Class ApiBufferWatch

Class Documentation

class ApiBufferWatch

This class contains watch options for an API buffer channel.

Public Functions

ApiBufferWatch()

Public Members

bool enableWatch

If this value is TRUE, the watch function will be enabled for this API buffer channel. If any of the axes specified in the watchAxes member of this class is in the servo off, offline, amp alarm, or limit switch triggered state, the execution of the API buffer will stop. If this value is FALSE, the watch function is disabled.

AxisSelection watchAxes

This value is used to specify any number of axes to watch for errors. This value has no effect if the enableWatch member of this class is set to FALSE.

bool enableWatchTriggerRoutine

If this value is TRUE, the API buffer channel specified in the watchTriggerRoutineChannel member of this class is executed when a watch error occurs in this channel. This is used to execute error handling routines such as stopping all axes or generating an emergency stop. This value has no effect if the enableWatch member of this class is set to FALSE.

int watchTriggerRoutineChannel

This value is used to specify the API buffer channel containing the watch trigger routine. The specified API buffer channel is executed when a watch error occurs in this channel. This value has no effect if the enableWatchTriggerRoutine member of this class is set to FALSE.