debug io status

iodll/Include/MotionControllerBase.h

@@ -37,6 +37,9 @@ public:
     // get the IOs status of the motor
     virtual unsigned short GetMotionIOStatus(const CMtrProfile& mtrProfile);
 
+    // get the IOs status of the motor (standardise bit mask according to 8134/1864 standard)
+    virtual unsigned short GetMotionIOStatusEx(const CMtrProfile& mtrProfile);
+
     //  get Motion status of motor
     virtual int GetMotionStatus(const CMtrProfile& mtrProfile);
 

iodll/Include/MotorBase.h

@@ -215,6 +215,9 @@ public:
     // virtual method to get the motor axis IO status
     virtual int GetMotionIOStatus();
 
+    // virtual method to get the motor axis IO status (standardise bit mask according to 8134/1864 standard)
+    virtual int GetMotionIOStatusEx();
+
     // virtual method to get the Motor Ready Status
     virtual BOOL IsMotorReady();
 
@@ -239,6 +242,9 @@ public:
     // virtual method to get other motor axis IO status
     virtual int GetMotionIOStatus(const CMtrProfile& mtrProfile) = 0;
 
+    // virtual method to get other motor axis IO status (standardise bit mask according to 8134/1864 standard)
+    virtual int GetMotionIOStatusEx(const CMtrProfile& mtrProfile);
+
     // virtual method to get Other axis motor ready status
     virtual BOOL IsMotorReady(const CMtrProfile& mtrProfile);
 

iodll/Include/Motor_1203.h

@@ -43,6 +43,9 @@ public:
     // method to get other motor axis IO status
     int GetMotionIOStatus(const CMtrProfile& mtrProfile) override;
 
+    // method to get other motor axis IO status
+    int GetMotionIOStatusEx(const CMtrProfile& mtrProfile) override;
+
     // method to get other motor axis current position
     bool GetMotorPosition(const CMtrProfile& mtrProfile, double& dRawPosition) override;
 

iodll/Include/Motor_7856.h

@@ -41,6 +41,9 @@ public:
     // method to get other motor axis IO status
     int GetMotionIOStatus(const CMtrProfile& mtrProfile) override;
 
+    // method to get other motor axis IO status
+    int GetMotionIOStatusEx(const CMtrProfile& mtrProfile) override;
+
     // method to get other motor axis current position
     bool GetMotorPosition(const CMtrProfile& mtrProfile, double& dRawPosition) override;
 

iodll/Include/Motor_ADLINK_ECAT.h

@@ -41,6 +41,9 @@ public:
     // method to get other motor axis IO status
     int GetMotionIOStatus(const CMtrProfile& mtrProfile) override;
 
+    // method to get other motor axis IO status
+    int GetMotionIOStatusEx(const CMtrProfile& mtrProfile) override;
+
     // method to get other motor axis current position
     bool GetMotorPosition(const CMtrProfile& mtrProfile, double& dRawPosition) override;