GetGroupVelocity

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

Syntax

KsError GetGroupVelocity(
     int Index,
     McCoordSystem CoordSystem,
     McSource Source,
     int BufferLength,
     double* Velocity,
     double* PathVelocity
);

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 velocity value to read. See the McSource type. mcCommandedValue is not supported.

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

Velocity [out]: the current velocity of the group. It's the velocity of the different axes.

PathVelocity [out]: the current path velocity (calculated by combining the velocity of each axis in the group) 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