Specifications

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BscIsLoc
FUNCTION: Reads the current robot position in pulse or XYZ frame system.
FORMAT: _declspec( dllexport ) short APIENTRY BscIsLoc(short nCid,short
ispulse,short *rconf,double *p);
ARGUMENTS: IN（Transfer）
nCid Communication handler ID number
ispulse ０：Cartesian coordinate system; １：Joint coordinate system
*rconf Form storage pointer
*p Current position storage pointer
OUT（Return）
*rconf Form 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.
D
7
D
6
D5 D
4
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 D5 are ignored.