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rap_outjointtarget - function
Description
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Write varkon variables to rapid 'jointtarget' variable |
Syntax
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RAP_OUTJOINTTARGET(client, var_name, robax,
extax); |
INT |
client |
STRING |
var_name
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FLOAT |
robax(6)
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FLOAT
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extax(6)
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Principal parameters
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client |
- id of the created RPC
connection to use |
var_name |
- the name of the rapid
robtarget-variable to set
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robax
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- robot axes (rax_1,
rax_2,rax_3, rax_4, rax_5, rax_6) |
extax
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- external axes (eax_a,
eax_b, eax_c, eax_d, eax_e, eax_f)
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Return value
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An INT value equal to the current error status as
below: |
>=0 |
RAP variable handling status: operation was successfull
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-1
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Remote procedure call failed.
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<-1
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RAP variable handling error message, see RAP service
specification (3HAC 7697-1) page 127
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Comments
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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.
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