| Scalar Attributes |
| Attribute name |
Data Type |
R/W Type |
Expert |
| velocity: Velocity of a linear movement, in user unit. |
DEV_DOUBLE | READ_WRITE | No |
| accelerationTime: Current CS acceleration time, in s. |
DEV_DOUBLE | READ_WRITE | Yes |
| decelerationTime: Current CS deceleration time, in s. |
DEV_DOUBLE | READ_WRITE | Yes |
| freeze: If set to true, position setpoints are memorized and applied on true -> false transition. If false, a position setpoint is immediately applied. |
DEV_BOOLEAN | READ_WRITE | No |
| movingMode: Type of movement, among: 0 = rapid, 1 = linear, 2 = spline, 3 = PVT, 4 = circle. |
DEV_USHORT | READ_WRITE | Yes |
| motionProgramState: Current motion program state |
DEV_STRING | READ | No |
| accelSCurve: Current S-curve portion of the acceleration, in s. |
DEV_DOUBLE | READ_WRITE | Yes |