This document serves as a quick reference guide for the functions in MotoCom C++ Library. For more information about this library, consult the manual included with the SDK installation.
The format is as follows:
Function Name: if there is an asterisk by the name, there are remarks about the usage of this function in the manual.
SUMMARY:
A short description of the function.
FUNCTION PROTOTYPE:
The function prototype as seen in the MotoCom.h file. Note that “declspec( dllexport )” is defined as DECSPCEX in the header.
PARAMETERS:
The names and a short description of the function. If the description is notated “OUT”, this parameter contains output from the function when it returns.
RETURN VALUES:
Expected return values and their meaning.
BscDownload
SUMMARY:
Sends a specified file to the robot controller.
Function Prototype:
declspec( dllexport ) short APIENTRY BscDownLoad(short nCid,char *fname);
PARAMETERS:
nCid : Communication handler ID number
*fname : File name to be sent.
RETURN VALUES:
0 : Normal completion
Others : Transmission error
BscDownloadEx
SUMMARY:
Sends a specified file to the robot controller. A directory where the sending file exists can be specified.
Function Prototype:
declspec( dllexport ) short APIENTRY BscDownLoadEx(short nCid,char *fname, char *path, BOOL nFlg);
PARAMETERS:
nCid : Communication handler ID number
*fname : File name to be sent
*path : Diretory path of sending source data
nFlg : TRUE : Changes the directory temporarily and restores it at the end. FALSE : Changes the directory and completes the processing.
RETURN VALUES:
0 : Normal completion
Others : Transmission error
BscUpload
SUMMARY:
Receives a specified file from the robot controller.
Function Prototype:
declspec( dllexport ) short APIENTRY BscUpLoad(short nCid,char *fname);
PARAMETERS:
nCid : Communication handler ID number
*fname : File name to be received
RETURN VALUES:
0 : Normal completion
Others : Receiving error
BscUploadEx
SUMMARY:
Receives a specified file from the robot controller. The directory where the file is send to can be specified.
Function Prototype:
declspec( dllexport ) short APIENTRY BscUpLoadEx(short nCid,char *fname, char *path, BOOL nFlg);
PARAMETERS:
nCid : Communication handler ID number
*fname : File name to be received
*path : Diretory path of sending source data
nFlg : TRUE : Changes the directory temporarily and restores it at the end. FALSE : Changes the directory and completes the processing.
RETURN VALUES:
0 : Normal completion
Others : Receiving error
BscFindFirst
SUMMARY:
Reads the first job name from the all job list registered at the pres-ent time.
Function Prototype:
declspec( dllexport ) short APIENTRY BscFindFirst(short nCid,char *fname,short size);
PARAMETERS:
nCid : Communication handler ID number
*fname : OUT First job name storage pointer
size : Job name storage area size
RETURN VALUES:
-1 : No job
-2 : Internal error (memory allocation error)
-3 : Internal error (memory lock error)
-4 : Other errors
0 : Job found
BscFindFirstMaster*
SUMMARY:
Reads the first job name from the job list that belongs to the target job.
Function Prototype:
declspec( dllexport ) short APIENTRY BscFindFirstMaster(short nCid,char *fname,short size);
PARAMETERS:
nCid : Communication handler ID number
*fname : OUT First job name storage pointer
size : Job name storage area size
RETURN VALUES:
-1 : No job
-2 : Internal error (memory allocation error)
-3 : Internal error (memory lock error)
-4 : Other errors
0 : Job found
BscFindNext*
SUMMARY:
Reads the next job name registered at the present time.
Function Prototype:
declspec( dllexport ) short APIENTRY BscFindNext(short nCid,char *fname,short size);
PARAMETERS:
nCid : Communication handler ID number
*fname : OUT N-th job name storage pointer
size : Job name storage area size
RETURN VALUES:
-1 : No next job
0 : Next job found
BscFindNextMaster*
SUMMARY:
Reads the next job name in the job list that belongs to the target job.
Function Prototype:
declspec( dllexport ) short APIENTRY BscFindNextMaster(short nCid,char *fname,short size);
PARAMETERS:
nCid : Communication handler ID number
*fname : OUT N-th job name storage pointer
size : Job name storage area size
RETURN VALUES:
-1 : No next job
0 : Next job found
BscGetCtrlGroup*
SUMMARY:
Reads control group and task information.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetCtrlGroup(short nCid,short *groupinf,short *taskinf);
PARAMETERS:
nCid : Communication handler ID number
*groupinf : OUT Control group information storage pointer
*taskinf : OUT Task information storage pointer
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscGetCtrlGroupXrc*
SUMMARY:
Reads control group and task information.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetCtrlGroupXrc(short nCid,short *groupinf,short *stationinf,short *taskinf);
PARAMETERS:
nCid : Communication handler ID number
*groupinf : OUT Control group information storage pointer (robot axis)
*stationinf : OUT Control group information storage pointer (station axis)
*taskinf : OUT Task information storage pointer
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscGetCtrlGroupDX*
SUMMARY:
Reads control group and task information.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetCtrlGroupDX(short nCid,long *groupinf,long *stationinf,short *taskinf);
PARAMETERS:
nCid : Communication handler ID number
*groupinf : OUT Control group information storage pointer (robot axis)
*stationinf : OUT Control group information storage pointer (station axis)
*taskinf : OUT Task information storage pointer
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscGetError*
SUMMARY:
Reads an error code or alarm code.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetError(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
0 : No error
Others : Error codes
BscGetError2*
SUMMARY:
Reads an error code or alarm code.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetError2(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
0 : No error
Others : Error codes
BscGetFirstAlarm*
SUMMARY:
Reads an alarm code and returns the alarm code and alarm data.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetFirstAlarm(short nCid,short *data);
PARAMETERS:
nCid : Communication handler ID number
*data : OUT Alarm data storage pointer
RETURN VALUES:
0 : No alarm
Others : Alarm code numbers
BscGetFirstAlarmS*
SUMMARY:
Reads an alarm code and returns the alarm code, alarm data and alarm message.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetFirstAlarmS(short nCid,short *data,char *msg);
PARAMETERS:
nCid : Communication handler ID number
*data : OUT Alarm data storage pointer
*msg : OUT Alarm message storage pointer
RETURN VALUES:
0 : No alarm
Others : Alarm code numbers
BscGetNextAlarm*
SUMMARY:
Reads the next alarm code and alarm data.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetNextAlarm(short nCid,short *data);
PARAMETERS:
nCid : Communication handler ID number
*data : OUT Alarm data storage pointer
RETURN VALUES:
0 : No alarm
Others : Alarm code numbers
BscGetNextAlarmS*
SUMMARY:
Reads the next alarm code, alarm data and alarm message.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetNextAlarmS(short nCid,short *data,char *msg);
PARAMETERS:
nCid : Communication handler ID number
*data : OUT Alarm data storage pointer
*msg : OUT Alarm message storage pointer
RETURN VALUES:
0 : No alarm
Others : Alarm code numbers
BscGetStatus*
SUMMARY:
Reads the status information.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetStatus(short nCid,short *d1,short *d2);
PARAMETERS:
nCid : Communication handler ID number
*d1 : OUT Data 1 storage pointer
*d2 : OUT Data 2 storage pointer
RETURN VALUES:
-1 : Acquisition Failure
Others : Normal completion
BscGetUFrame*
SUMMARY:
Reads specified user frame data.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetUFrame (short nCid,char *ufname,double *p);
PARAMETERS:
nCid : Communication handler ID number
*ufname : Storage pointer of user coordinate name
*p : OUT User coordinate data storage pointer
RETURN VALUES:
-1 : User coordinate name error
0 : Normal completion
Others : Error codes
BscGetVarData*
SUMMARY:
Receives variables.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetVarData(short nCid,short type,short varno,double *p);
PARAMETERS:
nCid : Communication handler ID number
type : Variable type
varno : Variable number
*p : OUT Head pointer to the numeric variable storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscGetVarData2*
SUMMARY:
Receives variables. (robot with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetVarData2(short nCid,short type,short varno,double *p);
PARAMETERS:
nCid : Communication handler ID number
type : Variable type
varno : Variable number
*p : OUT Head pointer to the numeric variable storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscHostGetVarData*
SUMMARY:
Receives variables.
Function Prototype:
declspec( dllexport ) short APIENTRY BscHostGetVarData(short nCid,short type,short varno,double *p,char *str);
PARAMETERS:
nCid : Communication handler ID number
type : Variable Types
varno : Variable number
*p : OUT Head pointer to the numeric variable storage area
*str : OUT Head pointer to the character variable storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscHostGetVarDataM*
SUMMARY:
Receives multiple variables at the same time.
Function Prototype:
declspec( dllexport ) short APIENTRY BscHostGetVarDataM(short nCid,short type,short varno,short num,double *p);
PARAMETERS:
nCid : Communication handler ID number
type : Variable Types
varno : Variable number
num : Number of variables
*p : OUT Head pointer to the numeric variable storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscGetVarDataEx*
SUMMARY:
Receives variables. (robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetVarDataEx(short nCid,short type,short varno,double *p,char *str,short *axisNum);
PARAMETERS:
nCid : Communication handler ID number
type : Variable Types
varno : Variable number
*p : OUT Head pointer to the numeric variable storage area
*str : OUT Head pointer to the character variable storage area
*axisNum : OUT Number of axis (pointer)
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscIsAlarm
SUMMARY:
Reads alarm status.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsAlarm(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
0 : No alarm
1 : Alarm
BscIsCtrlGroup*
SUMMARY:
Reads control group information.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsCtrlGroup(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
Others : Control group information
BscIsCtrlGroupXrc*
SUMMARY:
Reads control group information.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsCtrlGroupXrc(short nCid,short *robtask,short *stattask);
PARAMETERS:
nCid : Communication handler ID number
*robtask : OUT Control group information storage pointer (robot axis)
*stattask : OUT Control group information storage pointer (station axis)
RETURN VALUES:
-1 : Acquisition Failure
0 : Normal completion
BscIsCtrlGroupDX*
SUMMARY:
Reads control group information.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsCtrlGroupDX(short nCid,long *robtask,long *stattask);
PARAMETERS:
nCid : Communication handler ID number
*robtask : OUT Control group information storage pointer (robot axis)
*stattask : OUT Control group information storage pointer (station axis)
RETURN VALUES:
-1 : Acquisition Failure
0 : Normal completion
BscIsCycle
SUMMARY:
Reads playback mode information.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsCycle(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
0 : Step mode
1 : 1-cycle mode
2 : Auto mode
BscIsError
SUMMARY:
Reads error status.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsError(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition failure
0 : No error
1 : Error found
BscIsErrorCode
SUMMARY:
Reads the error code.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsErrorCode(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : No error
Others : Error codes
BscIsHold*
SUMMARY:
Reads hold status.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsHold(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
0 : Not held
Others : See below
BscIsJobLine
SUMMARY:
Reads the current job line number.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsJobLine(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
Others : Line numbers
BscIsJobName
SUMMARY:
Reads the current job name.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsJobName(short nCid,char *jobname,short size);
PARAMETERS:
nCid : Communication handler ID number
*jobname : OUT Job name storage pointer
size : Job name storage area size
RETURN VALUES:
-1 : Acquisition Failure
0 : Normal completion
BscIsJobStep
SUMMARY:
Reads the current job step number.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsJobStep(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
Others : Step numbers
BscIsLoc*
SUMMARY:
Reads the current robot position in pulse or XYZ frame system.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsLoc(short nCid,short ispulse,short *rconf,double *p);
PARAMETERS:
nCid : Communication handler ID number
ispulse : 0 : Cartesian coordinate system (Effective only for MRC and ERC.) 1 : Joint coordinate system
*rconf : OUT Form storage pointer
*p : OUT Head pointer to the current position storage area
RETURN VALUES:
-1 : Acquisition Failure
0 : Normal completion
BscGetPulsePos*
SUMMARY:
Reads the current robot position in pulse frame system.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetPulsePos(short nCid,double *p);
PARAMETERS:
nCid : Communication handler ID number
*p : OUT Head pointer to the current position storage area
RETURN VALUES:
-1 : Acquisition Failure
0 : Normal completion
BscIsPlayMode
SUMMARY:
Reads the operation mode.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsPlayMode(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
0 : Not operating
1 : Operating
2 : Operating at safe speed
BscIsRemoteMode
SUMMARY:
Reads the command remote mode status.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsRemoteMode(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
0 : Not command remote mode
1 : Command remote mode
BscIsRobotPos*
SUMMARY:
Reads the current robot position in a specified frame system. The existence of the external axis can also be specified.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsRobotPos(short nCid,char *framename,int isex,short *rconf,short *toolno,double *p);
PARAMETERS:
nCid : Communication handler ID number
*framename : Coordinate name; BASE : Base coordinate system; ROBOT : Robot coordinate system; UF1 : User coordinate system1...
isex : 0 : No external axis, 1 : With external axis
*rconf : OUT Form storage pointer
*toolno : OUT Tool number storage pointer
*p : OUT Head pointer to the current position storage area
RETURN VALUES:
-1 : Acquisition Failure
0 : Normal completion
BscGetCartPos*
SUMMARY:
Reads the current robot position in a specified frame system. The existence of the external axis can also be specified.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGetCartPos(short nCid,char *framename,int isex,long *rconf,short *toolno,double *p);
PARAMETERS:
nCid : Communication handler ID number
*framename : Coordinate name; BASE : Base coordinate system; ROBOT : Robot coordinate system; UF1 : User coordinate system1...
isex : 0 : No external axis, 1 : With external axis
*rconf : OUT Form storage pointer
*toolno : OUT Tool number storage pointer
*p : OUT Head pointer to the current position storage area
RETURN VALUES:
-1 : Acquisition Failure
0 : Normal completion
BscIsServo
SUMMARY:
Reads the servo status.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsServo(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
0 : Servo OFF
1 : Servo ON
BscIsTaskInf*
SUMMARY:
Reads task information.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsTaskInf(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
Others : Task information
BscIsTaskInfXrc*
SUMMARY:
Reads task information.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsTaskInfXrc(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
Others : Error codes
BscIsTeachMode
SUMMARY:
Reads whether in the teach mode or play mode.
Function Prototype:
declspec( dllexport ) short APIENTRY BscIsTeachMode(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Acquisition Failure
0 : Teach mode
1 : Play mode
BscJobWait*
SUMMARY:
Waits for job completion until the robot stops or specified time expires.
Function Prototype:
declspec( dllexport ) short APIENTRY BscJobWait(short nCid,short time);
PARAMETERS:
nCid : Communication handler ID number
time : Wait time (-1 : Unlimited; 0 to 32767seconds)
RETURN VALUES:
-2 : Abnormal completion
-1 : Operation incomplete
0 : Operation completed
Others : Error codes
BscReadAlarmS*
SUMMARY:
Reads the error code, error data and error message.
Function Prototype:
declspec( dllexport ) short APIENTRY BscReadAlarmS(short nCid,short *data,char *msg);
PARAMETERS:
nCid : Communication handler ID number
*data : OUT Error data storage pointer
*msg : OUT Error message storage pointer
RETURN VALUES:
-1 : Error code acquisition failure
0 : No Error
Others : Error codes numbers
BscGetTorque*
SUMMARY:
Reads torque value.
Function Prototype:
declspec( dllexport ) BscGetTorque(short nCid,double *p);
PARAMETERS:
nCid : Communication handler ID number
*p : OUT Head pointer to the torque value storage area
RETURN VALUES:
-1 : Acquisition Failure
0 : Normal completion
BscGetMaxTorque*
SUMMARY:
Reads max torque value.
Function Prototype:
declspec( dllexport ) BscGetMaxTorque(short nCid,double *p);
PARAMETERS:
nCid : Communication handler ID number
*p : OUT Head pointer to the max torque value storage area
RETURN VALUES:
-1 : Acquisition Failure
0 : Normal completion
BscGetEncTmp*
SUMMARY:
Reads encoder temperature.
Function Prototype:
declspec( dllexport ) BscGetEncTmp(short nCid,double *p);
PARAMETERS:
nCid : Communication handler ID number
*p : OUT Head pointer to the encoder temperature value storage area
RETURN VALUES:
-1 : Acquisition Failure
0 : Normal completion
BscGetSysTime*
SUMMARY:
Reads system monitoring time.
Function Prototype:
declspec( dllexport ) BscGetSysTime(short nCid,char *contpwr, char *svpwr, char *playback, char *mov, char *ope);
PARAMETERS:
nCid : Communication handler ID number
*contpwr : OUT Head pointer to the controller power time value storage area
*svpwr : OUT Head pointer to the servo power time value storage area
*playback : OUT Head pointer to the playback time value storage area
*mov : OUT Head pointer to the moving time value storage area
*ope : OUT Head pointer to the operating time value storage area
RETURN VALUES:
-1 : Acquisition Failure
0 : Normal completion
BscCancel
SUMMARY:
Cancels an error.
Function Prototype:
declspec( dllexport ) short APIENTRY BscCancel(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscChangeTask*
SUMMARY:
Changes a task.
Function Prototype:
declspec( dllexport ) short APIENTRY BscChangeTask(short nCid,short task);
PARAMETERS:
nCid : Communication handler ID number
task : Specified task number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscContinueJob
SUMMARY:
Starts job. (Execution starts from the current line of the current job.)
Function Prototype:
declspec( dllexport ) short APIENTRY BscContinueJob(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscConvertJobP2R
SUMMARY:
Converts a pulse job to a relative job in a specified frame system.
Function Prototype:
declspec( dllexport ) short APIENTRY BscConvertJobP2R(short nCid,char *name,char *framename);
PARAMETERS:
nCid : Communication handler ID number
*name : Job name storage pointer
*framename : Coordinate name: BASE : Base coordinate, ROBOT : Robot coordinate, UF1 : User coordinate1 ...
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscConvertJobR2P*
SUMMARY:
Converts a relative job in a specified frame system to a pulse job.
Function Prototype:
declspec( dllexport ) short APIENTRY BscConvertJobR2P(short nCid,char *name,short cv_type,char *var_no);
PARAMETERS:
nCid : Communication handler ID number
*name : Job name storage pointer
cv_type : Conversion method
var_no : Reference position variable number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscDeleteJob*
SUMMARY:
Deletes a job.
Function Prototype:
declspec( dllexport ) short APIENTRY BscDeleteJob(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
1 : Cannot delete
Otherss : Error codes
BscHoldOff
SUMMARY:
Sets hold-OFF.
Function Prototype:
declspec( dllexport ) short APIENTRY BscHoldOff(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscHoldOn
SUMMARY:
Sets hold-ON.
Function Prototype:
declspec( dllexport ) short APIENTRY BscHoldOn(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscHostPutVarData*
SUMMARY:
Sets variables.
Function Prototype:
declspec( dllexport ) short APIENTRY BscHostPutVarData(short nCid,short type,short varno,double *p, char *str);
PARAMETERS:
nCid : Communication handler ID number
type : Variable Types
varno : Variable number
*p : Head pointer to the numeric variable storage area
*str : Head pointer to the character variable storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscHostPutVarDataM*
SUMMARY:
Sets multiple variables at the same time.
Function Prototype:
declspec( dllexport ) short APIENTRY BscHostPutVarDataM(short nCid,short type,short varno, short num, double *p);
PARAMETERS:
nCid : Communication handler ID number
type : Variable Types
varno : Variable number
num : Number of variables
*p : Head pointer to the numeric variable storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscPutVarDataEx*
SUMMARY:
Sets variables.(robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BsctPutVarDataEx(short nCid,short type,short varno,double *p, char *str,short axisNum);
PARAMETERS:
nCid : Communication handler ID number
type : Variable Types
varno : Variable number
*p : Head pointer to the numeric variable storage area
*str : Head pointer to the character variable storage area
axisNum : Number of axis
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscImov*
SUMMARY:
Moves robot with linear motion form the current position for the increment value in a specified frame system.
Function Prototype:
declspec( dllexport ) short APIENTRY BscImov(short nCid,char *vtype,double spd,char *framename,short toolno,double *p);
PARAMETERS:
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 : Head pointer to the target position storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscImovEx*
SUMMARY:
Moves robot with linear motion form the current position for the increment value in a specified frame system.(robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscImovEx(short nCid,char *vtype,double spd,char *framename,short toolno,double *p,short axisNum);
PARAMETERS:
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
toolno : Tool number
*p : Head pointer to the target position storage area
axisNum : Number of axis
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscImovEx2*
SUMMARY:
Moves robot with linear motion form the current position for the increment value in a specified frame system.(robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscImovEx(short nCid,short ctype,char *vtype,double spd,char *framename,short toolno,double *p,short axisNum);
PARAMETERS:
nCid : Communication handler ID number
ctype : Controller selection; 0 : ERC, 1 : MRC, 2 : XRC, 3 : NX100 , 4 : YRC1000, YRC1000micro, DX200, DX100, 5 : FS100
*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 YRC1000/YRC1000micro/ DX200/DX100/FS100/ NX100/XRC/MRC)
toolno : Tool number
*p : Head pointer to the target position storage area
axisNum : Number of robot axes
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscMDSP*
SUMMARY:
Sends message data.
Function Prototype:
declspec( dllexport ) short APIENTRY BscMDSP(short nCid,char *ptr);
PARAMETERS:
nCid : Communication handler ID number
*ptr : Message storage pointer
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscMov*
SUMMARY:
Moves robot with specified motion from the current position to a tar-get position in a specified frame system.
Function Prototype:
declspec( dllexport ) short APIENTRY BscMov(short nCid,char *movtype,char *vtype,double spd,char *framename,short rconf,short toolno,double *p);
PARAMETERS:
nCid : Communication handler ID number
*movtype : Motion type; MOVJ : Joint; MOVL : Linear; IMOV : Linear (incrementa value)
*vtype : Move speed selection; V : Control point; VR : Position angular VJ : Joint speed
spd : Move speed ( 0.1 to ***.* mm/s, 0.1 to ***.* /s, 0.001 to 100.00%)
*framename : Coordinate name; BASE : Base coordinate; ROBOT : Robot coordinate; UF1 : User coordinate1... TOOL : Tool coordinate (Only for NX100/XRC/MRC with motion type "IMOV.")
rconf : Form
toolno : Tool number
*p : Head pointer to the target position storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscMovEx*
SUMMARY:
Moves robot with specified motion from the current position to a tar-get position in a specified frame system.(robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscMovEx(short nCid,char *movtype,char *vtype,double spd,char *framename,long rconf,short toolno,double *p,short axisNum);
PARAMETERS:
nCid : Communication handler ID number
*movtype : Motion type; MOVJ : Joint; MOVL : Linear; IMOV : Linear (incrementa value)
*vtype : Move speed selection; V : Control point; VR : Position angular VJ : Joint speed
spd : Move speed ( 0.1 to ***.* mm/s, 0.1 to ***.* /s, 0.01 to 100.00 %)
*framename : Coordinate name; BASE : Base coordinate; ROBOT : Robot coordinate; UF1 : User coordinate1... TOOL : Tool coordinate (Only motion type "IMOV.")
rconf : Form
toolno : Tool number
*p : Head pointer to the target position storage area
axisNum : Number of axis
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscMovEx2*
SUMMARY:
Moves robot with specified motion from the current position to a tar-get position in a specified frame system.(robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscMovEx(short nCid,short ctype,char *movtype,char *vtype,double spd,char *framename,long rconf,short toolno,double *p,short axisNum);
PARAMETERS:
nCid : Communication handler ID number
ctype : Controller selection; 0 : ERC, 1 : MRC, 2 : XRC, 3 : NX100 , 4 : YRC1000, YRC1000micro, DX200, DX100, 5 : FS100
*movtype : Motion type; MOVJ : Joint; MOVL : Linear; IMOV : Linear (incrementa value)
*vtype : Move speed selection; V : Control point; VR : Position angular VJ : Joint speed
spd : Move speed ( 0.1 to ***.* mm/s, 0.1 to ***.* /s, 0.01 to 100.00 %)
*framename : Coordinate name; BASE : Base coordinate; ROBOT : Robot coordinate; UF1 : User coordinate1... TOOL : Tool coordinate (Only for YRC1000/YRC1000micro/ DX200/DX100/FS100/NX100/XRC/ MRC with motion type "IMOV.")
rconf : Form
toolno : Tool number
*p : Head pointer to the target position storage area
axisNum : Number of robot axes
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscMovj*
SUMMARY:
Moves robot with joint motion to a target position in a specified frame system.
Function Prototype:
declspec( dllexport ) short APIENTRY BscMovj(short nCid,double spd,char *framename,short rconf,short toolno,double *p);
PARAMETERS:
nCid : Communication handler ID number
spd : Move speed (0.01 to 100.0%)
*framename : Coordinate name; BASE : Base coordinate; ROBOT : Robot coordinate; UF1 : User coordinate1...
rconf : Form
toolno : Tool number
*p : Head pointer to the target position storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscMovjEx*
SUMMARY:
Moves robot with joint motion to a target position in a specified frame system. (robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscMovjEx(short nCid,dou-ble spd,char *framename,long rconf,short toolno,double *p,short axisNum);
PARAMETERS:
nCid : Communication handler ID number
spd : Move speed (0.01 to 100.0%)
*framename : Coordinate name; BASE : Base coordinate; ROBOT : Robot coordinate; UF1 : User coordinate1...
rconf : Form
toolno : Tool number
*p : Head pointer to the target position storage area
axisNum : Number of axis
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscMovl*
SUMMARY:
Moves robot with linear motion to a target position in a specified frame system.
Function Prototype:
declspec( dllexport ) short APIENTRY BscMovl(short nCid,char *vtype,double spd,char *framename,short rconf,short toolno,double *p);
PARAMETERS:
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...
rconf : Form
toolno : Tool number
*p : Head pointer to the target position storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscMovlEx*
SUMMARY:
Moves robot with linear motion to a target position in a specified frame system. (robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscMovlEx(short nCid,char *vtype,double spd,char *framename,long rconf,short toolno,double *p,short axisNum);
PARAMETERS:
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...
rconf : Form
toolno : Tool number
*p : Head pointer to the target position storage area
axisNum : Number of axis
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscOPLock*
SUMMARY:
Interlocks the robot.
Function Prototype:
declspec( dllexport ) short APIENTRY BscOPLock(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscOPUnLock
SUMMARY:
Releases the robot interlocked status.
Function Prototype:
declspec( dllexport ) short APIENTRY BscOPUnLock(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscPMov*
SUMMARY:
Moves robot to a specified pulse position.
Function Prototype:
declspec( dllexport ) short APIENTRY BscPMov(short nCid,char *movtype,char *vtype,double spd,short toolno,double *p);
PARAMETERS:
nCid : Communication handler ID number
*movvtype : Motion type; MOVJ : Joint; MOVL : Linear
*vtype : Move speed selection; V : Control point; VR : Position angular VJ : Joint speed
spd : Move speed (0.1 to ****.* mm/s, 0.1 to ***.* /s, 0.01 to 100.00%)
toolno : Tool number
*p : Head pointer to the target position storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscPMovEx*
SUMMARY:
Moves robot to a specified pulse position. (robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscPMovEx(short nCid,char *movtype,char *vtype,double spd,short toolno,double *p,short axisNum);
PARAMETERS:
nCid : Communication handler ID number
*movvtype : Motion type; MOVJ : Joint, MOVL : Linear
*vtype : Move speed selection; V : TCP speed VR : Play speed of the posture VJ : Joint speed
spd : Move speed (0.1 to ****.* mm/s, 0.1 to ***.* /s, 0.01 to 100.00%)
toolno : Tool number
*p : Head pointer to the target position storage area
axisNum : Number of axis
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscPMovj*
SUMMARY:
Moves robot to a specified pulse position with joint motion.
Function Prototype:
declspec( dllexport ) short APIENTRY BscPMovj(short nCid,dou-ble spd,short toolno,double *p);
PARAMETERS:
nCid : Communication handler ID number
spd : Move speed (0.01 to 100.00%)
toolno : Tool number
*p : Head pointer to the target position storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscPMovjEx*
SUMMARY:
Moves robot to a specified pulse position with joint motion. (robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscPMovjEx(short nCid,double spd,short toolno,double *p,short axisNum);
PARAMETERS:
nCid : Communication handler ID number
spd : Move speed (0.01 to 100.00%)
toolno : Tool number
*p : Head pointer to the target position storage area
axisNum : Number of axis
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscPMovl*
SUMMARY:
Moves robot to a specified pulse position with linear motion.
Function Prototype:
declspec( dllexport ) short APIENTRY BscPMovl(short nCid,char *vtype,double spd,short toolno,double *p);
PARAMETERS:
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
toolno : Tool number
*p : Head pointer to the target position storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscPMovlEx*
SUMMARY:
Moves robot to a specified pulse position with linear motion.
Function Prototype:
declspec( dllexport ) short APIENTRY BscPMovlEx(short nCid,char *vtype,double spd,short toolno,double *p,short axisNum);
PARAMETERS:
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
toolno : Tool number
*p : Head pointer to the target position storage area
axisNum : Number of axis
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscPutUFrame*
SUMMARY:
Sets a specified user frame data.
Function Prototype:
declspec( dllexport ) short APIENTRY BscPutUFrame(short nCid,char *ufname,double *p);
PARAMETERS:
nCid : Communication handler ID number
*ufname : Storage pointer of the user coordinate name to be written in.
*p : Head pointer to the user coordinate data storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscPutUFrameEx2*
SUMMARY:
Sets a specified user frame data.
Function Prototype:
declspec( dllexport ) short APIENTRY BscPutUFrame(short nCid,short ctype,char *ufname,double *p);
PARAMETERS:
nCid : Communication handler ID number
ctype : Controller selection; 0 : ERC, 1 : MRC, 2 : XRC, 3 : NX100 , 4 : YRC1000, YRC1000micro,DX200, DX100, 5 : FS100
*ufname : Storage pointer of the user coordinate name to be written in.
*p : Head pointer to the user coordinate data storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscPutVarData*
SUMMARY:
Sets variable data.
Function Prototype:
declspec( dllexport ) short APIENTRY BscPutVarData(short nCid,short type,short varno,double *p);
PARAMETERS:
nCid : Communication handler ID number
type : Variable Types
varno : Variable number
*p : Head pointer to the numeric variable storage area
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscPutVarData2*
SUMMARY:
Sets variable data. (robot with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscPutVarData2(short nCid,short type,short varno,double *p,short axisNum);
PARAMETERS:
nCid : Communication handler ID number
type : Variable Types
varno : Variable number
*p : Head pointer to the numeric variable storage area
axisNum : Number of axis
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscStartJob*
SUMMARY:
Starts job. (A job to be started has the job name which is selected last.)
Function Prototype:
declspec( dllexport ) short APIENTRY BscStartJob(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
1 : Current job name not specified
Others : Error codes
BscSelectJob*
SUMMARY:
Selects a job.
Function Prototype:
declspec( dllexport ) short APIENTRY BscSelectJob(short nCid,char *name);
PARAMETERS:
nCid : Communication handler ID number
*name : Job name storage pointer
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscSelectMode*
SUMMARY:
Selects mode. (Teach or Play)
Function Prototype:
declspec( dllexport ) short APIENTRY BscSelectMode(short nCid,short mode);
PARAMETERS:
nCid : Communication handler ID number
mode : Selected mode
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscSelLoopCycle
SUMMARY:
Changes the cycle mode to auto mode.
Function Prototype:
declspec( dllexport ) short APIENTRY BscSelLoopCycle(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscSelOneCycle
SUMMARY:
Changes the cycle mode to 1-cycle mode.
Function Prototype:
declspec( dllexport ) short APIENTRY BscSelOneCycle(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscSelStepCycle
SUMMARY:
Changes the cycle mode to step mode.
Function Prototype:
declspec( dllexport ) short APIENTRY BscSelStepCycle(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscSetLineNumber
SUMMARY:
Sets a line number of current job.
Function Prototype:
declspec( dllexport ) short APIENTRY BscSetLineNumber(short nCid,short line);
PARAMETERS:
nCid : Communication handler ID number
line : Line number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscSetMasterJob*
SUMMARY:
Sets a job as a master job.
Function Prototype:
declspec( dllexport ) short APIENTRY BscSetMasterJob(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscReset
SUMMARY:
Resets a robot alarm.
Function Prototype:
declspec( dllexport ) short APIENTRY BscReset(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscSetCtrlGroup*
SUMMARY:
Sets a control group.
Function Prototype:
declspec( dllexport ) short APIENTRY BscSetCtrlGroup(short nCid,short groupno);
PARAMETERS:
nCid : Communication handler ID number
groupno : Control group information to be set
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscSetCtrlGroupXrc*
SUMMARY:
Sets a control group.
Function Prototype:
declspec( dllexport ) short APIENTRY BscSetCtrlGroupXrc(short nCid,short groupno1,short groupno2);
PARAMETERS:
nCid : Communication handler ID number
groupno1 : OUT Control group information to be set (robot axis)
groupno2 : OUT Control group information to be set (station axis)
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscSetCtrlGroupDX*
SUMMARY:
Sets a control group.
Function Prototype:
declspec( dllexport ) short APIENTRY BscSetCtrlGroupDX(short nCid,long groupno1,long groupno2);
PARAMETERS:
nCid : Communication handler ID number
groupno1 : OUT Control group information to be set (robot axis)
groupno2 : OUT Control group information to be set (station axis)
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscServoOff
SUMMARY:
Sets servo power supply OFF.
Function Prototype:
declspec( dllexport ) short APIENTRY BscServoOff(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscServoOn
SUMMARY:
Sets servo power supply ON.
Function Prototype:
declspec( dllexport ) short APIENTRY BscServoOn(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Error codes
BscDCILoadSave*
SUMMARY:
Loads or saves a job with DCI instruction.
Function Prototype:
declspec( dllexport ) short APIENTRY BscDCILoadSave(short nCid,short timec);
PARAMETERS:
nCid : Communication handler ID number
timec : Waiting time for sending/receiving (sec)
RETURN VALUES:
-1 : Failed to send/receive
Others : Number of received jobs
BscDCILoadSaveOnce*
SUMMARY:
Loads or saves a job with DCI instruction.
Function Prototype:
declspec( dllexport ) short APIENTRY BscDCILoadSaveO-nce(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
-1 : Failed to send/receive
Others : Number of received jobs
BscDCIGetPos*
SUMMARY:
Gets a variable with DCI instruction.
Function Prototype:
declspec( dllexport ) short APIENTRY BscDCIGetPos(short nCid,short *type,short *rconf,double *p);
PARAMETERS:
nCid : Communication handler ID number
*type : Variable type number (pointer)
*rconf : OUT Form data (pointer)
*p : OUT Head pointer to the numeric variable storage area
RETURN VALUES:
-1 : Failed to send
Others : Variable type number
BscDCIGetPos2*
SUMMARY:
Gets a variable with DCI instruction. (robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscDCIGetPos2(short nCid,short *type,short *rconf,double *p,short *axisNum);
PARAMETERS:
nCid : Communication handler ID number
*type : Variable type number (pointer)
*rconf : OUT Form data (pointer)
*p : OUT Head pointer to the numeric variable storage area
*axisNum : Number of axis (pointer)
RETURN VALUES:
-1 : Failed to send
Others : Variable type number
BscDCIGetVarData*
SUMMARY:
Gets a variable with DCI instruction.
Function Prototype:
declspec( dllexport ) short APIENTRY BscDCIGetVarData(short nCid,short *type,short *rconf,double *p, char *str);
PARAMETERS:
nCid : Communication handler ID number
*type : Variable type number (pointer)
*rconf : OUT Form data (pointer)
*p : OUT Head pointer to the numeric variable storage area
*str : OUT Head pointer to the character variable storage area
RETURN VALUES:
-1 : Failed to send
Others : Variable type number
BscDCIGetVarDataEx*
SUMMARY:
Gets a variable with DCI instruction.(robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscDCIGetVarDataEx(short nCid,short *type,long *rconf,double *p, char *str,short *axisNum);
PARAMETERS:
nCid : Communication handler ID number
*type : Variable type number (pointer)
*rconf : OUT Form data (pointer)
*p : OUT Head pointer to the numeric variable storage area
*str : OUT Head pointer to the character variable storage area
*axisNum : OUT Number of axis (pointer)
RETURN VALUES:
-1 : Failed to send
Others : Variable type number
BscDCIPutPos*
SUMMARY:
Sets a variable with DCI instruction.
Function Prototype:
declspec( dllexport ) short APIENTRY BscDCIPutPos(short nCid,short type,short rconf,double *p);
PARAMETERS:
nCid : Communication handler ID number
type : Variable type number
rconf : Form data
*p : Head pointer to the numeric variable storage area
RETURN VALUES:
-1 : Failed to send
Others : Normal completion
BscDCIPutPos2*
SUMMARY:
Sets a variable with DCI instruction. (robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscDCIPutPos2(short nCid,short type,short rconf,double *p,short axisNum);
PARAMETERS:
nCid : Communication handler ID number
type : Variable type number
rconf : Form data
*p : Head pointer to the numeric variable storage area
axisNum : Number of axis
RETURN VALUES:
-1 : Failed to send
Others : Variable type number
BscDCIPutVarData*
SUMMARY:
Sets a variable with DCI instruction.
Function Prototype:
declspec( dllexport ) short APIENTRY BscDCIPutVarData(short nCid,short type,short rconf,double *p, char *str);
PARAMETERS:
nCid : Communication handler ID number
type : Variable type number
rconf : Form data
*p : Head pointer to the numeric variable storage area
*str : Head pointer to the character variable storage area
RETURN VALUES:
-1 : Failed to send
Others : Variable type number
BscDCIPutVarDataEx*
SUMMARY:
Sets a variable with DCI instruction.(robots with 7 axes or more)
Function Prototype:
declspec( dllexport ) short APIENTRY BscDCIPutVarDataEx(short nCid,short type,long rconf,double *p, char *str,short axisNum);
PARAMETERS:
nCid : Communication handler ID number
type : Variable type number
rconf : Form data
*p : Head pointer to the numeric variable storage area
*str : Head pointer to the character variable storage area
axisNum : Number of axis
RETURN VALUES:
-1 : Failed to send
Others : Variable type number
BscReadIO*
SUMMARY:
Reads specified count of coil status. Up to 256 coil numbers can be specified.
Function Prototype:
declspec( dllexport ) short APIENTRY BscReadIO(short nCid,short add,short num,short *stat);
PARAMETERS:
nCid : Communication handler ID number
add : Read starting address number
num : Number of read signals (up to 256)
*stat : OUT Coil status
RETURN VALUES:
-1 : Header number error
0 : Normal completion
Others : Error codes
BscReadIO2*
SUMMARY:
Reads specified count of coil status. Up to 256 coil numbers can be specified.
Function Prototype:
declspec( dllexport ) short APIENTRY BscReadIO2(short nCid,DWORD add,short num,short *stat);
PARAMETERS:
nCid : Communication handler ID number
add : Read starting address number
num : Number of read signals (up to 256)
*stat : OUT Coil status
RETURN VALUES:
-1 : Header number error
0 : Normal completion
Others : Error codes
BscWriteIO *
SUMMARY:
Writes specified count of coil status. Up to 256 coil numbers can be specified. Address numbers to be written are only of Nos. 9000's.
Function Prototype:
declspec( dllexport ) short APIENTRY BscWriteIO(short nCid,short add,short num,short *stat);
PARAMETERS:
nCid : Communication handler ID number
add : Read starting address number
num : Number of read signals (up to 256)
*stat : OUT Coil status
RETURN VALUES:
-1 : Header number error
0 : Normal completion
Others : Error codes
BscWriteIO2 *
SUMMARY:
Writes specified count of coil status. Up to 256 coil numbers can be specified. Address numbers to be written are only of or Nos.27000’s (YRC1000/YRC1000micro/DX200) Nos.25000’s (FS100/DX100) or Nos. 22000's (NX100).
Function Prototype:
declspec( dllexport ) short APIENTRY BscWriteIO2(short nCid,DWORD add,short num,short *stat);
PARAMETERS:
nCid : Communication handler ID number
add : Read starting address number
num : Number of read signals (up to 256)
*stat : OUT Coil status
RETURN VALUES:
-1 : Header number error
0 : Normal completion
Others : Error codes
BscClose*
SUMMARY:
Releases a communication handler.
Function Prototype:
declspec( dllexport ) short APIENTRY BscClose(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
Others : Failed to release
BscCommand*
SUMMARY:
Sends a transmission command.
Function Prototype:
declspec( dllexport ) short APIENTRY BscCommand(short nCid,char *h_buf,char *d_buf,short fforever);
PARAMETERS:
nCid : Communication handler ID number
*h_buf : Header character string pointer
*d_buf : Data character string pointer
fforever : Robot response; 0 : No wait; 1 : Wait
RETURN VALUES:
-1 : Failed to send
Others : Normal completion
BscConnect*
SUMMARY:
Connects communications lines.
Function Prototype:
declspec( dllexport ) short APIENTRY BscConnect(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Error
1 : Normal completion
BscDisConnect
SUMMARY:
Disconnects communications lines.
Function Prototype:
declspec( dllexport ) short APIENTRY BscDisConnect(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Error
1 : Normal completion
BscDiskFreeSizeGet*
SUMMARY:
Gets free capacity of the specified drive.
Function Prototype:
declspec( dllexport ) short APIENTRY BscDiskFreeSizeGet(short nCid,short dno,long *dsize);
PARAMETERS:
nCid : Communication handler ID number
dno : Drive number 1:A to 26:Z
dsize : Free capacity pointer
RETURN VALUES:
0 : Normal completion
Others : Failed to release
BscGets
SUMMARY:
Sends a character string by transmission in TTY level.
Function Prototype:
declspec( dllexport ) short APIENTRY BscGets(short nCid,char *bufptr,WORD bsize,WORD *plengets);
PARAMETERS:
nCid : Communication handler ID number
*bufptr : OUT Received character string pointer
bsize : Maximum character count
plengets : Received character count
RETURN VALUES:
Received character count
BscInBytes
SUMMARY:
Returns the number of characters which are received by transmis-sion in TTY level.
Function Prototype:
declspec( dllexport ) short APIENTRY BscInBytes(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
Received character count
BscOpen*
SUMMARY:
Gets a communication handler.
Function Prototype:
declspec( dllexport ) short APIENTRY BscOpen(char *path,short mode);
PARAMETERS:
*path : Communication current directory storage pointer
mode : Communication type : 1 (=0x01) : serial port, 16 (=0x10) : Ethernet 256 (=0x100) : Ethernet Server
RETURN VALUES:
-1 : Acquisition Failure
-8 : License Error
Others : Communication handler ID number
BscOutBytes
SUMMARY:
Returns the remaining number of characters which are sent by transmission in TTY level.
Function Prototype:
declspec( dllexport ) short APIENTRY BscOutBytes(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
Sending character count
BscPuts
SUMMARY:
Sends a character string by transmission in TTY level.
Function Prototype:
declspec( dllexport ) short APIENTRY BscPuts(short nCid,char *bufptr,WORD length);
PARAMETERS:
nCid : Communication handler ID number
*bufptr : Sending character string pointer
length : Sending character count
RETURN VALUES:
Sending character count
BscReConnect*
SUMMARY:
Connects communications lines again.
Function Prototype:
declspec( dllexport ) short APIENTRY BscReConnect(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Error
1 : Normal completion
BscReStartJob*
SUMMARY:
Starts job again.
Function Prototype:
declspec( dllexport ) short APIENTRY BscReStartJob(short nCid);
PARAMETERS:
nCid : Communication handler ID number
RETURN VALUES:
0 : Normal completion
1 : Current job name not specified
Others : Error codes
BscSetBreak*
SUMMARY:
Cancels transmission.
Function Prototype:
declspec( dllexport ) short APIENTRY BscSetBreak(short nCid,short flg);
PARAMETERS:
nCid : Communication handler ID number
flg : Forced completion flag ; 0 : No forced completion,
1 : : Forced completion
RETURN VALUES:
0 : Error
1 : Normal completion
BscSetCondBSC*
SUMMARY:
Sets a communication control timer or retry counter.
Function Prototype:
declspec( dllexport ) short APIENTRY BscSetCondBSC(short nCid,short timerA,short timerB,short rtyR,short rtyW);
PARAMETERS:
nCid : Communication handler ID number
timerA : Timer A (control timer, unit: msec)
timerB : Timer B (text timer, unit: msec)
rtyR : Sequence retry counter
rtyW : Text retry counter
RETURN VALUES:
-1 : Communication handler error
0 : Normal completion
BscSetEServerMode*
SUMMARY:
Sets the communication parameters for Ethernet Server function.
Function Prototype:
declspec( dllexport ) short APIENTRY BscSetEServerMode(short nCid, char *IPaddr, short Mode);
PARAMETERS:
nCid : Communication handler ID number
*IPaddr : IP address of receiver
Mode : Server communication mode 1: Server mode, -1: Exclusive mode
RETURN VALUES:
0 : Error
1 : Normal completion
BscSetEther*
SUMMARY:
Sets parameters for Ethernet communications.
Function Prototype:
declspec( dllexport ) short APIENTRY BscSetEther(short nCid, char *IPaddr, short mode, HWND hWnd);
PARAMETERS:
nCid : Communication handler ID number
IPaddr : IP address of receiver
mode : Execution mode 0: Client, 1: Stand alone
hWnd : Window handle
RETURN VALUES:
0 : Error
1 : Normal completion
BscStatus
SUMMARY:
Reads the status.
Function Prototype:
declspec( dllexport ) short APIENTRY BscStatus(short nCid,char *hpt,char *dpt,unsigned short sz,char *rbuf);
PARAMETERS:
nCid : Communication handler ID number
*hpt : Header character string pointer
*dpt : Sending data character string pointer
sz : Sending data character string size
*rbuf : OUT Received data character string pointer
RETURN VALUES:
0 : Normal completion
Others : Error codes
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