Specifications

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BscImov
FUNCTION: Moves robot with linear motion form the current position for the
increment value in a specified frame system.
FORMAT: _declspec( dllexport ) short APIENTRY BscImov(short nCid,char
*vtype,double spd,char *framename,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...
TOOL:Tool coordinate (Only for NX100/XRC/MRC)
toolno Tool number
*p Target position storage pointer
OUT（Return）
None
Return Value
０：Normal completion
Others: Error codes
REMARKS: Target Position
The target position is represented as follows.
Target position in specified coordinate system
P[0] X-axis coordinate system (unit: mm)
P[1] Y-axis coordinate system (unit: mm)
P[2] Z-axis coordinate system (unit: mm)
P[3] Wrist angle TX (unit: ゜)
P[4] Wrist angle TY (unit: ゜)
P[5] Wrist angle TZ (unit: ゜)
P[6] 7th axis pulse number (mm for traveling axis)
P[7] 8th axis pulse number (mm for traveling axis)
P[8] 9th axis pulse number (mm for traveling axis)
P[9] 10th axis pulse number
P[10] 11th axis pulse number
P[11] 12th axis pulse number
* Set “0” for data P[7] to P[11] if the system has no external axis.