This command is used to read the details of a trajectory saved in the PMC.
See also: Save Trajectory
Fieldbus Interface
PMC_ReadTrajectoryHash
Inputs
Name | Data Type | Description |
|---|
Execute | BOOL | Execution of the function block begins on a rising edge of this input. |
TrajID | USINT | Trajectory ID to get details about |
PM_Controller | PMControllerType | Data structure that specifies which PMC to connect to. There should be only 1 instance of this variable for each connected PMC. |
Outputs
Name | Data Type | Description |
|---|
Valid | BOOL | TRUE: output values are valid. FALSE: output values are invalid. |
Busy | BOOL | Function block is active and must continue to be called. |
Aborted | BOOL | Command aborted by another command. |
Error | BOOL | If there is an error in processing the command, then Error = TRUE, otherwise, FALSE. |
ErrorID | UINT | 0x0: All OK. Otherwise, please see PMC Reply Codes. |
Axises | USINT | Bitmap of axis contained in the trajectory. Bit 0: X, Bit 1: Y, Bit 2: Z, Bit 3: Rx, Bit 4: Ry, Bit 5: Rz, Bit 6: PMC DO |
TimeInterval | REAL | Time interval between points in trajectory, in seconds |
TrajHash | USINT[0..15] | MD5 hash of the trajectory file |
Conditions
Operating Conditions |
|---|
Preconditions | None |
Postconditions | Information received for the specified trajectory |
Description
This command is used to obtain information about a trajectory stored in the PMC.
