robot.

DOUBLE ARM_read(void) Outline Reading current arm length position Return Arm length (mm) Parameters None

Example

double arm; arm = ARM_read();

Remark None

robot.c

DOUBLE TRN_read(void) Outline Reading current arm swing position Return The amount of revolution (deg) Parameters None

Example

double turn; turn = TRN_read();

Remark None

robot.c

DOUBLE HAN_read(void) Outline Reading current hand pivot position Return The amount of revolution (deg) Parameters None

Example double hand; hand = HAN_read();

Remark None

robot.c

DOUBLE LFT_read(void) Outline Reading current the z-axis position Return The amount of revolution Parameters None

Example double lift; lift = LFT_read();

Remark None

robot.c

DOUBLE CHG_read(void) Outline Reading current changer position Return The mount of revolution (deg) Parameters None

Example double changer; changer =CHG_read();

Remark None

robot.c

DOUBLE *XY_read(void) Outline Reading current position Return Coordinate (mm) Parameters None

Example double *dp; dp = XY_read();

Remark None

robot.c

DOUBLE *XY_read2(void) Outline Reading current position (check only arm stretched position) Return Coordinate (mm) Parameters None

Example double *d; d = XY_read2();

Remark None

robot.c

void JOG_STP(void) Outline Stop linear interpolation operating for arm JOG (for ST) Return None Parameters None

Example JOG_STP;

Remark None

robot.c

void LIN_JOG(USHORT dir, USHORT mode) Outline JOG arm linear interpolation (for ST) Return None Parameters dir USHORT type dir 0 1 2 3 mode USHORT type direction Direction X+ XY+ Ymode

Example USHORT dir; USHORT mode; dir =0; mode =2; LIN_JOG(dir,mode); Remark None

robot.c

void HAN_JOG(USHORT dir,USHORT mode) Outline Hand turning JOG (for ST) Return None Parameters dir USHORT type dir 0 1 direction Direction + -

mode

USHORT type

mode

Example USHORT dir; USHORT mode; dir =0; mode =2; HAN_JOG(dir,mode); Remark None

robot.c

void ARM_JOG(USHORT dir, USHORT mode) Outline Arm expansion and contraction JOG Return None Parameters dir dir 0 1 USHORT type Direction + direction

mode

USHORT type

mode

Example USHORT dir; USHORT mode; dir =0; mode =2; ARM_JOG(dir,mode); Remark None

robot.c

void TRN_JOG(USHORT dir, USHORT mode) Outline Arm turning JOG (for ST) Return None Parameters dir dir 0 1 USHORT type Direction + direction

mode

USHORT type

mode

Example USHORT dir; USHORT mode; dir =0; mode =2; TRN_JOG(dir,mode); Remark None

robot.c

void LFT_JOG(USHORT dir,USHORT mode) Outline Go up and down JOG Return None Parameters dir USHORT type direction

mode

USHORT type

mode

Example USHORT dir; USHORT mode; dir =0; mode =2; LFT_JOG(dir,mode); Remark None

robot.c

void ARM_MOV(DOUBLE data1,USHORT mode) Outline Arm expansion and contraction absolute (hand turning) Return None Parameters data1 DOUBLE type Stretch positions

mode

USHORT type

mode

Example DOUBLE arm; USHORT mode; arm =2.34; mode =1; ARM_MOV(arm,mode); Remark None

robot.c

void TRN_MOV(DOUBLE data,USHORT mode) Outline Arm turning absolute Return None Parameters data DOUBLE type Arm turning position

mode

USHORT type

mode

Example DOUBLE turn; USHORT mode; turn =2.34; mode =1; TRN_MOV(turn,mode); Remark None

robot.c

void HAN_MOV(DOUBLE data,USHORT mode) Outline Hand turning absolute movement Return None Parameters data DOUBLE type Amount of tip turning

mode

USHORT type

mode

Example DOUBLE data; USHORT mode; data =0.0; mode =1; HAN_MOV(data,mode); Remark None

robot.c

void LFT_MOV(DOUBLE data) Outline Move to high absolute Return None Parameters data DOUBLE type high absolute (mm)

Example DOUBLE data; data =0.5; LFT_MOV(data);

Remark None

robot.c

void LFT_MOV2(DOUBLE X,DOUBLE Y,DOUBLE U) Outline Arm linear interpolation (for ST) Return None Parameters X Y U DOUBLE type DOUBLE type DOUBLE type Absolute movement position(mm) Absolute movement position(mm) Hand turning (deg)

Example

DOUBLE X,Y,U; X = 0.1; Y =0.2; U = 0.4; LFT_MOV2(X,Y,Z);

Remark None

robot.c

void CHG_MOV(DOUBLE data) Outline changer absolute movement Return None Parameters data DOUBLE type absolute angle(deg)

Example

DOUBLE data; data = 0.5; CHG_MOV(data);

Remark None

robot.c

USHORT XY_chk(DOUBLE X,DOUBLE Y) Outline Coordinates checking Return 0: A movement range 1: Out of range Parameters X Y DOUBLE type DOUBLE type X coordinate value(mm) Y coordinate value(mm)

Example DOUBLE X,Y; X =0.5; Y =0.5; XY_chk(X,Y);

Remark None

robot.c

USHORT trn_chk(DOUBLE X,DOUBLE Y,DOUBLE R) Outline Swivel range checking Return 0: Outside 1: In range Parameters X Y R DOUBLE type DOUBLE type DOUBLE type X coordinate value(mm) Y coordinate value(mm) Radius value (mm)

Example DOUBLE X,Y,R; X =0.5; Y =0.5; R =0.7; trn_chk(X,Y,R); Remark None

robot.c

DOUBLE XY_lim(DOUBLE XY) Outline Coordinate operating limit Return Marginal coordinates Parameters XY DOUBLE type Coordinate value(mm)

Example DOUBLE XY; XY =0.5; XY_lim(XY);

Remark None

robot.c

USHORT arm_chk(void) Outline Joint direction checking Return 0: Right joint 1: Reverse joint Parameters None

Example USHORT value; value = arm_chk();

Remark None

robot.c

LONG *XY_chng2(DOUBLE X,DOUBLE Y,USHORT AR) Outline Coordinate converse for multi-rotation (for ST) Return work[0]: work[1]: work[2]: work[3]: Parameters X Y AR Angle of motor 1 Angle of motor 2 Angle Angle DOUBLE type DOUBLE type USHORT type X Coordinate value(mm) Y Coordinate value(mm) polarity

Example LONG *p; DOUBLE X,Y; USHORT AR; X= 0.1;y = 0.2;AR = 1; p = XY_chng2(X,Y,AR); Remark None

robot.c

LONG *XY_chng(DOUBLE X,DOUBLE Y,USHORT AR) Outline Coordinate transformation(From rectangular coordinates to polar coordinates) Return work[0]: work[1]: work[2]: work[3]: Parameters X Y AR Angle of motor 1 Angle of motor 2 Angle Angle DOUBLE type DOUBLE type USHORT type X Coordinate value(mm) Y Coordinate value(mm) polarity

Example LONG *p; DOUBLE X,Y; USHORT AR; X= 0.1;y = 0.2;AR = 1; p = XY_chng(X,Y,AR); Remark None

robot.c DOUBLE *XY_archng(LONG deg1,LONG deg2) Outline Coordinate transformation(From polar coordinates to rectangular coordinates) Return work[0]: X coordinate value work[1]: work[2]: work[3]: Parameters deg1 deg2 Y coordinate value Angle Angle ( Positive and negative) LONG type LONG type motor 1 angle pulse motor 2 angle pulse

Example DOUBLE *dp; LONG deg1, deg2; deg1 = 10; deg2 = 20; dp = XY_archng(deg1,deg2); Remark None

robot.c

DOUBLE *pole_chng(DOUBLE X,DOUBLE Y) Outline Polar coordinates conversion(for ST) Return work[0]: work[1]: Parameters X Y Magnitude(mm) Angle (deg) DOUBLE type DOUBLE type X coordinate value (mm) Y coordinate value (mm)

Example DOUBLE X,Y; DOUBLE *p; X = 100; Y = 25; p =pole_chng(X,Y); Remark None

robot.c

DOUBLE *pole_archng(DOUBLE R,DOUBLE T) Outline Inverse polar (for ST) Return work[0]: X coordinate value(mm) work[1]: Parameters R T Y coordinate value(mm) DOUBLE type DOUBLE type Magnitude value (mm) Angle value (deg)

Example DOUBLE R,T; DOUBLE work[2]; R= 100; T = 30; work =pole_archng(R,T); Remark None

robot.c

USHORT Q_absecd(USHORT axis,LONG *data) Outline Reading Absolute Encoder (for Sanyo Encoder (Q series)) Return 1: Error 0: succeed Parameters axis data USHORT type LONG type pointer Axis is read Encoder value

Example define Aaxis LONG data; USHORT ret;

0x01

ret = Q_absecd(Aaxis, &data);

// read encoder value of A axis

Remark None

robotH.c

USHORT H_ORG_MOV(DOUBLE R) Outline Move Arm go out to the origin position Return 0: Normal 1: Abnormality 2: Turning overlap Parameters R DOUBLE type Turning radius

Example DOUBLE R; R = 1.5; H_ORG_MOV(R);

Remark None

robotH.c

USHORT H_ORG_MOV1(DOUBLE R) Outline Move 2 arm to go out the origin position (changer move to possible position) Return 0: Normal 1: Abnormality 2: Turning overlap Parameters R DOUBLE type Turning radius

Example DOUBLE R; R = 1.5; H_ORG_MOVE1(R);

Remark None

robotH.c

void H_LIN_MOV(DOUBLE X,DOUBLE Y,DOUBLE Z) Outline Arm linear interpolation (for ST) Return None Parameters X Y Z DOUBLE DOUBLE DOUBLE X coordinate absolute position value(mm) Y coordinate absolute position value(mm) Hand turning (deg)

Example DOUBLE X,Y,Z; X = 1.2; Y =1.2; Z = 50; H_LIN_MOV(X,Y,Z); Remark None

robotH.c void H_LIN_MOV1(DOUBLE X,DOUBLE Y,DOUBLE R) Outline Arm linear interpolation(depend on turning of the hand) Return None Parameters X Y R DOUBLE type DOUBLE type DOUBLE type X coordinate absolute position value(mm) Y coordinate absolute position value(mm) Turning radius

Example DOUBLE X,Y,R; X = 5; Y = 7; R = 5; H_LIN_MOV1(X,Y,R); Remark None

robotH.c void H_ARM_MOV(DOUBLE data1,DOUBLE data2) Outline Arm stretch absolutely (rotate hand) Return None Parameters data1 data2 DOUBLE type DOUBLE type Stretch position(mm) Hand turning(deg)

Example DOUBLE data1,data2; data1 = 1.2; data2 = 60; H_ARM_MOV(data1,data2); // moving arm to 1.2 mm and moving hand 60 deg from current position. Remark None

robotH.c void H_JOIN_MOV(DOUBLE data1,DOUBLE data2) Outline Change arm joint Return None Parameters data1 data2 DOUBLE type DOUBLE type Stretch position (mm) Hand turning (deg)

Example DOUBLE data1, data2; data1 =10; data2=50; H_JOIN_MOV(data1,data2);

Remark None

robotH.c USHORT H_zone_chk(DOUBLE X,DOUBLE Y) Outline Checking the quadrant (For 2 links) Return 0: Linear 1: Non-linear Parameters X Y DOUBLE type DOUBLE type X coordinate value Y coordinate value

Example DOUBLE X,Y; USHORT value; X =2.5; Y =3; value = H_zone_chk(X,Y); Remark None