kernelv_ch_get_status_singularity_avoidance()

Prototype

KERNELV_RETURN

kernelv_ch_get_status_singularity_avoidance (unsigned long int chanIndex, unsigned char *active);

Description

Reads out the current activity status of singularity avoidance in the specified channel. Returns the activity status, i.e. whether the currently interpolated motion block should avoid a kinematic singularity.

Parameter

Name

Type

Meaning

chanIndex

unsigned long

Channel index of the channel from which the variable is to be read.

active

unsigned char*

Pointer to the activity status
(1/TRUE = active, 0/FALSE = inactive)

Return values

Symbol

Value

Meaning

RET_FINISHED

0

The function was executed without error.

ERR_INVALID_CHAN

-1

The transferred channel index is higher than the number of configured channels –1

ERR_CNC_NOT_INIT

-3

The simulation CNC kernel was not yet initialised.