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 |
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. |