SetConfiguration

virtual void IRelMove::SetConfiguration(const std::tuple<double, double> &configuration) = 0

Sets the distance and end velocity for this relative move.

Parameters

configuration – Tuple containing the distance (element 0) and end velocity (element 1).

Throws

• CInvalidArgumentException – Invalid position or velocity (+/-Inf, NaN).

• CInvalidConfigException – Non-zero end velocity not supported in combination with specified completion criterion.

• CUnsupportedException – Non-zero end velocity is not supported, see product specific documentation.

• CInvalidOperationException – Configuration update not allowed in current command state.

• CCommunicationErrorException – Protocol error.

• CConnectionLostException – Connection to controller lost.

• CRebootedException – Controller has been rebooted since this object reference was retrieved, invalidating this reference.

• CObjectDestroyedException – Object is destroyed.

Remarks

If the requested velocity is higher than the corresponding axis’ configured DemandVelocityLimit, the move command errors out when executed. The maximum move parameters set using the corresponding signals are used for generating the trajectory.