Code: |
AS + 1107 |
Symbolic: |
bccRpeGASessionJogCmd |
This command will send a specific JOG command to a object in a Group Authority session on the connected device. Request parameters are the following:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
SESSID |
Session ID |
4 |
U16 |
OBJTYPE |
Object type: 1=Running PLIB 2=Testing PLIB |
6 |
U8 |
TYPE |
Jog type: 1=Joint 2=Cartesian (absolute) 3=Cartesian (tool) |
7 |
U8 |
- |
(reserved) |
8 |
U32 |
PMASK |
Mask of axes for JOG[+] |
12 |
U32 |
MMASK |
Mask of axes for JOG[-] |
16 |
U32 |
WDT |
Comand watchdog time [ms] |
20 |
U32 |
FLAGS |
Flags: 0x1=Slow speed (10%) 0x2=Snap to grid 0x4=Single step |
On success, a bccAck is received with the no data.
On failure, a bccNack is received. Specific errors:
NACK code |
Description |
Extra data |
|---|---|---|
nackMissingArgs |
Missing arguments |
|
nackIllegalArgs |
Illegal arguments |
U16 What illegal: 1=Session ID 2=Object type 3=JOG type 4=JOG+ mask 5=JOG- mask 6=Watchdog time 7=Flags
|
nackNotFound |
Session not found |
|
nackBusy |
Session is busy, cannot execute the command |
|
nackRpeNotInstalled |
RPE firmware is not installed |
|
nackNotAuthorized |
Operation not authorized |
|
