Code: |
AS + 1002 |
Symbolic: |
bccRpeAxesGroupList |
This command will list all available axes groups of the connected device: this is a standard download transfer sequence.
REQDATA structure is the following:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Request flags: (none) |
If initial request fails, bccNack is received. Specific errors
NACK code |
Description |
Extra data |
|---|---|---|
nackIllegalArgs |
Illegal parameters |
U16 What illegal: 1=Flags |
nackRpeNotInstalled |
RPE firmware is not installed |
|
ITEMDATA structure is the following:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
GID |
Axes group ID |
4 |
U32 |
FLAGS |
Axes group flags (none) |
8 |
U32 |
MJMODEL |
Associated MJ model: 0=None 1=User defined 2=Bridge crane 3=Cross YZ 4=Cross generic 5=Custom 1 6=Custom 2 7=Custom 3 8=Linear parametric |
12 |
U32 |
JCMODEL |
Associated JC model: 0=Cartesian 1=User defined 2=Scara XY 3=Scara XYZ 4=Scara XYZW 5=Anthropomorph 1 6=Anthropomorph 2 7=Cylindric 8=Delta Robot 9=Custom 1 10=Custom 2 11=Custom 3 12=Anthropomorph 3 |
16 |
U32 |
PSETID |
Associated power set ID |
20 |
U16 |
ECMASK |
Enabled cartesian axes mask: 0x1 X 0x2 Y 0x4 Z 0x8 A 0x10 B 0x20 C |
22 |
U32 |
EJMASK |
Enabled joint axes mask: 0x1 J1 0x2 J2 ... 0x10000000 J29 0x20000000 J30 |
26 |
U8 |
NAMESIZE |
Size for field NAME (\0 termination included) |
27 |
STRZ |
NAME |
Axes group name |
