Specifications
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BscMovl
FUNCTION: Moves robot with linear motion to a target position in a specified frame
system.
FORMAT: _declspec( dllexport ) short APIENTRY BscMovl(short nCid,char
*vtype,double spd,char *framename,short rconf,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...
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 ERC or ERCⅡ, the data of D3, D4, and D5 are ignored.