YASKAWA NX100 Especificações Página 1

ＹＡＳＫＡＷＡ For NX100, YASNAC XRC/MRC/ERC for Industrial Robot MOTOMAN Data Transmission Software for Personal Computer MOTOCOM32 OPERATION MANUAL Up

11/2012. SETUP 2.1 Execution of Setup Program Set up the MOTOCOM 32 in the following manner. (1) Turn ON the power to the personal computer and

101/201BscMov FUNCTION: Moves robot with specified motion from the current position to a target position in a specified frame system. FORMAT: _de

102/201 Target Position The target position data are represented as follows. Target position in the specified coordinate system P[0] X-axis

103/201BscMovj FUNCTION: Moves robot with joint motion to a target position in a specified frame system. FORMAT: _declspec( dllexport ) short AP

104/201 Target Position The target positions are represented as follows. Target position in the specified coordinate system P[0] X-axis coo

105/201BscMovl FUNCTION: Moves robot with linear motion to a target position in a specified frame system. FORMAT: _declspec( dllexport ) short AP

106/201 Target Position The target positions are represented as follows. Target position in the specified coordinate system P[0] X-axis coo

107/201BscOPLock FUNCTION: Interlocks the robot. FORMAT: _declspec( dllexport ) short APIENTRY BscOPLock(short nCid); ARGUMENTS: IN（Transfer）

108/201BscOPUnLock FUNCTION: Releases the robot interlocked status. FORMAT: _declspec( dllexport ) short APIENTRY BscOPUnLock(short nCid); ARGUM

109/201BscPMov FUNCTION: Moves robot to a specified pulse position. FORMAT: _declspec( dllexport ) short APIENTRY BscPMov(short nCid,char *movtyp

110/201BscPMovj FUNCTION: Moves robot to a specified pulse position with joint motion. FORMAT: _declspec( dllexport ) short APIENTRY BscPMovj(sh

12/201 Fig 2.2 [Run Installation Program] Dialog Box (6) Clicking the [Finish] button calls up the setup program. Follow the instructions in

111/201BscPMovl FUNCTION: Moves robot to a specified pulse position with linear motion. FORMAT: _declspec( dllexport ) short APIENTRY BscPMovl(s

112/201BscPutUFrame FUNCTION: Sets a specified user frame data. FORMAT: _declspec( dllexport ) short APIENTRY BscPutUFrame(shortnCid,char *ufname

113/201Variables Coordinate System Meani ngP[ 0] ＯＲＧ X-axis coordinate (unit: mm, effective down to 3 decimal pl aces)P[ 1]Y-axis coordinate (unit

114/201BscPutVarData FUNCTION: Sets variable data. FORMAT: _declspec( dllexport) short APIENTRY BscPutVarData(short nCid,short type,short varno,d

115/201P[3] - - - - U-axis pulse number 3rd base axis pulse number 3rd station axis pulse number P[4] - - - - R-axis pulse number 4th base

116/20112 User coordinate 11 26 Tool coordinate 13 User coordinate 12 27 Master tool coordinate Form The form data are represented by bit

117/201BscPutVarData2 FUNCTION: Sets variable data. ( 7axes or more ) FORMAT: _declspec( dllexport) short APIENTRY BscPutVarData2(short nCid,shor

118/201P[3] - - - - U-axis pulse number 3rd base axis pulse number 3rd station axis pulse number P[4] - - - - R-axis pulse number 4th base

119/20110 User coordinate 9 24 User coordinate 23 11 User coordinate 10 25 User coordinate 24 12 User coordinate 11 26 Tool coordinate 13

120/201BscStartJob FUNCTION: Starts job. (A job to be started has the job name which is selected last.) FORMAT: _declspec( dllexport) short APIE

13/2012.2.2 Personal Computer Settings Set the settings related to Ethernet transmissions, to the personal computer with the software installed.

121/201BscSelectJob FUNCTION: Selects a job. FORMAT: _declspec( dllexport ) short APIENTRY BscSelectJob(short nCid,char *name); ARGUMENTS: IN（Tr

122/201BscSelectMode FUNCTION: Selects mode. (Teach or Play) FORMAT: _declspec( dllexport ) short APIENTRY BscSelectMode(short nCid,short mode);

123/201BscSelLoopCycle FUNCTION: Changes the cycle mode to auto mode. FORMAT: _declspec( dllexport ) short APIENTRY BscSelLoopCycle(short,nCid);

124/201BscSelOneCycle FUNCTION: Changes the cycle mode to 1-cycle mode. FORMAT: _declspec( dllexport ) short APIENTRY BscSelOneCycle(short nCid)

125/201BscSelStepCycle FUNCTION: Changes the cycle mode to step mode. FORMAT: _declspec ( dllexport ) short APIENTRY BscSelStepCycle(short

126/201BscSetLineNumber FUNCTION: Sets a line number of current job. FORMAT: _declspec( dllexport ) short APIENTRY BscSetLineNumber(short nCid,s

127/201BscSetMasterJob FUNCTION: Sets a job as a master job. FORMAT: _declspec( dllexport ) short APIENTRY BscSetMasterJob(short nCid); ARGUMENT

128/201BscReset FUNCTION: Resets a robot alarm. FORMAT: _declspec( dllexport ) short APIENTRY BscReset(short nCid); ARGUMENTS: IN（Transfer） n

129/201BscSetCtrlGroup FUNCTION: Sets a control group. FORMAT: _declspec( dllexport ) short APIENTRY BscSetCtrlGroup(short nCid,short groupno);

130/201BscSetCtrlGroupXrc FUNCTION: Sets a control group. FORMAT: _declspec( dllexport )short APIENTRY BscSetCtrlGroupXrc(short nCid,short gro

14/201(4) Select [Microsoft] as manufacturers and [TCP/IP] as Network Protocol and click the [OK] button. Fig 2.5 [Select Network Protocol]

131/201(such as travel axis), when the manipulator with this base axis is specified, this base axis is automatically specified. The follow

132/201BscServoOff FUNCTION: Sets servo power supply OFF. FORMAT: _declspec( dllexport ) short APIENTRY BscServoOff(short nCid); ARGUMENTS: IN（

133/201BscServoOn FUNCTION: Sets servo power supply ON. FORMAT: _declspec( dllexport ) short APIENTRY BscServoOn(short nCid); ARGUMENT: IN（Tran

134/2017.4 DCI Funtion Job save, load, or variable load, save are automatically accomplished when the robot is under playback mode, by preparing the

135/201BscDCILoadSave FUNCTION: Loads or saves a job with DCI instruction. FORMAT: _declspec( dllexport ) short APIENTRY BscDCILoadSave(short nC

136/201BscDCILoadSaveOnce FUNCTION: Loads or saves a job with DCI instruction. FORMAT: _declspec( dllexport ) short APIENTRY BscDCILoadSaveOnce(

137/201BscDCIGetPos FUNCTION: Gets a variable with DCI instruction. FORMAT: _declspec( dllexport ) short APIENTRY BscDCIGetPos(short nCid,short *

138/201 D7 D6D5 D4 D3 D2D1 D00: Fl ip, 1:No-flip0: Up, 1:Down0: Fr ont , 1: Rear0: R<180, 1: R>=1800: T<180, 1: T>=180

139/201BscDCIGetPos2 FUNCTION: Gets a variable with DCI instruction. ( 7axes or more ) FORMAT: _declspec( dllexport ) short APIENTRY BscDCIGetPos

140/201 D7 D6D5 D4 D3 D2D1 D00: Fl ip, 1:No-flip0: Up, 1:Down0: Fr ont , 1: Rear0: R<180, 1: R>=1800: T<180, 1: T>=180

15/201(6) Input the value for the [IP address] and [Subnet Mask] of the personal computer. For details of the settings of Gateway and DNS, refer

141/201BscDCIGetVarData FUNCTION: Gets a variable with DCI instruction. FORMAT: _declspec( dllexport ) short APIENTRY BscDCIGetVarData(short nCid

142/201 Form The form data are represented by bit data in decimals. ０：Flip,０：Elbow Above，０：Front Side０：Ｒ＜ １８０，０：Ｔ＜１８０，０：Ｓ＜ １８０，Reserved０：Previou

143/201BscDCIPutPos FUNCTION: Sets a variable with DCI instruction. FORMAT: _declspec( dllexport ) short APIENTRY BscDCIPutPos(short nCid,short t

144/201 D7 D6D5 D4 D3 D2D1 D00: Fl ip, 1:No-flip0: Up, 1:Down0: Fr ont , 1: Rear0: R<180, 1: R>=1800: T<180, 1: T>=1800: S<

145/201BscDCIPutPos2 FUNCTION: Sets a variable with DCI instruction. ( 7axes or more ) FORMAT: _declspec( dllexport ) short APIENTRY BscDCIPutPos

146/201 D7 D6D5 D4 D3 D2D1 D00: Fl ip, 1:No-flip0: Up, 1:Down0: Fr ont , 1: Rear0: R<180, 1: R>=1800: T<180, 1: T>=1800: S<

147/201BscDCIPutVarData FUNCTION: Sets a variable with DCI instruction. FORMAT: _declspec( dllexport ) short APIENTRY BscDCIPutVarData(short nCid

148/201 Form The form data are represented by bit data in decimals. ０：Flip,０：Elbow Above，０：Front Side０：Ｒ＜ １８０，０：Ｔ＜１８０，０：Ｓ＜ １８０，Reserved０：Previou

149/2017.5 I/O Signal Read/Write Function Reads or writes the I/O signals. The following functions are available. BscReadIO BscReadIO2 BscWriteIO B

150/201BscReadIO FUNCTION: Reads specified count of coil status. Up to 256 coil numbers can be specified. FORMAT: _declspec( dllexport ) sho

16/2012.2.3 Robot Controller Setting Hardware settings To communicate using TCP/IP protocol, an Erthernet I/F board for NX100, YASNAC XRC/MRC is

151/201List of I/O Signals Signal Signal Range Name Read Write 0xxx 0010 to 0167 (128) Robot universal input ○ × 1xxx 1010 to 1167 (128) Robot univ

152/201BscReadIO2 FUNCTION: Reads specified count of coil status. Up to 256 coil numbers can be specified. FORMAT: _declspec( dllexport ) sh

153/201List of I/O Signals Signal Signal Range Name Read Write 0xxxx 00010 to 01287 (1024) Robot universal input ○ × 1xxxx 10010 to 11287 (1024) Ro

154/201BscWriteIO FUNCTION: Writes specified count of coil status. Up to 256 coil numbers can be specified. Address numbers to be written are

155/201List of I/O Signals Signal Signal Range Name Read Write 0xxx 0010 to 0167 (128) Robot universal input ○ × 1xxx 1010 to 1167 (128) Robot univ

156/201BscWriteIO2 FUNCTION: Writes specified count of coil status. Up to 256 coil numbers can be specified. Address numbers to be written ar

157/201List of I/O Signals Signal Signal Range Name Read Write 0xxxx 00010 to 01287 (1024) Robot universal input ○ × 1xxxx 10010 to 11287 (1024) Ro

158/2017.6 Other Functions The following functions are also available. BscClose BscCommand BscConnect BscDisConnect BscDiskFreeSizeGet BscEnforcedC

159/201BscClose FUNCTION: Releases a communication handler. FORMAT: _declspec( dllexport ) short APIENTRY BscClose(short nCid); ARGUMENTS: IN（T

160/201BscCommand FUNCTION: Sends a transmission command. FORMAT: _declspec( dllexport ) short APIENTRY BscCommand(short nCid,char *h_buf,char *d

17/201・Customer options I/O ＝ Not used Command mode = Used (This must be always set to “Used.”) PP/PBOX (programming pendant / playback bo

161/201BscConnect FUNCTION: Connects communications lines. FORMAT: _declspec( dllexport ) short APIENTRY BscConnect(short nCid); ARGUMENTS:

162/201BscDisConnect FUNCTION: Disconnects communications lines. FORMAT: _declspec( dllexport ) short APIENTRY BscDisConnect(short nCid); A

163/201BscDiskFreeSizeGet FUNCTION: Gets free capacity of the specified drive. FORMAT: _declspec( dllexport ) short APIENTRY BscDiskFreeSizeGet(sh

164/201BscEnforcedClose FUNCTION: Closes compulsorily. FORMAT: _declspec( dllexport ) short APIENTRY BscEnforcedClose(short nCid); ARGUMENTS: I

165/201BscGets FUNCTION: Sends a character string by transmission in TTY level. FORMAT: _declspec( dllexport ) short APIENTRY BscGets(short nCid,

166/201BscInBytes FUNCTION: Returns the number of characters which are received by transmission in TTY level. FORMAT: _declspec( dllexport ) sho

167/201BscIsErrorCode FUNCTION: Gets an error code. FORMAT: _declspec( dllexport ) short APIENTRY BscIsErrorCode(short nCid); ARGUMENTS: IN（Tra

168/201BscOpen FUNCTION: Gets a communication handler. FORMAT: _declspec( dllexport ) short APIENTRY BscOpen(char *path,short mode); ARGUMENTS:

169/201BscOutBytes FUNCTION: Returns the remaining number of characters which are sent by transmission in TTY level. FORMAT: _declspec( dllexpor

170/201BscPuts FUNCTION: Sends a character string by transmission in TTY level. FORMAT: _declspec( dllexport ) short APIENTRY BscPuts(short nCid,

18/201 Fig 2.8 Access to the Same File by Multiple Robot controllers not Possible

171/201BscReConnect FUNCTION: Connects communications lines again. FORMAT: _declspec( dllexport ) short APIENTRY BscReConnect(short nCid);

172/201BscReStartJob FUNCTION: Starts job again. FORMAT: _declspec( dllexport) short APIENTRY BscReStartJob(Short nCid); ARGUMENTS: IN（Transf

173/201BscSetBreak FUNCTION: Cancels transmission. FORMAT: _declspec( dllexport ) short APIENTRY BscSetBreak(short nCid,short flg); ARGUMENTS:

174/201BscSetCom FUNCTION: Sets communications parameters of the serial port. FORMAT: _declspec( dllexport )short APIENTRY BscSetCom(short nCid

175/201BscSetEServerMode FUNCTION: Sets the communication parameters for Ethernet Server function. FORMAT: _declspec( dllexport )short APIENTRY

176/201BscSetEther FUNCTION: Sets parameters for Ethernet communications. FORMAT: _declspec( dllexport )short APIENTRY BscSetEther(short nCid,

177/201BscSetCondBSC FUNCTION: Sets a communication control timer or retry counter. FORMAT: _declspec( dllexport ) short APIENTRY BscSetCondBSC(s

178/201 BscStatus FUNCTION: Reads the status. FORMAT: _declspec( dllexport ) short APIENTRY BscStatus(short nCid,char *hpt,char *dpt,unsigned sh

179/2017.7 DLL Functions Corresponding to Transmission-relatedKey Words 7.7.1 DLL Functions Related to Transmission Commands Read/Monitoring System

180/201BscGetVarData2 BscHostGetVarData Operation System HOLD BscHoldOn BscHoldOff RESET BscReset CANCEL BscCancel MODE BscSelectMode CYCLE BscSelSt

19/201 2.3.3 YASNAC Robot Controller Restrictions Multiple personal computer access BSC-Protocol With the MOTOCOM32, one personal computer can

181/201BscContinueJob MOVJ BscMovj BscMov MOVL BscMovl BscMov IMOV BscImov BscMov PMOVJ BscPMovj BscPMov PMOVL BscPMovl BscPMov Other DLL Functions

182/201Port Disconnection BscClose BscDisConnect Transmission Parameter Setting BscSetCondBSC 7.7.5 Other DLL Functions BscDiskFreeSizeGet BscGets

183/2018. List of Interlock for Commands of Host Control Function

184/201The executability of each command differs depending on the status of the XRC as shown in the following table.

185/201

186/201The executability of each command differs depending on the status of the NX100 as shown in the following table.

187/201

20/2016. CREATING A TRANSMISSION APPLICATION This paragraph describes how to create an application so that the user can easily create a transmission

1/201 ・ Diagrams and photos in this manual are

21/2016.1 Outline This on-line Help describes how to create a transmission application using the 32-bit YASNAC transmission library “MOTOCOM 32 DLL.

22/201 ----------------------------------------------------------------------------------- ② Use the definition file attached to the Motocom32 pack

23/201 Fig. 6.2 EXE File Execution Display

24/2016.3 Using Visual C++ 6.3.1 Preparation To create a transmission application, the following systems must be installed in the personal computer

25/201③ Create an edit control to input the job name, and name the ID “IDC_JOBNAME.” ④ Create a pushbutton for sending, and name the caption “Send”

26/2016.3.2.5 Creation and Execution of EXE File Execute “Build” in the Visual C++ Build menu to create a execution enabled module. By putting th

27/201 End If 'Copying corresponding job to name for sending． If Not JobCopy(JobName, CvtName) Then

28/201 rc = BscClose(ncid) ncid = -1 GoTo Ms_BscOpenComm_Exit End If ‘Connect communications line. rc = BscC

29/201' LogFile Log file name 'output JobNo Received job No. 'return value TRUE Completion of sendin

30/201 Else 'Job transmission error occurs. MsgBox "Job transmission error occurs. (" + Format$(rc0) + ")&qu

2/201 CONTENTS 1. INTRODUCTION...

31/2017. COMMUNICATION TRANSMISSION When [MOTOCOM32. DLL function] is opened, the following list of help topics appears. Fig. 7.1 List of Help Topi

32/201Loads and saves the files containing job, condition data, system information, etc. The following functions are available. BscDownload B

33/201BscDownLoad FUNCTION: Sends a specified file to the robot controller. FORMAT: _declspec( dllexport ) short APIENTRY BscDownLoad(short nCid,

34/201BscUpLoad FUNCTION: Receives a specified file from the robot controller. FORMAT: _declspec( dllexport ) short APIENTRY BscUpLoad(short nCid

35/201 BscDownLoadEx FUNCTION: Sends a specified file to the robot controller. A directory where the sending file exists can be specified. FORMAT:

36/201BscUpLoadEx FUNCTION: Receives a specified file from the robot controller. The directory where the file is send to can be specified. FORMA

37/201 7.3 Robot Control Function Reads the robot status (current position, alarm, error, servo status, etc.) and controls the system (start, hold,

38/201System Control BscCancel BscChangeTask BscContinueJob BscConvertJobP2R BscConvertJobR2P BscDeleteJob BscHoldOff BscHoldOn BscHostPutVarData Bs

39/201BscFindFirst FUNCTION: Reads the first job name from the all job list registered at the present time. FORMAT: _declspec( dllexport ) sho

40/201BscFindFirstMaster FUNCTION: Reads the first job name from the job list that belongs to the master job. FORMAT: _declspec( dllexport ) sho

BscGetStatus ...

41/201BscFindNext FUNCTION: Reads the next job name registered at the present time. FORMAT: _declspec( dllexport ) short APIENTRY BscFindNext(sho

42/201BscFindNextMaster FUNCTION: Reads the next job name in the job list that belongs to the master job. FORMAT: _declspec( dllexport ) short AP

43/201BscGetCtrlGroup FUNCTION: Reads control group and task information. FORMAT: _declspec( dllexport ) short APIENTRY BscGetCtrlGroup(short n

44/201BscGetCtrlGroupXrc FUNCTION: Reads control group and task information. FORMAT: _declspec( dllexport ) short APIENTRY BscGetCtrlGroupXrc(s

45/201 1: Sub 1 task 2: Sub 2 task 3: Sub 3 task 4: Sub 4 task 5: Sub 5 task 6: Sub 6 task 7: Sub 7 task “0” is returned if independe

46/201BscGetError FUNCTION: Reads an error code or alarm code. FORMAT: _declspec( dllexport ) short APIENTRY BscGetError(short nCid); ARGUMENTS:

47/201BscGetError2 FUNCTION: Reads an error code or alarm code. FORMAT: _declspec( dllexport ) short APIENTRY BscGetError2(short nCid); ARGUMENT

48/201BscGetFirstAlarm FUNCTION: Reads an alarm code and returns the alarm code and alarm data. FORMAT: _declspec( dllexport ) short APIENTRY Bsc

49/201BscGetFirstAlarmS FUNCTION: Reads an alarm code and returns the alarm code, alarm data and alarm message. FORMAT: _declspec( dllexport ) sh

50/201BscGetNextAlarm FUNCTION: Reads the next alarm code and alarm data. FORMAT: _declspec( dllexport )short APIENTRY BscGetNextAlarm(short nCid

BscServoOff...

51/201BscGetNextAlarmS FUNCTION: Reads the next alarm code, alarm data and alarm message. FORMAT: _declspec( dllexport )short APIENTRY BscGetNext

52/201BscGetStatus FUNCTION: Reads the status information. FORMAT: _declspec( dllexport ) short APIENTRY BscGetStatus(short nCid,short *d1,short

53/201BscGetUFrame FUNCTION: Reads specified user frame data. FORMAT: _declspec( dllexport ) short APIENTRY BscGetUFrame(short nCid,char *ufname,d

54/201Variable type Coordinate values of the user coordinate system specified with the user coordinate number are assigned to the user coordinate da

55/201BscGetVarData FUNCTION: Receives variables. FORMAT: _declspec( dllexport ) short APIENTRY BscGetVarData(short nCid,short type,short varno,

56/201number number pulse number P[3] - - - - U-axis pulse number 3rd base axis pulse number 3rd station axis pulse number P[4] - - - -

57/20113 User coordinate 12 27 Master tool coordinate Form The form data are represented by bit data in decimals. D7D6D5 D4D3 D2D1 D00: Fl i

58/201BscGetVarData2 FUNCTION: Receives variables.( 7axes or more ) FORMAT: _declspec( dllexport ) short APIENTRY BscGetVarData2(short nCid,shor

59/201P[2] - - - - L-axis pulse number 2nd base axis pulse number 2nd station axis pulse number P[3] - - - - U-axis pulse number 3rd base

60/20111 User coordinate 10 25 User coordinate 24 12 User coordinate 11 26 Tool coordinate 13 User coordinate 12 27 Master tool coordinate

5/201 1. INTRODUCTION 1.1 Introduction of This Manual This o

61/201BscHostGetVarData FUNCTION: Receives variables. FORMAT: _declspec( dllexport ) short APIENTRY BscHostGetVarData(short nCid,short type,shor

62/201 Content of the numeric variable storage area Depending on the variable type, the numeric variable storage area contains the number of values

63/201 The following coordinate names correspond to the coordinate type data. Coordinate type Coordinate name Coordinate type Coordinate name

64/201BscHostGetVarDataM FUNCTION: Receives multiple variables at the same time. FORMAT: _declspec( dllexport ) short APIENTRY BscHostGetVarData

65/201BscIsAlarm FUNCTION: Reads alarm status. FORMAT: _declspec( dllexport ) short APIENTRY BscIsAlarm(short nCid); ARGUMENTS: IN（Transfer）

66/201BscIsCtrlGroup FUNCTION: Reads control group information. FORMAT: _declspec( dllexport ) short APIENTRY BscIsCtrlGroup(short nCid); ARGUME

67/201BscIsCtrlGroupXrc FUNCTION: Reads control group information. FORMAT: _declspec( dllexport )short APIENTRY BsclsCtrlGroupXrc (short nCid,shor

68/201BscIsCycle FUNCTION: Reads playback mode information. FORMAT: _declspec( dllexport ) short APIENTRY BscIsCycle(short nCid); ARGUMENTS: IN

69/201BscIsError FUNCTION: Reads error status. FORMAT: _declspec( dllexport ) short APIENTRY BscIsError(short nCid); ARGUMENTS: IN（Transfer）

70/201BscIsHold FUNCTION: Reads hold status. FORMAT: _declspec( dllexport ) short APIENTRY BscIsHold(short nCid); ARGUMENTS: IN（Transfer） nCi

6/201 Since an Ethernet cable can be connected to a multiple

71/201BscIsJobLine FUNCTION: Reads the current job line number. FORMAT: _declspec( dllexport ) short APIENTRY BscIsJobLine(short nCid); ARGUME

72/201BscIsJobName FUNCTION: Reads the current job name. FORMAT: _declspec( dllexport ) short APIENTRY BscIsJobName(short nCid,char *jobname,sho

73/201BscIsJobStep FUNCTION: Reads the current job step number. FORMAT: _declspec( dllexport ) short APIENTRY BscIsJobStep(short nCid); ARGUME

74/201BscIsLoc FUNCTION: Reads the current robot position in pulse or XYZ frame system. FORMAT: _declspec( dllexport ) short APIENTRY BscIsLoc(s

75/201 Current Position The current position data are as follows when the joint coordinate system or Cartesian coordinate system are specifie

76/201BscIsPlayMode FUNCTION: Reads the operation mode. FORMAT: _declspec( dllexport ) short APIENTRY BscIsPlayMode(short nCid); ARGUMENTS: IN（

77/201BscIsRemoteMode FUNCTION: Reads the command remote mode status. FORMAT: _declspec( dllexport ) short APIENTRY BscIsRemoteMode(short nCid);

78/201BscIsRobotPos FUNCTION: Reads the current robot position in a specified frame system. The existence of the external axis can also be spe

79/201 Current Position The current position data are as follows when the joint coordinate system or Cartesian coordinate system is specified

80/201BscIsServo FUNCTION: Reads the servo status. FORMAT: _declspec( dllexport ) short APIENTRY BscIsServo(short nCid); ARGUMENTS: IN（Transfer

7/201 1.3 Hardware Requirements for MOTOCOM32 The MOTOCOM 32

81/201BscIsTaskInf FUNCTION: Reads task information. FORMAT: _declspec( dllexport ) short APIENTRY BscIsTaskInf(short nCid); ARGUMENTS IN（Trans

82/201BscIsTaskInfXrc FUNCTION: Reads task information. FORMAT: _declspec( dllexport ) short APIENTRY BscIcTaskInfXrc(short nCid) ARGUMENTS IN（

83/201BscIsTeachMode FUNCTION: Reads whether in the teach mode or play mode. FORMAT: _declspec( dllexport ) short APIENTRY BscIsTeachMode(short,

84/201BscJobWait FUNCTION: Waits for job completion until the robot stops or specified time expires. FORMAT: _declspec( dllexport ) short APIE

85/201BscReadAlarmS FUNCTION: Reads the error code, error data and error message. FORMAT: _declspec( dllexport ) short APIENTRY BscReadAlarmS(sho

86/201BscCancel FUNCTION: Cancels an error. FORMAT: _declspec( dllexport ) short APIENTRY BscCancel(short nCid); ARGUMENTS: IN（Transfer） nC

87/201BscChangeTask FUNCTION: Changes a task. FORMAT: _declspec( dllexport ) short APIENTRY BscChangeTask(short nCid,short task); ARGUMENTS: IN（

88/201BscContinueJob FUNCTION: Starts job.（Execution starts from the current line of the current job.) FORMAT: _declspec( dllexport ) short AP

89/201BscConvertJobP2R FUNCTION: Converts a pulse job to a relative job in a specified frame system. FORMAT: _declspec( dllexport ) short APIENT

90/201BscConvertJobR2P FUNCTION: Converts a relative job in a specified frame system to a pulse job. FORMAT: _declspec( dllexport ) short APIENTR

8/201 Robot Controller (D-sub 9-pin male) Personal Computer

91/201BscDeleteJob FUNCTION: Deletes a job. FORMAT: _declspec( dllexport ) short APIENTRY BscDeleteJob(short nCid); ARGUMENTS: IN（Transfer） n

92/201BscHoldOn FUNCTION: Sets hold-ON. FORMAT: _declspec( dllexport ) short APIENTRY BscHoldOn(short nCid); ARGUMENTS: IN（Transfer） nCid Co

93/201BscHoldOff FUNCTION: Sets hold-OFF. FORMAT: _declspec( dllexport ) short APIENTRY BscHoldOff(short nCid); ARGUMENTS: IN（Transfer） nCid

94/201BscHostPutVarData FUNCTION: Sets variables. FORMAT: _declspec( dllexport ) short APIENTRY BscHostPutVarData(short nCid,short type,short va

95/201 Content of the numeric variable storage area Depending on the variable type, the numeric variable storage area contains the number of values

96/201Coordinate Types The following coordinate names correspond to the coordinate type data. Coordinate type Coordinate name Coordinate type

97/201BscHostPutVarDataM FUNCTION: Sets multiple variables at the same time. FORMAT: _declspec( dllexport ) short APIENTRY BscHostPutVarDataM(sh

98/201BscImov FUNCTION: Moves robot with linear motion form the current position for the increment value in a specified frame system. FORMAT:

99/201 Form The form data are represented by bit data in decimals. D7 D6D5 D4 D3 D2D1 D00: Fl ip, 1:No-flip0: Up, 1:Down0: Fr ont , 1: Rear

100/201BscMDSP FUNCTION: Sends message data. FORMAT: _declspec( dllexport ) short APIENTRY BscMDSP(short nCid,char *ptr); ARGUMENTS: IN（Transfe