Code: |
AS + 1109 |
Symbolic: |
bccRpeGASessionUpdateObjStepInlinePointP |
This command will send a request to update positions for a specific objet's inline point of the specified step 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 |
PTYPE |
Position type: 1=Joint 2=Cartesian |
7 |
U8 |
- |
(reserved) |
8 |
U32 |
PATHID |
Path ID |
12 |
U32 |
STEPID |
Step ID |
16 |
U32 |
POINTIX |
Point index |
20 |
U32 |
PMASK |
Mask of updating positions |
24 |
FLT |
P[30] |
Positions |
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=Position type 4=Path ID 5=Step ID 6=Point index 7=Positionmask 10+i=Position[i] |
nackNotFound |
Not found |
U16 What not found: 1=Session 2=Point |
nackBusy |
Session is busy, cannot execute the command |
|
nackRpeNotInstalled |
RPE firmware is not installed |
|
nackNotAuthorized |
Operation not authorized |
|
