Specifications

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BscMov
FUNCTION: Moves robot with specified motion from the current position to a target
position in a specified frame system.
FORMAT: _declspec( dllexport ) short APIENTRY BscMov(short nCid,char
*movtype,char *vtype,double spd,char *framename,short rconf,short
toolno,double *p);
ARGUMENTS: IN（Transfer）
nCid Communication handler ID number
*movtype Motion type; MOVJ：Joint; MOVL：Linear; IMOV：Linear (incremental
value)
*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 with motion type “IMOV.”)
rconf Form
toolno Tool number
*p Target position storage pointer
OUT（Return）
None
Return Value
０：Normal completion
Others: Error codes
REMARKS: Form
The form data are represented by bit data in decimals.
D7 D
6
D5 D4 D3 D
2
D1 D
0
0: Fl i
p
, 1:No-fli
p
0: U
p
, 1:Dow
n
0: Fr ont , 1: Rear
0: R<180, 1: R>=18
0
0: T<180, 1: T>=18
0
0: S<180, 1: S>=18
0
* With the ERC or ERCⅡ, the data of D3, D4 and D5are ignored.