Code: |
AS + 1105 |
Symbolic: |
bccRpeGASessionObjStatus |
This command will query status for an 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 |
U32 |
WDT |
Watchdog time [ms] |
Notes:
•This command also contain watchdog information, so if you periodically use this command you have no need to send the bccRpeGASessionWd message manually.
On success, a bccAck is received with the following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
STATE |
Object state: 0x1 Loaded 0x2 Execution ready 0x4 Execution active 0x8 Execution paused 0x10 Hold active 0x20 Stop request active 0x40 Hold request active 0x80 Step execution active 0x100 Backward execution active 0x200 Initial positioning active |
4 |
U32 |
ECMD |
Enabled object commands: 0x1 Set current 0x2 Start 0x4 Stop 0x8 Step 0x10 Hold 0x20 Unhold 0x40 Backward direction 0x80 Initial position 0x100 Joint JOG 0x200 Cartesian JOG 0x400 Update point quote |
8 |
U32 |
PATHID |
Executing path ID |
12 |
U32 |
STEPID |
Executing step ID |
16 |
U8 |
PATHCP |
Executing path completation % |
17 |
U8 |
STEPCP |
Executing step completation % |
18 |
FLT |
PATHTLEN |
Path total length [unit] |
22 |
FLT |
PATHELEN |
Path executed length [unit] |
26 |
FLT |
PATHTTIME |
Path total time [s] |
30 |
FLT |
PATHETIME |
Path executed time [s] |
34 |
FLT |
STEPTLEN |
Step total length [unit] |
38 |
FLT |
STEPELEN |
Step executed length [unit] |
42 |
FLT |
STEPTTIME |
Step total time [s] |
46 |
FLT |
STEPETIME |
Step executed time [s] |
50 |
FLT |
TSPE |
Current tangential speed [unit/s] |
54 |
FLT |
TACC |
Current tangential acceleration [unit/s2] |
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=Watchdog time |
nackNotFound |
Session not found |
|
nackRpeNotInstalled |
RPE firmware is not installed |
|
nackNotAutorhized |
Operation not authorized |
|
