VARKON Version 1.18B 2004-12-07

 
 

rap_injointtarget - function

 

Description

Read Rapid 'jointtarget' variable to varkon variables
 

Syntax

RAP_INJOINTTARGET(client, var_name, robax, extax);
 
INT client
STRING var_name
FLOAT robax(6)
FLOAT
extax(6)


 

Principal parameters

client - id of the created RPC connection to use
var_name - the name of the rapid jointtarget-variable to read
robax
- robot axes (rax_1, rax_2,rax_3, rax_4, rax_5, rax_6)
extax
- external axes (eax_a, eax_b, eax_c, eax_d, eax_e, eax_f)


 

Optional parameters

none
 

Return value

An INT value equal to the current error status as below:
>=0 RAP variable handling status: operation was successfull
-1 
Remote procedure call failed.
<-1 
RAP variable handling error message, see RAP service specification (3HAC 7697-1) page 127
 
 

Comments

RAP routines is only available for xvarkon (UNIX platforms), the use of RAP-routines need also to be enabled when building xvarkon. See $VARKON_ROOT/sources/makefile.
 

See also

rap_infloat()    rap_outfloat()    rap_inint()    rap_outint()    rap_inrobtarget()    rap_outrobtarget()    rap_inspeed()    rap_outspeed()    rap_infloatarr()    rap_outfloatarr()    rap_inrobtarr()    rap_outrobtarr()    rpc_clientcreate()    rpc_clientdestroy()
 

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