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 have been successfully read. FALSE: unable to obtain output values. |
|
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 Fieldbus 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.
