Save Trajectory

This command is used to save a trajectory into the PMC.

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 PMC Reply Codes.

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.

Operating Conditions
Preconditions	PMC must be in the INACTIVE state
Postconditions	Specified Trajectory is saved in the PMC

This command is used to save a trajectory into the PMC.