URL

/rw/motionsystem

Method

GET

URL Params

continue-on-err={1|0}

Continues the execution even if any error occurs and default value is 0

resource={modal-payload-mode|absacc-active|poll-rate|change-count|mechunit-name}.This URL parameter can be used for filtering.

See Common URL parameters

Data Params

None

Success Response

HTTP_OK(200), see HTTP Status codes

Example Response

<?xml version="1.0" encoding="UTF-8"?>
<html xmlns="http://www.w3.org/1999/xhtml">
    <head>
        <title>motionsystem</title>
        <base href="http://localhost/rw/"/>
    </head>
    <body>
        <div class="state">
            <a href="motionsystem" rel="self"/>
            <a href="motionsystem?action=show" rel="action"/>
            <ul>
                <li class="ms" title="motionsystem">
                    <span class="change-count">2</span>
                    <span class="mechunit-name">ROB_1</span>
                    <span class="poll-rate">60</span>
                    <span class="modal-payload-mode">ON</span>
                    <span class="absacc-active">ON</span>
                </li>
                <li class="ms-change-count-li" title="change-count">
                    <a href="motionsystem/checkchangecount" rel="self"/>
                </li>
                <li class="ms-mechunit-li" title="mechunit">
                    <a href="motionsystem/mechunits" rel="self"/>
                </li>
                <li class="ms-errorstate-li" title="errorstate">
                <a href="motionsystem/errorstate" rel="self"/>
                </li>
                <li class="ms-motionsupervision-li" title="motionsupervision">
                    <a href="motionsystem/motionsupervision" rel="self"/>
                </li>
                <li class="ms-pathsupervision-li" title="pathsupervision">
                 <a href="motionsystem/pathsupervision" rel="self"/>
                </li>
                <li class="ms-nonmotion-execution-mode-li" title="nonmotion-execution-mode">
                 <a href= "motionsystem/nonmotionexecution" rel="self"/>
                </li>
            </ul>
        </div>
    </body>
</html>

Resources

motionsystem = domain name
- change-count = counter to keep count for every change in the motion system(domain)
- mechunit-name = name of the mechanical unit
- poll-rate = polling rate
- err-state = error state
- err-count = error count
- modal-payload_mode = modal payload mode
- absacc-active = absolute accuracy active
mechunit, motionsupervision, jogdata, incstepsizes = different functionalities which come under the motionsystem root resource. Refer individual documents for more information.

Error Response

BAD_REQUEST(400)

Robot controller errors, see Robot controller return codes

Sample Call

curl --digest -u "Default User":robotics "http://localhost/rw/motionsystem"

Note

Retcode is provided if API fails

Not supported in Boot server mode