Specifications

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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; BASE：Base coordinate system; ROBOT：Robot
coordinate system; UF1：User coordinate system１...
isex ０：No external axis, １：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.