARD, u8 axis, u8 masterAxisOrEncoderOrADC)
FLEXFUNC	flex_config_mc_criteria (BOARD, u8 axis, u16 criteria, u16 deadband, u8 delay, u8 minPulse)
FLEXFUNC	flex_config_step_mode_pol (BOARD, u8 axisOrStepperOutput, u16 modeAndPolarityMap)
FLEXFUNC	flex_config_vect_spc (BOARD, u8 vectorSpace, u8 xAxis, u8 yAxis, u8 zAxis)
FLEXFUNC	flex_configure_breakpoint (BOARD, u8 axisOrEncoder, u16 enableMode, u16 actionOnBreakpoint, u16 reserved)
FLEXFUNC	flex_configure_buffer (BOARD, u8 buffer, u8 resource, u16 bufferType, i32 bufferSize, u32 totalPoints, u16 oldDataStop, f64 requestedInterval, f64 FAR *actualInterval)
FLEXFUNC	flex_configure_encoder_filter (BOARD, u8 axisOrEncoder, u16 frequency)
FLEXFUNC	flex_configure_hs_capture (BOARD, u8 axisOrEncoder, u16 captureMode, u16 reserved)
FLEXFUNC	flex_configure_inhibits (BOARD, u8 axisMap, u8 polarityMap)
FLEXFUNC	flex_configure_pwm_output (BOARD, u8 PWMOutput, u16 enable, u16 clock)
FLEXFUNC	flex_div_vars (BOARD, u8 variable1, u8 variable2, u8 returnVector)
FLEXFUNC	flex_enable_1394_watchdog (BOARD, u16 enableOrDisable)
FLEXFUNC	flex_enable_adcs (BOARD, u8 reserved, u16 ADCMap)
FLEXFUNC	flex_enable_auto_start (BOARD, u8 enableOrDisable, u8 programToExecute)
FLEXFUNC	flex_enable_axes (BOARD, u8 reserved, u8 PIDRate, u8 axisMap)
FLEXFUNC	flex_enable_breakpoint (BOARD, u8 axisOrEncoder, u16 enable)
FLEXFUNC	flex_enable_encoders (BOARD, u16 encoderMap)
FLEXFUNC	flex_enable_gearing (BOARD, u16 gearMap)
FLEXFUNC	flex_enable_gearing_single_axis (BOARD, u8 axis, u16 enable)
FLEXFUNC	flex_enable_home_inputs (BOARD, u16 homeMap)
FLEXFUNC	flex_enable_hs_capture (BOARD, u8 axisOrEncoder, u16 enable)
FLEXFUNC	flex_enable_limits (BOARD, u16 limitType, u8 forwardLimitMap, u8 reverseLimitMap)
FLEXFUNC	flex_enable_shutdown (BOARD)
FLEXFUNC	flex_end_store (BOARD, u8 program)
FLEXFUNC	flex_find_home (BOARD, u8 axis, u16 directionMap)
FLEXFUNC	flex_find_index (BOARD, u8 axis, u16 direction, i16 offset)
FLEXFUNC	flex_flush_rdb (BOARD)
FLEXFUNC	flex_get_error_description (u16 descriptionType, i32 errorCode, u16 commandID, u16 resourceID, i8 FAR *charArray, u32 FAR *sizeOfArray)
FLEXFUNC	flex_get_last_error (BOARD, u16 *commandID, u16 *resourceID, i32 *errorCode)
FLEXFUNC	flex_get_motion_board_info (BOARD, u32 informationType, u32 FAR *informationValue)
FLEXFUNC	flex_get_motion_board_name (BOARD, i8 FAR *charArray, u32 FAR *sizeOfArray)
FLEXFUNC	flex_getu32 (BOARD, u8 resource, u16 attribute, u32 *value)
FLEXFUNC	flex_initialize_controller (BOARD, i8 FAR *settingsName)
FLEXFUNC	flex_insert_program_label (BOARD, u16 labelNumber)
FLEXFUNC	flex_jump_label_on_condition (BOARD, u8 resource, u16 condition, u8 mustOn, u8 mustOff, u16 matchType, u16 labelNumber)
FLEXFUNC	flex_load_acceleration (BOARD, u8 axisOrVectorSpace, u16 accelerationType, u32 acceleration, u8 inputVector)
FLEXFUNC	flex_load_base_vel (BOARD, u8 axis, u16 baseVelocity, u8 inputVector)
FLEXFUNC	flex_load_blend_fact (BOARD, u8 axisOrVectorSpace, i16 blendFactor, u8 inputVector)
FLEXFUNC	flex_load_bp_modulus (BOARD, u8 axisOrEncoder, u32 breakpointModulus, u8 inputVector)
FLEXFUNC	flex_load_circular_arc (BOARD, u8 vectorSpace, u32 radius, f64 startAngle, f64 travelAngle, u8 inputVector)
FLEXFUNC	flex_load_counts_steps_rev (BOARD, u8 axisOrEncoder, u16 unitType, u32 countsOrSteps)
FLEXFUNC	flex_load_dac (BOARD, u8 DAC, i16 outputValue, u8 inputVector)
FLEXFUNC	flex_load_delay (BOARD, u32 delayTime)
FLEXFUNC	flex_load_description (BOARD, u8 object, i8 FAR *description)
FLEXFUNC	flex_load_follow_err (BOARD, u8 axis, u16 followingError, u8 inputVector)
FLEXFUNC	flex_load_gear_ratio (BOARD, u8 axis, u16 absoluteOrRelative, i16 ratioNumerator, u16 ratioDenominator, u8 inputVector)
FLEXFUNC	flex_load_helical_arc (BOARD, u8 vectorSpace, u32 radius, f64 startAngle, f64 travelAngle, i32 linearTravel, u8 inputVector)
FLEXFUNC	flex_load_pid_parameters (BOARD, u8 axis, PID FAR *PIDValues, u8 inputVector)
FLEXFUNC	flex_load_pos_bp (BOARD, u8 axisOrEncoder, i32 breakpointPosition, u8 inputVector)
FLEXFUNC	flex_load_pos_modulus (BOARD, u8 axis, u32 positionModulus, u8 inputVector)
FLEXFUNC	flex_load_pwm_duty (BOARD, u8 PWMOutput, u16 dutycycle, u8 inputVector)
FLEXFUNC	flex_load_rpm (BOARD, u8 axisOrVectorSpace, f64 RPM, u8 inputVector)
FLEXFUNC	flex_load_rpm_thresh (BOARD, u8 axis, f64 threshold, u8 inputVector)
FLEXFUNC	flex_load_rpsps (BOARD, u8 axisOrVectorSpace, u16 accelerationType, f64 RPSPS, u8 inputVector)
FLEXFUNC	flex_load_scurve_time (BOARD, u8 axisOrVectorSpace, u16 sCurveTime, u8 inputVector)
FLEXFUNC	flex_load_single_pid_parameter (BOARD, u8 axis, u16 parameterType, u16 PIDValue, u8 inputVector)
FLEXFUNC	flex_load_spherical_arc (BOARD, u8 vectorSpace, u32 radius, f64 planePitch, f64 planeYaw, f64 startAngle, f64 travelAngle, u8 inputVector)
FLEXFUNC	flex_load_sw_lim_pos (BOARD, u8 axis, i32 forwardLimit, i32 reverseLimit, u8 inputVector)
FLEXFUNC	flex_load_target_pos (BOARD, u8 axis, i32 targetPosition, u8 inputVector)
FLEXFUNC	flex_load_torque_lim (BOARD, u8 axis, i16 primaryPositiveLimit, i16 primaryNegativeLimit, i16 secondaryPositiveLimit, i16 secondaryNegativeLimit, u8 inputVector)
FLEXFUNC	flex_load_torque_offset (BOARD, u8 axis, i16 primaryOffset, i16 secondaryOffset, u8 inputVector)
FLEXFUNC	flex_load_var (BOARD, i32 value, u8 variable1)
FLEXFUNC	flex_load_vel_tc_rs (BOARD, u8 axis, u16 filterTime, u16 runStopThreshold, u8 inputVector)
FLEXFUNC	flex_load_velocity (BOARD, u8 axisOrVectorSpace, i32 velocity, u8 inputVector)
FLEXFUNC	flex_load_velocity_override (BOARD, u8 axisOrVectorSpace, f32 overridePercentage, u8 inputVector)
FLEXFUNC	flex_load_velocity_threshold (BOARD, u8 axis, u32 threshold, u8 inputVector)
FLEXFUNC	flex_load_vs_pos (BOARD, u8 vectorSpace, i32 xPosition, i32 yPosition, i32 zPosition, u8 inputVector)
FLEXFUNC	flex_lshift_var (BOARD, u8 variable1, i8 logicalShift, u8 returnVector)
FLEXFUNC	flex_mult_vars (BOARD, u8 variable1, u8 variable2, u8 returnVector)
FLEXFUNC	flex_not_var (BOARD, u8 variable1, u8 returnVector)
FLEXFUNC	flex_object_mem_manage (BOARD, u8 object, u16 operation)
FLEXFUNC	flex_or_vars (BOARD, u8 variable1, u8 variable2, u8 returnVector)
FLEXFUNC	flex_pause_prog (BOARD, u8 program)
FLEXFUNC	flex_read_adc (BOARD, u8 ADC, u8 returnVector)
FLEXFUNC	flex_read_adc_rtn (BOARD, u8 ADC, i16 FAR *ADCValue)
FLEXFUNC	flex_read_axis_status (BOARD, u8 axis, u8 returnVector)
FLEXFUNC	flex_read_axis_status_rtn (BOARD, u8 axis, u16 FAR *axisStatus)
FLEXFUNC	flex_read_blend_status (BOARD, u8 axisOrVectorSpace, u8 returnVector)
FLEXFUNC	flex_read_blend_status_rtn (BOARD, u8 axisOrVectorSpace, u16 FAR *blendStatus)
FLEXFUNC	flex_read_breakpoint_status (BOARD, u8 axisOrEncoder, u16 breakpointType, u8 returnVector)
FLEXFUNC	flex_read_breakpoint_status_rtn (BOARD, u8 axisOrEncoder, u16 breakpointType, u16 FAR *breakpointStatus)
FLEXFUNC	flex_read_buffer (BOARD, u8 buffer, u32 numberOfPoints, u8 returnVector)
FLEXFUNC	flex_read_buffer_rtn (BOARD, u8 buffer, u32 numberOfPoints, i32 *data)
FLEXFUNC	flex_read_cap_pos (BOARD, u8 axisOrEncoder, u8 returnVector)
FLEXFUNC	flex_read_cap_pos_rtn (BOARD, u8 axisOrEncoder, i32 FAR *capturedPosition)
FLEXFUNC	flex_read_csr_rtn (BOARD, u16 FAR *csr)
FLEXFUNC	flex_read_dac (BOARD, u8 axisOrDAC, u8 returnVector)
FLEXFUNC	flex_read_dac_limit_status (BOARD, u8 returnVector)
FLEXFUNC	flex_read_dac_limit_status_rtn (BOARD, u8 FAR *positiveStatus, u8 FAR *negativeStatus)
FLEXFUNC	flex_read_dac_rtn (BOARD, u8 axisOrDAC, i16 FAR *DACValue)
FLEXFUNC	flex_read_description_rtn (BOARD, u8 object, i8 FAR *description)
FLEXFUNC	flex_read_encoder (BOARD, u8 axisOrEncoder, u8 returnVector)
FLEXFUNC	flex_read_encoder_rtn (BOARD, u8 axisOrEncoder, i32 FAR *encoderCounts)
FLEXFUNC	flex_read_error_msg_rtn (BOARD, u16 FAR *commandID, u16 FAR *resourceID, i32 FAR *errorCode)
FLEXFUNC	flex_read_follow_err (BOARD, u8 axisOrVectorSpace, u8 returnVector)
FLEXFUNC	flex_read_follow_err_rtn (BOARD, u8 axisOrVectorSpace, i16 FAR *followingError)
FLEXFUNC	flex_read_home_input_status (BOARD, u8 returnVector)
FLEXFUNC	flex_read_home_input_status_rtn (BOARD, u16 FAR *homeStatus)
FLEXFUNC	flex_read_hs_cap_status (BOARD, u8 axisOrEncoder, u8 returnVector)
FLEXFUNC	flex_read_hs_cap_status_rtn (BOARD, u8 axisOrEncoder, u16 FAR *highSpeedCaptureStatus)
FLEXFUNC	flex_read_limit_status (BOARD, u16 limitType, u8 returnVector)
FLEXFUNC	flex_read_limit_status_rtn (BOARD, u16 limitType, u8 FAR *forwardLimitStatus, u8 FAR *reverseLimitStatus)
FLEXFUNC	flex_read_mcs_rtn (BOARD, u16 FAR *moveCompleteStatus)
FLEXFUNC	flex_read_port (BOARD, u8 port, u8 returnVector)
FLEXFUNC	flex_read_port_rtn (BOARD, u8 port, u16 FAR *portData)
FLEXFUNC	flex_read_pos (BOARD, u8 axis, u8 returnVector)
FLEXFUNC	flex_read_pos_rtn (BOARD, u8 axis, i32 FAR *position)
FLEXFUNC	flex_read_program_status (BOARD, u8 program, u8 returnVector)
FLEXFUNC	flex_read_program_status_rtn (BOARD, u8 program, u16 FAR *programStatus)
FLEXFUNC	flex_read_registry_rtn (BOARD, u8 index, REGISTRY FAR *registryRecord)
FLEXFUNC	flex_read_rpm (BOARD, u8 axisOrVectorSpace, u8 returnVector)
FLEXFUNC	flex_read_rpm_rtn (BOARD, u8 axisOrVectorSpace, f64 FAR *RPM)
FLEXFUNC	flex_read_steps_gen (BOARD, u8 axisOrStepperOutput, u8 returnVector)
FLEXFUNC	flex_read_steps_gen_rtn (BOARD, u8 axisOrStepperOutput, i32 FAR *steps)
FLEXFUNC	flex_read_target_pos (BOARD, u8 axis, u8 returnVector)
FLEXFUNC	flex_read_target_pos_rtn (BOARD, u8 axis, i32 FAR *targetPosition)
FLEXFUNC	flex_read_trajectory_data (BOARD, u8 returnVector)
FLEXFUNC	flex_read_trajectory_data_rtn (BOARD, i32 FAR *returnData)
FLEXFUNC	flex_read_trajectory_status (BOARD, u8 axisOrVectorSpace, u16 statusType, u8 returnVector)
FLEXFUNC	flex_read_trajectory_status_rtn (BOARD, u8 axisOrVectorSpace, u16 statusType, u16 FAR *status)
FLEXFUNC	flex_read_var (BOARD, u8 variable1, u8 returnVector)
FLEXFUNC	flex_read_var_rtn (BOARD, u8 variable1, i32 FAR *value)
FLEXFUNC	flex_read_velocity (BOARD, u8 axisOrVectorSpace, u8 returnVector)
FLEXFUNC	flex_read_velocity_rtn (BOARD, u8 axisOrVectorSpace, i32 FAR *velocity)
FLEXFUNC	flex_read_vs_pos (BOARD, u8 vectorSpace, u8 returnVector)
FLEXFUNC	flex_read_vs_pos_rtn (BOARD, u8 vectorSpace, i32 FAR *xPosition, i32 FAR *yPosition, i32 FAR *zPosition)
FLEXFUNC	flex_reset_defaults (BOARD)
FLEXFUNC	flex_reset_encoder (BOARD, u8 encoder, i32 position, u8 inputVector)
FLEXFUNC	flex_reset_pos (BOARD, u8 axis, i32 position1, i32 position2, u8 inputVector)
FLEXFUNC	flex_run_prog (BOARD, u8 program)
FLEXFUNC	flex_save_defaults (BOARD)
FLEXFUNC	flex_select_signal (BOARD, u16 destination, u16 source)
FLEXFUNC	flex_set_adc_range (BOARD, u8 ADC, u16 range)
FLEXFUNC	flex_set_breakpoint_momo (BOARD, u8 axisOrEncoder, u8 mustOn, u8 mustOff, u8 inputVector)
FLEXFUNC	flex_set_home_polarity (BOARD, u16 homePolarityMap)
FLEXFUNC	flex_set_inhibit_momo (BOARD, u8 mustOn, u8 mustOff)
FLEXFUNC	flex_set_irq_mask (BOARD, u16 mask)
FLEXFUNC	flex_set_limit_polarity (BOARD, u8 forwardPolarityMap, u8 reversePolarityMap)
FLEXFUNC	flex_set_op_mode (BOARD, u8 axisOrVectorSpace, u16 operationMode)
FLEXFUNC	flex_set_port (BOARD, u8 port, u8 mustOn, u8 mustOff, u8 inputVector)
FLEXFUNC	flex_set_port_direction (BOARD, u8 port, u16 directionMap)
FLEXFUNC	flex_set_port_pol (BOARD, u8 port, u16 portPolarityMap)
FLEXFUNC	flex_set_status_momo (BOARD, u8 mustOn, u8 mustOff)
FLEXFUNC	flex_set_stepper_loop_mode (BOARD, u8 axis, u16 loopMode)
FLEXFUNC	flex_setu32 (BOARD, u8 resource, u16 attribute, u32 value)
FLEXFUNC	flex_start (BOARD, u8 axisOrVectorSpace, u16 axisOrVSMap)
FLEXFUNC	flex_stop_motion (BOARD, u8 axisOrVectorSpace, u16 stopType, u16 axisOrVSMap)
FLEXFUNC	flex_stop_prog (BOARD, u8 program)
FLEXFUNC	flex_sub_vars (BOARD, u8 variable1, u8 variable2, u8 returnVector)
FLEXFUNC	flex_wait_for_blend_complete (BOARD, u8 axisOrVectorSpace, u16 axisOrVSMap, u32 timeout, i32 pollInterval, u16 *blendComplete)
FLEXFUNC	flex_wait_for_move_complete (BOARD, u8 axisOrVectorSpace, u16 axisOrVSMap, u32 timeout, i32 pollInterval, u16 *moveComplete)
FLEXFUNC	flex_wait_on_condition (BOARD, u8 resource, u16 waitType, u16 condition, u8 mustOn, u8 mustOff, u16 matchType, u16 timeOut, u8 returnVector)
FLEXFUNC	flex_write_buffer (BOARD, u8 buffer, u32 numberOfPoints, u16 regenerationMode, i32 *data, u8 inputVector)
FLEXFUNC	flex_xor_vars (BOARD, u8 variable1, u8 variable2, u8 returnVector)

Macro Definition Documentation

BOARD

#define BOARD   u8 boardID

BOARDID

#define BOARDID   boardID

FAR

#define FAR

FLEXFUNC

#define FLEXFUNC   i32

MAXBOARDS

#define MAXBOARDS   0x20

Typedef Documentation

REGISTRY

typedef struct REGSTRY REGISTRY

Function Documentation

flex_acquire_trajectory_data()

FLEXFUNC flex_acquire_trajectory_data	(	BOARD	,
		u16	axisMap,
		u16	numberOfSamples,
		u16	timePeriod
	)

flex_add_vars()

FLEXFUNC flex_add_vars	(	BOARD	,
		u8	variable1,
		u8	variable2,
		u8	returnVector
	)

flex_and_vars()

FLEXFUNC flex_and_vars	(	BOARD	,
		u8	variable1,
		u8	variable2,
		u8	returnVector
	)

flex_begin_store()

FLEXFUNC flex_begin_store	(	BOARD	,
		u8	program
	)

flex_blend()

FLEXFUNC flex_blend	(	BOARD	,
		u8	axisOrVectorSpace,
		u16	axisOrVSMap
	)

flex_check_blend_complete_status()

FLEXFUNC flex_check_blend_complete_status	(	BOARD	,
		u8	axisOrVectorSpace,
		u16	axisOrVSMap,
		u16 *	blendComplete
	)

flex_check_buffer()

FLEXFUNC flex_check_buffer	(	BOARD	,
		u8	buffer,
		u8	returnVector
	)

flex_check_buffer_rtn()

FLEXFUNC flex_check_buffer_rtn	(	BOARD	,
		u8	buffer,
		u32 *	backlog,
		u16 *	bufferState,
		u32 *	pointsDone
	)

flex_check_move_complete_status()

FLEXFUNC flex_check_move_complete_status	(	BOARD	,
		u8	axisOrVectorSpace,
		u16	axisOrVSMap,
		u16 *	moveComplete
	)

flex_clear_buffer()

FLEXFUNC flex_clear_buffer	(	BOARD	,
		u8	buffer
	)

flex_clear_pu_status()

FLEXFUNC flex_clear_pu_status

(

BOARD

)

flex_communicate()

FLEXFUNC flex_communicate	(	BOARD	,
		u8	mode,
		u8	wordCount,
		u8 FAR *	resource,
		u16 FAR *	command,
		u16 FAR *	data,
		u8	vector
	)

flex_config_axis()

FLEXFUNC flex_config_axis	(	BOARD	,
		u8	axis,
		u8	primaryFeedback,
		u8	secondaryFeedback,
		u8	primaryOutput,
		u8	secondaryOutput
	)

flex_config_gear_master()

FLEXFUNC flex_config_gear_master	(	BOARD	,
		u8	axis,
		u8	masterAxisOrEncoderOrADC
	)

flex_config_mc_criteria()

FLEXFUNC flex_config_mc_criteria	(	BOARD	,
		u8	axis,
		u16	criteria,
		u16	deadband,
		u8	delay,
		u8	minPulse
	)

flex_config_step_mode_pol()

FLEXFUNC flex_config_step_mode_pol	(	BOARD	,
		u8	axisOrStepperOutput,
		u16	modeAndPolarityMap
	)

flex_config_vect_spc()

FLEXFUNC flex_config_vect_spc	(	BOARD	,
		u8	vectorSpace,
		u8	xAxis,
		u8	yAxis,
		u8	zAxis
	)

flex_configure_breakpoint()

FLEXFUNC flex_configure_breakpoint	(	BOARD	,
		u8	axisOrEncoder,
		u16	enableMode,
		u16	actionOnBreakpoint,
		u16	reserved
	)

flex_configure_buffer()

FLEXFUNC flex_configure_buffer	(	BOARD	,
		u8	buffer,
		u8	resource,
		u16	bufferType,
		i32	bufferSize,
		u32	totalPoints,
		u16	oldDataStop,
		f64	requestedInterval,
		f64 FAR *	actualInterval
	)

flex_configure_encoder_filter()

FLEXFUNC flex_configure_encoder_filter	(	BOARD	,
		u8	axisOrEncoder,
		u16	frequency
	)

flex_configure_hs_capture()

FLEXFUNC flex_configure_hs_capture	(	BOARD	,
		u8	axisOrEncoder,
		u16	captureMode,
		u16	reserved
	)

flex_configure_inhibits()

FLEXFUNC flex_configure_inhibits	(	BOARD	,
		u8	axisMap,
		u8	polarityMap
	)

flex_configure_pwm_output()

FLEXFUNC flex_configure_pwm_output	(	BOARD	,
		u8	PWMOutput,
		u16	enable,
		u16	clock
	)

flex_div_vars()

FLEXFUNC flex_div_vars	(	BOARD	,
		u8	variable1,
		u8	variable2,
		u8	returnVector
	)

flex_enable_1394_watchdog()

FLEXFUNC flex_enable_1394_watchdog	(	BOARD	,
		u16	enableOrDisable
	)

flex_enable_adcs()

FLEXFUNC flex_enable_adcs	(	BOARD	,
		u8	reserved,
		u16	ADCMap
	)

flex_enable_auto_start()

FLEXFUNC flex_enable_auto_start	(	BOARD	,
		u8	enableOrDisable,
		u8	programToExecute
	)

flex_enable_axes()

FLEXFUNC flex_enable_axes	(	BOARD	,
		u8	reserved,
		u8	PIDRate,
		u8	axisMap
	)

flex_enable_breakpoint()

FLEXFUNC flex_enable_breakpoint	(	BOARD	,
		u8	axisOrEncoder,
		u16	enable
	)

flex_enable_encoders()

FLEXFUNC flex_enable_encoders	(	BOARD	,
		u16	encoderMap
	)

flex_enable_gearing()

FLEXFUNC flex_enable_gearing	(	BOARD	,
		u16	gearMap
	)

flex_enable_gearing_single_axis()

FLEXFUNC flex_enable_gearing_single_axis	(	BOARD	,
		u8	axis,
		u16	enable
	)

flex_enable_home_inputs()

FLEXFUNC flex_enable_home_inputs	(	BOARD	,
		u16	homeMap
	)

flex_enable_hs_capture()

FLEXFUNC flex_enable_hs_capture	(	BOARD	,
		u8	axisOrEncoder,
		u16	enable
	)

flex_enable_limits()

FLEXFUNC flex_enable_limits	(	BOARD	,
		u16	limitType,
		u8	forwardLimitMap,
		u8	reverseLimitMap
	)

flex_enable_shutdown()

FLEXFUNC flex_enable_shutdown

(

BOARD

)

flex_end_store()

FLEXFUNC flex_end_store	(	BOARD	,
		u8	program
	)

flex_find_home()

FLEXFUNC flex_find_home	(	BOARD	,
		u8	axis,
		u16	directionMap
	)

flex_find_index()

FLEXFUNC flex_find_index	(	BOARD	,
		u8	axis,
		u16	direction,
		i16	offset
	)

flex_flush_rdb()

FLEXFUNC flex_flush_rdb

(

BOARD

)

flex_get_error_description()

FLEXFUNC flex_get_error_description	(	u16	descriptionType,
		i32	errorCode,
		u16	commandID,
		u16	resourceID,
		i8 FAR *	charArray,
		u32 FAR *	sizeOfArray
	)

flex_get_last_error()

FLEXFUNC flex_get_last_error	(	BOARD	,
		u16 *	commandID,
		u16 *	resourceID,
		i32 *	errorCode
	)

flex_get_motion_board_info()

FLEXFUNC flex_get_motion_board_info	(	BOARD	,
		u32	informationType,
		u32 FAR *	informationValue
	)

flex_get_motion_board_name()

FLEXFUNC flex_get_motion_board_name	(	BOARD	,
		i8 FAR *	charArray,
		u32 FAR *	sizeOfArray
	)

flex_getu32()

FLEXFUNC flex_getu32	(	BOARD	,
		u8	resource,
		u16	attribute,
		u32 *	value
	)

flex_initialize_controller()

FLEXFUNC flex_initialize_controller	(	BOARD	,
		i8 FAR *	settingsName
	)

flex_insert_program_label()

FLEXFUNC flex_insert_program_label	(	BOARD	,
		u16	labelNumber
	)

flex_jump_label_on_condition()

FLEXFUNC flex_jump_label_on_condition	(	BOARD	,
		u8	resource,
		u16	condition,
		u8	mustOn,
		u8	mustOff,
		u16	matchType,
		u16	labelNumber
	)

flex_load_acceleration()

FLEXFUNC flex_load_acceleration	(	BOARD	,
		u8	axisOrVectorSpace,
		u16	accelerationType,
		u32	acceleration,
		u8	inputVector
	)

flex_load_base_vel()

FLEXFUNC flex_load_base_vel	(	BOARD	,
		u8	axis,
		u16	baseVelocity,
		u8	inputVector
	)

flex_load_blend_fact()

FLEXFUNC flex_load_blend_fact	(	BOARD	,
		u8	axisOrVectorSpace,
		i16	blendFactor,
		u8	inputVector
	)

flex_load_bp_modulus()

FLEXFUNC flex_load_bp_modulus	(	BOARD	,
		u8	axisOrEncoder,
		u32	breakpointModulus,
		u8	inputVector
	)

flex_load_circular_arc()

FLEXFUNC flex_load_circular_arc	(	BOARD	,
		u8	vectorSpace,
		u32	radius,
		f64	startAngle,
		f64	travelAngle,
		u8	inputVector
	)

flex_load_counts_steps_rev()

FLEXFUNC flex_load_counts_steps_rev	(	BOARD	,
		u8	axisOrEncoder,
		u16	unitType,
		u32	countsOrSteps
	)

flex_load_dac()

FLEXFUNC flex_load_dac	(	BOARD	,
		u8	DAC,
		i16	outputValue,
		u8	inputVector
	)

flex_load_delay()

FLEXFUNC flex_load_delay	(	BOARD	,
		u32	delayTime
	)

flex_load_description()

FLEXFUNC flex_load_description	(	BOARD	,
		u8	object,
		i8 FAR *	description
	)

flex_load_follow_err()

FLEXFUNC flex_load_follow_err	(	BOARD	,
		u8	axis,
		u16	followingError,
		u8	inputVector
	)

flex_load_gear_ratio()

FLEXFUNC flex_load_gear_ratio	(	BOARD	,
		u8	axis,
		u16	absoluteOrRelative,
		i16	ratioNumerator,
		u16	ratioDenominator,
		u8	inputVector
	)

flex_load_helical_arc()

FLEXFUNC flex_load_helical_arc	(	BOARD	,
		u8	vectorSpace,
		u32	radius,
		f64	startAngle,
		f64	travelAngle,
		i32	linearTravel,
		u8	inputVector
	)

flex_load_pid_parameters()

FLEXFUNC flex_load_pid_parameters	(	BOARD	,
		u8	axis,
		PID FAR *	PIDValues,
		u8	inputVector
	)

flex_load_pos_bp()

FLEXFUNC flex_load_pos_bp	(	BOARD	,
		u8	axisOrEncoder,
		i32	breakpointPosition,
		u8	inputVector
	)

flex_load_pos_modulus()

FLEXFUNC flex_load_pos_modulus	(	BOARD	,
		u8	axis,
		u32	positionModulus,
		u8	inputVector
	)

flex_load_pwm_duty()

FLEXFUNC flex_load_pwm_duty	(	BOARD	,
		u8	PWMOutput,
		u16	dutycycle,
		u8	inputVector
	)

flex_load_rpm()

FLEXFUNC flex_load_rpm	(	BOARD	,
		u8	axisOrVectorSpace,
		f64	RPM,
		u8	inputVector
	)

flex_load_rpm_thresh()

FLEXFUNC flex_load_rpm_thresh	(	BOARD	,
		u8	axis,
		f64	threshold,
		u8	inputVector
	)

flex_load_rpsps()

FLEXFUNC flex_load_rpsps	(	BOARD	,
		u8	axisOrVectorSpace,
		u16	accelerationType,
		f64	RPSPS,
		u8	inputVector
	)

flex_load_scurve_time()

FLEXFUNC flex_load_scurve_time	(	BOARD	,
		u8	axisOrVectorSpace,
		u16	sCurveTime,
		u8	inputVector
	)

flex_load_single_pid_parameter()

FLEXFUNC flex_load_single_pid_parameter	(	BOARD	,
		u8	axis,
		u16	parameterType,
		u16	PIDValue,
		u8	inputVector
	)

flex_load_spherical_arc()

FLEXFUNC flex_load_spherical_arc	(	BOARD	,
		u8	vectorSpace,
		u32	radius,
		f64	planePitch,
		f64	planeYaw,
		f64	startAngle,
		f64	travelAngle,
		u8	inputVector
	)

flex_load_sw_lim_pos()

FLEXFUNC flex_load_sw_lim_pos	(	BOARD	,
		u8	axis,
		i32	forwardLimit,
		i32	reverseLimit,
		u8	inputVector
	)

flex_load_target_pos()

FLEXFUNC flex_load_target_pos	(	BOARD	,
		u8	axis,
		i32	targetPosition,
		u8	inputVector
	)

flex_load_torque_lim()

FLEXFUNC flex_load_torque_lim	(	BOARD	,
		u8	axis,
		i16	primaryPositiveLimit,
		i16	primaryNegativeLimit,
		i16	secondaryPositiveLimit,
		i16	secondaryNegativeLimit,
		u8	inputVector
	)

flex_load_torque_offset()

FLEXFUNC flex_load_torque_offset	(	BOARD	,
		u8	axis,
		i16	primaryOffset,
		i16	secondaryOffset,
		u8	inputVector
	)

flex_load_var()

FLEXFUNC flex_load_var	(	BOARD	,
		i32	value,
		u8	variable1
	)

flex_load_vel_tc_rs()

FLEXFUNC flex_load_vel_tc_rs	(	BOARD	,
		u8	axis,
		u16	filterTime,
		u16	runStopThreshold,
		u8	inputVector
	)

flex_load_velocity()

FLEXFUNC flex_load_velocity	(	BOARD	,
		u8	axisOrVectorSpace,
		i32	velocity,
		u8	inputVector
	)

flex_load_velocity_override()

FLEXFUNC flex_load_velocity_override	(	BOARD	,
		u8	axisOrVectorSpace,
		f32	overridePercentage,
		u8	inputVector
	)

flex_load_velocity_threshold()

FLEXFUNC flex_load_velocity_threshold	(	BOARD	,
		u8	axis,
		u32	threshold,
		u8	inputVector
	)

flex_load_vs_pos()

FLEXFUNC flex_load_vs_pos	(	BOARD	,
		u8	vectorSpace,
		i32	xPosition,
		i32	yPosition,
		i32	zPosition,
		u8	inputVector
	)

flex_lshift_var()

FLEXFUNC flex_lshift_var	(	BOARD	,
		u8	variable1,
		i8	logicalShift,
		u8	returnVector
	)

flex_mult_vars()

FLEXFUNC flex_mult_vars	(	BOARD	,
		u8	variable1,
		u8	variable2,
		u8	returnVector
	)

flex_not_var()

FLEXFUNC flex_not_var	(	BOARD	,
		u8	variable1,
		u8	returnVector
	)

flex_object_mem_manage()

FLEXFUNC flex_object_mem_manage	(	BOARD	,
		u8	object,
		u16	operation
	)

flex_or_vars()

FLEXFUNC flex_or_vars	(	BOARD	,
		u8	variable1,
		u8	variable2,
		u8	returnVector
	)

flex_pause_prog()

FLEXFUNC flex_pause_prog	(	BOARD	,
		u8	program
	)

flex_read_adc()

FLEXFUNC flex_read_adc	(	BOARD	,
		u8	ADC,
		u8	returnVector
	)

flex_read_adc_rtn()

FLEXFUNC flex_read_adc_rtn	(	BOARD	,
		u8	ADC,
		i16 FAR *	ADCValue
	)

flex_read_axis_status()

FLEXFUNC flex_read_axis_status	(	BOARD	,
		u8	axis,
		u8	returnVector
	)

flex_read_axis_status_rtn()

FLEXFUNC flex_read_axis_status_rtn	(	BOARD	,
		u8	axis,
		u16 FAR *	axisStatus
	)

flex_read_blend_status()

FLEXFUNC flex_read_blend_status	(	BOARD	,
		u8	axisOrVectorSpace,
		u8	returnVector
	)

flex_read_blend_status_rtn()

FLEXFUNC flex_read_blend_status_rtn	(	BOARD	,
		u8	axisOrVectorSpace,
		u16 FAR *	blendStatus
	)

flex_read_breakpoint_status()

FLEXFUNC flex_read_breakpoint_status	(	BOARD	,
		u8	axisOrEncoder,
		u16	breakpointType,
		u8	returnVector
	)

flex_read_breakpoint_status_rtn()

FLEXFUNC flex_read_breakpoint_status_rtn	(	BOARD	,
		u8	axisOrEncoder,
		u16	breakpointType,
		u16 FAR *	breakpointStatus
	)

flex_read_buffer()

FLEXFUNC flex_read_buffer	(	BOARD	,
		u8	buffer,
		u32	numberOfPoints,
		u8	returnVector
	)

flex_read_buffer_rtn()

FLEXFUNC flex_read_buffer_rtn	(	BOARD	,
		u8	buffer,
		u32	numberOfPoints,
		i32 *	data
	)

flex_read_cap_pos()

FLEXFUNC flex_read_cap_pos	(	BOARD	,
		u8	axisOrEncoder,
		u8	returnVector
	)

flex_read_cap_pos_rtn()

FLEXFUNC flex_read_cap_pos_rtn	(	BOARD	,
		u8	axisOrEncoder,
		i32 FAR *	capturedPosition
	)

flex_read_csr_rtn()

FLEXFUNC flex_read_csr_rtn	(	BOARD	,
		u16 FAR *	csr
	)

flex_read_dac()

FLEXFUNC flex_read_dac	(	BOARD	,
		u8	axisOrDAC,
		u8	returnVector
	)

flex_read_dac_limit_status()

FLEXFUNC flex_read_dac_limit_status	(	BOARD	,
		u8	returnVector
	)

flex_read_dac_limit_status_rtn()

FLEXFUNC flex_read_dac_limit_status_rtn	(	BOARD	,
		u8 FAR *	positiveStatus,
		u8 FAR *	negativeStatus
	)

flex_read_dac_rtn()

FLEXFUNC flex_read_dac_rtn	(	BOARD	,
		u8	axisOrDAC,
		i16 FAR *	DACValue
	)

flex_read_description_rtn()

FLEXFUNC flex_read_description_rtn	(	BOARD	,
		u8	object,
		i8 FAR *	description
	)

flex_read_encoder()

FLEXFUNC flex_read_encoder	(	BOARD	,
		u8	axisOrEncoder,
		u8	returnVector
	)

flex_read_encoder_rtn()

FLEXFUNC flex_read_encoder_rtn	(	BOARD	,
		u8	axisOrEncoder,
		i32 FAR *	encoderCounts
	)

flex_read_error_msg_rtn()

FLEXFUNC flex_read_error_msg_rtn	(	BOARD	,
		u16 FAR *	commandID,
		u16 FAR *	resourceID,
		i32 FAR *	errorCode
	)

flex_read_follow_err()

FLEXFUNC flex_read_follow_err	(	BOARD	,
		u8	axisOrVectorSpace,
		u8	returnVector
	)

flex_read_follow_err_rtn()

FLEXFUNC flex_read_follow_err_rtn	(	BOARD	,
		u8	axisOrVectorSpace,
		i16 FAR *	followingError
	)

flex_read_home_input_status()

FLEXFUNC flex_read_home_input_status	(	BOARD	,
		u8	returnVector
	)

flex_read_home_input_status_rtn()

FLEXFUNC flex_read_home_input_status_rtn	(	BOARD	,
		u16 FAR *	homeStatus
	)

flex_read_hs_cap_status()

FLEXFUNC flex_read_hs_cap_status	(	BOARD	,
		u8	axisOrEncoder,
		u8	returnVector
	)

flex_read_hs_cap_status_rtn()

FLEXFUNC flex_read_hs_cap_status_rtn	(	BOARD	,
		u8	axisOrEncoder,
		u16 FAR *	highSpeedCaptureStatus
	)

flex_read_limit_status()

FLEXFUNC flex_read_limit_status	(	BOARD	,
		u16	limitType,
		u8	returnVector
	)

flex_read_limit_status_rtn()

FLEXFUNC flex_read_limit_status_rtn	(	BOARD	,
		u16	limitType,
		u8 FAR *	forwardLimitStatus,
		u8 FAR *	reverseLimitStatus
	)

flex_read_mcs_rtn()

FLEXFUNC flex_read_mcs_rtn	(	BOARD	,
		u16 FAR *	moveCompleteStatus
	)

flex_read_port()

FLEXFUNC flex_read_port	(	BOARD	,
		u8	port,
		u8	returnVector
	)

flex_read_port_rtn()

FLEXFUNC flex_read_port_rtn	(	BOARD	,
		u8	port,
		u16 FAR *	portData
	)

flex_read_pos()

FLEXFUNC flex_read_pos	(	BOARD	,
		u8	axis,
		u8	returnVector
	)

flex_read_pos_rtn()

FLEXFUNC flex_read_pos_rtn	(	BOARD	,
		u8	axis,
		i32 FAR *	position
	)

flex_read_program_status()

FLEXFUNC flex_read_program_status	(	BOARD	,
		u8	program,
		u8	returnVector
	)

flex_read_program_status_rtn()

FLEXFUNC flex_read_program_status_rtn	(	BOARD	,
		u8	program,
		u16 FAR *	programStatus
	)

flex_read_registry_rtn()

FLEXFUNC flex_read_registry_rtn	(	BOARD	,
		u8	index,
		REGISTRY FAR *	registryRecord
	)

flex_read_rpm()

FLEXFUNC flex_read_rpm	(	BOARD	,
		u8	axisOrVectorSpace,
		u8	returnVector
	)

flex_read_rpm_rtn()

FLEXFUNC flex_read_rpm_rtn	(	BOARD	,
		u8	axisOrVectorSpace,
		f64 FAR *	RPM
	)

flex_read_steps_gen()

FLEXFUNC flex_read_steps_gen	(	BOARD	,
		u8	axisOrStepperOutput,
		u8	returnVector
	)

flex_read_steps_gen_rtn()

FLEXFUNC flex_read_steps_gen_rtn	(	BOARD	,
		u8	axisOrStepperOutput,
		i32 FAR *	steps
	)

flex_read_target_pos()

FLEXFUNC flex_read_target_pos	(	BOARD	,
		u8	axis,
		u8	returnVector
	)

flex_read_target_pos_rtn()

FLEXFUNC flex_read_target_pos_rtn	(	BOARD	,
		u8	axis,
		i32 FAR *	targetPosition
	)

flex_read_trajectory_data()

FLEXFUNC flex_read_trajectory_data	(	BOARD	,
		u8	returnVector
	)

flex_read_trajectory_data_rtn()

FLEXFUNC flex_read_trajectory_data_rtn	(	BOARD	,
		i32 FAR *	returnData
	)

flex_read_trajectory_status()

FLEXFUNC flex_read_trajectory_status	(	BOARD	,
		u8	axisOrVectorSpace,
		u16	statusType,
		u8	returnVector
	)

flex_read_trajectory_status_rtn()

FLEXFUNC flex_read_trajectory_status_rtn	(	BOARD	,
		u8	axisOrVectorSpace,
		u16	statusType,
		u16 FAR *	status
	)

flex_read_var()

FLEXFUNC flex_read_var	(	BOARD	,
		u8	variable1,
		u8	returnVector
	)

flex_read_var_rtn()

FLEXFUNC flex_read_var_rtn	(	BOARD	,
		u8	variable1,
		i32 FAR *	value
	)

flex_read_velocity()

FLEXFUNC flex_read_velocity	(	BOARD	,
		u8	axisOrVectorSpace,
		u8	returnVector
	)

flex_read_velocity_rtn()

FLEXFUNC flex_read_velocity_rtn	(	BOARD	,
		u8	axisOrVectorSpace,
		i32 FAR *	velocity
	)

flex_read_vs_pos()

FLEXFUNC flex_read_vs_pos	(	BOARD	,
		u8	vectorSpace,
		u8	returnVector
	)

flex_read_vs_pos_rtn()

FLEXFUNC flex_read_vs_pos_rtn	(	BOARD	,
		u8	vectorSpace,
		i32 FAR *	xPosition,
		i32 FAR *	yPosition,
		i32 FAR *	zPosition
	)

flex_reset_defaults()

FLEXFUNC flex_reset_defaults

(

BOARD

)

flex_reset_encoder()

FLEXFUNC flex_reset_encoder	(	BOARD	,
		u8	encoder,
		i32	position,
		u8	inputVector
	)

flex_reset_pos()

FLEXFUNC flex_reset_pos	(	BOARD	,
		u8	axis,
		i32	position1,
		i32	position2,
		u8	inputVector
	)

flex_run_prog()

FLEXFUNC flex_run_prog	(	BOARD	,
		u8	program
	)

flex_save_defaults()

FLEXFUNC flex_save_defaults

(

BOARD

)

flex_select_signal()

FLEXFUNC flex_select_signal	(	BOARD	,
		u16	destination,
		u16	source
	)

flex_set_adc_range()

FLEXFUNC flex_set_adc_range	(	BOARD	,
		u8	ADC,
		u16	range
	)

flex_set_breakpoint_momo()

FLEXFUNC flex_set_breakpoint_momo	(	BOARD	,
		u8	axisOrEncoder,
		u8	mustOn,
		u8	mustOff,
		u8	inputVector
	)

flex_set_home_polarity()

FLEXFUNC flex_set_home_polarity	(	BOARD	,
		u16	homePolarityMap
	)

flex_set_inhibit_momo()

FLEXFUNC flex_set_inhibit_momo	(	BOARD	,
		u8	mustOn,
		u8	mustOff
	)

flex_set_irq_mask()

FLEXFUNC flex_set_irq_mask	(	BOARD	,
		u16	mask
	)

flex_set_limit_polarity()

FLEXFUNC flex_set_limit_polarity	(	BOARD	,
		u8	forwardPolarityMap,
		u8	reversePolarityMap
	)

flex_set_op_mode()

FLEXFUNC flex_set_op_mode	(	BOARD	,
		u8	axisOrVectorSpace,
		u16	operationMode
	)

flex_set_port()

FLEXFUNC flex_set_port	(	BOARD	,
		u8	port,
		u8	mustOn,
		u8	mustOff,
		u8	inputVector
	)

flex_set_port_direction()

FLEXFUNC flex_set_port_direction	(	BOARD	,
		u8	port,
		u16	directionMap
	)

flex_set_port_pol()

FLEXFUNC flex_set_port_pol	(	BOARD	,
		u8	port,
		u16	portPolarityMap
	)

flex_set_status_momo()

FLEXFUNC flex_set_status_momo	(	BOARD	,
		u8	mustOn,
		u8	mustOff
	)

flex_set_stepper_loop_mode()

FLEXFUNC flex_set_stepper_loop_mode	(	BOARD	,
		u8	axis,
		u16	loopMode
	)

flex_setu32()

FLEXFUNC flex_setu32	(	BOARD	,
		u8	resource,
		u16	attribute,
		u32	value
	)

flex_start()

FLEXFUNC flex_start	(	BOARD	,
		u8	axisOrVectorSpace,
		u16	axisOrVSMap
	)

flex_stop_motion()

FLEXFUNC flex_stop_motion	(	BOARD	,
		u8	axisOrVectorSpace,
		u16	stopType,
		u16	axisOrVSMap
	)

flex_stop_prog()

FLEXFUNC flex_stop_prog	(	BOARD	,
		u8	program
	)

flex_sub_vars()

FLEXFUNC flex_sub_vars	(	BOARD	,
		u8	variable1,
		u8	variable2,
		u8	returnVector
	)

flex_wait_for_blend_complete()

FLEXFUNC flex_wait_for_blend_complete	(	BOARD	,
		u8	axisOrVectorSpace,
		u16	axisOrVSMap,
		u32	timeout,
		i32	pollInterval,
		u16 *	blendComplete
	)

flex_wait_for_move_complete()

FLEXFUNC flex_wait_for_move_complete	(	BOARD	,
		u8	axisOrVectorSpace,
		u16	axisOrVSMap,
		u32	timeout,
		i32	pollInterval,
		u16 *	moveComplete
	)

flex_wait_on_condition()

FLEXFUNC flex_wait_on_condition	(	BOARD	,
		u8	resource,
		u16	waitType,
		u16	condition,
		u8	mustOn,
		u8	mustOff,
		u16	matchType,
		u16	timeOut,
		u8	returnVector
	)

flex_write_buffer()

FLEXFUNC flex_write_buffer	(	BOARD	,
		u8	buffer,
		u32	numberOfPoints,
		u16	regenerationMode,
		i32 *	data,
		u8	inputVector
	)

flex_xor_vars()

FLEXFUNC flex_xor_vars	(	BOARD	,
		u8	variable1,
		u8	variable2,
		u8	returnVector
	)