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BscImov
FUNCTION: Moves robot with linear motion form the current position for the
increment value in a specified frame system.
FORMAT: _declspec( dllexport ) short APIENTRY BscImov(short nCid,char
*vtype,double spd,char *framename,short toolno,double *p)
ARGUMENTS: IN（Transfer）
nCid Communication handler ID number
*vtype Move speed selection; V：Control point; VR：Position angular
spd Move speed （０．１ to □□□□．□mm/s,０．１ to □□□．□°/s）
*framename Coordinate name; BASE：Base coordinate; ROBOT：Robot coordinate;
UF1：User coordinate１...
TOOL:Tool coordinate (Only for NX100/XRC/MRC)
toolno Tool number
*p Target position storage pointer
OUT（Return）
None
Return Value
０：Normal completion
Others: Error codes
REMARKS: Target Position
The target position is represented as follows.
Target position in specified coordinate system
P[0] X-axis coordinate system (unit: mm)
P[1] Y-axis coordinate system (unit: mm)
P[2] Z-axis coordinate system (unit: mm)
P[3] Wrist angle TX (unit: ゜)
P[4] Wrist angle TY (unit: ゜)
P[5] Wrist angle TZ (unit: ゜)
P[6] 7th axis pulse number (mm for traveling axis)
P[7] 8th axis pulse number (mm for traveling axis)
P[8] 9th axis pulse number (mm for traveling axis)
P[9] 10th axis pulse number
P[10] 11th axis pulse number
P[11] 12th axis pulse number
* Set “0” for data P[7] to P[11] if the system has no external axis.
- MOTOCOM32 OPERATION MANUAL 1
- CONTENTS 3
- 1. INTRODUCTION 6
- 【Configuration Example 2】 7
- 【Configuration Example 3】 7
- HOLDCASE 9
- 2. SETUP 10
- ■Hardware settings 12
- ■Windows Network settings 12
- ■Hardware settings 15
- ■Parameter settings 15
- 2.3 Restrictions 16
- ■CMOS batch storage 18
- 6. CREATING A TRANSMISSION 19
- APPLICATION 19
- 6.1 Outline 20
- 6.2 Using Visual Basic 20
- 6.3 Using Visual C++ 23
- Procedure 25
- 7.1 Outline 30
- BscDownLoad 32
- BscUpLoad 33
- BscDownLoadEx 34
- BscUpLoadEx 35
- 7.3 Robot Control Function 36
- System Control 37
- BscFindFirst 38
- BscFindFirstMaster 39
- BscFindNext 40
- BscFindNextMaster 41
- BscGetCtrlGroup 42
- BscGetCtrlGroupXrc 43
- BscGetError 45
- BscGetError2 46
- BscGetFirstAlarm 47
- BscGetFirstAlarmS 48
- BscGetNextAlarm 49
- BscGetNextAlarmS 50
- BscGetStatus 51
- BscGetUFrame 52
- Variable type 53
- BscGetVarData 54
- BscGetVarData2 57
- BscHostGetVarData 60
- Coordinate Types 61
- BscHostGetVarDataM 63
- BscIsAlarm 64
- BscIsCtrlGroup 65
- BscIsCtrlGroupXrc 66
- BscIsCycle 67
- BscIsError 68
- BscIsHold 69
- BscIsJobLine 70
- BscIsJobName 71
- BscIsJobStep 72
- BscIsLoc 73
- Current Position 74
- BscIsPlayMode 75
- BscIsRemoteMode 76
- BscIsRobotPos 77
- BscIsServo 79
- BscIsTaskInf 80
- BscIsTaskInfXrc 81
- BscIsTeachMode 82
- BscJobWait 83
- BscReadAlarmS 84
- BscCancel 85
- BscChangeTask 86
- BscContinueJob 87
- BscConvertJobP2R 88
- BscConvertJobR2P 89
- BscDeleteJob 90
- BscHoldOn 91
- BscHoldOff 92
- BscHostPutVarData 93
- Coordinate Types 95
- BscHostPutVarDataM 96
- BscImov 97
- BscMDSP 99
- 100
- Target Position 101
- BscMovj 102
- BscMovl 104
- BscOPLock 106
- BscOPUnLock 107
- BscPMov 108
- BscPMovj 109
- BscPMovl 110
- BscPutUFrame 111
- BscPutVarData 113
- BscPutVarData2 116
- BscStartJob 119
- BscSelectJob 120
- BscSelectMode 121
- BscSelLoopCycle 122
- BscSelOneCycle 123
- BscSelStepCycle 124
- BscSetLineNumber 125
- BscSetMasterJob 126
- BscReset 127
- BscSetCtrlGroup 128
- BscSetCtrlGroupXrc 129
- BscServoOff 131
- BscServoOn 132
- 7.4 DCI Funtion 133
- BscDCILoadSave 134
- BscDCILoadSaveOnce 135
- BscDCIGetPos 136
- Variables 137
- BscDCIGetPos2 138
- BscDCIGetVarData 140
- BscDCIPutPos 142
- BscDCIPutPos2 144
- BscDCIPutVarData 146
- BscReadIO 149
- List of I/O Signals 150
- BscReadIO2 151
- BscWriteIO 153
- BscWriteIO2 155
- 7.6 Other Functions 157
- BscClose 158
- BscCommand 159
- BscConnect 160
- BscDisConnect 161
- BscDiskFreeSizeGet 162
- BscEnforcedClose 163
- BscGets 164
- BscInBytes 165
- BscIsErrorCode 166
- BscOpen 167
- BscOutBytes 168
- BscPuts 169
- BscReConnect 170
- BscReStartJob 171
- BscSetBreak 172
- BscSetCom 173
- BscSetEServerMode 174
- BscSetEther 175
- BscSetCondBSC 176
- BscStatus 177
- Read/Monitoring System 178
- Read/Data Access System 178
- Operation System 179
- Editing System 179
- Job Selection System 179
- Startup System 179
- Other DLL Functions 180
- 7.7.5 Other DLL Functions 181
- Control Function 182
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