MotionFrameBufferSizeGet()

uint32_t MotionFrameBufferSizeGet ( )

pure virtual

Gets the TrajectoryExecutor's buffer size in frames, one frame is used per RMP sample period.

Returns

(uint32_t) The number of frames in the trajectory executor's buffer. Returns the number of motion frames in the trajectory executor's buffer. This value is set in RobotCreate. The trajectory executor loads a multiple of these buffers when executing motion, so there should be at least this many frames loaded in the RMP memory at all times.

This value (converted to seconds) must be greater than the joints' MultiAxis::EStopTimeGet() value.

If the number of frames loaded by the executor falls below this and there are no more to load, an EStop is issued. Multiply this value by MotionController::SampleRateGet to get the time duration (in seconds) of the buffer. Part of the PathMotion method group.

See also

Path Motion

RobotCreate, MultiAxis::EStopTimeGet(), MultiAxis::EStopTimeSet()

MotionFrameBufferSizeDefault, MotionFrameBufferSizeMinimum