APIs, concepts, guides, and more

◆ MotionIdExecutingGet()

uint16_t MotionIdExecutingGet ( )
MultiAxis::MotionIdExecutingGet retrieves the Motion ID of the currently executing motion.
Each call to a move function (MovePT, MovePVT, etc.) transfers a block of motion slices to the RMP. Each of these are identified by their own Motion ID. The value returned reflects the currently executing motion block, and will be incremented as motion continues through the queued IDs if continuing motion. If using this for managing the point buffer for streaming motion, the points that are sent in each move command must be managed in conjunction with this. See updateBufferPoints.cpp for sample usage.
Example Code:
int curMotionID = multiAxis->MotionIdExecutingGet();
See also
MultiAxis::MotionElementIdExecutingGet, MovePT, MovePVT