YASKAWA NX100 Spezifikationen Seite 77

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BscIsRobotPos
FUNCTION: Reads the current robot position in a specified frame system. The
existence of the external axis can also be specified.
FORMAT: _declspec( dllexport ) short APIENTRY BscIsRobotPos(short nCid,char
*framename,int isex,short *rconf,short *toolno,double *p);
ARGUMENTS: IN(Transfer)
nCid Communication handler ID number
*framename Coordinate name; BASEBase coordinate system; ROBOT:Robot
coordinate system; UF1User coordinate system...
isex No external axis,With external axis
*rconf Form storage pointer
*toolno Tool number storage pointer
*p Current position storage pointer
OUT(Return)
*rconf Form storage pointer
*toolno Tool number storage pointer
*p Current position storage pointer
Return Value
-1:Fetch failed
0:Normal completion
REMARKS: Form
The form data are represented by bit data in decimals.
D7 D
6
D5 D4 D3 D
2
D1 D0
0: Fl i
p
, 1:No-fli
p
0: U
p
, 1:Down
0: Fr ont , 1: Rear
0: R<180, 1: R>=180
0: T<180, 1: T>=180
* With the ERC or ERCⅡ, the data of D3 and D4 are ignored.
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