◆ MotionElementIdExecutingGet()

uint16_t MotionElementIdExecutingGet ( )

Description:: MultiAxis::MotionElementIdExecutingGet retrieves the Motion Element ID of the currently executing motion.

Note: In commanding motion (MovePT, MovePVT, etc.) a block of motion slices are sent to the RMP. This is stored as an array of motion and time slices. This function call returns the index of this array that the controller is currently on with the controller incrementing the value as it executes each motion slice. When continuing motion, if an array is exhausted and there is another queued motion block, the Motion ID (MultiAxis::MotionIdExecutingGet) is incremented and the index of the Motion Element ID is reset to 0. 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 curMotionElementID = multiAxis->MotionElementIdExecutingGet();