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The MotoMan exported methods:
|
| Method |
MOTOMAN corresponding |
Returns |
Description |
| Connect(comport,path) |
- |
1 = success, 0 = fail |
opens the serial line given by comport and JBI working
directory |
| Disconnect() |
- |
1 = success, 0 = fail |
closes the serial line opened by Connect(comport) |
| ActivateTrigger(interval) |
- |
1 = success, 0 = fail |
activates the polling timer waiting for the robot SAVEV
Bxxx notification. The interval is given in ms (recommended > 250,
min=100 ms). The trigger is automatic deactivated before fireing the
trigger event with the actual value of the B register. See the
OnTrigger event. |
| DeactivateTrigger() |
- |
1 = success, 0 = fail |
deactivates the trigger if activated |
| GetByte(varno) |
SAVEV Bxxx |
BYTE value |
requests the robot for a byte value. See Note 2 for
further information. |
| GetInt(varno) |
SAVEV Ixxx |
INTEGER value |
requests the robot for a integer value. See Note 2 for
further information. |
| GetDouble(varno) |
SAVEV Dxxx |
DOUBLE value |
requests the robot for a double value. See Note 2 for
further information. |
| GetReal(varno) |
SAVEV Rxxx |
REAL value |
requests the robot for a real value. See Note 2 for
further information. |
| SetByte(varno,value) |
LOADV Bxxx |
1 = success, 0 = fail |
set a byte value. See Note 2 for further
information. |
| SetInt(varno,value) |
LOADV Ixxx |
1 = success, 0 = fail |
set a byte value. See Note 2 for further
information. |
| SetDouble(varno,value) |
LOADV Dxxx |
1 = success, 0 = fail |
set a byte value. See Note 2 for further
information. |
| SetReal(varno,value) |
LOADV Rxxx |
1 = success, 0 = fail |
set a byte value. See Note 2 for further
information. |
| SetPosition(varno,x,y,angle) |
LOADV Pxxx |
1 = success, 0 = fail |
set a position value. See Note 2 for further
information. Method sets MOTMAN position
register 0,1 and 5, register 2,3,4 are set to zero. |
| SetPosition3D(varno,x,y,z,tx,ty,tz) |
LOADV Pxxx |
1 = success, 0 = fail |
set a position value. See Note 2/3 for further
information. Method sets all position
registers [0..5] |
| LoadSave(timeot) |
LOADJ / SAVEJ |
1 = success, 0 = fail |
waits for ROBOT instruction for job transfer to
complete. JBI directory is specified in the Connect method. |
| About() |
- |
none |
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Note 1: the varno (variable number) in the set- and get- methods is
overridden by the LOADV and SAVE instructions in the robot program. Since
there currently is no support for this in the MotoCom interface they will be
treated as supplementary information of the communication. Note 2: When a
trigger occurs, the trigger monitoring is automatically deactivated before
the plugin fires the OnTrigger event. The host application must reactive the
trigger again when the trigger event is handled.
Note3: SetPosition3D is available in
version 1.2.0.7 and later only |
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