Sets and gets a bit mask indicating the robot axes associated with a robot Exception.
exception_object.Axis =<new_bitmask_value>
-or-
...exception_object.Axis
Prerequisites
Only valid for robot Exceptions.
Parameters
None
Remarks
For robot Exceptions, this property specifies the robot axes or motors associated with the error condition. This value is a bit mask where the least significant bit (&H1) represents the first axis or motor. Up to 12 bits can be set; multiple bits can be set at the same time. E.g., when the error code is -1012 (Joint out-of-range), the Axis property bits indicate which axes violated their software ranges of motion. When a New Exception is created, it defaults to a general Exception not a robot. When an Exception is set to a robot type, the Axis bits are initially all set to 0.
Examples
| Dim excl As New Exception | ' Create new general exception |
| excl.RobotError = True | ' Indicate it's a robot error |
| excl.ErrorCode = -1012 | ' *Joint out-of-range* |
| excl.Axis = &HA | ' Specify axes 2 and 4 |
| Console.WriteLine(excl.Message) | ' *Joint out-of-range* Robot 1: 2 4 |
See Also
Exception Handling | exception_object.RobotError | exception_object.RobotNum