kernelv_ch_get_decoder_positions()

Prototype

KERNELV_RETURN

kernelv_ch_get_decoder_positions (unsigned long int chanIndex,
                                                          void* ret_buffer,
                                                          unsigned long int  buffer_size,
                                                          unsigned long int *ret_length));

Description

This function requests the decoder for the currently active axis positions in the machine coordinates and in the programming coordinates.

The values returned by the function are written to the memory area that points to the buffer. The size of this memory area must be specified in the buffer_size variable. The actual size of the returned data is returned in ret_length. If the returned data does not fit in the memory area provided, the error code ERR_CNC_RET_MEMORY is returned. In this case ret_length contains the memory size required for the return.

The returned data has the following structure. The individual data elements of the structures are packed in the memory:

Byte index	Type	Meaning
0	KERNELV_DECODER_POSITION_HEADER	For general data about the decoder positions supplied, see 2.2.24. Enter the number of the following structures of type KERNELV_DECODER_POSITION_DATA in the axis_count element.
11	KERNELV_DECODER_POSITION_DATA	Axis positions and axis number of the 1st axis. For structure definition, see 2.2.25
25	KERNELV_DECODER_POSITION_DATA	Axis positions and axis number of the 2nd axis. For structure definition, see 2.2.25
39	…	...

Since the maximum possible number of axes in the channel is currently limited to 32, the maximum size of the return value is 459 bytes.

Parameter

Name	Type	Meaning
chanIndex	unsigned long	Index of the channel
ret_buffer	void*	Pointer to the memory area to which the return data is to be written.
buffer_size	unsigned long	Size of the provided memory area in bytes.
ret_Length	unsigned long*	Pointer to the memory area to which the actually returned bytes are to be written.

Return values

Symbol	Value	Meaning
RET_FINISHED	0	The function was executed without error.
ERR_CNC_NOT_INIT	-3	The simulation CNC kernel was not yet initialised.
ERR_INVALID_CHAN	-1	The transferred channel index is higher than the number of configured channels -1
ERR_CNC_RET_MEMORY	-4	The return value(s) does/do not fit into the memory provided.