Inherits com.boschrexroth.mlpi.MlpiComponent.

Collaboration diagram for com.boschrexroth.mlpi.Parameter:

Classes
enum	AddressMode

enum	CommandStatus

class	ParameterAddressing

class	ReadEverythingAddressing

class	ReadEverythingData

class	WriteAccessData

Public Member Functions
native String	readDataAsString (String idn, long address)

native String	readMinimumAsString (String idn, long address)

native String	readMaximumAsString (String idn, long address)

native String	readDefaultAsString (String idn, long address)

native String	readName (String idn, long address)

native String	readUnit (String idn, long address)

native int	readAttribute (String idn, long address)

native void	command (String idn, long address)

native void	writeDataAsString (String idn, long address, String data)

native Parameter.CommandStatus	getCommandStatus (String idn, long address)

native boolean	getDataStatus (String idn, long address)

native Parameter.ReadEverythingData[]	readEverything (Parameter.ReadEverythingAddressing[] addressing, int dataLoad)

Parameter.ReadEverythingData	readEverything (Parameter.ReadEverythingAddressing addressing, int dataLoad)

native int	writeAccessSetup (Parameter.ParameterAddressing[] addressing)

native Parameter.WriteAccessData[]	writeAccessStatus (int process, boolean waitForWriteAccess, int timeout)

native void	writeAccessAbort (int process)

Static Public Member Functions
static long	MLPI_ADDRESS (AddressMode mode, long master, long slave)

Static Public Attributes
static final long	MLPI_ADDRESS_SLAVE_MASK = 0x000000000000FFFFL

static final long	MLPI_ADDRESS_MASTER_MASK = 0x00000000FFFF0000L

static final long	MLPI_ADDRESS_MODE_MASK = 0x000000FF00000000L

static final long	MLPI_READ_EVERYTHING_SINGLE_PARAMETER = 8

static final long	MLPI_READ_EVERYTHING_LIST_PARAMETER = 65536

static final long	MLPI_INFINITE = -1

Detailed Description

Class definition of the ParameterLib.

Use the ParameterLib to access parameters on the MLPI device or its slave devices.

Definition at line 70 of file Parameter.java.

Member Function Documentation

static long com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS	(	AddressMode	mode,
		long	master,
		long	slave
	)

inlinestatic

This method creates a correct 64 Bit address identifier.

Parameters

[in]	mode	Address type (logical, physical, topological). Master and slave element of this address identifier are interpreted based on this selection. Use the AddressMode enum to define it.
[in]	master	Master address.
[in]	slave	Slave address.

Returns: The 64 bit address identifier.

Example Java:: long address = Parameter.MLPI_ADDRESS(AddressMode.ADDRESS_MODE_LOGICAL, 0, 1);

Note:: This method maps to the mlpiCore struct MLPI_ADDRESS, where you can find further documentation.

Definition at line 352 of file Parameter.java.

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native String com.boschrexroth.mlpi.Parameter.readDataAsString	(	String	idn,
		long	address
	)

This method reads the value of a parameter and returns it as string. A conversion from other types is performed automatically.

Parameters

[in]	idn	String representation of a SERCOS parameter IDN. For example "S-0-0051", "S-0-1050.0.1", "C-0-0484", "A001:A-0-0100", "S" or "P-100".
[in]	address	Device address identifying the object to be accessed.

Returns: The parameter value as string.

Example Java:: // read a non-string parameter from the device
String data = connection.parameter().readDataAsString("C-0-0080",0);
// print to output
java.lang.System.out.println("Data: " + data);

Note:: This method maps to the mlpiCore function mlpiParameterReadDataString, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

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native String com.boschrexroth.mlpi.Parameter.readMinimumAsString	(	String	idn,
		long	address
	)

This method reads the minimum value of a parameter and returns it as a string. A conversion is performed automatically.

Parameters

[in]	idn	String representation of a SERCOS parameter IDN. For example, "S-0-0051", "S-0-1050.0.1", "C-0-0484", "A001:A-0-0100", "S" or "P-100".
[in]	address	Device address identifying the object to be accessed.

Returns: The parameter minimum value as string.

Example Java:: // read the parameter minimum value from the device
String min = connection.parameter().readMinimumAsString("C-0-0080",0);
// print to output
java.lang.System.out.println("Minimum: " + min);

Note:: This method maps to the mlpiCore function mlpiParameterReadMinimumString, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

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native String com.boschrexroth.mlpi.Parameter.readMaximumAsString	(	String	idn,
		long	address
	)

This method reads the maximum value of a parameter and returns it as a string. A conversion is performed automatically.

Parameters

[in]	idn	String representation of a SERCOS parameter IDN. For example, "S-0-0051", "S-0-1050.0.1", "C-0-0484", "A001:A-0-0100", "S" or "P-100".
[in]	address	Device address identifying the object to be accessed.

Returns: The parameter maximum value as string.

Example Java:: // read the parameter maximum value from the device
String max = connection.parameter().readMinimumAsString("C-0-0080",0);
// print to output
java.lang.System.out.println("Maximum: " + max);

Note:: This method maps to the mlpiCore function mlpiParameterReadMaximumString, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

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native String com.boschrexroth.mlpi.Parameter.readDefaultAsString	(	String	idn,
		long	address
	)

This method reads the default value of a parameter and returns it as a string. A conversion is performed automatically.

Parameters

[in]	idn	String representation of a SERCOS parameter IDN. For example, "S-0-0051", "S-0-1050.0.1", "C-0-0484", "A001:A-0-0100", "S" or "P-100".
[in]	address	Device address identifying the object to be accessed.

Returns: The parameter default value as string.

Example Java:: // read the parameter default value from the device
String def = connection.parameter().readDefaultAsString("C-0-0080",0);
// print to output
java.lang.System.out.println("Default: " + def);

Note:: This method maps to the mlpiCore function mlpiParameterReadDefaultString, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

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native String com.boschrexroth.mlpi.Parameter.readName	(	String	idn,
		long	address
	)

This method reads the name of a parameter.

Parameters

[in]	idn	String representation of a SERCOS parameter IDN. For example, "S-0-0051", "S-0-1050.0.1", "C-0-0484", "A001:A-0-0100", "S" or "P-100".
[in]	address	Device address identifying the object to be accessed.

Returns: The parameter name.

Example Java:: // read the parameter name from the device
String name = connection.parameter().readName("C-0-0080",0);
// print to output
java.lang.System.out.println("Name: " + name);

Note:: This method maps to the mlpiCore function mlpiParameterReadName, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

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native String com.boschrexroth.mlpi.Parameter.readUnit	(	String	idn,
		long	address
	)

This method reads the unit of a parameter.

Parameters

[in]	idn	String representation of a SERCOS parameter IDN. For example, "S-0-0051", "S-0-1050.0.1", "C-0-0484", "A001:A-0-0100", "S" or "P-100".
[in]	address	Device address identifying the object to be accessed.

Returns: The parameter unit.

Example Java:: // read the parameter unit from the device
String unit = connection.parameter().readUnit("C-0-0080",0);
// print to output
java.lang.System.out.println("Unit: " + unit);

Note:: This method maps to the mlpiCore function mlpiParameterReadUnit, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

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native int com.boschrexroth.mlpi.Parameter.readAttribute	(	String	idn,
		long	address
	)

This method reads the attribute of a parameter.

Parameters

[in]	idn	String representation of a SERCOS parameter IDN. For example, "S-0-0051", "S-0-1050.0.1", "C-0-0484", "A001:A-0-0100", "S" or "P-100".
[in]	address	Device address identifying the object to be accessed.

Returns: The parameter attribute.

Example Java:: // read the parameter attribute from the device
int attribute = connection.parameter().readAttribute("C-0-0080",0);
// print to output
java.lang.System.out.println("Attribute: " + attribute);

Note:: This method maps to the mlpiCore function mlpiParameterReadAttribute, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

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native void com.boschrexroth.mlpi.Parameter.command	(	String	idn,
		long	address
	)

This method executes a parameter command. The command will be executed and the function will return when the command was either executed successfully or with an error (function is blocking while executing the command).

Parameters

[in]	idn	String representation of a SERCOS parameter IDN. For example, "S-0-0051", "S-0-1050.0.1", "C-0-0484", "A001:A-0-0100", "S" or "P-100".
[in]	address	Device address identifying the object to be accessed.

Example Java:: // call parameter to clear error
connection.parameter().command("C-0-1030", 0);

Note:: This method maps to the mlpiCore function mlpiParameterCommand, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

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native void com.boschrexroth.mlpi.Parameter.writeDataAsString	(	String	idn,
		long	address,
		String	data
	)

This method writes a value given as a string to a parameter. A conversion is performed automatically if possible.

Parameters

[in]	idn	String representation of a SERCOS parameter IDN. For example, "S-0-0051", "S-0-1050.0.1", "C-0-0484", "A001:A-0-0100", "S" or "P-100".
[in]	address	Device address identifying the object to be accessed.
[in]	data	Input data to be written to the parameter.

Example Java:: // read a non-string parameter from the device
String data = connection.parameter().readDataAsString("C-0-0080",0);
// print to output
java.lang.System.out.println("Write data: " + data);
// write data
connection.parameter().writeDataAsString("C-0-0080", 0, data);

Note:: This method maps to the mlpiCore function mlpiParameterWriteDataString, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

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native Parameter.CommandStatus com.boschrexroth.mlpi.Parameter.getCommandStatus	(	String	idn,
		long	address
	)

This function will return the status of a command execution using enum Parameter.CommandStatus.

Parameters

[in]	idn	String representation of a SERCOS parameter IDN. For example, "S-0-0051", "S-0-1050.0.1", "C-0-0484", "A001:A-0-0100", "S" or "P-100".
[in]	address	Device address identifying the object to be accessed.

Returns: An enumeration showing the current status of the command execution (COMMAND_IN_PROGRESS, COMMAND_INTERRUPTED, etc...).

Note: You may want to look at the sercos specifications for a detailed description of the meaning of the command status.

Example Java:: Parameter.CommandStatus cmdStatus = connection.parameter().getCommandStatus("C-0-1030", 0);
java.lang.System.out.println("Current command status: " + cmdStatus.toString());

Note:: This method maps to the mlpiCore function mlpiParameterReadCommandStatus, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

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native boolean com.boschrexroth.mlpi.Parameter.getDataStatus	(	String	idn,
		long	address
	)

This function will return the data status of a parameter.

Parameters

[in]	idn	String representation of a SERCOS parameter IDN. For example, "S-0-0051", "S-0-1050.0.1", "C-0-0484", "A001:A-0-0100", "S" or "P-100".
[in]	address	Device address identifying the object to be accessed.

Returns: The return value will be TRUE if data status of the parameter is valid.

Note: You may want to look at the sercos specifications for a detailed description of the meaning of the data status.

Example Java:: boolean dataStatus = connection.parameter().getDataStatus("C-0-1030", 0);
java.lang.System.out.println("Current data status: " + dataStatus.toString());

Note:: This method maps to the mlpiCore function mlpiParameterReadDataStatus, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

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native Parameter.ReadEverythingData [] com.boschrexroth.mlpi.Parameter.readEverything	(	Parameter.ReadEverythingAddressing[]	addressing,
		int	dataLoad
	)

This function reads every SERCOS element of a list of given sets of device address and SERCOS parameter IDN.

Parameters

[in]	addressing	Array containing sets of device address and SERCOS parameter IDN (ReadEverythingAddressing).
[in]	dataLoad	Size of buffer in bytes for data exchange used by the mlpiCore function. You can calculate the worst case data load by using MLPI_READ_EVERYTHING_SINGLE_PARAMETER and MLPI_READ_EVERYTHING_LIST_PARAMETER.

Returns: Returns an array containing sets every SERCOS element (ReadEverythingData).

Example Java:: import com.boschrexroth.mlpi.MlpiConnection;
import com.boschrexroth.mlpi.Parameter.ReadEverythingAddressing;
import com.boschrexroth.mlpi.Parameter.ReadEverythingData;
// Request list of C parameter
ReadEverythingAddressing request = new ReadEverythingAddressing(0,"C-0-0110");
ReadEverythingData response = connection.parameter().readEverything(request, 0x8000);
// Build request list of all C parameter
Vector<ReadEverythingAddressing> readEverythingRequestList = new Vector<ReadEverythingAddressing>();
String[] listOfControlParam = response.data.split(" ");
for (String ControlParam : listOfControlParam) {
readEverythingRequestList.add(new ReadEverythingAddressing(0, ControlParam));
}
// Request all C parameter
ReadEverythingData ControlParamData[] = connection.parameter().readEverything((ReadEverythingAddressing[]) readEverythingRequestList.toArray(new ReadEverythingAddressing[readEverythingRequestList.size()]), 0x80000);
readEverythingRequestList.removeAllElements();
for (ReadEverythingData dataset : ControlParamData)
{
System.out.println();
System.out.println("address: " + dataset.address);
System.out.println("idn: " + dataset.idn);
System.out.println("dataStatus: " + dataset.dataStatus);
System.out.println("cmdStatus: " + dataset.cmdStatus);
System.out.println("name: " + dataset.name);
System.out.println("attribute: " + dataset.attribute);
System.out.println("unit: " + dataset.unit);
System.out.println("min: " + dataset.min);
System.out.println("max: " + dataset.max);
System.out.println("data: " + dataset.data);
System.out.println("result: " + dataset.result);
}

Note:: This method maps to the mlpiCore function mlpiParameterReadEverything, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS(), and com.boschrexroth.mlpi.Parameter.readEverything().

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Parameter.ReadEverythingData com.boschrexroth.mlpi.Parameter.readEverything	(	Parameter.ReadEverythingAddressing	addressing,
		int	dataLoad
	)

inline

This function reads every SERCOS element of given set of device address and SERCOS parameter IDN.

Parameters

[in]	addressing	Single set of device address and SERCOS parameter IDN (ReadEverythingAddressing).
[in]	dataLoad	Size of buffer in bytes for data exchange used by the mlpiCore function. You can calculate the worst case data load by using MLPI_READ_EVERYTHING_SINGLE_PARAMETER and MLPI_READ_EVERYTHING_LIST_PARAMETER.

Returns: Returns a single set of every SERCOS element (ReadEverythingData).

Example Java:: import com.boschrexroth.mlpi.MlpiConnection;
import com.boschrexroth.mlpi.Parameter.ReadEverythingAddressing;
import com.boschrexroth.mlpi.Parameter.ReadEverythingData;
import com.boschrexroth.mlpi.Parameter.AddressMode;
// Request list of S parameter
ReadEverythingAddressing request = new ReadEverythingAddressing(AddressMode.ADDRESS_MODE_PHYSICAL, 0, 1,"S-0-0017");
ReadEverythingData response = connection.parameter().readEverything(request, 0x80000);
System.out.println();
System.out.println("address: " + response.address);
System.out.println("idn: " + response.idn);
System.out.println("dataStatus: " + response.dataStatus);
System.out.println("cmdStatus: " + response.cmdStatus);
System.out.println("name: " + response.name);
System.out.println("attribute: " + response.attribute);
System.out.println("unit: " + response.unit);
System.out.println("min: " + response.min);
System.out.println("max: " + response.max);
System.out.println("data: " + response.data);
System.out.println("result: " + response.result);

Note:: This method maps to the mlpiCore function mlpiParameterReadEverything, where you can find further documentation.

Definition at line 654 of file Parameter.java.

References com.boschrexroth.mlpi.Parameter.readEverything(), com.boschrexroth.mlpi.Parameter.writeAccessAbort(), com.boschrexroth.mlpi.Parameter.writeAccessSetup(), and com.boschrexroth.mlpi.Parameter.writeAccessStatus().

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native int com.boschrexroth.mlpi.Parameter.writeAccessSetup ( Parameter.ParameterAddressing[] addressing )

This function initializes a monitoring of parameters on a write access of the operation data. Not the modification of the operation data is monitored, but the write access. A process is started in the control. The status of this process can be read via the function writeAccessStatus. The process can be stopped via the function writeAccessAbort.

Note:: A process is related to the connection that initialized the process. If the connection is terminated also the process will be stopped and the handle is not longer Valid.
If the option 'auto_reconnect' is used for the connection and the connection is terminated, the process will also be stopped. A new monitoring will not automatically be initialized.

Parameters

[in] addressing Set of device address and SERCOS parameter IDN (ParameterAddressing).

Returns: Handle to the created process.

Example Java:: import com.boschrexroth.mlpi.MlpiConnection;
import com.boschrexroth.mlpi.Parameter;
// monitor write access of parameter C-0-0400 and A-0-0024 of Axis 1
Vector<Parameter.ParameterAddressing> writeAccess = new Vector<Parameter.ParameterAddressing>();
writeAccess.add(new Parameter.ParameterAddressing(0, "C-0-0400"));
writeAccess.add(new Parameter.ParameterAddressing(1, "A-0-0024"));
int process = connection.parameter().writeAccessSetup((Parameter.ParameterAddressing[]) writeAccess.toArray(new Parameter.ParameterAddressing[writeAccess.size()]));
if(0 == process)
{
System.out.println("error during initialization of write access monitoring");
return;
}
System.out.println("process: " + process);

Note:: This method maps to the mlpiCore function mlpiParameterWriteAccessSetup, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.readEverything().

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native Parameter.WriteAccessData [] com.boschrexroth.mlpi.Parameter.writeAccessStatus	(	int	process,
		boolean	waitForWriteAccess,
		int	timeout
	)

This function reads the status of a write access monitoring process. Process has be initialized via the function writeAccessSetup.

Parameters

[in]	process	Handle of process.
[in]	waitForWriteAccess	Set this value 'true' to call this function synchronously. The function returns in this case if one monitored parameter has been written.
[in]	timeout	Timeout in milliseconds if the value of 'waitForWriteAccess' is 'true'. Use MLPI_INFINITE for infinite wait.

Returns: Returns an array containing the data of all written parameters (WriteAccessData).

Example Java:: import com.boschrexroth.mlpi.MlpiConnection;
import com.boschrexroth.mlpi.Parameter;
// monitor write access of parameter C-0-0400 and A-0-0024 of Axis 1
Vector<Parameter.ParameterAddressing> writeAccess = new Vector<Parameter.ParameterAddressing>();
writeAccess.add(new Parameter.ParameterAddressing(0, "C-0-0400"));
writeAccess.add(new Parameter.ParameterAddressing(1, "A-0-0024"));
int process = connection.parameter().writeAccessSetup((Parameter.ParameterAddressing[]) writeAccess.toArray(new Parameter.ParameterAddressing[writeAccess.size()]));
if(0 == process)
{
System.out.println("error during initialization of write access monitoring");
return;
}
System.out.println("process: " + process);
// modify parameter C-0-0400 and A-0-0024 of Axis 1
connection.parameter().writeDataAsString("C-0-0400", 0, "4000");
connection.parameter().writeDataAsString("A-0-0024", 1, "0");
// get status of process
Parameter.WriteAccessData[] writtenParameters = connection.parameter().writeAccessStatus(process, false, 0);
if(null == writtenParameters)
{
System.out.println("write access status not working");
return;
}
for (Parameter.WriteAccessData data : writtenParameters)
{
System.out.println("address: " + data.address);
System.out.println("idn: " + data.idn);
}

Note:: This method maps to the mlpiCore function mlpiParameterWriteAccessStatus, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.readEverything().

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native void com.boschrexroth.mlpi.Parameter.writeAccessAbort ( int process )

This function aborts a write access monitoring process.

Parameters

[in] process Handle of process.

Example Java:: import com.boschrexroth.mlpi.MlpiConnection;
import com.boschrexroth.mlpi.Parameter;
// monitor write access of parameter C-0-0400 and A-0-0024 of Axis 1
Vector<Parameter.ParameterAddressing> writeAccess = new Vector<Parameter.ParameterAddressing>();
writeAccess.add(new Parameter.ParameterAddressing(0, "C-0-0400"));
writeAccess.add(new Parameter.ParameterAddressing(1, "A-0-0024"));
int process = connection.parameter().writeAccessSetup((Parameter.ParameterAddressing[]) writeAccess.toArray(new Parameter.ParameterAddressing[writeAccess.size()]));
if(0 == process)
{
System.out.println("error during initialization of write access monitoring");
return;
}
System.out.println("process: " + process);
// cancel process
connection.parameter().writeAccessAbort(process);

Note:: This method maps to the mlpiCore function mlpiParameterwriteAccessAbort, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Parameter.readEverything().

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Member Data Documentation

final long com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS_SLAVE_MASK = 0x000000000000FFFFL

static

This definition masks the slave address of an address identifier.

Definition at line 76 of file Parameter.java.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

final long com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS_MASTER_MASK = 0x00000000FFFF0000L

static

This definition masks the master address of an address identifier.

Definition at line 78 of file Parameter.java.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

final long com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS_MODE_MASK = 0x000000FF00000000L

static

This definition masks the address mode of an address identifier.

Definition at line 80 of file Parameter.java.

Referenced by com.boschrexroth.mlpi.Parameter.MLPI_ADDRESS().

final long com.boschrexroth.mlpi.Parameter.MLPI_READ_EVERYTHING_SINGLE_PARAMETER = 8

static

This definition helps you to calculate the maximum (worst case) required data load (bytes) for a single parameter on a readEverything request.

Definition at line 83 of file Parameter.java.

final long com.boschrexroth.mlpi.Parameter.MLPI_READ_EVERYTHING_LIST_PARAMETER = 65536

static

This definition helps you to calculate the maximum (worst case) required data load (bytes) for a list parameter on a readEverything request.

Definition at line 85 of file Parameter.java.

final long com.boschrexroth.mlpi.Parameter.MLPI_INFINITE = -1

static

Infinite timeout value.

Definition at line 87 of file Parameter.java.

The documentation for this class was generated from the following file:

Parameter.java

Classes

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Detailed Description

Member Function Documentation

Member Data Documentation