/* Robot Param Setting */ #region RobotParamSetting public int SetHomePos(Pos_T home_pos) { int mask = 1 << group_ctrl.AxisCount - 1; int ret = group_ctrl.GroupAdapter.NMC_GroupSetHomePos(mask, ref home_pos); SysParamUpdate(); return(ret); }
public int PcsPTP(Pos_T dest) { if (CheckParam(AvalibleStatus) == false) { return(-1); } int mask = (1 << group_ctrl.AxisCount) - 1; return(group_ctrl.GroupAdapter.NMC_GroupPtpCartAll(mask, ref dest)); }
// No circle interface public int PcsLine(Pos_T dest, double max_vel /* ohn... it can be zero this time... */) { if (CheckParam(AvalibleStatus) == false) { return(-1); } int mask = (1 << group_ctrl.AxisCount) - 1; return(group_ctrl.GroupAdapter.NMC_GroupLine(mask, ref dest, ref max_vel)); }
static private RobotStatus SetPos(RobotAgent robot_agent, object[] args) { Pos_T target = new Pos_T(); target.pos = (double[])args[0]; int ret = robot_agent.SetHomePos(target); RobotStatus robot_status = robot_agent.GetStatus(); robot_status.ret_code = ret; return(robot_status); }
static private RobotStatus PcsPTP(RobotAgent robot_agent, object[] args) { Pos_T dest = new Pos_T(); dest.pos = (double[])args[0]; int ret = robot_agent.PcsPTP(dest); RobotStatus robot_status = robot_agent.GetStatus(); robot_status.ret_code = ret; return(robot_status); }