GetGroupAcceleration

Gets a group's acceleration in the selected coordinate system of an axis group.

Syntax

KsError GetGroupAcceleration(
     int Index,
     McCoordSystem CoordSystem,
     McSource Source,
     int BufferLength,
     double* Acceleration,
     double* PathAcceleration
);

Parameters

Index [in]: the index of an axis group. Indexes are zero based. Aliases affect this parameter. You can have up to 32 groups.

CoordSystem [in]: a coordinate system. See the McCoordSystem type.

Source [in]: selects the group's acceleration value to read. See the McSource type. mcCommandedValue is not supported.

BufferLength [in]: the length of the Acceleration array.

Acceleration [out]: the current acceleration of the group. It's the acceleration of the different axes.

PathAcceleration [out]: the current combined path acceleration of the tool center point.

Return value

If the function succeeds, it returns errNoError, otherwise an error code. For more information about the error code, see the KsError list.

Example

N/A

Requirements

	RT	Win32
Minimum supported version	4.0	4.0
Header	ksmotion.h	ksmotion.h
Library	KsApi_Rtss.lib	KsApi.lib