Code: |
AS + 1100 |
Symbolic: |
bccRpeGASessionBegin |
This command will begin a new group authority session for a specified axes group. Request parameters are the following:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Session flags: (none) |
4 |
U32 |
GID |
Axes group ID |
8 |
U32 |
WDT |
Watchdog time [ms] (initial value) |
12 |
U8[8] |
SAK |
Security Authorization Key (contact Robox SPA for more information) |
On success, a bccAck is received with following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
SESSID |
Session ID |
4 |
U32 |
MAXWDT |
Maximum allowed watch dog time [ms] (0=any value) |
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 |
|
nackNotAuthorized |
Operation not authorized |
|
