Code: |
AS + 1003 |
Symbolic: |
bccRpeAxesGroupPositions |
This command will get positions information for the specified axes group of the connected device. Request parameters are the following:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Request flags: (none) |
4 |
U32 |
GID |
Axes group ID |
On success, a bccAck is received with following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Flags (none) |
4 |
U8 |
OPMODE |
Axes group operating mode: 0 = Disabled 1 = Missing power 2 = Manual 3 = Execution 4 = C0 wait 5 = C0 execution 6 = Manual (before C0) 7 = Passive |
5 |
U8 |
- |
(reserved) |
6 |
U32 |
STATE |
Axes group state: 0x1 Axes in deceleration 0x2 Axes in position 0x4 Axes on hold 0x8 Axes on stop 0x10 Axes on emergency stop 0x20 Cartesian movement active |
10 |
FLT |
CP[6] |
Cartesian positions |
34 |
FLT |
JP[30] |
Joint positions |
On failure, a bccNack is received. Specific errors:
NACK code |
Description |
Extra data |
|---|---|---|
nackMissingArgs |
Missing arguments |
|
nackIllegalArgs |
Illegal arguments |
U16 What illegal: 1=Request flags 2=Axes group ID |
nackNotFound |
Axes group not found |
|
nackRpeNotInstalled |
RPE firmware is not installed |
|
