/AllProperties
Gets all properties of all motors.
{
"Motors": [
{
"Acceleration": 25,
"ActualPosition": 19,
"ActualPositionInSuperUnits": 0,
"ActualPositionInUnits": 0,
"Affix": 0,
"Current": 34,
"Factor": 0,
"ForbiddenRanges": [
{
"From": 0,
"IsEnabled": true,
"To": 0
},
{
"From": 0,
"IsEnabled": true,
"To": 0
}
],
"Index": 86,
"IsHoming": false,
"IsLeftSwitchPressed": false,
"IsRightSwitchPressed": false,
"MaximalPosition": 42,
"MaximalPositionInUnits": 0,
"MaximalVelocity": 32,
"MinimalPositionInUnits": 0,
"MinimalVelocity": 94,
"NamedPositions": [
{
"Name": "Untitled",
"Position": 17,
"ShortName": ""
},
{
"Name": "Untitled",
"Position": 94,
"ShortName": ""
}
],
"PulseDivision": 26,
"RampDivision": 16,
"StepDivision": 42,
"SuperUnitsCalculator": {
"Expression": "x",
"ParserType": 0,
"UnitName": "",
"ValidUnitsRange": {
"From": -1E+300,
"To": 1E+300
}
},
"TargetPosition": 89,
"TargetPositionInSuperUnits": 0,
"TargetPositionInUnits": 0,
"Title": "Local High School Dropouts Cut in Half",
"UnitName": "year",
"ZeroOffset": 5
},
{
"Acceleration": 35,
"ActualPosition": 47,
"ActualPositionInSuperUnits": 0,
"ActualPositionInUnits": 0,
"Affix": 0,
"Current": 91,
"Factor": 0,
"ForbiddenRanges": [
{
"From": 0,
"IsEnabled": true,
"To": 0
},
{
"From": 0,
"IsEnabled": true,
"To": 0
}
],
"Index": 95,
"IsHoming": false,
"IsLeftSwitchPressed": false,
"IsRightSwitchPressed": false,
"MaximalPosition": 44,
"MaximalPositionInUnits": 0,
"MaximalVelocity": 37,
"MinimalPositionInUnits": 0,
"MinimalVelocity": 19,
"NamedPositions": [
{
"Name": "Untitled",
"Position": 37,
"ShortName": ""
},
{
"Name": "Untitled",
"Position": 49,
"ShortName": ""
}
],
"PulseDivision": 9,
"RampDivision": 95,
"StepDivision": 81,
"SuperUnitsCalculator": {
"Expression": "x",
"ParserType": 0,
"UnitName": "",
"ValidUnitsRange": {
"From": -1E+300,
"To": 1E+300
}
},
"TargetPosition": 19,
"TargetPositionInSuperUnits": 0,
"TargetPositionInUnits": 0,
"Title": "Officials Determine Crash Occured When Plane Hit the Ground",
"UnitName": "cosby",
"ZeroOffset": 53
}
]
}/PropertiesThatChangeOften
Gets often-changing properties properties of all motors.
[
{
"ActualPosition": 75,
"ActualPositionInSuperUnits": 0,
"ActualPositionInUnits": 0,
"Index": 38,
"IsHoming": false,
"IsLeftSwitchPressed": false,
"IsRightSwitchPressed": false,
"TargetPosition": 69,
"TargetPositionInSuperUnits": 0,
"TargetPositionInUnits": 0
},
{
"ActualPosition": 69,
"ActualPositionInSuperUnits": 0,
"ActualPositionInUnits": 0,
"Index": 23,
"IsHoming": false,
"IsLeftSwitchPressed": false,
"IsRightSwitchPressed": false,
"TargetPosition": 25,
"TargetPositionInSuperUnits": 0,
"TargetPositionInUnits": 0
}
]?id={motorIndex}
Gets all properties of specific motor. If requested motor is not found or is not available due hardware failure error code 404 is returned.
Example request Uri: ?id=148
{
"Acceleration": 18,
"ActualPosition": 97,
"ActualPositionInSuperUnits": 0,
"ActualPositionInUnits": 0,
"Affix": 0,
"Current": 14,
"Factor": 0,
"ForbiddenRanges": [
{
"From": 0,
"IsEnabled": true,
"To": 0
},
{
"From": 0,
"IsEnabled": true,
"To": 0
}
],
"Index": 57,
"IsHoming": false,
"IsLeftSwitchPressed": false,
"IsRightSwitchPressed": false,
"MaximalPosition": 64,
"MaximalPositionInUnits": 0,
"MaximalVelocity": 92,
"MinimalPositionInUnits": 0,
"MinimalVelocity": 4,
"NamedPositions": [
{
"Name": "Untitled",
"Position": 97,
"ShortName": ""
},
{
"Name": "Untitled",
"Position": 59,
"ShortName": ""
}
],
"PulseDivision": 52,
"RampDivision": 68,
"StepDivision": 31,
"SuperUnitsCalculator": {
"Expression": "x",
"ParserType": 0,
"UnitName": "",
"ValidUnitsRange": {
"From": -1E+300,
"To": 1E+300
}
},
"TargetPosition": 26,
"TargetPositionInSuperUnits": 0,
"TargetPositionInUnits": 0,
"Title": "Woman Believed to be Alive Hourse Before Found Dead",
"UnitName": "ennui",
"ZeroOffset": 16
}/ActualPosition?id={motorIndex}
Gets actual position of motor in steps. Position is synced with hardware asynchronously.
Example request Uri: /ActualPosition?id=201
202
/TargetPosition?id={motorIndex}
Gets target position of motor in steps.
Example request Uri: /TargetPosition?id=138
9
/ActualPositionInUnits?id={motorIndex}
Gets actual position of motor in units (typically mm or deg). Position is synced with hardware asynchronously.
Example request Uri: /ActualPositionInUnits?id=263
955.7056431452304
/TargetPosition?id={motorIndex}
Sets target position in steps and starts moving motor towards it. Invalid positions are silently ignored. See /ActualPosition to know when (and if) motor reaches target position.
Example request Uri: /TargetPosition?id=29
128
/TargetPositionRelative?id={motorIndex}
Sets target position in steps relative to current target position and starts moving motor towards it. Invalid positions are silently ignored. See /ActualPosition to know when (and if) motor reaches target position.
Example request Uri: /TargetPositionRelative?id=214
282
/TargetPositionInUnits?id={motorIndex}
Sets target position in units and starts moving motor towards it. Invalid positions are silently ignored. See ActualPositionInUnits to know when (and if) motor reaches target position.
Example request Uri: /TargetPositionInUnits?id=286
531.00597557192941
/TargetPositionInSuperUnits?id={motorIndex}
Sets target position in super units and starts moving motor towards it. Invalid positions are silently ignored. See ActualPositionInSuperUnits to know when (and if) motor reaches target position.
Example request Uri: /TargetPositionInSuperUnits?id=13
451.33612698471927
/Stop?id={motorIndex}
Stop motor.
Example request Uri: /Stop?id=152
/StopAll
Stop all motors.
/LastHomingProcedureResult?id={motorIndex}
Returns result of last homing procedure for this motor. Results are not saved to persistent storage. If no reset procedures were performed for this motor or motor index is invalid error code 404 (Not found) is returned.
Example request Uri: /LastHomingProcedureResult?id=244
{
"FailureDescription": "",
"IsSuccessful": false,
"LatchedPositionDifference": 46
}/Home?id={motorIndex}
Start motor homing procedure. See /GetMotorLastHomingResult for result after homing has finished. Check IsHoming motor property to know when homing procedure has ended.
Example request Uri: /Home?id=218
/StopHoming?id={motorIndex}
Stops homing procedure command.
Example request Uri: /StopHoming?id=273