MIL_ID ComId, | //in |
MIL_INT64 OperationCode, | //in |
MIL_INT64 Status, | //in |
MIL_INT64 ObjectSpecifier, | //in |
MIL_DOUBLE PositionX, | //in |
MIL_DOUBLE PositionY, | //in |
MIL_DOUBLE PositionZ, | //in |
MIL_DOUBLE RotationX, | //in |
MIL_DOUBLE RotationY, | //in |
MIL_DOUBLE RotationZ, | //in |
MIL_INT64 ControlFlag, | //in |
MIL_DOUBLE ControlValue | //in |
This function sends a position to the robot controller. It is typically used to change the robot's position to the specified coordinates.
You can only use this function when you specify an Industrial Communication context that has been allocated to communicate with a robot controller.
Use RotationX, RotationY, RotationZ to specify rotations about the different positional axes. The table below indicates how the robot controllers internally represent this data.
Robot type |
Robot controller representation |
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ABB |
The orientation is converted by the robot controller to a quaternion. |
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DENSO |
Roll |
Pitch |
Yaw |
Epson |
W |
V |
U |
Fanuc |
W |
P |
R |
KUKA |
C |
B |
A |
Staubli |
Rx |
Ry |
Rz |
This function is only available if you have the MIL Industrial Communication package, or another relevant update installed.
Specifies the identifier of the Industrial Communication context. The Industrial Communication context must have been allocated to communicate with a robot controller.
Specifies the operation code (opcode) of the command. This parameter must be set one of to the following values:
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Description |
MIL system-specific tooltip (‡) |
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Specifies that the MIL application is sending a new position to the robot controller. |
‡ | a | t U28 |
w U53 |
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Specifies the value of the user-defined operation code. Note that if you want to start the user operation code offset at 0 instead of 1024, you can use M_COM_USER_OPCODE + opcode value. (summarize)Specifies the value of the user-defined operation code. (more details...) |
‡ | a | t U28 |
w U53 |
Specifies the status code to send to the robot controller.
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Description |
MIL system-specific tooltip (‡) |
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Specifies that the MIL application was not successful in finding a new position or that the robot should stop. |
‡ | a | t U28 |
w U53 |
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Specifies that the MIL application was successful in finding a new position. |
‡ | a | t U28 |
w U53 |
Specifies the user identifier associated with the object at the specified position. This should ideally correspond to the value received from ObjectSpecifierPtr during the previous call of the McomWaitPositionRequest() function.
Header | Include mil.h. |
Library | Use mil.lib; milcom.lib. |
DLL | Requires mil.dll; milcom.dll. |