This command is used to save a trajectory into the PMC.
See also: Delete Trajectory, Trajectory Motion
Fieldbus Interface
PMC_SaveTrajectory
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 save to
|
|
nBytes
|
DINT
|
Trajectory file size (in bytes)
|
|
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
|
|
Time Interval
|
REAL
|
Time interval between points in trajectory, in seconds
|
|
Bytes
|
SINT[0..499999]
|
Byte array containing the trajectory file
|
|
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
|
|
Done
|
BOOL
|
Execution successful. Function block is finished. (Note: Done will not become TRUE if Execute is already FALSE) |
|
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. |
Ethernet Interface
PMCRTN SetTrajectory(int trajectoryID, double timeInterval, TrajectoryAxesDefinition axesDefinition, string trajectory)
Parameters
|
Name
|
Type
|
Description
|
|
trajectoryID
|
int
|
ID of the new trajectory.
|
|
timeInterval
|
double
|
Trajectory's time interval in second.
|
|
axesDefinition
|
struct
|
Represents which axes are defined. Default is FALSE for all axis, set to TRUE if the axis is defined.
|
|
trajectory
|
string
|
Trajectory as string.
|
Returns
|
Name
|
Type
|
Description
|
|
PMCRTN
|
PMCRTN enum
|
ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes. |
Conditions
|
Operating Conditions
|
|
Preconditions
|
PMC must be in the INACTIVE state
|
|
Postconditions
|
Specified Trajectory is saved in the PMC
|
Description
This command is used to save a trajectory into the PMC.
