Yaskawa Motoman MotoCom 32 Owner's Manual
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MOTOCOM32
OPERATOR’S MANUAL
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
147324-1CD
12
MANUAL NO.
HW9482689 12 1/313
DANGER
• This manual explains the MOTOCOM32. Read this manual carefully and
be sure to understand its contents before operation.
• General items related to safety are listed in the Chapter 1: Safety of
Controller Instructions. To ensure correct and safe operation, carefully
read Controller Instructions before reading this manual.
CAUTION
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your product’s warranty.
• Software described in this manual is supplied against licensee only,
with permission to use or copy under the conditions stated in the
license. No part of this manual may be copied or reproduced in any
form without written consent of YASKAWA.
NOTICE
• The drawings and photos in this manual are representative examples
and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
•
This instruction manual is applicable to both FS100 (a controller for small-sized manipula-
NOTE tors) and FS100L (a controller for large and medium-sized manipulators).
The description of “FS100” refers to both ”FS100” and “FS100L” in this manual unless
otherwise specified.
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Notes for Safe Operation
Before using this product, read this manual and all the other related documents carefully to
ensure knowledge about the product and safety, including all the cautions.
In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”,
“CAUTION”, or ”NOTICE”.
DANGER
WARNING
CAUTION
NOTICE
Indicates an imminently hazardous situation which, if not avoided,
will result in death or serious injury. Safety Signs identified by the
signal word DANGER should be used sparingly and only for those
situations presenting the most serious hazards.
Indicates a potentially hazardous situation which, if not avoided, will
result in death or serious injury. Hazards identified by the signal
word WARNING present a lesser degree of risk of injury or death
than those identified by the signal word DANGER.
Indicates a hazardous situation, which if not avoided, could result in
minor or moderate injury. It may also be used without the safety
alert symbol as an alternative to “NOTICE”.
NOTICE is the preferred signal word to address practices not
related to personal injury. The safety alert symbol should not be
used with this signal word. As an alternative to “NOTICE”, the word
“CAUTION” without the safety alert symbol may be used to indicate
a message not related to personal injury.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “DANGER”, “WARNING” and “CAUTION”.
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Notation for Menus and Buttons
Descriptions of the programming pendant, buttons, and displays are shown as follows:
Item
Manual Designation
Menu
The menus displayed on screen are denoted with { }.
ex. {TOOL}.
Button
The buttons, check boxes, radio buttons displayed on
screen are denoted with [ ].
ex. [Close]; [Sync] check box; [Fast] radio button.
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • " means the following operations:
• To move the cursor to the object item and left-click on it with the mouse.
• To pick out the object item by the tab key and press the Enter key.
(In case of selecting a menu, use arrow keys instead of the tab key to pick out the object
item, then press the Enter key.)
Registered Trademark
In this manual, names of companies, corporations, or products are trademarks, registered
trademarks, or bland names for each company or corporation. The indications of (R) and TM
are omitted.
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1
INTRODUCTION
1.1 MOTOCOM32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.2 Features of Ethernet Communications . . . . . . . . . . . . . . 13
High speed transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Transmissions between a multiple number of HOSTS . . . . . 13
1.3 Hardware Requirements for MOTOCOM32 . . . . . . . . . 16
1.3.1 RS-232C Transmission cable specifications . . . . . . . . . . . . . . . 17
1.4 Hardware Lock Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2
SETUP
2.1 Installing MOTOCOM32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2 Robot Controller Configuration . . . . . . . . . . . . . . . . . . . . . . 20
Parameter settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Transmission protocol designation. . . . . . . . . . . . . . . . . . . . . 20
Command Remote Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.3 Environmental Settings for Use of Ethernet . . . . . . . . . 22
2.3.1 MOTOCOM32 Application Settings . . . . . . . . . . . . . . . . . . . . . . 22
parameter Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.3.2 Personal Computer Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Hardware settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Windows Network settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.3.3 Robot Controller Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Hardware settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Communication parameter settings . . . . . . . . . . . . . . . . . . . . 25
2.3.4 Network Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.3.5 High Speed Link Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Communication Status Monitor . . . . . . . . . . . . . . . . . . . . . . . 26
Deletion of transmission information . . . . . . . . . . . . . . . . . . . 26
2.4 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.4.1 YRC1000, YRC1000micro, DX200, DX100, FS100, NX100,
YASNAC XRC/MRC and Personal Computer Restrictions . . . . 28
The port used for TCP/IP . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.4.2 Personal Computer Restrictions . . . . . . . . . . . . . . . . . . . . . . . . 28
Same file access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Same Window handle cannot be used. . . . . . . . . . . . . . . . . . 28
Prohibit the use in multi-thread . . . . . . . . . . . . . . . . . . . . . . . 28
2.4.3 YRC1000, YRC1000micro, DX200, DX100, FS100, NX100,
YASNAC Robot Controller Restrictions . . . . . . . . . . . . . . . . . . . 29
Multiple personal computer access . . . . . . . . . . . . . . . . . . . . 29
CMOS batch storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.4.4 String Variable Transmission Support . . . . . . . . . . . . . . . . . . . . 29
2.5 Execution of MOTOCOM 32 Programs . . . . . . . . . . . . . . 30
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3
OPERATION OF HIGH SPEED JOBEXCHANGER
FUNCTIONS
3.1 What is the High Speed JobExchanger? . . . . . . . . . . . . 31
3.2 Main Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.2.1 Menu Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
[File] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
[Trans Mode] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
[View] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
[Option] menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
[Help] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.2.2 Tool Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.3 Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.3.1 Starting Up High Speed JobExchanger . . . . . . . . . . . . . . . . . . . 41
3.3.2 Copying Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
File operations other than Menu and Tool Bar. . . . . . . . . . . . 41
3.3.3 Moving Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.3.4 Deleting Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.3.5 Selecting a Multiple Number of Files . . . . . . . . . . . . . . . . . . . . . 42
3.3.6 Displaying File Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Displaying File Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Display of the job header information. . . . . . . . . . . . . . . . . . . 43
3.3.7 File Type Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.3.8 Print Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.3.9 Batch Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Upload Batch Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Download Batch Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.3.10 Switching the Target Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.3.11 Transmission Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.3.12 INI Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.3.13 Language Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.4 Editing of Language Files . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.4.1 Editing Language Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.4.2 Creating New Language Files . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4
OPERATION OF HOST CONTROL FUNCTION
4.1 Host Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.2 Startup and Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.3 Robot Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.4 Read/Write of I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
List of I/O Signals that can be Read or Written . . . . . . . . . . . 53
I/O signal read/write display . . . . . . . . . . . . . . . . . . . . . . . . . 56
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4.5 Environmental Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.6 Language Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.7 Version Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5
AUTO JOB CHANGER OPERATION
5.1 AUTO JOB CHANGER OPERATION . . . . . . . . . . . . . . . 60
5.2 Before Execution of "Automatic Operation" . . . . . . . . . . 61
5.3 Startup and Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
5.4 Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
5.4.1 Register Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
New registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Deletion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.4.2 Automatic operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.4.3 Cancel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
5.4.4 Display Log File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
5.4.5 Deletion Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
5.5 Environmental Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.5.1 Environmental Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.5.2 Automatic Operation Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.5.3 Take Log File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.6 Language Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.7 Version Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6
CREATING A TRANSMISSION APPLICATION
6.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
6.2 Using Visual Basic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
6.2.1 Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
6.2.2 How to Create a transmission application . . . . . . . . . . . . . . . . . 71
Creation of Code Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Creation of Form Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Creation and Execution of EXE File. . . . . . . . . . . . . . . . . . . . 72
6.3 Using Visual C++ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
6.3.1 Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
6.3.2 How to Create a transmission application . . . . . . . . . . . . . . . . . 74
Creation of Skelton. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Definition of DLL Call . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Editing with a Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Addition of Functions and Variables. . . . . . . . . . . . . . . . . . . . 75
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Creation and Execution of EXE File. . . . . . . . . . . . . . . . . . . . 76
6.4 Using Visual C# . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
6.4.1 Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
6.4.2 How to Create a transmission application . . . . . . . . . . . . . . . . . 77
Creation of Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Reference configuration of Library . . . . . . . . . . . . . . . . . . . . . 77
Creation of Form Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Creation and Execution of EXE File. . . . . . . . . . . . . . . . . . . . 78
6.5 Explanation of Auto Job Changer Software Creation
Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Sub DciOnline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Function DciGetJobNo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Function DciLoadSave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
6.6 Each Function Program List . . . . . . . . . . . . . . . . . . . . . . . . . 83
Function Ms_BscOpenComm() . . . . . . . . . . . . . . . . . . . . . . . 83
Function Ms_BscCloseComm() . . . . . . . . . . . . . . . . . . . . . . . 84
Sub CmdDownload_Click () . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Sub CmdUpLoad_Click () . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Sub CmdExit_Click () . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
CTestDlg::TestOpenComm function . . . . . . . . . . . . . . . . . . . 88
CTestDlg::TestCloseComm function . . . . . . . . . . . . . . . . . . . 89
CTestDlg::OnDownload function . . . . . . . . . . . . . . . . . . . . . . 90
CTestDlg::OnUpload function . . . . . . . . . . . . . . . . . . . . . . . . 91
private short Ms_BscOpenComm() . . . . . . . . . . . . . . . . . . . . 92
private short Ms_BscCloseComm() . . . . . . . . . . . . . . . . . . . . 93
private void CmdDownLoad_Click(). . . . . . . . . . . . . . . . . . . . 93
private void CmdUpLoad_Click() . . . . . . . . . . . . . . . . . . . . . . 95
private void CmdExit_Click() . . . . . . . . . . . . . . . . . . . . . . . . . 96
7
COMMUNICATION TRANSMISSION
7.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
7.2 File Data Transmission Function . . . . . . . . . . . . . . . . . . . . 98
BscDownload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
BscDownloadEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
BscUpload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
BscUploadEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
7.3 Robot Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
BscFindFirst . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
BscFindFirstMaster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
BscFindNext . . . . . . . . . . . . . . . . . . . . 106
BscFindNextMaster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
BscGetCtrlGroup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
BscGetCtrlGroupXrc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
BscGetCtrlGroupDX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
BscGetError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
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BscGetError2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
BscGetFirstAlarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
BscGetFirstAlarmS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
BscGetNextAlarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
BscGetNextAlarmS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
BscGetStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
BscGetUFrame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
BscGetVarData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
BscGetVarData2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
BscHostGetVarData. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
BscHostGetVarDataM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
BscGetVarDataEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
BscIsAlarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
BscIsCtrlGroup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
BscIsCtrlGroupXrc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
BscIsCtrlGroupDX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
BscIsCycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
BscIsError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
BscIsErrorCode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
BscIsHold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
BscIsJobLine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
BscIsJobName . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
BscIsJobStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
BscIsLoc. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
BscGetPulsePos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
BscIsPlayMode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
BscIsRemoteMode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
BscIsRobotPos. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
BscGetCartPos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
BscIsServo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
BscIsTaskInf. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
BscIsTaskInfXrc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
BscIsTeachMode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
BscJobWait . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
BscReadAlarmS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
BscGetTorque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
BscGetMaxTorque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
BscGetEncTmp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
BscGetSysTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
BscCancel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
BscChangeTask. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
BscContinueJob . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
BscConvertJobP2R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
BscConvertJobR2P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
BscDeleteJob . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
BscHoldOff . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
BscHoldOn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
BscHostPutVarData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
BscHostPutVarDataM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
BscPutVarDataEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
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BscImov . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
BscImovEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
BscImovEx2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
BscMDSP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
BscMov . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
BscMovEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
BscMovEx2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
BscMovj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
BscMovjEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
BscMovl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
BscMovlEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
BscOPLock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
BscOPUnLock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
BscPMov . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
BscPMovEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
BscPMovj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
BscPMovjEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
BscPMovl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
BscPMovlEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
BscPutUFrame. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
BscPutUFrameEx2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
BscPutVarData. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
BscPutVarData2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
BscStartJob . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
BscSelectJob . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
BscSelectMode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
BscSelLoopCycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
BscSelOneCycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
BscSelStepCycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
BscSetLineNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
BscSetMasterJob . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
BscReset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
BscSetCtrlGroup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
BscSetCtrlGroupXrc. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
BscSetCtrlGroupDX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
BscServoOff . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
BscServoOn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
7.4 DCI Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
BscDCILoadSave. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
BscDCILoadSaveOnce . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
BscDCIGetPos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
BscDCIGetPos2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
BscDCIGetVarData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
BscDCIGetVarDataEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
BscDCIPutPos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
BscDCIPutPos2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
BscDCIPutVarData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
BscDCIPutVarDataEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
7.5 I/O Signal Read/Write Function . . . . . . . . . . . . . . . . . . . . 275
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BscReadIO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
BscReadIO2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
BscWriteIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
BscWriteIO2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
7.6 Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
BscClose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
BscCommand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
BscConnect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
BscDisConnect. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
BscDiskFreeSizeGet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
BscEnforcedClose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
BscGets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
BscInBytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
BscOpen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
BscOutBytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
BscPuts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
BscReConnect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
BscReStartJob . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
BscSetBreak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
BscSetCom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
BscSetCondBSC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
BscSetEServerMode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
BscSetEther . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
BscStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
7.7 DLL Functions Corresponding to Transmission-related
Key words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
7.7.1 DLL Functions Related to Transmission Commands . . . . . . . . 307
Read/Monitoring System . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Read/Data Access System . . . . . . . . . . . . . . . . . . . . . . . . . 308
Operation System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Editing System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Job Selection System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Startup System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Other DLL Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
7.7.2 DLL Functions Related to DCI Function. . . . . . . . . . . . . . . . . . 310
7.7.3 DLL Functions Related to I/O Read/Write . . . . . . . . . . . . . . . . 310
7.7.4 DLL Functions Related to Personal Computer Communications
Port. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
7.7.5 Other DLL Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
8
Appendix
8.1 Frequently-asked questions . . . . . . . . . . . . . . . . . . . . . . . . 312
When the driver has been installed with USB type key connected
to a personal computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
When the previous version key driver has been installed after
installing the key driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
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1.1 MOTOCOM32
1 INTRODUCTION
1.1
MOTOCOM32
MOTOCOM32 is software for data transmission between a personal computer and YASKAWA
industrial robot controller YRC1000, YRC1000micro, DX200, DX100, FS100, NX100,
YASNAC XRC, MRC, MRCII, ERC and ERCII.
High-speed transmission can be achieved by connecting the YRC1000, YRC1000micro,
DX200, DX100, FS100, NX100 or YASNAC type controller and the personal computer with a
serial cable (RC232C cable), or by connecting the YRC1000 or YRC1000micro or DX200 or
DX100 or FS100 or NX100 or YASNAC XRC or MRC to a LAN by using a Ethernet cable (the
YASNAC XRC or MRC requires mounting an Ethernet I/F board).
This software operates on a personal computer and has the following function
High Speed JobExchanger Function
Loads or saves files such as jobs or condition data
according to the command from a personal computer.
Host Control Function
Can perform the following tasks easily according
to the command from a personal computer.
- Reads robot status (current position, alarm,
error, servo status, etc.) or controls the system
(start, hold, job call, etc.)
- Reads or writes I/O signals.
Automatic Work Job Replacing Function
Can automatically replace a work job using DCI
(data communication by instruction) transmitting
function.
In order to compensate for the memory shortage
of robots, a personal computer is used as external
memory to receive work number information from
the robot and send back corresponding jobs.
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1.2 Features of Ethernet Communications
Transmission Application Function
Supplies the following information so that the user
can develop transmission applications between a
robot and personal computer.
-Supplies data transmission functions between
robot and personal computer. (Motocom32.dll)
-Describes application preparation procedures
using sample programs including the above
functions.
1.2
Features of Ethernet Communications
The Ethernet I/F board and the "Ethernet" function of the MOTOCOM32 transmit data at
higher than normal speeds.
High speed transmission
In comparison with transmissions using RS232C, higher speed transmissions are possible
with the Ethernet.
When Ethernet is used
Ethernet
Personal computer
10 Mbps
Robot
controller
When RS232C is used
RS232C
Personal computer
9600 bps
Robot
controller
NOTE The above transmission speed is the communication speed between network devices, not
including the time used for format check of transmitted data, etc.
Transmissions between a multiple number of HOSTS
As N:N transmission is possible with an Ethernet cable, the following system configurations
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1.2 Features of Ethernet Communications
can be prepared.
NOTE Refer to paragraph " 2.4 Restrictions " with the following Configuration Examples.
<Configuration Example>
Since an Ethernet cable can be connected to a multiple number of network devices, the factory operation state and alarm occurrences can be monitored from several places.
Factory
Monitoring
room Ａ
Ethernet
Monitoring
room Ｂ
Personal
computer
Robot Controller
Personal
computer
<Configuration Example 2>
By connecting the LANs of different factories with one Ethernet cable, transmission in each
factory can be executed simultaneously. The transmission between the robot controller and
the personal computer in factory A does not interfere with the transmission between the robot
controller and the personal computer in factory B. Transmission can also be done between
factories. (In both cases, the settings should be correct.)
LAN in A Factory
Personal computer
LAN in B
Factory
Ethernet
Personal computer
Robot Controller
Robot
Controller
<Configuration Example 3>
With the Ethernet cables, the job on a personal computer can be executed on the robot controller by installing a personal computer for each production line and transferring the job from
the personal computers to the robot controller. Then, by connecting one personal computer to
the Ethernet cables in all the production lines, monitoring of the state of all the production lines
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1.2 Features of Ethernet Communications
and data backup can be executed.
Ethernet
Ａ line
Ethernet
Ｂ line
Ｃ line
Robot
Controller
Personal
computer
Robot
Controller
Personal
computer
Robot
Controller
Ethernet
Personal
computer
Personal
computer
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1.3 Hardware Requirements for MOTOCOM32
1.3
Hardware Requirements for MOTOCOM32
OS
Reguired
Memory
128 Mbyte or more
Hardware Disk
Capacity for Installation
50 Mbyte or more
Display
Robot Controller
*1
Microsoft Windows 11
Microsoft Windows 10 (64bit)
JAPANESE and ENGLISH Windows version are
supported only. *1
Supported by MS-Windows
YRC1000, YRC1000micro, DX200, DX100,
FS100, NX100, YASNAC XRC, MRC, MRC2,
ERC, and ERC2.
Transmission Cable
Ethernet cable or RS232C cable
Hardware Lock Key
Used under single user environment.
For details, refer to the following section
" 1.4 Hardware Lock Key ".
Microsoft and Windows are registered trademarks of Microsoft Corporation in the U.S.
and other countries.
• The controller Data Transmission function, Ethernet function, Ethernet board, transmis-
NOTE sion cable, or the personal computer OS are not included in this package.
• Use either an RS-232C cable or an Ethernet cable for transmission, depending on the
data transmission function specifications set in the robot controller manuals. Before
starting this software, check the hardware and software specifications of the robot controllers.
• Ethernet transmission is not available for the YASNAC MRC2/ ERC / ERC2 since they
do not support the Ethernet function. For MRC, Ethernet transmission is available for
version 4.111 or later.
• Transmission with RS-232C cable is not available for YRC1000micro since it does not
support the RS-232C cable.
• To create a transmission application, a development tool such as Microsoft Visual Basic
Ver6.0 or Microsoft Visual C++ Ver6.0 is required.
For softwares and devices, refer to the robot controller Operator's Manuals, Data Transmission Operator's Manual, Ethernet I/F Board Instructions (or "Ethernet Function Instructions"
for the YRC1000, YRC1000micro, DX200, DX100, FS100, NX100), Manuals for MS-Windows, etc.
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1.3 Hardware Requirements for MOTOCOM32
1.3.1
RS-232C Transmission cable specifications
RS-232C Transmission cable specifications are as follows.
NOTE When using an Ethernet cable, the RS232C cable is not required.
[ PC/AT ]
FS100
(HDR-E14MAG1+ male)
Personal Computer
(D-sub 9-pin female)
SD
8
2
RD
RD
10
3
SD
SG
14
5
SG
RS
12
7
RS
CS
5
8
CS
YRC1000, DX200, DX100,
NX100, YASNAC XRC
(D-sub 9-pin female)
Personal Computer
(D-sub 9-pin female)
RD
2
3
SD
SD
3
2
RD
SG
5
7
RS
RS
7
8
CS
CS
8
HOOD
CASE
5
SG
YASNAC MRC/ERC
(D-sub 25-pin male)
Personal Computer
(D-sub 9-pin female)
SD
2
2
RD
RD
3
3
SD
RS
4
5
SG
CS
5
7
RS
SG
7
8
CS
FG
1
FG
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1.4 Hardware Lock Key
1.4
Hardware Lock Key
For proper operation, connect provided hardware lock key (USB type) to personal computer
before using this software.
Check and execute <Check the computing environment> <Installation of driver> before
connecting the key to USB port.
<Check the computing environment>
Multi-connection of USB type key is not available for one USB port because of hardware
structure. Therefore, only one key should be connected to one USB port. When installing multiple offline software into one personal computer and multi-connectiong USB keys, use the
personal computer which is provided same numbers of USB ports as the number of software
to be installed.
<Installation of driver>
NOTE Please install the driver after detaching the all sentinel hardware key from the personal
computer.
Execute "\SentinelDriver\Sentinel System Driver Installer 7.6.0.exe" of installation CD-ROM.
Refer to"\SentinelDriver\Manual\Sentinel System Driver ReadMe.pdf" for the details of installation.
• Be sure to install the driver.
NOTE • When installing the driver, be sure to login in administrator mode in order to add files to
system folder and input information in registry.
• If a key is connected to personal computer before installing the driver,the message concerning the driver is displayed. In this case, and detach the key from personal computer
and then install the driver.
If a key is connected to personal computer before installing the driver under Windows 95/
98/NT4.0/2000/XP environment, Windows wizard ([Add New Hardware] Wizard) starts
up. In this case, push [cancel], and detach the key from personal computer and then
install the driver.
• When installing the driver under Windows NT4.0, 2000 environment, please install the
driver located in the folder "\SentinelDriver\SSD5411\SSD5411-32bit.EXE" of installation
CD-ROM.
For the driver installation procedure, please consult the installation manuarl "\SentinelDriver\SSD5411\Manual\us\Readme.pdf".
Refer to " 8.1 Frequently-asked questions " for other countermeasures concerning hardware
lock key.
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2.1 Installing MOTOCOM32
2 SETUP
2.1
Installing MOTOCOM32
1. It is strongly recommended that you exit all applications before running the setup program.
NOTE Be sure to login in administrator mode when installing the MOTOCOM32 in Windows 10/
11, or else the system related DLL files in Windows might not be updated.
2. When the install CD is inserted into the CD-ROM drive, the [MOTOCOM32-InstallShield
Wizard] window appears automatically.
If you are using Windows 10/11, the [User Account Control] dialog appears, so click [OK]
inthe dialog.
3. Follow the on-screen instructions.
• In the case of Windows 10 /11, [VB 6.0 comm control] will be installed after installation.
NOTE Follow the displayed instructions.
• If the following message appears during the installation, press [Yes] to continue installation.
This message is displayed when the installation of redistribution package of Visual C ++
2012 has been executed but installation is required.
If this message is displayed, run manually
\ISSetupPrerequisites\{BF2F04CD-3D1F-444e-8960-D08EBD285C3F}\
vcredist_x86.exe
after installing MOTOCOM32, and install or repair the redistribution package of Visual C
++ 2012.
4. When the setup is completed, [High Speed JobExchanger], [Host Control], [Auto Job
Changer], and [MOTOCOM 32 Help] are registered under [MOTOCOM 32] folder that
appears by clicking the [Start] button in the task bar to select [Program] and then [Motoman] (In the case of Windows10 / 11, all menu appears directly under [All apps]-[Motoman]).
5. Connect the hardware key to the printer port.
For details, refer to " 1.4 Hardware Lock Key " in this chapter.
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2.2 Robot Controller Configuration
2.2
Robot Controller Configuration
When transmission to the controller is done using MOTOCOM32, whether by RS232C or
Ethernet, the following controller configuration are necessary .
Parameter settings
To establish communication between the robot controller and the personal computer, set the
following parameters of the robot controller.
Transmission protocol designation
RS000 :
Protocol designation for Std. port #1
RS001 :
Protocol designation for Std. port #2 (MRC only)
Settings for parameter RS000 / RS001 :
0 : Not used
1 : System reserved
2 : BSC LIKE protocol (used for data transmission)
3 : FC1 protocol
These parameters are used to designate the transmission protocol for Std port #1, port #2 or
the Ethernet board for the robot controller. If the Ethernet communication function is not to be
used, RS000 and RS001 correspond to the Std port #1 and port #2 respectively as the above.
When the Ethernet communication function plus either Std port #1 or port #2 are used,
parameters according to this port number must be set. Any other parameters can be used for
Ethernet communication.
To use the MOTOCOM 32, set RS000 or RS001 to the value "2."
For example, if port #1 is already used for FC1 or FC2 and its parameter RS000 is set to the
value "3," RS001 is required to be set to the value "2" to use the MOTOCOM 32.
NOTE RS000/001 parameters cannot have the same setting.
Ethernet communication function only supports the BSC LIKE protocol.
Command Remote Setting
In order to transmit with the host control function, the remote command must be set to valid.
However, when DCI function or stand-alone function are to be used, the remote command
must set to invalid.
For MRC, ERC:
Using the programming pendant, the customer options are set in the maintenance mode. For
detail on the maintenance mode operations, please refer to the controller Operator's Manual.
To be able to the command remote to valid, the customer options need to be set as follows.
Customer options
I/O = Not used
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2.2 Robot Controller Configuration
Command mode = Used (This must be always set to "Used.")
PP/PBOX (programming pendant / playback box) = Not used
For YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC:
Using the programming pendant, under [IN/OUT] a [PSEUDO INPUT] menu set the [CMD
REMOTE SEL] to enabled or disabled.
For more details on these configurations, please refer to the following manual below.
"YRC1000 Options: Instructions for Data Transmission Function"
"YRC1000micro Options: Instructions for Data Transmission Function"
"DX200 Options: Instructions for Data Transmission Function"
"DX100 Options: Instructions for Data Transmission Function"
"FS100 Options: Instructions for Data Transmission Function"
"NX100 Options: Instructions for Data Transmission Function"
"YASNAC XRC Options: Instructions for Data Transmission Function"
"YASNAC MRC Options: Instructions for Data Transmission Function"
"YASNAC ERC Data Transmission Function, User Manual"
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2.3 Environmental Settings for Use of Ethernet
2.3
Environmental Settings for Use of Ethernet
The following configurations are required for Ethernet transmissions. These settings are not
necessary for the RS232C communication. Refer to the "RS232C Condition".
2.3.1
MOTOCOM32 Application Settings
parameter Setting
To communicate with the robot controller, the transmission parameter such as IP address
must be set in each application.
2.3.2
Personal Computer Settings
Set the settings related to Ethernet transmissions, to the personal computer with the software
installed.
Hardware settings
Before using the MOTOCOM32, connect the Ethernet board to the personal computer and
check if the Ethernet board operates correctly.
For connection methods, refer to the manual for the Ethernet board used.
Windows Network settings
To communicate via the Ethernet, set the settings related to the Windows network. (The
example below is based on Windows XP.)
1. Click the [Start] button in the task bar, select [Setting] and click [Control Panel]. If the [Control Panel] is "Category View", double-click the [Network and Internet Connections] category, and double-click the [Network Connections]. If the [Control Panel] is "Classic View",
double-click the [Network Connections].
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2.3 Environmental Settings for Use of Ethernet
2. Select the network connection to use for data transmission, and select the "Properties"
from the right click menu.
3. To Set the IP address and subnet mask for the personal computer, select [Internet Protocol (TCP/IP)] from the list and click the [Properties] button.
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2.3 Environmental Settings for Use of Ethernet
4. Input the value for the [IP address] and [Subnet mask] of the personal computer. For
details of the settings of Default gateway and DNS server, refer to a Windows manual, to
make proper settings for the application.
The above values are examples only. When setting the IP address and subnet mask, input
NOTE the correct numbers as advised by the network manager.
An incorrect setting such as assigning the same IP address to different personal computers may cause problems in communication.
2.3.3
Robot Controller Setting
Hardware settings
To communicate using Ethernet, YRC1000 use the Ethernet connector on the ACP01 board;
for the YRC1000micro use the Ethernet connector on the ACP30 board; for the DX200 use
the Ethernet connector on the YCP21 board; for the DX100 use the Ethernet connector on the
YCP01 board; for the FS100 use the Ethernet connector on the CPU201R board; for the
NX100 use the Ethernet connector on the NCP01 board; for the YASNAC XRC/MRC, the
installation of an Ethernet I/F board is required. To setup the IP address and submask, refer
to the following manuals.
"YRC1000 Options: Instructions for Ethernet Function"
"YRC1000micro Options: Instructions for Ethernet Function"
"DX200 Options: Instructions for Ethernet Function"
"DX100 Options: Instructions for Ethernet Function"
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2.3 Environmental Settings for Use of Ethernet
"FS100 Options: Instructions for Ethernet Function"
"NX100 Options: Instructions for Ethernet Function"
"YASNAC XRC Options: Instructions for Ethernet I/F Board"
"YASNAC MRC Options: Instructions for Ethernet I/F Board"
Communication parameter settings
Use the programming pendant in maintenance mode to set the communication parameters
such as the IP address used by the controller. For details on the maintenance mode operations, refer to the following manuals.
Ethernet
Ethernet =
Used
IP ADDRESS =
192.168.10.10(*)
SUBNET MASK =
255.255.255.0(*)
DEFAULT GATEWAY =
192.168.10.1(*)
SERVER ADDRESS =
0.0.0.0(*)
(*) The above values are examples only. Input the suitable values according to your network environment.
When the host control function is used, there is no need to set the SERVER
ADDRESS. It is used for DCI or stand-alone function. For details, refer to the following manuals.
"YRC1000 Options: Instructions for Ethernet Function"
"YRC1000micro Options: Instructions for Ethernet Function"
"DX200 Options: Instructions for Ethernet Function"
"DX100 Options: Instructions for Ethernet Function"
"FS100 Options: Instructions for Ethernet Function"
"NX100 Options: Instructions for Ethernet Function"
"YASNAC XRC Options: Instructions for Ethernet I/F Board"
"YASNAC MRC Options: Instructions for Ethernet I/F Board"
2.3.4
Network Setting
To communicate with the robot controller using the Ethernet, the network must be set up correctly.
For details on how to setup the network, refer to the following manuals.
"YRC1000 Options: Instructions for Ethernet Function"
"YRC100micro Options: Instructions for Ethernet Function"
"DX200 Options: Instructions for Ethernet Function"
"DX100 Options: Instructions for Ethernet Function"
"FS100 Options: Instructions for Ethernet Function"
"NX100 Options: Instructions for Ethernet Function"
"YASNAC XRC Options: Instructions for Ethernet I/F Board"
"YASNAC MRC Options: Instructions for Ethernet I/F Board"
2.3.5
High Speed Link Server
The High Speed Link Server uses MOTOCOM32 for communication via the Ethernet. It can-
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2.3 Environmental Settings for Use of Ethernet
not be used for communication via RS232C.
The following explains the High Speed Link Server.
Server
To communicate with a robot controller via the Ethernet, the server program (HSLSR32.EXE)
is required.
The server receives a request from the application using MOTOCOM32 and sends/receives
the data. When the application begins transmission to the robot controller via Ethernet, it automatically starts the server program.
To close the server program, right-click the [High Speed Link Server] in the task bar to display
the menu. Click the [Exit] item from the menu to exit the server program.
To communicate between a personal computer and a robot controller, the server program and
the related DLL files have to be located in the same folder as the application.
If the priorities of the applications other than the server program (include the applications
using MOTOCOM32) are higher than that of the server program, there is a possibility not to
send/receive data correctly.
It is necessary that the priority of the server program is higher than, or equal to, those of the
other applications.
Communication Status Monitor
The [Communication Status Monitor] display appears when the High Speed JobExchanger is
starrted up.
To hide the [Communication Status Monitor] window for some reason (for example, to work on
by another operation), right-click the [High Speed Link Server] in the task bar to display the
menu. Select [Monitoring] from the menu to switch the [Communication Status Monitor] display ON and OFF.
Deletion of transmission information
If a Ethernet transmission error occurs for any of the following reasons during communication,
the transmitted information may sometimes remain in the robot controller and/or the personal
computer.
(a) The Ethernet cable is removed during transmission.
(b) The [REMOTE] button on the playback box of the robot controller is turned OFF during transmission.
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2.3 Environmental Settings for Use of Ethernet
If the transmission cannot be continued, reset the information to be transmitted by the following procedures.
(Robot Controller side)
(1) Press the [Reset] key if any error message is shown in the display of the programming pendant.
(2) Turn OFF the [Remove] button on the playback box once and then turn it ON again.
(Personal Computer side)
(1) Press the [Remove] button in the "Communication Status Monitoring" window.
(2) To reset information, input the IP address of the robot controller where the error
occurred, and press the [OK] button
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2.4 Restrictions
2.4
Restrictions
When using the MOTOCOM 32, pay attention to the following restrictions.
2.4.1
YRC1000, YRC1000micro, DX200, DX100, FS100,
NX100, YASNAC XRC/MRC and Personal Computer
Restrictions
The port used for TCP/IP
The MOTOCOM 32 uses TCP/IP for the communication protocol. To communicate in TCP/IP,
the service identification numbers called "Port No" are used internally, while MOTOCOM 32
uses the port numbers from 10000 to 10008 for the data transmission.
When these numbers overlap with the numbers used for other network devices, correct communication cannot be performed.
To use the MOTCOM 32, be sure in advance that any network device in the same network
does not use the above explained port numbers.
2.4.2
Personal Computer Restrictions
Same file access
The same file in the personal computer
cannot be accessed from different
robot controllers simultaneously.
Same Window handle cannot be used
When using Ethernet Communication, a Windows handle is designated in the BscSetEther()
function argument. This Windows handle needs to be a real Windows handle. Also, when
there are multiple robots, the same Windows handle cannot be designated for all of them.
Prohibit the use in multi-thread
When using Ethernet Communication, Be sure to execeute the functions of MOTOCOM32 in
the main thread.
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2.4 Restrictions
2.4.3
YRC1000, YRC1000micro, DX200, DX100, FS100,
NX100, YASNAC Robot Controller Restrictions
Multiple personal computer access
With the MOTOCOM32, one personal
computer can communicate with one
robot controller. Simultaneous communication with a multiple number of personal
computers is not possible.
(However, the simultaneous communication between one personal computer and
a multiple number of robot controllers is
possible.) With YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, it is
possible to manage connection between
multiple personal computers and one controller by using the Ethernet Server function to establish the connections.
CMOS batch storage
The BSC LIKE protocol and the FC1 protocol are available for the MOTOCOM 32 to communicate with external devices. The MOTOCOM 32 uses the BSC LIKE protocol for transmission. As the CMOS batch storage uses the FC1 protocol, CMOS batch storage is not
available in the MOTOCOM 32. For CMOS batch storage, use the YASNAC FC1/FC2 or PC
Card/CF.
2.4.4
String Variable Transmission Support
Communication of string variables (character type variables) is supported by the YRC1000 or
YRC1000micro, DX200, DX100, FS100, NX100 version 3.00-00 and after. In order to perform
transmission of string variables, MOTOCOM32 version 3.10 and after must be used.
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2.5 Execution of MOTOCOM 32 Programs
2.5
Execution of MOTOCOM 32 Programs
The MOTOCOM 32 program consists of three programs;
[High Speed JobExchanger],
[Host Control],
[Auto Job Changer].
To execute each program, select the application to be executed from the start menu.
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3.1 What is the High Speed JobExchanger?
3 OPERATION OF HIGH SPEED JOBEXCHANGER FUNCTIONS
3.1
What is the High Speed JobExchanger?
The High Speed JobExchanger is an application software for transfer of the files relating to the
robot, by connecting YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, YASNAC
XRC/MRC to a personal computer with Ethernet cables or RS232C cables.
The following lists shows the transmission commands supported by the file data transmission
function.
Job Transmission
UPLOAD/
DOWNLOAD
Various Condition
Data Transmission,
System Information File Transmission
UPLOAD/
DOWNLOAD
Single job
Related job
Transmission of varios condion data supported
by YRC1000, YRC1000micro, DX200, DX100,
FS100, NX100, XRC, MRC, ERC
• To communicate with the robot controller using the High Speed JobExchanger, set the
NOTE robot controller to "Command Remote".
• The only robot controllers for Ethernet communication are YRC1000, YRC1000micro,
DX200, DX100, FS100, NX100, YASNAC XRC/MRC. YASNAC MRC2, ERC, and ERC2
are not available.
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3.2 Main Display
3.2
Main Display
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3.2 Main Display
3.2.1
Menu Structure
[File] menu
Copy
Copies marked file from the controller to the personal computer or vice
versa.
Move
Moves marked file from the controller to the personal computer or vice
versa.
Delete
Deletes marked file in the personal computer or in the controller.
Select All
Selects all files in the active window.
Display File
Contents
Opens the marked file in the window on the controller side.
Print File
To print out the contents in a job file. You must first mark and open the file
in the window on the controller side.
Exit High Speed
JobExchanger
Terminates the program.
In the [Setup] command of the [Option] menu, if [Not Save Current Settings] is not marked, the currently set values are stored in the initial file to
operate with the same values at the next startup.
[Trans Mode] menu
Ethernet
Transmits via the Ethernet.
RS232C
Transmits via a RS232C.
[View] menu
Large Icons
The file lists of the currently selected object (the personal computer or
the robot controller) are displayed in large icons.
Small Icons
The file lists of the currently selected object (the personal computer or
the robot controller) are displayed in small icons.
List
The file lists of the currently selected object (the personal computer or
the robot controller) are displayed in list format.
Details
The file lists on the personal computer side are displayed in details. In
the details display, "Name," "Size" and "Modified" are displayed.
NOTE The details display is available only for the file list of the personal computer, but not that of the robot controller.
Arrange Icons
Icons can be arranged according to the "Name," "Size" or "Modified."
When the file lists of the personal computer are displayed in "Details,"
clicking the title can also arrange the icons.
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3.2 Main Display
Refresh
The file lists of the currently selected object (the personal computer or
the robot controller) are refreshed. After the following operations, always
execute [Refresh] operation.
• When copying, moving or deleting the files of the personal computer
using applications other than the High Speed JobExchanger.
• When moving or deleting the files of the robot controller using an external memory unit such as FC1, FC2.
[Option] menu
Setup
Set the configurations necessary to operate the High Speed JobExchanger. Select the [Option] menu and the following [Setup] dialog box
appears. Enter the required information to set each item.
Upload Whole
Jobs
By selecting this from the [Option] menu and inputting the name of the
file containing the names of files to be uploaded, a multiple number of
files can be uploaded. For details, refer to " 3.3.9 Batch Processing ".
Download Whole
Jobs
By selecting this from the [Option] menu and inputting the name of the
file containing the names of files to be downloaded, a multiple number of
files can be downloaded. For details, refer to " 3.3.9 Batch Processing ".
Select Language
Every time you start the High Speed JobExchanger for Windows, you will
be given the facility to choose the language for menus and commands.
For details, refer to " Select Language ".
Setup
Set the configurations necessary to operate the High Speed JobExchanger.
Ethernet Condition
The robot information set according to Ethernet transmission parameters is stored in the file
(robot.ini), and used for communicating with the robot controller.
Robot name, IP address and initial directory are registered for each robot.
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3.2 Main Display
Robot List
A list of robots registered is displayed. Clicking a robot name displays the
corresponding parameters (Robot name, IP address, Initial directory in the
personal computer) of the selected robot.
Add Back
A new robot is added to the list and inserted before the currently highlighted robot, and its details entered on the right side of the dialog.
Add Fwd
A new robot is added to the list and inserted after the currently highlighted
robot, and its details entered on the right side of the dialog.
Delete
Removes the robot from the list.
NOTE The robot currently being used cannot be removed.
Robot
Robot name to identify the robots.
IP Address
IP address used for Ethernet communication.
Input the same values as the values set for the destination, robot controller.
Initial Directory
Sets the initial directory of each robot.
The initial directory is used when changing the robot required for communication.
Synchro Select
Robot and PC
Directory
When this item is marked, changing the [Robot] (robot name) on the robot
controller side changes the file list display of the personal computer side,
to the [Initial Directory] of the set robot name.
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3.2 Main Display
RS232C Condition
Set the communication port for RS232C communication with the robot controller. Select
"COM Port," "Baud Rate," "Data Length," "Parity," and "Stop Bit" from the list according to the
setting of the robot controller.
Clicking the [Restore Defaults] button displays the default data.
Port Setup
Set the communication parameters for serial communication.
Communication with the robot controller is executed according to the
parameters set in this dialog box.
Restore
Defaults
Selecting this button changes the set value for the communication port to
the default value.
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3.2 Main Display
General
Save as a
Related Job
If this check box is marked, the job from the robot controller is received as
related jobs.
Display/Print
Job Header
If this check box is marked, a job is opened or printed out including header
information.
NOTE The related jobs and the condition files are not the subject of
this parameter.
Not Save Current Settings
If this checkbox is marked, the current settings are reset to the last settings
when High Speed JobExchanger is terminated.
When the current settings are not to be reflected on the next startup, for
example, after the environment has been changed temporarily, mark this
checkbox.
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3.2 Main Display
Controllerl
Controller Type
Select either “YRC1000”, “YRC1000micro”, "DX200", "DX100", "FS100",
"NX100", "XRC", "MRC" or "ERC" from the list, for the robot controller connected to the High Speed JobExchanger.
Select Language
Every time you start the High Speed JobExchanger for Windows, you will be given the facility
to choose the language for menus and commands.
Choose the language and then click the [OK] button.
It is even possible to correct and change each word or to create a totally new language file.
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3.2 Main Display
For details, refer to " 3.4 Editing of Language Files ".
Ignore language selection at program start
Click the box [Ignore language selection at program start], and the
[Select Language] display does not appear when starting the High
Speed Job Exchanger software. Clicking the box again removes the
check mark and displays the [Select Language] window when starting.
NOTE Some languages may not be correctly displayed unless fonts are set correctly.
[Help] menu
Help Topics
From this, you'll get short information. A brief explanation about commands, functions and other related topics are given to provide assistance when running the software.
Version
The product version is shown.
Closes by clicking the [OK] button.
3.2.2
Tool Bar
Some of the operations are also available from the button on the tool bar.
Copies marked files from the controller to the personal computer or vice versa.
Menu : {File} - {Copy]
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3.2 Main Display
Moves marked files from the controller to the personal computer or vice versa.
Menu : {File} - {Move}
Deletes marked files in the personal computer or in the controller.
Menu : {File} - {Delete}
Selects all files in the active window.
Menu : {File} - {Select All}
Updates the file list.
Menu : {View} - {Refresh}
Executes the Ethernet transmission.
Menu : {Trans Mode} - {Ethernet}
Executes the RS232C transmission.
Menu : {Trans Mode} - {RS232C}
Displays the files using large icons.
Menu : {View} - {Large Icons}
Displays the files using small icons.
Menu : {View} - {Small Icons}
Displays the files in list.
Menu : {View} - {List}
Displays the files of the personal computer in details.
Menu : {View} - {Details}
NOTE The detailed display is available only for the files of the personal
computer.
Displays the contents of the selected file in the window of the controller side.
Menu : {File} {Display File Contents}
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3.3 Operation Procedure
3.3
Operation Procedure
3.3.1
Starting Up High Speed JobExchanger
1. To start up the High Speed JobExchanger, click the [Start] button in the task bar and select
the icon [Program], [Motoman], [MOTOCOM 32], and then [High Speed JobExchanger] (In
the case of Windows10 / 11, [All apps], [Motoman] and then [High Speed JobExchanger]).
2. The message "Read job list from YASNAC. Ready?" will appear asking whether or not the
computer is to be connected to the robot controller. Click the button [Yes] or [No]. If the
[No] button is selected, the computer will not be connected to the controller but will run
separately.
3. The main display of the High Speed JobExchanger is displayed. The personal computer
information is shown on the left side of the display. The robot controller information is
shown on the right side of the display.
3.3.2
Copying Files
1. Select the file to be copied from the list. (For selecting a multiple number of files, see "
3.3.5 Selecting a Multiple Number of Files ")
2. Select the {Copy} command from the {File} menu, or select
from the tool bar.
3. Follow the displayed message.
• To receive the job on the robot controller side as related job, select [Save as a Related
NOTE Job] in the [Setup] dialog box of the {Option} menu in advance.
• To transmit the related jobs in the personal computer side, select the file with the extension "JBR."
Jobs with the same name on the robot contoller side should be deleted in advance.
File operations other than Menu and Tool Bar
Popup menu
By right-clicking in the file list window, a popup menu appears and the file operations are available.
3.3.3
Moving Files
1. Select the file to be moved from the list. (For selecting a multiple number of files, see "
3.3.5 Selecting a Multiple Number of Files ".)
2. Select the {Move} command from the {File} menu, or select
from the tool bar.
3. Follow the displayed message.
• To receive the job on the robot controller side as related job, select [Save as a Related
NOTE Job] in the {Setup} dialog box of the {Option} menu in advance.
• The condition files on the robot controller side cannot be moved.
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3.3 Operation Procedure
3.3.4
Deleting Files
1. Select the file to be deleted from the list. (For selecting a multiple number of files, see "
3.3.5 Selecting a Multiple Number of Files ".)
2. Select the {Delete} command from the {File} menu, or select
from the tool bar.
3. Follow the displayed message.
NOTE The condition files on the controller side cannot be deleted.
3.3.5
Selecting a Multiple Number of Files
A multiple number of files can be selected in the following five manners.
(a) Drag and drop the mouse in the file list, and a selecting frame appears. Enclose the
files to be selected with the frame. Thus, the files in the frame are selected.
(b) First, select one file, then pressing the [SHIFT] key, click the last file of the range to be
selected. Thus, the files in the range up to the last file are selected.
(c) Select a file, then pressing the [CTRL] key, click the file to be selected. Thus, the
selected file is added one by one.
(d) To select a range of files as in (b) without using a mouse, move the cursor key up,
down, left, and right, pressing the [SHIFT] key.
(e) To select an individual file as in (c) without using a mouse, move the cursor key to the
file to be selected and press the space key, pressing the [CTRL] key.
3.3.6
Displaying File Contents
Displaying File Contents
The contents of a file can be displayed in the following two manners. Only the files corresponding to the robot can be displayed.
Icon for robot-related file
Icon for other files
(a) Double-click on the selected file to view contents. The contents of the file will be displayed in the Windows Notepad.
(b) Select the file to be displayed from the personal computer file list. Selecting the {Display File Contents} command from the {File} menu, or selecting the
button from
the tool bar displays the contents of the file on the controller side. While the contents
of one file are displayed, another file may be selected and its contents displayed in a
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3.3 Operation Procedure
new dislay. Pressing the
button again returns to the previous display.
NOTE Only the contents of the files on the personal computer side can be displayed, but not the
files on the controller side.
Display of the job header information
To display job header information, mark the check box of [Display/Print Job Header] in the
[General] command displayed by selecting the [Setup] dialog box from the {Option} menu.
3.3.7
File Type Setting
Select a file type from the [File Type] combo box displayed on the personal computer side.
3.3.8
Print Out
1. Select the file to be printed from the file list on the personal computer side. Then select
the {Display File Contents} command from the {File} menu, or select the
play the file contents on the controller side.
2. Selecting the {Print File} from the {File} menu, or selecting the
button to dis-
button on the controller
side prints out the file.
• To print out the file content with the job header, select the [Display/Print Job Header] in
NOTE the [Setup] dialog box of the {Option} menu in advance.
• The file contents of the personal computer side can be printed out, but not the file contents of the robot controller side.
3.3.9
Batch Processing
Using a 'job-list file' created by an editor such as Notepad, a multiple number of files can be
uploaded or downloaded.
The following is the required format of the list file.
<Job List Format>
• One file name must be described per line.
• Both capital or lowercase characters can be used.
• Files with no extensions are shown as "JBI."
• When there are blank lines in the middle of the list, these blank lines are skipped and
ignored.
<Example of a job list File>
1.JBI
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3.3 Operation Procedure
2.JBI
:
:
5.JBI
(When an extension is omitted, it is regarded as JBI.)
Upload Batch Jobs
1. Select the {Upload Batch Jobs} command from the {Option} menu to display the [Upload
Whole Jobs] dialog box. Input the file name of the list of jobs in the currently selected
folder.
2. Click the [OK] button to start uploading the files in the list one by one in order.
Download Batch Jobs
1. Select the {Download Batch Jobs} command from the {Option} menu to display the [Download Whole Jobs] dialog box. Input the file name of the list of jobs in the currently selected
folder.
2. Click the [OK] button to start downloading the files in the list one by one in order.
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3.3 Operation Procedure
3.3.10
Switching the Target Robot
For Ethernet communication, select the robot name from the [Robot] combo box in the main
display. The target robot is switched.
• Switching the target robot is available only for Ethernet communication.
NOTE • When the robot is switched, the file list of robots in the window is not updated automatically. Click the {Refresh} command from the {View} menu on the controller side before
performing any file operations.
3.3.11
Transmission Files
The following files can be transmitted.
However, "I/O Data File(.dat .lst)," "Customer Data File (dat .sys)" and "Parameter File (.prm)"
cannot be downloaded to the robot controller nor deleted.
Job File (.jbi .jbr)
Condition Data File (.cnd)
General-purpose Data File (.dat)
I/O Data File (.dat .lst) (*)
Customer Data File (.dat .sys) (*)
Parameter File (.prm) (*)
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3.3 Operation Procedure
• Loading of the system parameter to the robot controller is disabled for safety reasons.
NOTE (Use FC1, FC2 or FC1 Emulator for Windows.)
• When the robot controller does not support the Ethernet function, transmission of the
files marked with (*) is not possible.
3.3.12
INI Files
The High Speed JobExchanger stores the necessary environmental information in 2 INI files:
JobExchanger.ini
Information about Font, Start-Language, Window-size, etc.
robot.ini
Information about the registration of robots.
The INI files are stored in a difference storage location by OS which installed MOTOCOM32.
The INI files are stored in the following places, respectively.
Windows XP
Both INI files are stored in a High Speed JobExchanger installation folder.
Windows 7 / 10 / 11
JobExchanger.ini
robot.ini
3.3.13
The INI file is stored in a "C:\Users\<username>\Documents\
MOTOMAN\MOTOCOM32\HighSpeedJobExchanger".
The INI file is stored in a "C:\ProgramData\Motoman\
MOTOCOM32\HighSpeedJobExchanger\".
Language Files
The High Speed JobExchanger supports two languages: English and Japanese.
A language file can be edited, and a new language file can also be created. For details, refer
to " 3.4 Editing of Language Files ".
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3.4 Editing of Language Files
3.4
Editing of Language Files
3.4.1
Editing Language Files
In the "Select Language" dialog box, press the [Edit] button. The language file of the currently
selected language is opened in the Windows Notepad. Using Notepad, the language file can
be edited.
NOTE Since the language files are important parts of the software, extreme care must be taken
during modification.
3.4.2
Creating New Language Files
Modification can be carried out from the Use Windows Notepad to make modifications.
If you want to add other language which is not yet available, follow the instructions below:
The language files are stored in a difference storage location by OS which installed
MOTOCOM32. The language files are stored in the following places, respectively.
Windows XP
The language files are stored in a High Speed JobExchanger installation folder.
Windows 7 / 10 / 11
The language files are stored in a "C:\ProgramData\Motoman\MOTOCOM32\HighSpeedJobExchanger\".
<Example : Chinese>
1. Copy the "English.ing" file, then rename it "User13.ing."
NOTE Do not rename it "Chinese.ing.
2. In the "User13.ing" file, change "English" to "Chinese" and place the Chinese language
translation of each word in the file.
3. If you want to add more languages, continue with "User14.ing" and so on.
NOTE The new languages are not displayed under the "System" language. By selecting
"User13," the Chinese language appears.
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4.1 Host Control Function
4 OPERATION OF HOST CONTROL
FUNCTION
4.1
Host Control Function
The host control function consists of the following two functions, which can transmit according
to the command of a personal computer.
Robot control function
I/O signal read/write function
For details, refer to " 4.3 Robot Control Function " " 4.4 Read/Write of I/O Signals " in the following section.
4.2
Startup and Exit
Startup
To start up the [Host Control 32], click the [Start] button in the task bar and point to [Program]
and select [Motoman], [MOTOCOM 32], and then [Host Control] (In the case of Windows10 /
11, [All apps], [Motoman], and then [Host Control]). The [Select Language] display appears.
Select a desired language and click the [OK] button. The language can be changed at any
time from the main menu of this application.
Exit
Select the {Exit} command from the {File} menu, and the Host Control is ended.
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4.3 Robot Control Function
4.3
Robot Control Function
This function reads the robot status (current position, alarms, errors, servo status, etc.) and
controls the system (start, hold, job call, etc.). Each YASNAC transmission command can be
executed individually. (The robot must be set to remote mode.)
1. Select [Host Control] and the [Host Control] Display appears.
2. Click the command button to display the list of the usable commands.
• With the ERC, some commands are grayed and are not available for selection.
NOTE • With the YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, if the Ethernet
Server function is used some of the commands may not be used.
3. Click a command button to call up the display for that command.
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4.3 Robot Control Function
4. Follow the instructions in the display to enter the reference parameters. (This is not necessary if there is no reference parameter.)
5. Click the [Execute] button to issue the command, and the response code and the
response data from the controller appear.
Transmission commands are as follows. For details, refer to the robot controller Data
Transmission Operator's Manual.
“YRC1000 OPTIONS INSTRUCTIONS FOR DATA TRANSMISSION FUNCTION”
“YRC1000micro OPTIONS INSTRUCTIONS FOR DATA TRANSMISSION
FUNCTION”
“DX200 OPTIONS INSTRUCTIONS FOR DATA TRANSMISSION FUNCTION”
“DX100 OPTIONS INSTRUCTIONS FOR DATA TRANSMISSION FUNCTION”
“FS100 OPTIONS INSTRUCTIONS FOR DATA TRANSMISSION FUNCTION”
“NX100 OPTIONS INSTRUCTIONS FOR DATA TRANSMISSION FUNCTION”
“YASNAC XRC OPTIONS INSTRUCTIONS FOR DATA TRANSMISSION FUNCTION”
“YASNAC MRC OPTIONS INSTRUCTIONS FOR DATA TRANSMISSION
FUNCTION”
"YASNAC ERC Data Transmission Function, User Manual"
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4.3 Robot Control Function
.
Rea
ding
status
Read,
monitoring
system
Read,
data
acces
s system
Control
of
system
Operation
system
Editing
system
ERC
MRC
XRC
NX100/DX100/FS100/DX200
YRC1000/YRC1000micro
-
-
RGROUP *1
-
RPOS
RPOSJ
RSTATS
RJSEQ
RPOSC
JWAIT
RALARMS *3
RJDIR
RUFRAME
UPLOAD
-
-
-
SAVEV *1
-
SAVEVP *3
-
-
-
HOLD
RESET
CANCEL
MODE *1
CYCLE
HLOCK
MDSP
SVON
-
CGROUP *1
-
CTASK *1
DELETE
WUFRAME
CVTRJ
DOWNLOAD
-
CVTSJ *1
-
*1
RALARM
*2
-
LOADVP *3
-
-
-
SETMJ
JSEQ
START
MOVJ
MOVL
IMOV
PMOVJ
PMOVL
LOADV
Job
selection
system
Startu
p system
*1
*2
Commands validated only with the YRC1000, YRC1000micro, DX200, DX100, FS100,
NX100, XRC, MRC and MRC2
Commands validated only with the MRC ,MRC2, ERC and ERC2
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4.3 Robot Control Function
*3
Commands validated only with the YRC1000, YRC1000micro, DX200, DX100,
FS100and NX100
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4.4 Read/Write of I/O Signals
4.4
Read/Write of I/O Signals
Reads or writes the robot controller I/O signals.
The I/O signal read/write list and display are as follows. It differs in each controller.
NOTE The robot must be set to remote mode.
List of I/O Signals that can be Read or Written
MRC
Signal
0xxx
1xxx
2xxx
3xxx
4xxx
5xxx
6xxx
7xxx
8xxx
82xx
9xxx
Range
0010-0167 (128)
1010-1167 (128)
2010-2187 (144)
3010-3187 (144)
4010-4167 (128)
5010-5247 (192)
6010-6047 (32)
7010-7327 (256)
8010-8087 (64)
8210-8247 (32)
9010-9167 (128)
Name
Robot universal input
Robot universal output
External input
External output
Robot specific input
Robot specific output
Timer/counter
Auxiliary relay
Control status signal
Pseudo input signal
Network input
Read
Write
Signal
0xxx
1xxx
2xxx
3xxx
4xxx
5xxx
6xxx
7xxx
8xxx
82xx
9xxx
Range
0010-0247 (192)
1010-1247 (192)
2010-2327 (256)
3010-3327 (256)
Name
Robot universal input
Robot universal output
External input
External output
Robot specific input
Robot specific output
Auxiliary relay
Control status signal
Pseudo input signal
Network input
Read
○
○
○
○
○
○
Write
XRC
4010-4287 (224)
5010-5387 (304)
7010-7887 (704)
8010-8127 (96)
8210-8247 (32)
9010-9167 (128)
○
○
○
○
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4.4 Read/Write of I/O Signals
NX100
Signal
0xxx
1xxx
2xxx
22xx
3xxx
32xx
4xxx
5xxx
6xxx
7xxx
8xxx
82xx
Range
00010-01287 (1024)
10010-11287 (1024)
20010-21287 (1024)
22010-23287 (1024)
30010-31287 (1024)
32010-33287 (1024)
40010-40807 (640)
50010-51007 (800)
70010-79997 (7992)
80010-80647 (512)
82010-82127 (96)
Name
Robot universal input
Robot universal output
External input
Network input
External output
Network input
Robot specific input (System)
Robot specific output (System)
Auxiliary relay (System)
Control status signal (System)
Pseudo input signal (System)
Read
Write
Name
Robot universal input
Robot universal output
External input
Network input
External output
Network input
Robot specific input (System)
Robot specific output (System)
Auxiliary relay (System)
Control status signal (System)
Pseudo input signal (System)
Read
Write
Name
Robot universal input
Robot universal output
External input
Network input
External output
Network input
Robot specific input (System)
Robot specific output (System)
Auxiliary relay (System)
Control status signal (System)
Pseudo input signal (System)
Read
Write
DX100
Signal
0xxx
1xxx
2xxx
25xx
3xxx
35xx
4xxx
5xxx
6xxx
7xxx
8xxx
82xx
Range
00010-02567(2048)
10010-12567(2048)
20010-22567(2048)
25010-27567(2048)
30010-32567(2048)
35010-37567(2048)
40010-41607(1280)
50010-52007 (1600)
70010-79997 (7992)
80010-80647 (512)
82010-82207(160)
FS100
Signal
0xxx
1xxx
2xxx
25xx
3xxx
35xx
4xxx
5xxx
6xxx
7xxx
8xxx
82xx
Range
00010-01287(1024)
10010-11287(1024)
20010-21287(1024)
25010-26287(1024)
30010-31287(1024)
35010-36287(1024)
40010-41607(1280)
50010-52007 (1600)
70010-79997 (7992)
80010-80647 (512)
82010-82207(160)
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4.4 Read/Write of I/O Signals
DX200
Signal
0xxx
1xxx
2xxx
27xx
3xxx
37xx
4xxx
5xxx
6xxx
7xxx
8xxx
82xx
Range
00010-05127(4096)
10010-15127(4096)
20010-25127(4096)
27010-29567(2048)
30010-35127(4096)
37010-39567(2048)
40010-41607(1280)
50010-53007 (2400)
70010-79997 (7992)
80010-80647 (512)
82010-82207(160)
Name
Robot universal input
Robot universal output
External input
Network input
External output
Network input
Robot specific input (System)
Robot specific output (System)
Auxiliary relay (System)
Control status signal (System)
Pseudo input signal (System)
Read
Write
Name
Robot universal input
Robot universal output
External input
Network input
External output
Network input
Robot specific input (System)
Robot specific output (System)
Auxiliary relay (System)
Control status signal (System)
Pseudo input signal (System)
Read
Write
Name
Robot universal input
Robot universal output
External input
Network input
External output
Network input
Robot specific input (System)
Robot specific output (System)
Auxiliary relay (System)
Control status signal (System)
Pseudo input signal (System)
Read
Write
YRC1000
Signal
0xxx
1xxx
2xxx
27xx
3xxx
37xx
4xxx
5xxx
6xxx
7xxx
8xxx
87xx
Range
00010-05127(4096)
10010-15127(4096)
20010-25127(4096)
27010-29567(2048)
30010-35127(4096)
37010-39567(2048)
40010-42567(2048)
50010-55127 (4096)
70010-79997 (7992)
80010-85127 (4096)
87010-87207(160)
YRC1000micro
Signal
0xxx
1xxx
2xxx
27xx
3xxx
37xx
4xxx
5xxx
6xxx
7xxx
8xxx
87xx
Range
00010-05127(4096)
10010-15127(4096)
20010-21287(1024)
27010-29567(2048)
30010-31287(1024)
37010-39567(2048)
40010-42567(2048)
50010-55127 (4096)
70010-79997 (7992)
80010-85127 (4096)
87010-87207(160)
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4.4 Read/Write of I/O Signals
I/O signal read/write display
XRC, MRC
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100
To write the I/O signals, select [Write] in the command, and click the column to be edited from
the signal list. Then the I/O editing display appears. Input the signal status to be changed.
This function is valid only for the MRC V4.111 or after, or for the XRC, or for the NX100, or
NOTE for the DX100, or for the FS100, or for the DX200, or for the YRC1000, or for the
YRC1000micro.
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4.5 Environmental Settings
4.5
Environmental Settings
The environmental settings, define the operations of the host control.
Select {Option} - {Operation Environment}. Each item of the [Operation Environment] dialog
box is set.
Setting transmission parameters
Select the controller and communications protocol and choose their settings.
There are two types of communications; the Ethernet and RS-232C transmission. Click the
radio button to select one.
Ethernet
EthernetServer
Function Enable
RS-232C
Only the IP address can be set for the Ethernet transmission.
Enter the IP address assigned to the controller connected to the
network.
Displayed when the controller is set to YRC1000, YRC1000micro,
DX200, DX100, FS100, NX100. When the controller has the
Ethernet Server function is enabled, check this box to enable the
communication using the Ethernet Server function.
Select the port number, baud rate, data length, parity, and stop bit
according to the controller settings. Click the [Reset] button to set
to the default data.
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4.5 Environmental Settings
Setting the robot model
Select the controller model for transmission in the display.
Selecting a folder
Select the folder for communications in the display.
Once the drive and folder are specified in this display, the file below the specified folder is to
be transmitted when using a file command such as DOWNLOAD, UPLOAD, etc.
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4.6 Language Selection
4.6
Language Selection
Change the language displayed in the Host Control according to the environment.
Select the [Language] command from the [Option] menu to display the [Select Language] dialog box. The language is selected.
Ignore language selection at program start
Click the box [Ignore language selection at program start], and the
[Select Language] display does not appear when starting the Host
Control software. Clicking the box again removes the check mark
and displays the [Select Language] window when starting.
NOTE Some languages may not be correctly displayed unless fonts are set correctly.
4.7
Version Information
Displays the Host Control version information.
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5.1 AUTO JOB CHANGER OPERATION
5 AUTO JOB CHANGER OPERATION
5.1
AUTO JOB CHANGER OPERATION
Using DCI (Data Communication by Instruction) transmitting function, the job corresponding to
the work number, which is required to be sent from the actual robot, is transmitted.
If the robot memory runs short because there are too many types of workpieces or a job
becomes excessively long due to a complicated job, a personal computer can be used as an
external memory. In such a case, the work number is transmitted from the robot side to the
personal computer side, and the required job is uploaded to execute the loaded job.
Assuming that the robot memory runs short, all work jobs to be uploaded from the personal
computer are loaded with their name changed to the same name (WORKJOB).
In this application, operation is performed continuously from work numbers 1 to 5.
(Work jobs can be added when necessary.)
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5.2 Before Execution of "Automatic Operation"
5.2
Before Execution of "Automatic Operation"
In order to execute automatic operation of Auto Job Changer, the following job is needed for
the robot side. (This job must be positioned as the master job for Auto Job Changer at the
robot side.) This job and the jobs from No. 1 to No. 5 have been already registered at the
sample robot in the personal computer when the MOTOCOM 32 is installed. Before execution
of Auto Job Changer, use the host control to transmit this job to the robot side.
Job name:
ROBJOB
Job contents:
NOP
'DATA INITIALIZE
SET I000 0
'
*START
TIMER T=5.00
'DATA SET
INC I000
'
'DCI INSTRUCTION
SAVEV I000
TIMER T=1.00
LOADJ JOB:WORKJOB JBI
CALL JOB:WORKJOB
JUMP *START IF I000<5
'
END
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5.3 Startup and Exit
5.3
Startup and Exit
Startup
To start up the [Auto Job Changer], click the [Start] button and point to [Program], and select
[Motoman], [MOTOCOM32], and then [Auto Job Changer] (In the case of Windows10 / 11,
[All apps], [Motoman], and then [Auto Job Changer]). The [Select Language] display appears.
Select a desired language and click the [OK] button. The language can be changed at any
time from the main menu of this application.
Exit
Select the {Exit} command from the {File} menu, and the Auto Job Changer is ended.
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5.4 Operation Procedure
5.4
Operation Procedure
5.4.1
Register Job
Work numbers and their corresponding job names must be registered for each robot. Register them as described below.
New registration
1. Press the [New] button in the [Register Jobs] display.
2. When the [New Job Registration] display appears, input the work number and registered
job name (including the extension), and press the [Execute] button.
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5.4 Operation Procedure
3. When the registered job already exists in the current robot directory, it can be coordinated
with the job. (An inquiry is given by the program.) If not, the registered job is received
from the controller. Press the [Yes] or [No] button.
4. Pressing the [OK] button in the [Register Jobs] display registers all information that has
been newly registered. Pressing the [Cancel] button cancels all the registering procedures.
Deletion
1. From the [Job Relations] list in the Register job display, select the job to be deleted. (More
than one job can be selected.)
2. Press the [Delete] button.
3. Pressing the [OK] button in the [Register jobs] display registers of all the deleted information. Pressing the [Cancel] button cancels all the registering procedures.
5.4.2
Automatic operation
Pressing the automatic operation button makes the personal computer waiting for the work
number to be received from the controller which is currently selected. The following sequence
is repeated until the cancel button is pressed.
1. When the work number is received from the controller, the job registered for that number in
advance is copied to a file with a name of WORKJOB.
2. The computer waits for a request to receive WORKJOB from the controller.
3. The computer sends the job when it receives the request and enters the work number
waiting status again.
NOTE During automatic operation, the grayed functions in the display such as robot change cannot be used.
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5.4 Operation Procedure
5.4.3
Cancel
When an automatic operation is terminated, press the [STOP] button from the [Auto Job
Changer] dialog box.
Normally, stop the DCI operation first from the controller side. If the personal computer is terminated first, an alarm may occur on the controller side.
NOTE It may take some time until the stopped status is actually entered after the cancel button is
pressed.
5.4.4
Display Log File
Select the {Display Logging File} command from the {Option} menu. Displays the contents of
a log file.
5.4.5
Deletion Message
Select the {Clear Messages} command from the {Option} menu. Deletes an automatic operation message.
Messages are deleted periodically by the program.
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5.5 Environmental Settings
5.5
Environmental Settings
5.5.1
Environmental Settings
The environmental settings define the operations of the Auto Job Changer.
Select {Option} - {Operation Environment}. Each item of the [Operation Environment] dialog
box is set.
Setting transmission parameters
Select the controller and communications protocol and choose their settings.
There are two types of communications; the Ethernet and RS-232C transmission. Click the
ratio button to select one.
Ethernet
Only the IP address can be set for the Ethernet transmission. Enter the IP
address assigned to the controller connected to the network.
RS-232C
Select the port number, baud rate, data length, parity, and stop bit according
to the controller settings. Click the [Reset] button to set to the default data.
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5.5 Environmental Settings
Selecting the robot model
Select the controller model for transmission in the display.
Selecting a folder
Select the folder for communications in the display.
Once the drive and folder are specified in this display, the file below the specified folder is to
be transmitted when using a file command such as DOWNLOAD, UPLOAD, etc.
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5.5 Environmental Settings
5.5.2
Automatic Operation Startup
Select the {Auto Run} command from the {Option} menu. Determines whether automatic
operation is to be started at the same time as startup of Auto Job Changer. A check mark at
the left side of the menu means that automatic operation is going to start.
5.5.3
Take Log File
Select the {Write Logging Message} command from the {Option} menu. Determines whether
a communication log is to be taken at automatic operation. A check mark at the left side of the
menu means that the log is going to be taken.
A log file is created in the directory where the MOTOCOM32 is installed with the name of
"ONLINE.LOG." The program is overwritten when this file exceeds a certain size, however,
the log file from one generation before is kept in the file named "ONLINE.LO$."
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5.6 Language Selection
5.6
Language Selection
Change the language displayed in the Auto Job Changer according to the environment.
Select the [Select Language] command from the [Option] menu to display the [Select Language] dialog box. The language is selected.
Ignore language selection at program start
Click the box [Ignore language selection at program start], and the
[Select Language] display does not appear when starting the Auto
Job Changer. Clicking the box again removes the check mark and
displays the [Select Language] window when starting.
NOTE Some languages may not be correctly displayed unless fonts are set correctly.
5.7
Version Information
Displays the Auto Job Changer version information.
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6.1 Outline
6 CREATING A TRANSMISSION APPLICATION
6.1
Outline
This paragraph describes how to create an application so that the user can easily create a
transmission application between the robot and the personal computer. This help explains
how to create an application using the sample program (MS-Windows application development tool as the base "Visual Basic" and "Visual C++" "Visual C#") which employs a data
transmission function (MS-Windows DLL file type: file name: MOTOCOM32.DLL). (Other languages can also be used.)
The program list of the sample program is in the “MOTOMAN\MOTOCOM32\MOTOCOM32DLL\Sample” folder below "Public Documents" folder. And, the program list of the
autojob change software is in the “MOTOMAN\MOTOCOM32\MotoJob32\Src” folder.
• Execute the sample program in the MOTOCOM32 installation directory.
NOTE • YASKAWA is not responsible for anything that may result from using the sample program
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6.2 Using Visual Basic
6.2
Using Visual Basic
6.2.1
Preparation
To create a transmission application, the following systems must be installed in the personal
computer in advance.
(1) Microsoft Windows 10 / 11 *1
(2) Visual Basic Ver6.0 or more *2
*1
*2
MS Windows 10 / 11 is a registered trademark of Microsoft Corporation, U.S.A.
Visual Basic is a registered trademark of Microsoft Corporation, U.S.A.
6.2.2
How to Create a transmission application
This paragraph explains a simple program, as an example, which sends/receives a job that
was input to the text box to/from the controller.
Creation of Code Module
In order to call up "Motocom32. DLL" from Visual Basic, declaration of the Motocom 32. DLL I/
F functions to be used is needed. The following two methods are available.
Write the declaration of the DLL functions yourself.
Use the definition file attached to the Motocom 32 package.
Write the declaration of the DLL functions yourself.
Add the code module and write the following declaration in the declaration area.
Declare Function BscOpen Lib "MotoCom32" Alias "_BscOpen@8" _
(ByVal Path As String, ByVal mode As Integer) As Integer
Declare Function BscClose Lib "MotoCom32" Alias "_BscClose@4" _
(ByVal nCid As Integer) As Integer
Declare Function BscSetCom Lib "MotoCom32" Alias "_BscSetCom@24" _
(ByVal nCid As Integer, ByVal Port As Integer, ByVal Baud As Long, ByVal
Parity As Integer, ByVal clen As Integer, ByVal stp As Integer) As Integer
Declare Function BscSetEther Lib "MotoCom32" Alias "_BscSetEther@16" _
(ByVal nCid%, ByVal IPaddr$, ByVal mode%, ByVal hWnd&) As Integer
Declare Function BscConnect Lib "MotoCom32" Alias "_BscConnect@4" _
(ByVal nCid As Integer) As Integer
Declare Function BscDisConnect Lib "MotoCom32" Alias "_BscDisConnect@4" _
(ByVal nCid As Integer) As Integer
Declare Function BscDownLoad Lib "motocom32.dll" Alias "_BscDownLoad@8" _
(ByVal nCid As Integer, ByVal fName As String) As Integer
Declare Function BscUpLoad Lib "motocom32.dll" Alias "_BscUpLoad@8" _
(ByVal nCid As Integer, ByVal fName As String) As Integer
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6.2 Using Visual Basic
Define the followings as the parameters for BscOpen() to select the type of connection line.
Public Const PACKETCOM = (1)
Public Const PACKETETHERNET = (16)
Use the definition file attached to the Motocom32 package.
The "Motocom32.DLL" package includes a "Motocom32.BAS" file that defines the DLL I/F
functions. Add this file to the Visual Basic project.
(1) Copy the "Motocom32.BAS" file to the source directory of the application to be created.
(2) Click "Project" and specify the "Motocom 32.BAS" from the "File" menu to add it to
the project.
Create a sub-module to open/close the following ports.
Function Ms_BscOpenComm(TransMode%, FuncMode%)
Function Ms_BscCloseComm()
" Function Ms_BscOpenComm() " to select the data part (program list) of the above function.
Use "Copy" to copy this section to Ms_BscOpenComm () function. Repeat for Ms_BscCloseComm(" Function Ms_BscCloseComm() ").
Creation of Form Module
Create the following module.
(1) Form to be program display
On this form, create the following controls.
(2) Text Box to input the job name (control name: "TxtJobName", text name: 0.JBI")
(3) Send button (control name:"CmdDownLoad", caption name: "Send")
(4) Receive button (control name: "CmUpLoad", caption name: "Receive")
(5) Exit button (control name: "CmdExit", caption name: "Exit")
When the control is created, describe the event procedure for each button.
Sub CmdDownload_Click ()
Sub CmdUpLoad_Click ()
Sub CmdExit_Click ()
" Sub CmdDownload_Click () " to select the data part (program list) of the above function. Use
"Copy" to copy this section to CmdDownload_Click () function. Repeat for CmdUpLoad(" Sub
CmdUpLoad_Click () ") and CmExit(" Sub CmdExit_Click () ").
Creation and Execution of EXE File
Select "EXE file creation" from the Visual Basic file menu to create an execution enabled module. By putting this module in the same directory as the job to be sent or received and execut-
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6.2 Using Visual Basic
ing it, the job can be sent or received.
The MOTOCOM installation directory contains data transmission functions (Windows DLL
NOTE file type, file name: Motocom32.DLL and Motolk.DLL, Motolkr.DLL, Vrp32.DLL).
When executing an application, copy the functions to the directory where the module to be
executed is created. For transmission via Ethernet, copy HslSrv32.exe to the same directory as Motocom32.DLL.
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6.3 Using Visual C++
6.3
Using Visual C++
6.3.1
Preparation
To create a transmission application, the following systems must be installed in the personal
computer in advance.
(1) Microsoft Windows 10 / 11 *1
(2) Visual C++ Ver6.0 or more *2
*1
*2
MS Windows 10 / 11 is a registered trademark of Microsoft Corporation, U.S.A.
Visual C++ is a registered trademark of, Microsoft Corporation U.S.A.
6.3.2
How to Create a transmission application
This paragraph explains a simple program, as an example, which sends/receives a job that
was input to the text box to/from the controller.
Creation of Skelton
Create a skelton using Visual C++ Ver.6.0 with the following procedure.
(1) Start up the Microsoft Development Studio and select "New" from the "File" menu to
display the "New" display. Then click "Project Work Space" and then the [OK] button.
(2) Select the "Project" tab and then "MFC AppWizard (exe)."
(3) Enter the project name (in this example, input Test), and specify the folder where
the project is to be created. Then click the [OK] button.
(4) Select "dialog base" as the type of the application to be created in "step 1," and click
the [EXIT] button.
A source code to display a dialog box where only [OK] and [CANCEL] pushbuttons exist is
created.
Definition of DLL Call
(1) Include "motocom.h" attached to the MOTOCOM32 application using the dialog
class source file (TestDig.cpp). Also include the header file, "direct.h," as the sample source as shown below.
#include "stdafx.h"
#include "Test.h"
#include "TestDlg.h"
#include <direct.h>
#include "motocom.h"
<------Add this line.
<------Add this line.
(2) Copy the "motocom32.lib" file, the "motocom.h" file and the data transmission func-
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6.3 Using Visual C++
tion (Windows DLL file type, file name: Motocom32.DLL and Motolk.DLL,
Motolkr.DLL, Vrp32.DLL) to the directory where the project exists.
(3) Click the "Build" and then the "Setting" buttons, and open the "link" tab in the "Set
Project" dialog box. Specify the "motocom32.lib" file in the "Object/Library Module"
setting column, and click the [OK] button.
The MOTOCOM32 functions can be used in the file where "motocom.h" is included.
NOTE The library file (file name: Motocom32.Lib) and the included file (file name: Motocom.h)
are in the MOTOCOM32 installation directory.
Editing with a Dialog Box
Edit the following with the created dialog box.
Open the IDD_TEST_DIALOG dialog box.
(1) Delete the [CANCEL] pushbutton which was created by default.
(2) Change the caption of the [OK] pushbutton to "Exit."
(3) Create an edit control to input the job name, and name the ID "IDC_JOBNAME."
(4) Create a pushbutton for sending, and name the caption "Send" and the ID
"IDC_DOWNLOAD."
(5) Create a pushbutton for receiving, and name the caption "Receive" and the ID
"IDC_UPLOAD."
Addition of Functions and Variables
(1) Open the TestDLg.h file to add the following function declaration.
short TestOpenComm( int TransMode, int FuncMode );
short TestCloseComm( short ncid );
(2) Create a function "CTestDlg::TestOpenComm" to open the communications port.
(3) Create a function "CTestDlg::TestCloseComm" to close the communicatinos port.
(4) Create a function "CTestDlg::OnDownload" for BN_CLICKED message in Class
Wizard using the [Send] pushbutton (IDC_DOWNLOAD).
(5) Create a function "CTestDl::OnUpload" for BN_CLICKED message in Class Wizard
using the [Receive] pushbutton (IDC_UPLOAD).
(6) Add variable "m_jobname" in Class Wizard by Cedit type for inputting characters of
the job name edit control (IDC_JOBNAME).
After adding the functions, write the code in each function.
CTestDlg::TestOpenComm function
CTestDlg::TestCloseComm function
CTestDlg::OnDownload function
CTestDlg::OnUpload function
In TestOpenComm(), the storage passing of IP address (IPAddress), the communication
mode (mode), and the application (cur_dir) is specified. Please change according to cus-
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6.3 Using Visual C++
tomer's environment.
" CTestDlg::TestOpenComm function " to select the data part (program list) of the above function. Use "Copy" to copy this section to CTestDlg::TestOpenComm() function. Repeat for
CTestDlg::TestCloseComm(" CTestDlg::TestCloseComm function "), CTestDlg::OnDownload("
CTestDlg::OnDownload function "), and CTestDlg::OnUpload(" CTestDlg::OnUpload function
").
Creation and Execution of EXE File
Execute "Build" in the Visual C++ Build menu to create a execution enabled module. By putting this module in the same directory as the job to be sent or received and executing it, the
job can be sent or received.
The MOTOCOM installation directory contains data transmission functions (Windows DLL
NOTE file type, file name: Motocom32.DLL and Motolk.DLL, Motolkr.DLL, Vrp32.DLL).
When executing an application, copy the functions to the directory where the module to be
executed is created. For transmission via Ethernet, copy HslSrv32.exe to the same directory as Motocom32.DLL.
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6.4 Using Visual C#
6.4
Using Visual C#
6.4.1
Preparation
To create a transmission application, the following systems must be installed in the personal
computer in advance.
(1) Microsoft Windows 10 / 11 *1
(2) Visual Studio 2012, .NETFramework 4.0 or more *2
*1
*2
MS Windows 10 / 11 is a registered trademark of Microsoft Corporation, U.S.A.
Visual Studio 2012, .NETFramework is a registered trademark of, Microsoft Corporation U.S.A.
6.4.2
How to Create a transmission application
This paragraph explains a simple program, as an example, which sends/receives a job that
was input to the text box to/from the controller.
Creation of Project
Start up the Microsoft Visual Studio and select "New" from the "File" menu to display the
"New" display. Then click "Visual C#" and "Windows application" and then the [OK] button.
Reference configuration of Library
To use "Motocom32.DLL" in Visual Studio C#, "Motocom32CS.DLL" must be referenced.
Select "Add Reference" from "Project" menu to display the "Add Reference" display. Then
select "Reference" tag, and select "Motocom32CS.DLL" in the "MOTOCOM32DLL" folder
located in the installed folder of "Motocom32", and "Motocom32CS.DLL" is added to the project.
To import the Data types defined in the namespace of "Motocom32CS.DLL", descript the following using directive.
using MotoCom32CS;
And, create the following methods to open/close the communications port.
private short Ms_BscOpenComm( int mode )
private short Ms_BscCloseComm( short nCid )
" private short Ms_BscOpenComm() " to select the data part (program list) of the above function. Use "Copy" to copy this section to Ms_BscOpenComm function. Repeat for Ms_BscCloseComm(" private short Ms_BscCloseComm() ").
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6.4 Using Visual C#
Creation of Form Module
Create the following module.
(1) Form to be program display
On this form, create the following controls.
(2) Text Box to input the job name (control name: "TxtJobName", text name: "0.JBI")
(3) Send button (control name: "CmdDownLoad", caption name: "Send")
(4) Receive button (control name: "CmdUpLoad", caption name: "Receive")
(5) Exit button (control name: "CmdExit", caption name: "Exit")
When the control is created, describe the event procedure for each button.
private void CmdDownLoad_Click( object sender, EventArgs e )
private void CmdUpLoad_Click( object sender, EventArgs e )
private void CmdExit_Click( object sender, EventArgs e )
" private void CmdDownLoad_Click() " to select the data part (program list) of the above function. Repeat for CmdUpLoad_Click(" private void CmdUpLoad_Click() "), and CmdExit_Click("
private void CmdExit_Click() ")
Creation and Execution of EXE File
Execute "Build" in the Visual Studio "Build" menu to create a execution enable module. By
putting the job to be sent/received in the same folder where this module is, and executing this
module, the job can be sent/received.
The MOTOCOM installation directory contains data transmission functions (Windows DLL
NOTE file type, file name: Motocom32.DLL and Motolk.DLL, Motolkr.DLL, Vrp32.DLL).
When executing an application, copy the functions to the directory where the module to be
executed is created. For transmission via Ethernet, copy HslSrv32.exe to the same directory as Motocom32.DLL.
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6.5 Explanation of Auto Job Changer Software Creation Procedure
6.5
Explanation of Auto Job Changer Software Creation Procedure
The creation procedure of DCI application will be descrived as follows.
Here, take for an example the procedure (procedure name: Sub DciOnline) to be called when
"automatic operation" button is pressed.
Since the Auto Job Changer software is created in Visual Basic, the following description is
given in the Visual Basic. However, Visual C++ or any other language can also be used.
Processing is divided into the following 5 major parts.
(1) Opening of transmission port (Function name: Ms_BscOpenComm() )
(2) Receiving of job number
(Function name:DciGetJobNo() )
(3) Preparation for sending job
(Function name:GetJobNameByNo(), JobCopy() )
(4) Sending of job
(Function name:DciLoadSave() )
(5) Closing of transmission port (Function name:Ms_BscCloseComm() )
The following describes the list of each processing.
Sub DciOnline
Sub DciOnline (CvtName As String, lst As Control, LogFile As String)
'input
CvtName
Job name to be copied
'
Lst
List name for message output
'
LogFile
Log file name
'output None
Dim nCid As Integer
Dim JobNo As Integer
Dim JobName As String
Dim rc As Integer
Dim Cycle As Long
Cycle = 0
'Get of communication handler
nCid = Ms_BscOpenComm( mode, 1 ) ' mode=0 or 1
If nCid >= 0 Then
'Work No. receiving and job sending are repeated until Cancel button is pressed
(F_QUIT flag becomes true).
Do While Not F_QUIT
DispLogMsg lst, "***** Waiting for work No.*****", ""
'Receiving work No.
If Not DciGetJobNo(nCid, JobNo, lst, LogFile) Then Exit Do
DispLogMsg lst, "Work No.(" + Format$(JobNo) + ")reveived", LogFile
'Fetching job name corresponding to work No.
JobName = GetJobNameByNo(JobNo)
If JobName = "" Then
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6.5 Explanation of Auto Job Changer Software Creation Procedure
MsgBox"No corresponding job is registered."
Exit Do
End If
'Copying corresponding job to name for sending
If Not JobCopy(JobName, CvtName) Then
MsgBox "Job copy disabled.(" + JobName + ")"
Exit Do
End If
DispLogMsg lst, JobName + "copied to " + CvtName + "ÅD" , LogFile.
DispLogMsg lst, "***** Waiting for request for job transmission. *****", ""
'Sending job due to instruction from YASNAC.
If Not DciLoadSave(nCid, lst, LogFile) Then Exit Do
Cycle = Cycle + 1
DispLogMsg lst, "Job has been sent.(" + Format$(Cycle) + "Circulating).",
LogFile
Loop
'No. of communication handlers.
rc = Ms_BscCloseComm(nCid)
If rc <> 0 Then
MsgBox "BscCloseComm terminates in fail." + "(" + Format$(rc) + ")."
End If
Else
MsgBox "Cannot open."
End If
End Sub
SUPPLEMENT
• single underline indicates functions of which program lists are described below
Ms_BscOpenComm : " Function Ms_BscOpenComm() "
Ms_BscCloseComm : " Function Ms_BscCloseComm() "
DciGetJobNo :
" Function DciGetJobNo "
DciLoadSave :
" Function DciLoadSave "
• DispLogMsg
: Other function defined in the project.
Outputs a message to the list box and log file.
• GetJobNameByNo : Other function defined in the project.
• JobCopy
Returns the number corresponding to the work number.
: Other function defined in the project.
Copies a job to a specified file.
• MsgBox : Visual Basic function
Displays a message in the dialog box and waits for the button to be pressed.
• Format$ : Visual Basic function
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6.5 Explanation of Auto Job Changer Software Creation Procedure
Function DciGetJobNo
Function DciGetJobNo (nCid As Integer, JobNo As Integer, lst As Control, LogFile As
String) As Integer
'input
nCid
Communication handler
'
Lst
List name for message output
'
LogFile
Log file name
'output JobNo
Received job No.
'return value TRUE Completion of sending
'
FALSE Cancel or error occurrence
Dim rc As Integer
Dim rc0 As Integer
'Declaring return value of BscDciGetPos.
ReDim axis6(5) As Double
Dim datatype As Integer
Dim RConf As Integer
rc = False
rc0 = -1
'Request for receiving is repeated until Cancel button is pressed (F_QUIT flag
becomes true) or work No. is received.
Do While Not F_QUIT
rc0 = BscDCIGetPos(nCid, datatype, RConf, axis6(0))
If rc0 >= 0 Then Exit Do 'Work No. received.
Loop
If Not F_QUIT Then
If datatype <= 2 Then 'Only byte or integer type accepted.
'Received work No. set.
JobNo = axis6(0)
rc = True
Else
DispLogMsg lst, "Unexpected data type received. (" + Str$(datatype) + ")",
LogFile
End If
Else
DispLogMsg lst, "Canceled.", ""
End If
DciGetJobNo = rc
End Function
SUPPLEMENT
• Double underline indicates transmission functions belonging to the MOTOCOM32.
• DispLogMsg
: MOTOCOM function
Outputs a message to the list box and log file.
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6.5 Explanation of Auto Job Changer Software Creation Procedure
Function DciLoadSave
Function DciLoadSave (nCid As Integer, lst As Control, LogFile As String) As Integer
'input
nCid
Communication handler
'
Lst
List name for message output
'
LogFile
Log file name
'output None
'return value TRUE
Completion of sending
'
FALSE
Cancel or error occurrenceê¹
Dim rc As Integer
Dim rc0 As Integer
rc = False
'Repeated until Cancel button is pressed (F_QUIT flag becomes true) or sending is
completed.
Do While Not F_QUIT
rc0 = BscDCILoadSave(nCid, 1)
If rc0 > 0 Then 'Sending completed.
rc = True
Exit Do
ElseIf rc0 = 0 Then
'No request for receiving from YASNAC. Waiting for request for receiving again.
Else 'Job transmission error occurs.
MsgBox "Job transmission error occurs. (" + Format$(rc0) + ")"
Exit Do
End If
Loop
If F_QUIT = True Then
DispLogMsg lst, "Canceled.", ""
End If
End Function
SUPPLEMENT
• Double underline indicates transmission functions belonging to the MOTOCOM32.
• DispLogMsg
: Other function defined in the project.
Outputs a message to the list box and log file.
• MsgBox : Visual Basic function
Displays a message in the dialog box and waits for the button to be pressed.
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6.6 Each Function Program List
6.6
Each Function Program List
Function Ms_BscOpenComm()
'TransMode: 0...RS-232C 1...Ethernet
'FuncMode: 0...Host Control (Client) 1...DCI/Stand Alone (Server)
Function Ms_BscOpenComm( TransMode%, FuncMode% ) as Integer
Dim ncid As Integer
Dim rc As Integer
Dim IPAddrress As string
Ms_BscOpenComm = -1
if TransMode=0 then
'Open the port.
ncid = BscOpen(CurDir$, 1)
If ncid < 0 Then GoTo Ms_BscOpenComm_Exit
'Set serial communications parameters.
rc = BscSetCom(ncid, 1, 9600, 2, 8, 0)
else
'Open the Ethernet line.
ncid = BscOpen(CurDir$, PACKETETHERNET)
If ncid < 0 Then GoTo Ms_BscOpenComm_Exit
'Set Ethernet communications parameters.
IPAddrress = "999.999.99.99" '<---Specify any IP address.
rc = BscSetEther( ncid , IPAddrress , FuncMode, frmMain.hWnd )
end if
If rc <> 1 Then
rc = BscClose(ncid)
ncid = -1
GoTo Ms_BscOpenComm_Exit
End If
'Connect communications line.
rc = BscConnect(ncid)
If rc <> 1 Then
rc = BscClose(ncid)
ncid = -1
GoTo Ms_BscOpenComm_Exit
End If
Ms_BscOpenComm_Exit:
Ms_BscOpenComm = ncid
End Function
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6.6 Each Function Program List
SUPPLEMENT
• Double underline indicates transmission functions belonging to the MOTOCOM32.
• CurDir$ : Visual Basic functionî
This function opens the COM port or the Ethernet line. After the connection is finished, the
handle values are sent back as return values. The following operation for the
Motocom32.DLL is performed using these handle values.
Function Ms_BscCloseComm()
Function Ms_BscCloseComm(ncid as integer) as Integer
Dim rc As Integer
'Cut the communications line.
rc = BscDisConnect(ncid)
'Close the port.
rc = BscClose(ncid)
Ms_BscCloseComm = rc
End Sub
SUPPLEMENT
Double underline indicates transmission functions belonging to the MOTOCOM32.
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6.6 Each Function Program List
Sub CmdDownload_Click ()
Sub CmdDownload_Click ()
Dim nCid As Integer
Dim rc As Integer
Dim JobName As String
'The job name is acquired from the text box.
JobName = UCase$(TxtJobName.Text)
'Check the specified job name.
If JobName <> "" Then
'Get of communication handler.
nCid = Ms_BscOpenComm( mode, 0 ) ' mode=0 or 1
'It is checked whether the communication handler was able to be acquired.
If nCid >= 0 Then
'Transmit job.
rc = BscDownLoad(nCid, JobName)
'Confirms the return value.
If rc = 0 Then
MsgBox "Job transmission completion."
Else
MsgBox "Job transmission failure :" + Format$(rc)
End If
‘No. of communication handlers.
rc = Ms_BscCloseComm(nCid)
Else
MsgBox "Cannot open the port."
End If
Else
MsgBox "Please specify the job name. "
End If
End Sub
SUPPLEMENT
• Double underline indicates transmission functions belonging to the MOTOCOM32.
• single underline indicates functions of which program lists are described below
Ms_BscOpenComm : " Function Ms_BscOpenComm() "
Ms_BscCloseComm : " Function Ms_BscCloseComm() "
• UCase$ : Visual Basic function
• MsgBox : Visual Basic function
Displays a message in the dialog box and waits for the button to be pressed.
• Format$ : Visual Basic function
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6.6 Each Function Program List
Sub CmdUpLoad_Click ()
Sub CmdUpLoad_Click ()
Dim nCid As Integer
Dim rc As Integer
Dim JobName As String
'The job name is acquired from the text box.
JobName = UCase$(TxtJobName.Text)
'Check the specified job name.
If JobName <> "" Then
'Get of communication handler.
nCid = Ms_BscOpenComm( mode, 0 ) ' mode=0 or 1
'It is checked whether the communication handler was able to be acquired.
If nCid >= 0 Then
'Received job.
rc = BscUpLoad(nCid, JobName)
'Confirms the return value.
If rc = 0 Then
MsgBox "Job reception completion."
Else
MsgBox"Job reception failure :" + Format$(rc)
End If
‘No. of communication handlers.
rc = Ms_BscCloseComm(nCid)
Else
MsgBox "Cannot open the port."
End If
Else
MsgBox "Please specify the job name. "
End If
End Sub
SUPPLEMENT
• Double underline indicates transmission functions belonging to the MOTOCOM32.
• single underline indicates functions of which program lists are described below
Ms_BscOpenComm : " Function Ms_BscOpenComm() "
Ms_BscCloseComm : " Function Ms_BscCloseComm() "
• UCase$ : Visual Basic function
• MsgBox : Visual Basic function
Displays a message in the dialog box and waits for the button to be pressed.
• Format$ : Visual Basic function
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6.6 Each Function Program List
Sub CmdExit_Click ()
Sub CmdExit_Click ()
'The form is unloaded and the program is ended.
Unload Me
End Sub
SUPPLEMENT
UCase$ : Visual Basic function
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6.6 Each Function Program List
CTestDlg::TestOpenComm function
// TransMode : 0...RS-232C 1...Ethernet
// FuncMode : 0...Host Control (Client) 1...DCI/Stand Alone (Server)
short CTestDlg::TestOpenComm( int TransMode, int FuncMode )
{
short ncid;
short rc;
char cur_dir[_MAX_DIR ];
char *IPAddress="999.999.99.99"; //Specify any IP address.
_getcwd( cur_dir, _MAX_DIR );
if( TransMode==0 )
{
//Open the communications port
ncid = BscOpen( cur_dir, PACKETCOM );
if( ncid < 0 )
{
return( ncid );
}
//Set serial communications parameters.
rc = BscSetCom( ncid, 1, 9600, 2, 8, 0 );
if( rc != 1 )
{
rc = BscClose( ncid );
return( -1 );
}
}else
{
//Open the Ethernet line.
ncid = BscOpen( cur_dir, PACKETETHERNET );
if( ncid < 0 )
{
return( ncid );
}
//Set Ethernet communications parameters.
rc = BscSetEther( ncid, IPAddress, FuncMode, GetSafeHwnd() );
if( rc != 1 )
{
rc = BscClose( ncid );
return( -1 );
}
}
//Connect communications line.
rc = BscConnect( ncid );
if( rc != 1 )
{
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6.6 Each Function Program List
rc = BscClose( ncid );
return( -1 );
}
return( ncid );
}
SUPPLEMENT
• Double underline indicates transmission functions belonging to the MOTOCOM32.
• _getcwd : Visual C++ function
CTestDlg::TestCloseComm function
short CTestDlg::TestCloseComm( short ncid )
{
short rc;
//Cut the communications line.
rc = BscDisConnect( ncid );
//Close the port.
rc = BscClose( ncid );
return( rc );
}
SUPPLEMENT
Double underline indicates transmission functions belonging to the MOTOCOM32.
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6.6 Each Function Program List
CTestDlg::OnDownload function
void CTestDlg::OnDownload()
{
short nCid;
short rc;
CString JobName;
//The job name is acquired from the edit control.
m_jobname.GetWindowText(JobName);
JobName.MakeUpper();
//Check the specified job name.
if(!JobName.IsEmpty() )
{
//Get of communication handler.
nCid = TestOpenComm ( mode, 0 ); // mode=0 or 1
//It is checked whether the communication handler was able to be acquired.
if( nCid >= 0 )
{
//Transmit job.
rc = BscDownLoad( nCid, (char*)(LPCSTR)JobName);
//Confirms the return value.
if( rc == 0 )
AfxMessageBox ( "Job transmission completion." );
else
AfxMessageBox ( "Job transmission failure." );
//No. of communication handlers.
rc = TestCloseComm( nCid );
}
else
AfxMessageBox ("Cannot open the port." );
}
else
{
AfxMessageBox ( "Please specify the job name." );
}
}
SUPPLEMENT
• Double underline indicates transmission functions belonging to the MOTOCOM32.
• single underline indicates functions of which program lists are described below
TestOpenComm : " CTestDlg::TestOpenComm function "
TestCloseComm : " CTestDlg::TestCloseComm function "
• MakeUpper
: Visual C++ function
• AfxMessageBos : Visual C++ function
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6.6 Each Function Program List
CTestDlg::OnUpload function
void CTestDlg::OnUpload()
{
short nCid;
short rc;
CString JobName;
//The job name is acquired from the edit control.
m_jobname.GetWindowText(JobName);
JobName.MakeUpper();
//Check the specified job name.
if(!JobName.IsEmpty() )
{
//Get of communication handler.
nCid = TestOpenComm ( mode, 0 ); // mode=0 or 1
//It is checked whether the communication handler was able to be acquired.
if( nCid >= 0 )
{
//Received job.
rc = BscUpLoad(nCid, (char*)(LPCSTR)JobName);
//Confirms the return value.
if( rc == 0 )
AfxMessageBox ( "Job reception completion." );
else
AfxMessageBox("Job reception failure." );
//No. of communication handlers.
rc = TestCloseComm( nCid );
}
else
AfxMessageBox ( "Cannot open the port." );
}
else
{
AfxMessageBox ( "Please specify the job name." );
}
}
SUPPLEMENT
• Double underline indicates transmission functions belonging to the MOTOCOM32.
• single underline indicates functions of which program lists are described below
TestOpenComm : " CTestDlg::TestOpenComm function "
TestCloseComm : " CTestDlg::TestCloseComm function "
• MakeUpper
: Visual C++ function
• AfxMessageBos : Visual C++ function
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6.6 Each Function Program List
private short Ms_BscOpenComm()
// mode: 0...RS-232C 1...Ethernet
private short Ms_BscOpenComm( int mode )
{
short nCid;
short rc;
byte[] IPAddress;
// Convert into byte array.
byte[] path = Encoding.Default.GetBytes( Application.StartupPath );
if( mode == 0 )
{
// Open the COM port.
nCid = MotoCom32.BscOpen( ref path[ 0 ], (short)MotoCom32.PACKET.COM );
if( nCid < 0 )
{
return nCid;
}
// Set serial communications parameters.
rc = MotoCom32.BscSetCom( nCid, 1, 9600, 2, 8, 0 );
}
else
{
// Open the Ethernet line
nCid = MotoCom32.BscOpen( ref path[ 0 ], (short)MotoCom32.PACKET.ETHERNET );
if( nCid < 0 )
{
return nCid;
}
// Set Ethernet communications parameters.
// Specify any IP address
IPAddress = Encoding.Default.GetBytes( "192.168.0.10" );
rc = MotoCom32.BscSetEther( nCid, ref IPAddress[ 0 ], 0, this.Handle );
}
if( rc != 1 )
{
rc = MotoCom32.BscClose( nCid );
return -1;
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6.6 Each Function Program List
}
// Connect communications line.
rc = MotoCom32.BscConnect( nCid );
if( rc != 1 )
{
rc = MotoCom32.BscClose( nCid );
return -1;
}
return nCid;
}
SUPPLEMENT
• Double underline indicates transmission functions belonging to the MOTOCOM32.
• Encoding.Default.GetBytes() : Function of Visual Studio C#
Convert String in brackets into byte array.
• Application.StartupPath :
Function of Visual Studio C#
Get the path of the folder where the application executes.
This function opens the COM port or the Ethernet line. After the connection is finished, the
handle values are sent back as return values. The following operation for the Motocom32.DLL
is performed using these handle values.
private short Ms_BscCloseComm()
private short Ms_BscCloseComm( short nCid )
{
short rc;
// Cut the communications line.
rc = MotoCom32.BscDisConnect( nCid );
// Close the port.
rc = MotoCom32.BscClose( nCid );
return rc;
}
SUPPLEMENT
Double underline indicates transmission functions belonging to the MOTOCOM32.
private void CmdDownLoad_Click()
private void CmdDownLoad_Click( object sender, EventArgs e )
{
short nCid;
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6.6 Each Function Program List
short rc;
byte[] jobname;
// the job name is acquired from the text box.
jobname = Encoding.Default.GetBytes( TxtJobName.Text.ToUpper() );
// Check the specified the job name.
if( jobname.Length > 0 )
{
// Set the communication mode. (mode: 0:RS-232C, 1:Ethernet)
nCid = Ms_BscOpenComm( 1 );
// It is checked whether the communication handler was able to be acquired.
if( nCid != -1 )
{
// Transmit job.
rc = MotoCom32.BscDownLoad( nCid, ref jobname[ 0 ] );
// Confirms the return value.
if( rc == 0 )
{
MessageBox.Show( "Job transmission completion." );
}
else
{
MessageBox.Show( "Job transmission failure :" + rc.ToString() );
}
// Release the communication handle.
rc = Ms_BscCloseComm( nCid );
}
else if( nCid == -8 )
{
MessageBox.Show( "License error." );
}
else
{
MessageBox.Show( "Cannot open the port." );
}
}
else
{
MessageBox.Show( "Please specify the job name." );
}
}
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6.6 Each Function Program List
SUPPLEMENT
• Double underline indicates transmission functions belonging to the MOTOCOM32.
• Single underline indicates functions of which program lists are described below.
Ms_BscOpenComm : " private short Ms_BscOpenComm() "
Ms_BscCloseComm : " private short Ms_BscCloseComm() "
• ToUpper() :
Function of Visual Studio C#
Uppercase the string.
• MessageBox.Show() : Function of Visual Studio C#
Display the message in the dialog box, and wait for clicking the
button.
• ToString() :
Function of Visual Studio C#
Convert into string using the specified form or the specified culture-specific formatting information.
private void CmdUpLoad_Click()
private void CmdUpLoad_Click( object sender, EventArgs e )
{
short nCid;
short rc;
byte[] jobname;
// The job name is acquired from the text box.
jobname = Encoding.Default.GetBytes( TxtJobName.Text.ToUpper() );
// Check the specified job name.
if( jobname.Length > 0 )
{
// Set the communication mode. (mode: 0:RS-232C, 1:Ethernet)
nCid = Ms_BscOpenComm( 1 );
// It is checked whether the communication handler was able to be acquired.
if( nCid >= 0 )
{
// Receive job.
rc = MotoCom32.BscUpLoad( nCid, ref jobname[ 0 ] );
// Confirms the return value.
if( rc == 0 )
{
MessageBox.Show( "Job reception completion." );
}
else
{
MessageBox.Show( "Job reception failure :" + rc.ToString() );
}
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6.6 Each Function Program List
// Release the communication handle.
rc = Ms_BscCloseComm( nCid );
}
else if( nCid == -8 )
{
MessageBox.Show( "License error." );
}
else
{
MessageBox.Show( "Cannot open the port." );
}
}
else
{
MessageBox.Show( "Please specify the job name." );
}
}
SUPPLEMENT
• Double underline indicates transmission functions belonging to the MOTOCOM32.
• Single underline indicates functions of which program lists are described below.
Ms_BscOpenComm : " private short Ms_BscOpenComm() "
Ms_BscCloseComm : " private short Ms_BscCloseComm() "
• ToUpper() :
Function of Visual Studio C#
Uppercase the string.
• MessageBox.Show() : Function of Visual Studio C#
Display the message in the dialog box, and wait for clicking the
button.
• ToString() :
Function of Visual Studio C#
Convert into string using the specified form or the specified culture-specific formatting information.
private void CmdExit_Click()
private void CmdExit_Click( object sender, EventArgs e )
{
// The form is unloaded and the program is ended.
this.Close();
}
SUPPLEMENT
• this.Close() : Function of Visual Studio C#
Unload the form.
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7.1 Outline
7 COMMUNICATION TRANSMISSION
7.1
Outline
MOTOCOM32.DLL is a transmission library that controls the data transmission function of the
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, the YASNAC XRC, MRC, ERC,
and ERC2 on a personal computer. This library is composed in the form of Microsoft Windows DLL (Dynamic Link Library).
MOTOCOM32.DLL is located below the MOTOCOM32 installation directory. When a
NOTE transmission application is created, copy this file to the same directory as the application.
MOTOCOM.H and MOTOCOM32.LIB files are provided in the MOTOCOM32 installation
directory. Use these files when a transmission application is created in C-language.
Transmission library has the following functions.
• File data transmission function
• Robot control function
• DCI function
• I/O signal read/write function
• Other functions
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7.2 File Data Transmission Function
7.2
File Data Transmission Function
Loads and saves the files containing job, condition data, system information, etc.
The following functions are available.
BscDownload
BscDownloadEx
BscUpload
BscUploadEx
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7.2 File Data Transmission Function
BscDownload
FUNCTION
Sends a specified file to the robot controller.
FORMAT
_declspec( dllexport ) short APIENTRY BscDownLoad(short
nCid,char *fname);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*fname File name to be sent.
OUT (Return)
None
Return Value
0
: Normal completion
Others : Transmission error
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
“BscDownloadEx” “BscUpload” “BscUploadEx”
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7.2 File Data Transmission Function
BscDownloadEx
FUNCTION
Sends a specified file to the robot controller. A directory where the
sending file exists can be specified.
FORMAT
_declspec( dllexport ) short APIENTRY BscDownLoadEx(short
nCid,char *fname, char *path, BOOL nFlg);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*fname File name to be sent
*path
Diretory path of sending source data
nFlg
TRUE : Changes the directory temporarily and restores
it at the end.
FALSE : Changes the directory and completes the
processing.
OUT (Return)
None
Return Value
0
: Normal completion
Others : Transmission error
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
“BscDownload” “BscUpload” “BscUploadEx”
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7.2 File Data Transmission Function
BscUpload
FUNCTION
Receives a specified file from the robot controller.
FORMAT
_declspec( dllexport ) short APIENTRY BscUpLoad(short nCid,char
*fname);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*fname File name to be received
OUT (Return)
None
Return Value
0
: Normal completion
Others : Receiving error
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
“BscUploadEx” “BscDownload” “BscDownloadEx”
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7.2 File Data Transmission Function
BscUploadEx
FUNCTION
Receives a specified file from the robot controller. The directory
where the file is send to can be specified.
FORMAT
_declspec( dllexport ) short APIENTRY BscUpLoadEx(short
nCid,char *fname, char *path, BOOL nFlg);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*fname File name to be received
*path
Diretory path of sending source data
nFlg
TRUE : Changes the directory temporarily and restores
it at the end.
FALSE : Changes the directory and completes the
processing.
OUT (Return)
None
Return Value
0
: Normal completion
Others : Receiving error
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
“BscUpload” “BscDownload” “BscDownloadEx”
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7.3 Robot Control Function
7.3
Robot Control Function
Reads the robot status (current position, alarm, error, servo status, etc.) and controls the system (start, hold, job call, etc.)BscCancel
The following functions are available.
Status Read
BscFindFirst
BscFindFirstMaster
BscFindNext
BscFindNextMaster
BscGetCtrlGroup
BscGetCtrlGroupXrc
BscGetCtrlGroupDX
BscDownload
BscDownloadEx
BscGetError
BscGetError2
BscGetFirstAlarm
BscGetFirstAlarmS
BscGetNextAlarm
BscGetNextAlarmS
BscGetStatus
BscGetUFrame
BscGetVarData
BscGetVarData2
BscHostGetVarData
BscHostGetVarDataM
BscGetVarDataEx
BscIsAlarm
BscIsCtrlGroup
BscIsCtrlGroupXrc
BscIsCtrlGroupDX
BscIsCycle
BscIsError
BscIsErrorCode
BscIsHold
BscIsJobLine
BscIsJobName
BscIsJobStep
BscIsLoc
BscGetPulsePos
BscIsPlayMode
BscIsRemoteMode
BscIsRobotPos
BscGetCartPos
System Control
BscIsServo
BscIsTaskInf
BscIsTaskInfXrc
BscIsTeachMode
BscJobWait
BscReadAlarmS
BscGetTorque
BscGetMaxTorque
BscGetEncTmp
BscGetSysTime
BscCancel
BscChangeTask
BscContinueJob
BscConvertJobP2R
BscConvertJobR2P
BscDeleteJob
BscHoldOff
BscHoldOn
BscHostPutVarData
BscHostPutVarDataM
BscPutVarDataEx
BscImov
BscImovEx
BscImovEx2
BscMDSP
BscMov
BscMovEx
BscMovEx2
BscMovj
BscMovjEx
BscMovl
BscMovlEx
BscOPLock
BscOPUnLock
BscPMov
BscPMovEx
BscPMovj
BscPMovjEx
BscPMovl
BscPMovlEx
BscPutUFrame
BscPutUFrameEx2
BscPutVarData
BscPutVarData2
BscStartJob
BscSelectJob
BscSelectMode
BscSelLoopCycle
BscSelOneCycle
BscSelStepCycle
BscSetLineNumber
BscSetMasterJob
BscReset
BscSetCtrlGroup
BscSetCtrlGroupXrc
BscSetCtrlGroupDX
BscServoOff
BscServoOn
BscUpload
BscUploadEx
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7.3 Robot Control Function
BscFindFirst
FUNCTION
Reads the first job name from the all job list registered at the present time.
FORMAT
_declspec( dllexport ) short APIENTRY BscFindFirst(short
nCid,char *fname,short size);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*fname First job name storage pointer
size
Job name storage area size
OUT (Return)
*fname First job name storage pointer
Return Value
-1 : No job
-2 : Internal error (memory allocation error)
-3 : Internal error (memory lock error)
-4 : Other errors
0 : Job found
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
“BscFindNext”
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7.3 Robot Control Function
BscFindFirstMaster
FUNCTION
Reads the first job name from the job list that belongs to the target
job.
FORMAT
_declspec( dllexport ) short APIENTRY BscFindFirstMaster(short
nCid,char *fname,short size);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*fname First job name storage pointer
size
Job name storage area size
OUT (Return)
*fname First job name storage pointer
Return Value
-1 : No job
-2 : Internal error (memory allocation error)
-3 : Internal error (memory lock error)
-4 : Other errors
0 : Job found
REMARKS
Call Condition
The BscSelectJob function must be called up and the target job
name must be selected before executing this function.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
“BscFindNextMaster” "BscSelectJob"
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7.3 Robot Control Function
BscFindNext
FUNCTION
Reads the next job name registered at the present time.
FORMAT
_declspec( dllexport ) short APIENTRY BscFindNext(short
nCid,char *fname,short size);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*fname N-th job name storage pointer
size
Job name storage area size
OUT (Return)
*fname N-th job name storage pointer
Return Value
-1 : No next job
0 : Next job found
REMARKS
Call Condition
The BscFindFirst function must be called up before executing this
function.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
“BscFindFirst”
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7.3 Robot Control Function
BscFindNextMaster
FUNCTION
Reads the next job name in the job list that belongs to the target job.
FORMAT
_declspec( dllexport ) short APIENTRY BscFindNextMaster(short
nCid,char *fname,short size);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*fname N-th job name storage pointer
size
Job name storage area size
OUT (Return)
*fname N-th job name storage pointer
Return Value
-1 : No next job
0 : Next job found
REMARKS
Call Condition
The BscFindFirstMaster function must be called up before executing this function.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
“BscFindFirstMaster”
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7.3 Robot Control Function
BscGetCtrlGroup
FUNCTION
Reads control group and task information.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetCtrlGroup(short
nCid,short *groupinf,short *taskinf);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*groupinf Control group information storage pointer
*taskinf Task information storage pointer
OUT (Return)
*groupinf Control group information storage pointer
*taskinf Task information storage pointer
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the MRC.
Refer to the BscGetCtrlGroupDX for transmission with the
YRC1000/YRC1000micro/DX200/DX100.
Refer to the BscGetCtrlGroupXrc for transmission with the FS100/
NX100/XRC.
Control Group Information
The control group information is represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
D0：R1（Robot1）
D1：R2（Robot2）
D2：S1（Station1）
D3：S2（Station2）
D4：S3（Station3）
D5：S4（Station4）
D6：S5（Station5）
D7：S6（Station6）
Task Information
The task information is represented as follows.
0 : Master task
1 : Sub 1 task
2 : Sub 2 task
"0" is returned if independent control is not allowed in the system.
CONTROLLER
MRC (Serial Port, Ethernet)
REFERENCE
"BscGetCtrlGroupDX" "BscSetCtrlGroupDX" "BscIsCtrlGroupDX"
“BscGetCtrlGroupXrc” “BscSetCtrlGroupXrc”
“BscIsCtrlGroupXrc” “BscIsTaskInfXrc” “BscSetCtrlGroup”
“BscIsCtrlGroup” “BscIsTaskInf” “BscChangeTask”
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7.3 Robot Control Function
BscGetCtrlGroupXrc
FUNCTION
Reads control group and task information.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetCtrlGroupXrc(short
nCid,short *groupinf,short *stationinf,short *taskinf);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*groupinf Control group information storage pointer (robot axis)
*stationinf Control group information storage pointer (station axis)
*taskinf
Task information storage pointer
OUT (Return)
*groupinf Control group information storage pointer (robot axis)
*stationinf Control group information storage pointer (station axis)
*taskinf
Task information storage pointer
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective for transmission with the FS100/NX100/
XRC.
Refer to the BscGetCtrlGroupDX for transmission with the
YRC1000/YRC1000micro/DX200/DX100. Refer to BscGetCtrlGroup for transmission with the MRC.
Control Group Information (Robot Axis)
The control group information is represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
D0：R1（Robot1）
D1：R2（Robot2）
D2：R3（Robot3）
D3：R4（Robot4）
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7.3 Robot Control Function
Control Group Information (Station Axis)
The control group information is represented by bit data in decimals.
D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
D0：S1（Station1）
D1：S2（Station2）
D2：S3（Station3）
D3：S4（Station4）
D4：S5（Station5）
D5：S6（Station6）
D6：S7（Station7）
D7：S8（Station8）
D8：S9（Station9）
D9：S10（Station10）
D10：S11（Station11）
D11：S12（Station12）
REMARKS
Task Information
The task information is represented as follows.
0 : Master task
1 : Sub 1 task
2 : Sub 2 task
3 : Sub 3 task
4 : Sub 4 task
5 : Sub 5 task
6 : Sub 6 task
7 : Sub 7 task
"0" is returned if independent control is not allowed in the system.
CONTROLLER
FS100, NX100, XRC (Serial Port, Ethernet)
REFERENCE
"BscGetCtrlGroupDX" "BscSetCtrlGroupDX" "BscIsCtrlGroupDX"
“BscSetCtrlGroupXrc” “BscIsCtrlGroupXrc” “BscIsTaskInfXrc”
“BscGetCtrlGroup“ “BscSetCtrlGroup” “BscIsCtrlGroup”
“BscIsTaskInf” “BscChangeTask”
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7.3 Robot Control Function
BscGetCtrlGroupDX
FUNCTION
Reads control group and task information.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetCtrlGroupDX(short
nCid,long *groupinf,long *stationinf,short *taskinf);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*groupinf Control group information storage pointer (robot axis)
*stationinf Control group information storage pointer (station axis)
*taskinf
Task information storage pointer
OUT (Return)
*groupinf Control group information storage pointer (robot axis)
*stationinf Control group information storage pointer (station axis)
*taskinf
Task information storage pointer
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective for transmission with the YRC1000/
YRC1000micro/DX200/DX100.
Refer to BscGetCtrlGroupXrc for transmission with the FS100/
NX100/XRC.
Refer to BscGetCtrlGroup for transmission with the MRC.
Control Group Information (Robot Axis)
The control group information is represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
D0：R1（Robot1）
D1：R2（Robot2）
D2：R3（Robot3）
D3：R4（Robot4）
:
:
D7：R8（Robot8）
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7.3 Robot Control Function
REMARKS
Control Group Information (Station Axis)
The control group information is represented by bit data in decimals.
D23 ・・・ D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
･･･
D0：S1（Station1）
D1：S2（Station2）
D2：S3（Station3）
D3：S4（Station4）
D4：S5（Station5）
D5：S6（Station6）
D6：S7（Station7）
D7：S8（Station8）
D8：S9（Station9）
D9：S10（Station10）
D10：S11（Station11）
D11：S12（Station12）
:
:
D23：S24（Station24）
Task Information
The task information is represented as follows.
0 : Master task
1 : Sub 1 task
2 : Sub 2 task
3 : Sub 3 task
4 : Sub 4 task
5 : Sub 5 task
6 : Sub 6 task
7 : Sub 7 task
"0" is returned if independent control is not allowed in the system.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100 (Serial Port, Ethernet)
REFERENCE
"BscSetCtrlGroupDX" "BscIsCtrlGroupDX" "BscGetCtrlGroupXrc"
“BscSetCtrlGroupXrc” “BscIsCtrlGroupXrc” “BscIsTaskInfXrc”
“BscGetCtrlGroup“ “BscSetCtrlGroup” “BscIsCtrlGroup”
“BscIsTaskInf” “BscChangeTask”
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7.3 Robot Control Function
BscGetError
FUNCTION
Reads an error code or alarm code.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetError(short nCid);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
OUT (Return)
None
Return Value
-1
: Acquisition Failure
0
: No error
Others : Error codes
REMARKS
Restrictions
This function is effective for transmission with the ERC.
Refer to BscGetError2 for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC/MRC.
CONTROLLER
ERC (Serial Port)
REFERENCE
“BscGetFirstAlarm” “BscGetNextAlarm” “BscIsAlarm”
“BscIsError” “BscIsErrorCode”
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7.3 Robot Control Function
BscGetError2
FUNCTION
Reads an error code or alarm code.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetError2(short nCid);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
OUT (Return)
None
Return Value
-1
: Acquisition Failure
0
: No error
Others : Error codes
REMARKS
Restrictions
This function is effective for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC/MRC.
Refer to BscGetError for transmission with the ERC.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, NX100, XRC, MRC
(Serial Port, Ethernet)
REFERENCE
“BscGetFirstAlarm” “BscGetNextAlarm” “BscIsAlarm”
“BscIsError” “BscIsErrorCode”
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7.3 Robot Control Function
BscGetFirstAlarm
FUNCTION
Reads an alarm code and returns the alarm code and alarm data.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetFirstAlarm(short
nCid,short *data);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*data Alarm data storage pointer
OUT (Return)
*data Alarm data storage pointer
Return Value
0
: No alarm
Others : Alarm code numbers
REMARKS
Call Condition
The BscGetError2 function must be called up before executing this
function.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
“BscGetError2” “BscGetNextAlarm” “BscIsAlarm”
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7.3 Robot Control Function
BscGetFirstAlarmS
FUNCTION
Reads an alarm code and returns the alarm code, alarm data and
alarm message.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetFirstAlarmS(short
nCid,short *data,char *msg);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*data Alarm data storage pointer
*msg Alarm message storage pointer
OUT (Return)
*data Alarm data storage pointer
*msg Alarm message storage pointer
Return Value
0
: No alarm
Others : Alarm code numbers
REMARKS
Call Condition
The BscReadAlarmS function must be called up before executing
this function.
Restrictions
This function is effective for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100 (Serial
Port, Ethernet)
REFERENCE
“BscReadAlarmS” “BscGetNextAlarm” “BscIsAlarm”
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7.3 Robot Control Function
BscGetNextAlarm
FUNCTION
Reads the next alarm code and alarm data.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetNextAlarm(short
nCid,short *data);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*data Alarm data storage pointer
OUT (Return)
*data Alarm data storage pointer
Return Value
0
: No alarm
Others : Alarm code numbers
REMARKS
Call Condition
The BscGetFirstAlarm function must be called up before executing
this function.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
“BscGetError2” “BscGetFirstAlarm” “BscIsAlarm”
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7.3 Robot Control Function
BscGetNextAlarmS
FUNCTION
Reads the next alarm code, alarm data and alarm message.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetNextAlarmS(short
nCid,short *data,char *msg);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*data Alarm data storage pointer
*msg Alarm message storage pointer
OUT (Return)
*data Alarm data storage pointer
*msg Alarm message storage pointer
Return Value
0
: No alarm
Others : Alarm code numbers
REMARKS
Call Condition
The BscGetFirstAlarmS function must be called up before executing
this function.
Restrictions
This function is effective for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100 (Serial
Port, Ethernet)
REFERENCE
“BscReadAlarmS” “BscGetFirstAlarmS” “BscIsAlarm”
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7.3 Robot Control Function
BscGetStatus
FUNCTION
Reads the status information.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetStatus(short
nCid,short *d1,short *d2);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*d1
Data 1 storage pointer
*d2
Data 2 storage pointer
OUT (Return)
*d1 Data 1 storage pointer
*d2 Data 2 storage pointer
Return Value
-1
: Acquisition Failure
Others : Normal completion
REMARKS
Data 1
Data 1 are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
D0：Step
D1：1-cycle
D2：Auto operation
D3：Operating
D4：Operation at safe speed
D5：Teach *
D6：Play *
D7：Command remote *
*： Effective only for YRC1000, YRC1000micro, DX200, DX100,
NX100,XRC and MRC.
Data 2
Data 2 are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
D 0 ： H o ld (Y R C 1 0 00 /Y R C 1 00 0 m icro /D X 20 0/D X 10 0 /N X 10 0
X R C /M R C : P la y ba ck b o x h o ld ,
E R C :P an e l ho ld )
D 1 ： H o ld (Y R C 1 0 00 /Y R C 1 00 0 m icro /D X 2 00 /D X 10 0 /N X 10 0
X R C /M R C : P ro g ra m m ing pe nd an t ho ld ,
E R C : T -B O X h o ld )
D 2 ： H o ld (E xte rn a l ho ld )
D 3 ： H o ld (C o m m a nd h o ld )
D 4 ： A la rm o ccu rred
D 5 ： E rro r o ccu rred
D 6 ： S e rvo O N
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
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7.3 Robot Control Function
REFERENCE
“"BscStatus"” “BscIsAlarm” “BscIsCycle” “BscIsHold”
“BscIsPlayMode” “BscIsRemoteMode” “BscIsServo”
“BscIsTeachMode”
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7.3 Robot Control Function
BscGetUFrame
FUNCTION
Reads specified user frame data.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetUFrame (short
nCid,char *ufname,double *p);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*ufname Storage pointer of user coordinate name
*p
User coordinate data storage pointer
OUT (Return)
*p User coordinate data storage pointer
Return Value
-1
: User coordinate name error
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function does not support the robot with 7 axes or more.
User Coordinate Name
The following coordinate names correspond to the user coordinate
numbers.
User Coordinate Name
User coordinate 1
User coordinate 2
User coordinate 3
:
:
User coordinate 60
User coordinate 61
User coordinate 62
User coordinate 63
Specified
Name
UF1
UF2
UF3
:
:
UF60
UF61
UF62
UF63
* User coordinate numbers 9 to 63 are effective for YRC1000/
YRC1000micro/DX200/DX100.
* User coordinate numbers 9 to 16 are effective for FS100.
* User coordinate numbers 9 to 24 are effective for NX100/XRC/
MRC.
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7.3 Robot Control Function
REMARKS
Variable type
Coordinate values of the user coordinate system specified with the
user coordinate number are assigned to the user coordinate data as
follows.
Variables
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
P[12]
P[13]
P[14]
P[15]
P[16]
P[17]
P[18]
P[19]
P[20]
P[21]
P[22]
P[23]
P[24]
P[25]
P[26]
P[27]
Coordinate
System
ORG
Meaning
X-axis coordinate (unit: mm, effective down to 3 decimal places
Y-axis coordinate (unit: mm, effective down to 3 decimal places)
Z-axis coordinate (unit: mm, effective down to 3 decimal places)
Wrist angle Rx (unit:°, effective down to 2 decimal places) *1
Wrist angle Ry (unit:°, effective down to 2 decimal places) *1
Wrist angle Rz (unit:°, effective down to 2 decimal places) *1
Form
X-axis coordinate (unit: mm, effective down to 3 decimal places
XX
Y-axis coordinate (unit: mm, effective down to 3 decimal places)
Z-axis coordinate (unit: mm, effective down to 3 decimal places)
Wrist angle Rx (unit:°, effective down to 2 decimal places) *1
Wrist angle Ry (unit:°, effective down to 2 decimal places) *1
Wrist angle Rz (unit:°, effective down to 2 decimal places) *1
Form
X-axis coordinate (unit: mm, effective down to 3 decimal places
XY
Y-axis coordinate (unit: mm, effective down to 3 decimal places)
Z-axis coordinate (unit: mm, effective down to 3 decimal places)
Wrist angle Rx (unit:°, effective down to 2 decimal places) *1
Wrist angle Ry (unit:°, effective down to 2 decimal places) *1
Wrist angle Rz (unit:°, effective down to 2 decimal places) *1
Form
Tool number (0 to 23)
7th axis pulse number (mm for traveling axis)
8th axis pulse number (mm for traveling axis)
9th axis pulse number (mm for traveling axis)
10th axis pulse number
11th axis pulse number
12th axis pulse number
*1 YRC1000, YRC1000micro, DX200, DX100 is effective down to 4
decimal places.
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Above, 1: Elbow Under
0:FrontSide,
1:Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D6 and D7 are disregarded.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
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7.3 Robot Control Function
REFERENCE
“BscPutUFrame”
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7.3 Robot Control Function
BscGetVarData
FUNCTION
Receives variables.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetVarData(short
nCid,short type,short varno,double *p);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
type Variable type
varno Variable number
*p
Head pointer to the numeric variable storage area
OUT (Return)
*p Head pointer to the numeric variable storage area
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC/MRC.
Variable Types
The variable types are represented as follows.
0 : Byte type
1 : Integer type
2 : Double-precision type
3 : Real type
4 : Robot axis position type
5 : Base axis position type
6 : Station axis position type (pulse type only)
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7.3 Robot Control Function
REMARKS
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Data Type Numbe
Type
(Pulse/
r of
Number
XYZ)
values
0
1
1
1
2
1
3
1
4
Pulse
8
4
XYZ
10
Content
P[0]
Byte
Integer
Double
Real
0
1
5
Pulse
8
0
5
XYZ
10
1
6
Pulse
8
0
Variable Data Type Numbe
Type
(Pulse/
r of
Number
XYZ)
values
P[5]
0
1
1
1
2
1
3
1
4
Pulse
8
B-axis Pulses
4
XYZ
10
Rx Angle(deg)
5
Pulse
8
Base Axis-5
Pulses
5
XYZ
10
Rx Angle(deg)
6
Pulse
8
Station Axis-5
Pulses
P[1]
P[2]
P[3]
S-axis Pulses L-axis Pulses
Coordinate
X-axis (mm)
Type
Base Axis-1
Base Axis-2
Pulses
Pulses
Coordinate
X-axis (mm)
Type
Station Axis-1 Station Axis-2
Pulses
Pulses
P[4]
U-axis Pulses R-axis Pulses
Y-axis (mm)
Z-axis (mm)
Base Axis-3
Pulses
Y-axis (mm)
Base Axis-4
Pulses
Z-axis (mm)
Station Axis-3
Pulses
Station Axis-4
Pulses
Content
P[6]
P[7]
T-axis Pulses Tool Number
Ry Angle(deg) Rz Angle(deg)
Base Axis-6
Tool Number
Pulses
Ry Angle(deg) Rz Angle(deg)
Station Axis-6 Tool Number
Pulses
P[8]
P[9]
-
-
Form
Tool Number
Form
Tool Number
The robot axis position and base axis position type variables include
the pulse type and XYZ type, according to the first return value.
The station axis position type variable contains the pulse type only.
See the following for details on the coordinate system types and
form.
Coordinate Types
YRC1000, YRC1000micro, DX200, DX100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
:
:
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
:
:
Coordinate
type
:
:
63
64
65
66
Coordinate name
:
:
User coordinate 62
User coordinate 63
Tool coordinate
Master tool coordinate
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7.3 Robot Control Function
REMARKS
Coordinate Types
FS100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
Coordinate
type
10
11
12
13
14
15
16
17
18
19
Coordinate name
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
Tool coordinate
Master tool coordinate
Coordinate Types
NX100/XRC/MRC
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
10
11
12
13
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
Coordinate
type
14
15
16
17
18
19
20
21
22
23
24
25
26
27
Coordinate name
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
User coordinate 17
User coordinate 18
User coordinate 19
User coordinate 20
User coordinate 21
User coordinate 22
User coordinate 23
User coordinate 24
Tool coordinate
Master tool coordinate
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Above, 1:Elbow Under
0:FrontSide, 1:Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the MRC or MRC2, the data of D5 and D7 are disregarded.
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7.3 Robot Control Function
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
REFERENCE
"BscPutVarData" "BscPutVarData2"
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7.3 Robot Control Function
BscGetVarData2
FUNCTION
Receives variables. (robot with 7 axes or more)
FORMAT
_declspec( dllexport ) short APIENTRY BscGetVarData2(short
nCid,short type,short varno,double *p);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
type
Variable type
varno
Variable number
*p
Head pointer to the numeric variable storage area
OUT (Return)
*p Head pointer to the numeric variable storage area
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC.
Variable Types
The variable types are represented as follows.
0 : Byte type
1 : Integer type
2 : Double-precision type
3 : Real type
4 : Robot axis position type
5 : Base axis position type
6 : Station axis position type (pulse type only)
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7.3 Robot Control Function
REMARKS
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Data Type Numbe
Type
(Pulse/ r of
Number
XYZ) values
0
1
1
1
2
1
3
1
4
Pulse
10
4
XYZ
10
Content
P[0]
Byte
Integer
Double
Real
0
1
5
Pulse
8
0
5
XYZ
10
1
6
Pulse
8
0
P[1]
P[2]
P[3]
P[4]
S-axis Pulses L-axis Pulses U-axis Pulses R-axis Pulses
Coordinate X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
Base Axis-1 Base Axis-2 Base Axis-3 Base Axis-4
Pulses
Pulses
Pulses
Pulses
Coordinate X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
Station Axis-1 Station Axis-2 Station Axis-3 Station Axis-4
Pulses
Pulses
Pulses
Pulses
Variable Data Type Numbe
Content
Type
(Pulse/ r of
Number XYZ) values
P[5]
P[6]
P[7]
P[8]
P[9]
0
1
1
1
2
1
3
1
th
th
4
Pulse
10 B-axis Pulses T-axis Pulses 7 axis Pulses 8 axis Pulses Tool Number
4
XYZ
10 Rx Angle(deg) Ry Angle(deg) Rz Angle(deg)
Form
Tool Number
5
Pulse
8
Base Axis-5 Base Axis-6 Tool Number
Pulses
Pulses
5
XYZ
10 Rx Angle(deg) Ry Angle(deg) Rz Angle(deg)
Form
Tool Number
6
Pulse
8 Station Axis-5 StationAxis-6 Tool Number
Pulses
Pulses
The robot axis position and base axis position type variables include
the pulse type and XYZ type, according to the first return value.
The station axis position type variable contains the pulse type only.
See the following for details on the coordinate system types and
form.
Coordinate Types
YRC1000, YRC1000micro, DX200, DX100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
:
:
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
:
:
Coordinate
type
:
:
63
64
65
66
Coordinate name
:
:
User coordinate 62
User coordinate 63
Tool coordinate
Master tool coordinate
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7.3 Robot Control Function
REMARKS
Coordinate Types
FS100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
Coordinate
type
10
11
12
13
14
15
16
17
18
19
Coordinate name
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
Tool coordinate
Master tool coordinate
Coordinate Types
NX100/XRC
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
10
11
12
13
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
Coordinate
type
14
15
16
17
18
19
20
21
22
23
24
25
26
27
Coordinate name
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
User coordinate 17
User coordinate 18
User coordinate 19
User coordinate 20
User coordinate 21
User coordinate 22
User coordinate 23
User coordinate 24
Tool coordinate
Master tool coordinate
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Abov, 1: Elbow Under
0:Front Side, 1: Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
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7.3 Robot Control Function
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC
(Serial Port, Ethernet)
REFERENCE
"BscPutVarData" "BscPutVarData2"
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7.3 Robot Control Function
BscHostGetVarData
FUNCTION
Receives variables.
FORMAT
_declspec( dllexport ) short APIENTRY BscHostGetVarData(short
nCid,short type,short varno,double *p,char *str);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
type Variable Types
varno Variable number
*p
Head pointer to the numeric variable storage area
*str
Head pointer to the character variable storage area
OUT (Return)
*p Head pointer to the numeric variable storage area
*str Head pointer to the character variable storage area
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC/MRC.
String variables can only be used with the YRC1000/YRC1000micro/DX200/DX100/FS100 or NX100 ver3.0 or later.
Variable Types
The variable types are represented as follows.
0 : Byte type
1 : Integer type
2 : Double-precision type
3 : Real type
4 : Robot axis position type
5 : Base axis position type
6 : Station axis position type (pulse type only)
7 : String type
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7.3 Robot Control Function
REMARKS
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Data Type Numbe
Type
(Pulse/ r of
Number
XYZ) values P[0]
0
1
Byte
1
1
Integer
2
1
Double
3
1
Real
4
Pulse
8
0
4
XYZ
10
1
5
Pulse
8
0
5
XYZ
10
1
6
Pulse
8
0
Content
P[1]
P[2]
Pulse
8
5
XYZ
10
6
Pulse
8
P[4]
S-axis Pulses L-axis Pulses U-axis Pulses R-axis Pulses
Coordinate X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
Base Axis-1 Base Axis-2 Base Axis-3 Base Axis-4
Pulses
Pulses
Pulses
Pulses
Coordinate X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
Station Axis-1 Station Axis-2 Station Axis-3 Station Axis-4
Pulses
Pulses
Pulses
Pulses
Variable Data Type Numbe
Content
Type
(Pulse/
r of
Number
XYZ) values
P[5]
P[6]
P[7]
0
1
1
1
2
1
3
1
4
Pulse
8 B-axis Pulses T-axis Pulses Tool Number
4
XYZ
10 Rx Angle(deg) Ry Angle(deg) Rz Angle(deg)
5
P[3]
Base Axis-5 Base Axis-6 Tool Number
Pulses
Pulses
Rx Angle(deg) Ry Angle(deg) Rz Angle(deg)
Station Axis-5 Station Axis-6 Tool Number
Pulses
Pulses
P[8]
P[9]
Form
Tool
Number
-
Form
-
Tool
Number
-
The robot axis position and base axis position type variables include
the pulse type and XYZ type, according to the first return value.
The station axis position type variable contains the pulse type only.
See below for details on the coordinate system types and form.
Content of the character variable storage area
Variable Type
Number
Data Type
(Pulse / XYZ)
Number of
Values
7
－
16
Content
str
String
When this function is used to receive a string type variable
make sure that the character variable storage area is alloNOTE cated for 17 characters.
Declaration in Visual Basic: Dim S_Variable As String *17
Declaration in C++:
char S_Variable[17]
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7.3 Robot Control Function
REMARKS
Coordinate Types
YRC1000, YRC1000micro, DX200, DX100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
:
:
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
:
:
Coordinate
type
:
:
63
64
65
66
Coordinate name
:
:
User coordinate 62
User coordinate 63
Tool coordinate
Master tool coordinate
Coordinate Types
FS100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
Coordinate
type
10
11
12
13
14
15
16
17
18
19
Coordinate name
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
Tool coordinate
Master tool coordinate
Coordinate Types
NX100/XRC/MRC
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
10
11
12
13
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
Coordinate
type
14
15
16
17
18
19
20
21
22
23
24
25
26
27
Coordinate name
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
User coordinate 17
User coordinate 18
User coordinate 19
User coordinate 20
User coordinate 21
User coordinate 22
User coordinate 23
User coordinate 24
Tool coordinate
Master tool coordinate
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7.3 Robot Control Function
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Abov, 1: Elbow Under
0:Front Side, 1: Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the MRC or MRC2, the data of D5 and D7 are disregarded.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
REFERENCE
"BscHostPutVarData"
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7.3 Robot Control Function
BscHostGetVarDataM
FUNCTION
Receives multiple variables at the same time.
FORMAT
_declspec( dllexport ) short APIENTRY BscHostGetVarDataM(short
nCid,short type,short varno,short num,double *p);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
type Variable Types
varno Variable number
num Number of variables
*p
Head pointer to the numeric variable storage area
OUT (Return)
*p Head pointer to the numeric variable storage area
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100.
Variable Types
The variable types are represented as follows.
0 : Byte type
1 : Integer type
2 : Double-precision type
3 : Real type
Variable Designation Method
The variable information transmitted is composed of the number of
values (num) requested of the specified variable type, beginning
with the value of the specified variable number (varno) followed by
the values of subsequent variables.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100 (Serial
Port, Ethernet)
REFERENCE
"BscHostPutVarDataM"
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7.3 Robot Control Function
BscGetVarDataEx
FUNCTION
Receives variables. (robots with 7 axes or more)
FORMAT
_declspec( dllexport ) short APIENTRY BscGetVarDataEx(short
nCid,short type,short varno,double *p,char *str,short *axisNum);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
type Variable Types
varno Variable number
*p
Head pointer to the numeric variable storage area
*str
Head pointer to the character variable storage area
*axisNum Number of axis (pointer)
OUT (Return)
*p Head pointer to the numeric variable storage area
*str Head pointer to the character variable storage area
*axisNum Number of axis (pointer)
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC/MRC.
String variables can only be used with the YRC1000/YRC1000micro/DX200/DX100/FS100 or NX100 ver3.0 or later.
Variable Types
The variable types are represented as follows.
0 : Byte type
1 : Integer type
2 : Double-precision type
3 : Real type
4 : Robot axis position type
5 : Base axis position type
6 : Station axis position type (pulse type only)
7 : String type
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7.3 Robot Control Function
REMARKS
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Data Type Numbe
Type
(Pulse/ r of
Number
XYZ) values P[0]
0
1
Byte
1
1
Integer
2
1
Double
3
1
Real
4
Pulse
9
0
4
XYZ
11
1
5
Pulse
8
0
5
XYZ
10
1
6
Pulse
8
0
Content
P[1]
P[2]
P[3]
P[4]
S-axis Pulses L-axis Pulses U-axis Pulses R-axis Pulses
Coordinate X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
Base Axis-1 Base Axis-2 Base Axis-3 Base Axis-4
Pulses
Pulses
Pulses
Pulses
Coordinate X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
Station Axis-1 Station Axis-2 Station Axis-3 Station Axis-4
Pulses
Pulses
Pulses
Pulses
Variable Data Type Numbe
Content
Type
(Pulse/
r of
Number
XYZ) values
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
0
1
1
1
2
1
3
1
4
Pulse
9
B-axis Pulses T-axis Pulses E-axis
Tool
Pulses Number
4
XYZ
11 Rx Angle(deg) Ry Angle(deg) Rz Angle Re
Form
Tool
(deg)
(deg)
Number
5
Pulse
8
Base Axis-5 Base Axis-6
Tool
Pulses
Pulses
Number
5
XYZ
10
Rx Angle Ry Angle(deg) Rz Angle Form
Tool
(deg)
(deg)
Number
6
Pulse
8 Station Axis-5 Station Axis-6 Tool
Pulses
Pulses
Number
The robot axis position and base axis position type variables include
the pulse type and XYZ type, according to the first return value.
The station axis position type variable contains the pulse type only.
See below for details on the coordinate system types and form.
Content of the character variable storage area
Variable Type
Number
Data Type
(Pulse / XYZ)
Number of
Values
7
－
16
Content
str
String
When this function is used to receive a string type variable
make sure that the character variable storage area is alloNOTE cated for 17 characters.
Declaration in Visual Basic: Dim S_Variable As String *17
Declaration in C++:
char S_Variable[17]
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7.3 Robot Control Function
REMARKS
Coordinate Types
YRC1000, YRC1000micro, DX200, DX100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
:
:
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
:
:
Coordinate
type
:
:
63
64
65
66
Coordinate name
:
:
User coordinate 62
User coordinate 63
Tool coordinate
Master tool coordinate
Coordinate Types
FS100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
Coordinate
type
10
11
12
13
14
15
16
17
18
19
Coordinate name
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
Tool coordinate
Master tool coordinate
Coordinate Types
NX100/XRC/MRC
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
10
11
12
13
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
Coordinate
type
14
15
16
17
18
19
20
21
22
23
24
25
26
27
Coordinate name
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
User coordinate 17
User coordinate 18
User coordinate 19
User coordinate 20
User coordinate 21
User coordinate 22
User coordinate 23
User coordinate 24
Tool coordinate
Master tool coordinate
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7.3 Robot Control Function
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Abov, 1: Elbow Under
0:Front Side, 1: Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the MRC or MRC2, the data of D5 and D7 are disregarded.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
REFERENCE
"BscPutVarDataEx"
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7.3 Robot Control Function
BscIsAlarm
FUNCTION
Reads alarm status.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsAlarm(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1 : Acquisition Failure
0 : No alarm
1 : Alarm
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC(Serial Port)
REFERENCE
"BscGetError2" "BscGetFirstAlarm" "BscGetNextAlarm"
"BscGetStatus" "BscIsCycle" "BscIsError" "BscIsHold"
"BscIsPlayMode" "BscIsRemoteMode" "BscIsServo"
"BscIsTeachMode"
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7.3 Robot Control Function
BscIsCtrlGroup
FUNCTION
Reads control group information.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsCtrlGroup(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1
: Acquisition Failure
Others : Control group information
REMARKS
Restrictions
This function is effective only for transmission with MRC.
Refer to BscIsCtrlGroupDX for transmission with YRC1000/
YRC1000micro/DX200/DX100.
Refer to BscIsCtrlGroupXrc for transmission with FS100/NX100/
XRC.
Control Group Information
The control group information is represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
D0：R1（Robot1）
D1：R2（Robot2）
D2：S1（Station1）
D3：S2（Station2）
D4：S3（Station3）
D5：S4（Station4）
D6：S5（Station5）
D7：S6（Station6）
CONTROLLER
MRC (Serial Port, Ethernet)
REFERENCE
"BscGetCtrlGroupDX" "BscSetCtrlGroupDX" "BscIsCtrlGroupDX"
"BscIsCtrlGroupXrc" "BscGetCtrlGroupXrc"
"BscSetCtrlGroupXrc" "BscIsTaskInfXrc" "BscGetCtrlGroup"
"BscSetCtrlGroup" "BscIsTaskInf" "BscChangeTask"
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7.3 Robot Control Function
BscIsCtrlGroupXrc
FUNCTION
Reads control group information.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsCtrlGroupXrc(short
nCid,short *robtask,short *stattask);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*robtask Control group information storage pointer (robot axis)
*stattask Control group information storage pointer (station axis)
OUT (Return)
*robtask Control group information storage pointer (robot axis)
*stattask Control group information storage pointer (station axis)
Return Value
-1 : Acquisition Failure
0 : Normal completion
REMARKS
Restrictions
This function is effective only for transmission with FS100/NX100/
XRC.
Refer to BscIsCtrlGroupDX for transmission with YRC1000/
YRC1000micro/DX200/DX100.
Refer to BscIsCtrlGroup for transmission with MRC.
Control Group Information (Robot Axis)
The control group information is represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
D0：R1（Robot1）
D1：R2（Robot2）
D2：R3（Robot3）
D3：R4（Robot4）
Control Group Information (Station Axis)
The control group information is represented by bit data in decimals.
D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
D0：S1（Station1）
D1：S2（Station2）
D2：S3（Station3）
D3：S4（Station4）
D4：S5（Station5）
D5：S6（Station6）
D6：S7（Station7）
D7：S8（Station8）
D8：S9（Station9）
D9：S10（Station10）
D10：S11（Station11）
D11：S12（Station12）
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7.3 Robot Control Function
CONTROLLER
FS100, NX100, XRC (Serial Port, Ethernet)
REFERENCE
"BscGetCtrlGroupDX" "BscSetCtrlGroupDX" "BscIsCtrlGroupDX"
"BscGetCtrlGroupXrc" "BscSetCtrlGroupXrc" "BscIsTaskInfXrc"
"BscIsCtrlGroup" "BscGetCtrlGroup" "BscSetCtrlGroup"
"BscIsTaskInf" "BscChangeTask"
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7.3 Robot Control Function
BscIsCtrlGroupDX
FUNCTION
Reads control group information.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsCtrlGroupDX(short
nCid,long *robtask,long *stattask);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*robtask Control group information storage pointer (robot axis)
*stattask Control group information storage pointer (station axis)
OUT (Return)
*robtask Control group information storage pointer (robot axis)
*stattask Control group information storage pointer (station axis)
Return Value
-1 : Acquisition Failure
0 : Normal completion
REMARKS
Restrictions
This function is effective only for transmission with YRC1000/
YRC1000micro/DX200/DX100.
Refer to BscIsCtrlGroupXrc for transmission with FS100/NX100/
XRC.
Refer to BscIsCtrlGroup for transmission with MRC.
Control Group Information (Robot Axis)
The control group information is represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
D0：R1（Robot1）
D1：R2（Robot2）
D2：R3（Robot3）
D3：R4（Robot4）
:
:
D7：R8（Robot8）
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7.3 Robot Control Function
REMARKS
Control Group Information (Station Axis)
The control group information is represented by bit data in decimals.
D23 ・・・ D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
･･･
D0：S1（Station1）
D1：S2（Station2）
D2：S3（Station3）
D3：S4（Station4）
D4：S5（Station5）
D5：S6（Station6）
D6：S7（Station7）
D7：S8（Station8）
D8：S9（Station9）
D9：S10（Station10）
D10：S11（Station11）
D11：S12（Station12）
:
:
D23：S24（Station24）
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100 (Serial Port, Ethernet)
REFERENCE
"BscGetCtrlGroupDX" "BscSetCtrlGroupDX" "BscIsCtrlGroupXrc"
"BscGetCtrlGroupXrc" "BscSetCtrlGroupXrc" "BscIsTaskInfXrc"
"BscIsCtrlGroup" "BscGetCtrlGroup" "BscSetCtrlGroup" "BscIsTaskInf" "BscChangeTask"
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7.3 Robot Control Function
BscIsCycle
FUNCTION
Reads playback mode information.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsCycle(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1 : Acquisition Failure
0 : Step mode
1 : 1-cycle mode
2 : Auto mode
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscGetStatus" "BscIsAlarm" "BscIsError" "BscIsHold"
"BscIsPlayMode" "BscIsRemoteMode" "BscIsServo"
"BscIsTeachMode"
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7.3 Robot Control Function
BscIsError
FUNCTION
Reads error status.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsError(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1 : Acquisition failure
0 : No error
1 : Error found
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscGetError2" "BscGetStatus" "BscIsAlarm" "BscIsCycle"
"BscIsErrorCode" "BscIsHold" "BscIsPlayMode"
"BscIsRemoteMode" "BscIsServo" "BscIsTeachMode"
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7.3 Robot Control Function
BscIsErrorCode
FUNCTION
Reads the error code.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsErrorCode(short
nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: No error
Others : Error codes
Call Condition
Before executing this function, the existence of an error must be
confirmed by calling the BscIsError function.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscGetError2" "BscIsError"
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7.3 Robot Control Function
BscIsHold
FUNCTION
Reads hold status.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsHold(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1
: Acquisition Failure
0
: Not held
Others : See below
REMARKS
Hold Status
The hold status data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
HOLD(Playback box hold (MRC), Panel hold (ERC))
HOLD(Programming pendant hold)
HOLD(External hold)
HOLD(Command hold)
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscGetStatus" "BscIsAlarm" "BscIsCycle" "BscIsError"
"BscIsPlayMode" "BscIsRemoteMode" "BscIsServo"
"BscIsTeachMode"
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7.3 Robot Control Function
BscIsJobLine
FUNCTION
Reads the current job line number.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsJobLine(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1
: Acquisition Failure
Others : Line numbers
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscIsJobName" "BscIsJobStep"
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7.3 Robot Control Function
BscIsJobName
FUNCTION
Reads the current job name.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsJobName(short
nCid,char *jobname,short size);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*jobname Job name storage pointer
size
Job name storage area size
OUT (Return)
*jobname Job name storage pointer
Return Value
-1 : Acquisition Failure
0 : Normal completion
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscIsJobLine" "BscIsJobStep"
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7.3 Robot Control Function
BscIsJobStep
FUNCTION
Reads the current job step number.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsJobStep(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1
: Acquisition Failure
Others : Step numbers
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscIsJobName" "BscIsJobLine"
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7.3 Robot Control Function
BscIsLoc
FUNCTION
Reads the current robot position in pulse or XYZ frame system.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsLoc(short nCid,short
ispulse,short *rconf,double *p);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
ispulse 0 : Cartesian coordinate system
(Effective only for MRC and ERC.)
1 : Joint coordinate system
*rconf Form storage pointer
*p
Head pointer to the current position storage area
OUT (Return)
*rconf Form storage pointer
*p
Head pointer to the current position storage area
Return Value
-1 : Acquisition Failure
0 : Normal completion
REMARKS
From
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Above, 1:Elbow Under
0:FrontSide,
1:Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
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7.3 Robot Control Function
REMARKS
Current Position
The current position data are as follows when the joint coordinate
system or Cartesian coordinate system are specified.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
Joint coordinate system
S-axis pulse number
L-axis pulse number
U-axis pulse number
R-axis pulse number
B-axis pulse number
T-axis pulse number
7th axis pulse number
8th axis pulse number
9th axis pulse number
10th axis pulse number
11th axis pulse number
12th axis pulse number
Cartesian coordinate system
X-axis coordinate (unit: mm)
Y-axis coordinate (unit: mm)
Z-axis coordinate (unit: mm)
Wrist angle Rx (unit: ゜)
Wrist angle Ry (unit: ゜)
Wrist angle Rz (unit: ゜)
7th axis pulse number (mm for traveling axis)
8th axis pulse number (mm for traveling axis)
9th axis pulse number (mm for traveling axis)
10th axis pulse number
11th axis pulse number
12th axis pulse number
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscIsRobotPos"
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7.3 Robot Control Function
BscGetPulsePos
FUNCTION
Reads the current robot position in pulse frame system.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetPulsePos(short
nCid,double *p);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*p
Head pointer to the current position storage area
OUT (Return)
*p
Head pointer to the current position storage area
Return Value
-1 : Acquisition Failure
0 : Normal completion
REMARKS
Current Position
The current position data are as follows when the joint coordinate
system or Cartesian coordinate system are specified.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
P[12]
Joint coordinate system
S-axis pulse num ber
L-axis pulse num ber
U -axis pulse num ber
R -axis pulse num ber
B-axis pulse num ber
T-axis pulse num ber
7th axis pulse num ber
8th axis pulse num ber
9th axis pulse num ber
10th axis pulse num ber
11th axis pulse num ber
12th axis pulse num ber
-
R obots w ith 7 axes
S-axis pulse num ber
L-axis pulse num ber
U -axis pulse num ber
R -axis pulse num ber
B-axis pulse num ber
T-axis pulse num ber
E-axis pulse num ber
8th axis pulse num ber
9th axis pulse num ber
10th axis pulse num ber
11th axis pulse num ber
12th axis pulse num ber
13th axis pulse num ber
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC
(Serial Port, Ethernet)
REFERENCE
"BscGetCartPos"
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7.3 Robot Control Function
BscIsPlayMode
FUNCTION
Reads the operation mode.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsPlayMode(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1 : Acquisition Failure
0 : Not operating
1 : Operating
2 : Operating at safe speed
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
REFERENCE
"BscGetStatus" "BscIsAlarm" "BscIsCycle" "BscIsError"
"BscIsRemoteMode" "BscIsServo" "BscIsTeachMode"
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7.3 Robot Control Function
BscIsRemoteMode
FUNCTION
Reads the command remote mode status.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsRemoteMode(short
nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1 : Acquisition Failure
0 : Not command remote mode
1 : Command remote mode
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
REFERENCE
"BscGetStatus" "BscIsAlarm" "BscIsCycle" "BscIsError"
"BscIsHold" "BscIsPlayMode" "BscIsServo"
"BscIsTeachMode"
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7.3 Robot Control Function
BscIsRobotPos
FUNCTION
Reads the current robot position in a specified frame system. The
existence of the external axis can also be specified.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsRobotPos(short
nCid,char *framename,int isex,short *rconf,short *toolno,double *p);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*framename Coordinate name;
BASE : Base coordinate system;
ROBOT : Robot coordinate system;
UF1
: User coordinate system1...
isex
0 : No external axis, 1 : With external axis
*rconf
Form storage pointer
*toolno
Tool number storage pointer
*p
Head pointer to the current position storage area
OUT (Return)
*rconf
Form storage pointer
*toolno Tool number storage pointer
*p
Head pointer to the current position storage area
Return Value
-1 : Acquisition Failure
0 : Normal completion
REMARKS
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Above, 1:Elbow Under
0:FrontSide,
1:Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
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7.3 Robot Control Function
REMARKS
Current Position
The current position data are as follows when the joint coordinate
system or Cartesian coordinate system is specified.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
Current position in the specified coordinate system
X-axis coordinate (unit: mm)
Y-axis coordinate (unit: mm)
Z-axis coordinate (unit: mm)
Wrist angle Rx (unit: ゜)
Wrist angle Ry (unit: ゜)
Wrist angle Rz (unit: ゜)
7th axis pulse number (mm for traveling axis)
8th axis pulse number (mm for traveling axis)
9th axis pulse number (mm for traveling axis)
10th axis pulse number
11th axis pulse number
12th axis pulse number
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscIsLoc"
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7.3 Robot Control Function
BscGetCartPos
FUNCTION
Reads the current robot position in a specified frame system. The
existence of the external axis can also be specified.
FORMAT
_declspec( dllexport ) short APIENTRY BscGetCartPos(short
nCid,char *framename,int isex,long *rconf,short *toolno,double *p);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*framename Coordinate name;
BASE : Base coordinate system;
ROBOT : Robot coordinate system;
UF1
: User coordinate system1...
isex
0 : No external axis, 1 : With external axis
*rconf
Form storage pointer
*toolno
Tool number storage pointer
*p
Head pointer to the current position storage area
OUT (Return)
*rconf
Form storage pointer
*toolno Tool number storage pointer
*p
Head pointer to the current position storage area
Return Value
-1 : Acquisition Failure
0 : Normal completion
REMARKS
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Above, 1:Elbow Under
0:FrontSide,
1:Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
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7.3 Robot Control Function
REMARKS
Current Position
The current position data are as follows when the joint coordinate
system or Cartesian coordinate system is specified.
P [9 ]
C u r r e n t p o s it io n in th e s p e c if ie d
c o o r d in a te s y s te m
X - a x is c o o r d in a te ( u n it: m m )
Y- a x is c o o r d in a te ( u n it: m m )
Z - a x is c o o r d in a te ( u n it : m m )
W ris t a n g le R x ( u n it: ゜ )
W ris t a n g le R y ( u n it: ゜ )
W ris t a n g le R z ( u n it: ゜ )
7 th a x is p u ls e n u m b e r
(m m f o r tr a v e lin g a x is )
8 th a x is p u ls e n u m b e r
(m m f o r tr a v e lin g a x is )
9 th a x is p u ls e n u m b e r
(m m f o r tr a v e lin g a x is )
1 0 th a x is p u ls e n u m b e r
P [1 0 ]
P [11 ]
P [1 2 ]
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
-
P [0 ]
P [1 ]
P [2 ]
P [3 ]
P [4 ]
P [5 ]
P [6 ]
P [7 ]
P [8 ]
R o b o ts w ith 7 a x e s
X - a x is c o o r d in a te ( u n it: m m )
Y- a x is c o o r d in a te ( u n it: m m )
Z - a x is c o o r d in a te ( u n it : m m )
W ris t a n g le R x ( u n it: ゜ )
W ris t a n g le R y ( u n it: ゜ )
W ris t a n g le R z ( u n it: ゜ )
Re
( u n it: ゜ )
8 th a x is p u ls e n u m b e r
(m m f o r tr a v e lin g a x is )
9 th a x is p u ls e n u m b e r
(m m f o r tr a v e lin g a x is )
1 0 th a x is p u ls e n u m b e r
(m m f o r tr a v e lin g a x is )
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
1 3 th a x is p u ls e n u m b e r
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscGetPulsePos"
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7.3 Robot Control Function
BscIsServo
FUNCTION
Reads the servo status.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsServo(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1 : Acquisition Failure
0 : Servo OFF
1 : Servo ON
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscGetStatus" "BscIsAlarm" "BscIsCycle" "BscIsError"
"BscIsHold" "BscIsPlayMode" "BscIsRemoteMode"
"BscIsTeachMode" "BscServoOn" "BscServoOff"
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7.3 Robot Control Function
BscIsTaskInf
FUNCTION
Reads task information.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsTaskInf(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1
: Acquisition Failure
Others : Task information
REMARKS
Restrictions
This function is effective only for transmission with the MRC.
Refer to BscIsTaskInfXrc for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC.
Task Information
The task information is represented as follows.
0 : Master task
1 : Sub 1 task
2 : Sub 2 task
"0" is returned when independent control is not allowed in the system.
CONTROLLER
MRC (Serial Port, Ethernet)
REFERENCE
"BscIsTaskInfXrc" "BscGetCtrlGroupXrc" "BscSetCtrlGroupXrc"
"BscIsCtrlGroupXrc" "BscGetCtrlGroup" "BscSetCtrlGroup"
"BscIsCtrlGroup" "BscChangeTask"
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7.3 Robot Control Function
BscIsTaskInfXrc
FUNCTION
Reads task information.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsTaskInfXrc(short
nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1
: Acquisition Failure
Others : Error codes
REMARKS
Restrictions
This function is effective for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC.
Refer to BscIsTaskInf for transmission with the MRC.
Task Information
The task information is represented as follows.
0 : Master task
1 : Sub 1 task
2 : Sub 2 task
3 : Sub 3 task
4 : Sub 4 task
5 : Sub 5 task
6 : Sub 6 task
7 : Sub 7 task
"0" is returned if independent control is not allowed in the system.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC
(Serial Port, Ethernet)
REFERENCE
"BscGetCtrlGroupXrc" "BscSetCtrlGroupXrc"
"BscIsCtrlGroupXrc" "BscIsTaskInf" "BscGetCtrlGroup"
"BscSetCtrlGroup" "BscIsCtrlGroup" "BscChangeTask"
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7.3 Robot Control Function
BscIsTeachMode
FUNCTION
Reads whether in the teach mode or play mode.
FORMAT
_declspec( dllexport ) short APIENTRY BscIsTeachMode(short
nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1 : Acquisition Failure
0 : Teach mode
1 : Play mode
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
REFERENCE
"BscGetStatus" "BscIsAlarm" "BscIsCycle" "BscIsError"
"BscIsHold" "BscIsPlayMode" "BscIsRemoteMode"
"BscIsServo"
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BscJobWait
FUNCTION
Waits for job completion until the robot stops or specified time
expires.
FORMAT
_declspec( dllexport ) short APIENTRY BscJobWait(short
nCid,short time);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
time Wait time (-1 : Unlimited; 0 to 32767seconds)
OUT (Return)
None
Return Value
-2
: Abnormal completion
-1
: Operation incomplete
0
: Operation completed
Others : Error codes
REMARKS
Cause of Incomplete Operation
These causes are considered for imcomplete operation.
* The robot was stopped via teach pendant or by external hold.
* The robot was stopped by alarm.
* The robot was stopped by emergency stop.
* Time expired
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
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BscReadAlarmS
FUNCTION
Reads the error code, error data and error message.
FORMAT
_declspec( dllexport ) short APIENTRY BscReadAlarmS(short
nCid,short *data,char *msg);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*data Error data storage pointer
*msg Error message storage pointer
OUT (Return)
*data Error data storage pointer
*msg Error message storage pointer
Return Value
-1
: Error code acquisition failure
0
: No Error
Others : Error codes numbers
REMARKS
Restrictions
This function is effective for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100 (Serial
Port, Ethernet)
REFERENCE
"BscGetFirstAlarmS" "BscGetNextAlarmS" "BscGetError2"
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BscGetTorque
FUNCTION
Reads torque value.
FORMAT
_declspec( dllexport ) BscGetTorque(short nCid,double *p);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*p
Head pointer to the torque value storage area
OUT (Return)
*p
Head pointer to the torque value storage area
Return Value
-1 : Acquisition Failure
0 : Normal completion
REMARKS
Restrictions
This function is effective only for transmission with YRC1000,
YRC1000micro, DX200 verDN1.60-00 or later.
Torque Value
The torque value data are as follows when the joint coordinate system.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
P[12]
Joint coordinate system
S-axis motor torque
L-axis motor torque
U-axis motor torque
R-axis motor torque
B-axis motor torque
T-axis motor torque
7th axis motor torque
8th axis motor torque
9th axis motor torque
10th axis motor torque
11th axis motor torque
12th axis motor torque
-
Robots with 7 axes
S-axis motor torque
L-axis motor torque
U-axis motor torque
R-axis motor torque
B-axis motor torque
T-axis motor torque
E-axis motor torque
8th axis motor torque
9th axis motor torque
10th axis motor torque
11th axis motor torque
12th axis motor torque
13th axis motor torque
CONTROLLER
YRC1000, YRC1000micro, DX200 verDN1.60-00 or later.
REFERENCE
"BscGetMaxTorque"
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BscGetMaxTorque
FUNCTION
Reads max torque value.
FORMAT
_declspec( dllexport ) BscGetMaxTorque(short nCid,double *p);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*p
Head pointer to the max torque value storage area
OUT (Return)
*p
Head pointer to the max torque value storage area
Return Value
-1 : Acquisition Failure
0 : Normal completion
REMARKS
Restrictions
This function is effective only for transmission with YRC1000,
YRC1000micro, DX200 verDN1.60-00 or later.
Max Torque Value
The max torque value data are as follows when the joint coordinate
system.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
P[12]
Joint coordinate system
S-axis max motor torque
L-axis max motor torque
U-axis max motor torque
R-axis max motor torque
B-axis max motor torque
T-axis max motor torque
7th axis max motor torque
8th axis max motor torque
9th axis max motor torque
10th axis max motor torque
11th axis max motor torque
12th axis max motor torque
-
Robots with 7 axes
S-axis max motor torque
L-axis max motor torque
U-axis max motor torque
R-axis max motor torque
B-axis max motor torque
T-axis max motor torque
E-axis max motor torque
8th axis max motor torque
9th axis max motor torque
10th axis max motor torque
11th axis max motor torque
12th axis max motor torque
13th axis max motor torque
CONTROLLER
YRC1000, YRC1000micro, DX200 verDN1.60-00 or later.
REFERENCE
"BscGetTorque"
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BscGetEncTmp
FUNCTION
Reads encoder temperature.
FORMAT
_declspec( dllexport ) BscGetEncTmp(short nCid,double *p);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*p
Head pointer to the encoder temperature value storage area
OUT (Return)
*p
Head pointer to the encoder temperature value storage area
Return Value
-1 : Acquisition Failure
0 : Normal completion
REMARKS
Restrictions
This function is effective only for transmission with YRC1000,
YRC1000micro, DX200 verDN1.60-00 or later.
Encoder Temperature
The encoder temperature value data are as follows when the joint
coordinate system.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
P[12]
CONTROLLER
Joint coordinate system
S-axis encoder temperature
L-axis encoder temperature
U-axis encoder temperature
R-axis encoder temperature
B-axis encoder temperature
T-axis encoder temperature
7th axis encoder temperature
8th axis encoder temperature
9th axis encoder temperature
10th axis encoder temperature
11th axis encoder temperature
12th axis encoder temperature
-
Robots with 7 axes
S-axis encoder temperature
L-axis encoder temperature
U-axis encoder temperature
R-axis encoder temperature
B-axis encoder temperature
T-axis encoder temperature
E-axis encoder temperature
8th axis encoder temperature
9th axis encoder temperature
10th axis encoder temperature
11th axis encoder temperature
12th axis encoder temperature
13th axis encoder temperature
YRC1000, YRC1000micro, DX200 verDN1.60-00 or later.
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BscGetSysTime
FUNCTION
Reads system monitoring time.
FORMAT
_declspec( dllexport ) BscGetSysTime(short nCid,char *contpwr,
char *svpwr, char *playback, char *mov, char *ope);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*contpwr Head pointer to the controller power time value storage
area
* svpwr
Head pointer to the servo power time value storage area
* playback Head pointer to the playback time value storage area
* mov
Head pointer to the moving time value storage area
* ope
Head pointer to the operating time value storage area
OUT (Return)
*contpwr Head pointer to the controller power time value storage
area
* svpwr
Head pointer to the servo power time value storage area
* playback Head pointer to the playback time value storage area
* mov
Head pointer to the moving time value storage area
* ope
Head pointer to the operating time value storage area
Return Value
-1 : Acquisition Failure
0 : Normal completion
REMARKS
Restrictions
This function is effective only for transmission with YRC1000,
YRC1000micro, DX200 verDN1.60-00 or later.
System Monitoring Time
Output formats of each times are follows.
HHHHH:MM'SS
HHHHH=Hour, MM=Minute, SS=Second
CONTROLLER
YRC1000, YRC1000micro, DX200 verDN1.60-00 or later.
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BscCancel
FUNCTION
Cancels an error.
FORMAT
_declspec( dllexport ) short APIENTRY BscCancel(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscReset"
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BscChangeTask
FUNCTION
Changes a task.
FORMAT
_declspec( dllexport ) short APIENTRY BscChangeTask(short
nCid,short task);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
task Specified task number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC/MRC.
When the power supply of robot controller is started up, a master
task is selected as the control task. This function cannot be used in
a system where independent control is not enabled.
Specified Task Number
The task number is represented as follows.
0 : Task
1 : Sub 1 task
2 : Sub 2 task
3 : Sub 3 task
4 : Sub 4 task
5 : Sub 5 task
6 : Sub 6 task
7 : Sub 7 task
* Specified task number 3 to 7 are only for the YRC1000 and
YRC1000micro and DX200 and DX100 and NX100 and XRC.
* Specified task number 3 to 5 are only for the FS100.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
REFERENCE
"BscGetCtrlGroupXrc" "BscSetCtrlGroupXrc"
"BscIsCtrlGroupXrc" "BscIsTaskInfXrc" "BscGetCtrlGroup"
"BscSetCtrlGroup" "BscIsCtrlGroup" "BscIsTaskInf"
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BscContinueJob
FUNCTION
Starts job. (Execution starts from the current line of the current job.)
FORMAT
_declspec( dllexport ) short APIENTRY BscContinueJob(short
nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscStartJob"
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BscConvertJobP2R
FUNCTION
Converts a pulse job to a relative job in a specified frame system.
FORMAT
_declspec( dllexport ) short APIENTRY BscConvertJobP2R(short
nCid,char *name,char *framename);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*name
Job name storage pointer
*framename Coordinate name: BASE : Base coordinate,
ROBOT : Robot coordinate,
UF1
: User coordinate1 ...
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscConvertJobR2P"
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BscConvertJobR2P
FUNCTION
Converts a relative job in a specified frame system to a pulse job.
FORMAT
_declspec( dllexport ) short APIENTRY BscConvertJobR2P(short
nCid,char *name,short cv_type,char *var_no);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*name Job name storage pointer
cv_type Conversion method
var_no Reference position variable number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC/MRC.
Conversion Method
The conversion method is represented as follows.
0 : Previous step regarded (B-axis sign constant)
1 : Type regarded
2 : Previous step regarded (Minimum R-axis movement)
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
REFERENCE
"BscConvertJobP2R"
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BscDeleteJob
FUNCTION
Deletes a job.
FORMAT
_declspec( dllexport ) short APIENTRY BscDeleteJob(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
1
: Cannot delete
Otherss : Error codes
REMARKS
Call Condition
The BscSelectJob function must be called up and the job name to
be deleted must be specified before executing this function.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscSelectJob" "BscSetMasterJob"
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BscHoldOff
FUNCTION
Sets hold-OFF.
FORMAT
_declspec( dllexport ) short APIENTRY BscHoldOff(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
BscHoldOn
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BscHoldOn
FUNCTION
Sets hold-ON.
FORMAT
_declspec( dllexport ) short APIENTRY BscHoldOn(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscHoldOff"
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BscHostPutVarData
FUNCTION
Sets variables.
FORMAT
_declspec( dllexport ) short APIENTRY BscHostPutVarData(short
nCid,short type,short varno,double *p, char *str);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
type Variable Types
varno Variable number
*p
Head pointer to the numeric variable storage area
*str
Head pointer to the character variable storage area
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC/MRC.
String variables can only be used with the YRC1000 or
YRC1000micro or DX200 or DX100 or FS100 or NX100 ver3.0 or
later.
Variable Types
The variable types are represented as follows.
0 : Byte type
1 : Integer type
2 : Double-precision type
3 : Real type
4 : Robot axis position type
5 : Base axis position type
6 : Station axis position type (pulse type only)
7 : String type
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REMARKS
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Data Type Numbe
Type
(Pulse/ r of
Number
XYZ) values P[0]
0
1
Byte
1
1
Integer
2
1
Double
3
1
Real
4
Pulse
8
0
4
XYZ
10
1
5
Pulse
8
0
5
XYZ
10
1
6
Pulse
8
0
Content
P[1]
P[2]
Pulse
8
5
XYZ
10
6
Pulse
8
P[4]
S-axis Pulses L-axis Pulses U-axis Pulses R-axis Pulses
Coordinate X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
Base Axis-1 Base Axis-2 Base Axis-3 Base Axis-4
Pulses
Pulses
Pulses
Pulses
Coordinate X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
Station Axis-1 Station Axis-2 Station Axis-3 Station Axis-4
Pulses
Pulses
Pulses
Pulses
Variable Data Type Numbe
Content
Type
(Pulse/
r of
Number
XYZ) values
P[5]
P[6]
P[7]
0
1
1
1
2
1
3
1
4
Pulse
8 B-axis Pulses T-axis Pulses Tool Number
4
XYZ
10 Rx Angle(deg) Ry Angle(deg) Rz Angle(deg)
5
P[3]
Base Axis-5 Base Axis-6 Tool Number
Pulses
Pulses
Rx Angle(deg) Ry Angle(deg) Rz Angle(deg)
Station Axis-5 Station Axis-6 Tool Number
Pulses
Pulses
P[8]
P[9]
Form
Tool
Number
-
Form
-
Tool
Number
-
The robot axis position and base axis position type variables include
the pulse type and XYZ type, according to the first return value.
The station axis position type variable contains the pulse type only.
See below for details on the coordinate system types and form.
Content of the character variable storage area
Variable Type
Number
Data Type
(Pulse / XYZ)
Number of
Values
7
－
16
Content
str
String
When this function is used to receive a string type variable
make sure that the character variable storage area is alloNOTE cated for 17 characters.
Declaration in Visual Basic: Dim S_Variable As String *17
Declaration in C++:
char S_Variable[17]
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REMARKS
Coordinate Types
YRC1000, YRC1000micro, DX200, DX100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
:
:
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
:
:
Coordinate
type
:
:
63
64
65
66
Coordinate name
:
:
User coordinate 62
User coordinate 63
Tool coordinate
Master tool coordinate
Coordinate Types
FS100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
Coordinate
type
10
11
12
13
14
15
16
17
18
19
Coordinate name
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
Tool coordinate
Master tool coordinate
Coordinate Types
NX100/XRC/MRC
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
10
11
12
13
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
Coordinate
type
14
15
16
17
18
19
20
21
22
23
24
25
26
27
Coordinate name
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
User coordinate 17
User coordinate 18
User coordinate 19
User coordinate 20
User coordinate 21
User coordinate 22
User coordinate 23
User coordinate 24
Tool coordinate
Master tool coordinate
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Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Abov, 1: Elbow Under
0:Front Side, 1: Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the MRC or MRC2, the data of D5 and D7 are disregarded.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
REFERENCE
"BscHostGetVarData"
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BscHostPutVarDataM
FUNCTION
Sets multiple variables at the same time.
FORMAT
_declspec( dllexport ) short APIENTRY BscHostPutVarDataM(short
nCid,short type,short varno, short num, double *p);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
type Variable Types
varno Variable number
num Number of variables
*p
Head pointer to the numeric variable storage area
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100.
Variable Types
The variable types are represented as follows.
0 : Byte type
1 : Integer type
2 : Double-precision type
3 : Real type
Variable Designation Method
The variable information transmitted is composed of the number of
values (num) requested of the specified variable type, beginning
with the value of the specified variable number (varno) followed by
the values of subsequent variables.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100 (Serial
Port, Ethernet)
REFERENCE
"BscHostGetVarDataM"
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BscPutVarDataEx
FUNCTION
Sets variables.(robots with 7 axes or more)
FORMAT
_declspec( dllexport ) short APIENTRY BsctPutVarDataEx(short
nCid,short type,short varno,double *p, char *str,short axisNum);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
type Variable Types
varno Variable number
*p
Head pointer to the numeric variable storage area
*str
Head pointer to the character variable storage area
axisNum Number of axis
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC/MRC.
String variables can only be used with the YRC1000/YRC1000micro/DX200/DX100/FS100 or NX100 ver3.0 or later.
Variable Types
The variable types are represented as follows.
0 : Byte type
1 : Integer type
2 : Double-precision type
3 : Real type
4 : Robot axis position type
5 : Base axis position type
6 : Station axis position type (pulse type only)
7 : String type
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REMARKS
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Data Type Numbe
Type
(Pulse/
r of
Number
XYZ) values P[0]
0
1
Byte
1
1
Integer
2
1
Double
3
1
Real
4
Pulse
9
0
4
XYZ
11
1
5
Pulse
8
0
5
XYZ
10
1
6
Pulse
8
0
Content
P[1]
P[2]
XYZ
5
Pulse
5
XYZ
6
Pulse
P[4]
S-axis Pulses L-axis Pulses U-axis Pulses R-axis Pulses
Coordinate
X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
Base Axis-1 Base Axis-2 Base Axis-3 Base Axis-4
Pulses
Pulses
Pulses
Pulses
Coordinate
X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
Station Axis-1 Station Axis-2 Station Axis-3 Station Axis-4
Pulses
Pulses
Pulses
Pulses
Variable Data Type Numbe
Content
Type
(Pulse/ r of
Number
XYZ) values
P[5]
P[6]
P[7]
0
1
1
1
2
1
3
1
4
Pulse
9 B-axis Pulses T-axis Pulses E-axis Pulses
4
P[3]
P[8]
P[9]
P[10]
Tool
Number
11 Rx Angle(deg) Ry Angle(deg) Rz Angle(deg) Re
Form Tool
Number
(deg)
8
Base Axis-5 Base Axis-6 Tool Number
Pulses
Pulses
10 Rx Angle(deg) Ry Angle(deg) Rz Angle(deg) Form Tool
Number
8 Station Axis-5 Station Axis-6 Tool Number
Pulses
Pulses
The robot axis position and base axis position type variables include
the pulse type and XYZ type, according to the first return value.
The station axis position type variable contains the pulse type only.
See below for details on the coordinate system types and form.
Content of the character variable storage area
Variable Type
Number
Data Type
(Pulse / XYZ)
Number of
Values
7
－
16
Content
str
String
When this function is used to receive a string type variable
make sure that the character variable storage area is alloNOTE cated for 17 characters.
Declaration in Visual Basic: Dim S_Variable As String *17
Declaration in C++:
char S_Variable[17]
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REMARKS
Coordinate Types
YRC1000, YRC1000micro, DX200, DX100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
:
:
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
:
:
Coordinate
type
:
:
63
64
65
66
Coordinate name
:
:
User coordinate 62
User coordinate 63
Tool coordinate
Master tool coordinate
Coordinate Types
FS100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
Coordinate
type
10
11
12
13
14
15
16
17
18
19
Coordinate name
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
Tool coordinate
Master tool coordinate
Coordinate Types
NX100/XRC/MRC
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
10
11
12
13
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
Coordinate
type
14
15
16
17
18
19
20
21
22
23
24
25
26
27
Coordinate name
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
User coordinate 17
User coordinate 18
User coordinate 19
User coordinate 20
User coordinate 21
User coordinate 22
User coordinate 23
User coordinate 24
Tool coordinate
Master tool coordinate
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REMARKS
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Abov, 1: Elbow Under
0:Front Side, 1: Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the MRC or MRC2, the data of D5 and D7 are disregarded.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
REFERENCE
"BscGetVarDataEx"
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BscImov
FUNCTION
Moves robot with linear motion form the current position for the
increment value in a specified frame system.
FORMAT
_declspec( dllexport ) short APIENTRY BscImov(short nCid,char
*vtype,double spd,char *framename,short toolno,double *p);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*vtype
Move speed selection; V : Control point;
VR : Position angular
spd
Move speed (0.1 to ****.*mm/s, 0.1 to ***.* °/s)
*framename Coordinate name;
BASE : Base coordinate;
ROBOT : Robot coordinate;
UF1
: User coordinate1...
TOOL : Tool coordinate
(Only for NX100/XRC/MRC)
toolno
Tool number
*p
Head pointer to the target position storage area
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Target Position
The target position is represented as follows.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
Target position in the specified coordinate system
X-axis coordinate (unit: mm)
Y-axis coordinate (unit: mm)
Z-axis coordinate (unit: mm)
Wrist angle Rx (unit: ゜)
Wrist angle Ry (unit: ゜)
Wrist angle Rz (unit: ゜)
7th axis pulse number (mm for traveling axis)
8th axis pulse number (mm for traveling axis)
9th axis pulse number (mm for traveling axis)
10th axis pulse number
11th axis pulse number
12th axis pulse number
* Set "0" for data P[7] to P[11] if the system has no external axis.
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REMARKS
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Abov, 1: Elbow Under
0:Front Side, 1: Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
CONTROLLER
NX100, XRC, MRC (Serial Port, Ethernet), ERC (Serial Port)
* Refer to the BscImovEx2 for the YRC1000/YRC1000micro/
DX200/DX100/FS100.
REFERENCE
"BscMov" "BscMovEx" "BscMovl" "BscImovEx2"
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BscImovEx
FUNCTION
Moves robot with linear motion form the current position for the
increment value in a specified frame system.(robots with 7 axes or
more)
FORMAT
_declspec( dllexport ) short APIENTRY BscImovEx(short nCid,char
*vtype,double spd,char *framename,short toolno,double *p,short
axisNum);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*vtype
Move speed selection; V : Control point;
VR : Position angular
spd
Move speed (0.1 to ****.*mm/s, 0.1 to ***.* °/s)
*framename Coordinate name;
BASE : Base coordinate;
ROBOT : Robot coordinate;
UF1
: User coordinate1...
TOOL : Tool coordinate
toolno
Tool number
*p
Head pointer to the target position storage area
axisNum
Number of axis
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is to keep compatibility. Please use BscImovEx2.
Target Position
The target position is represented as follows.
P [9 ]
Ta rg e t p o s itio n in th e s p e c ifie d
c o o rd in a te s ys te m
X -a x is c o o rd in a te (u n it: m m )
Y-a x is c o o rd in a te (u n it: m m )
Z -a x is c o o rd in a te (u n it: m m )
W ris t a n g le R x (u n it: ゜ )
W ris t a n g le R y (u n it: ゜ )
W ris t a n g le R z (u n it: ゜ )
7 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
8 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
9 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
1 0 th a x is p u ls e n u m b e r
P [1 0 ]
P [11 ]
P [1 2 ]
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
-
P [0 ]
P [1 ]
P [2 ]
P [3 ]
P [4 ]
P [5 ]
P [6 ]
P [7 ]
P [8 ]
R o b o ts w ith 7 a x e s
X -a x is c o o rd in a te (u n it: m m )
Y-a x is c o o rd in a te (u n it: m m )
Z -a x is c o o rd in a te (u n it: m m )
W ris t a n g le R x (u n it: ゜ )
W ris t a n g le R y (u n it: ゜ )
W ris t a n g le R z (u n it: ゜ )
Re
(u n it: ゜ )
8 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
9 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
1 0 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
1 3 th a x is p u ls e n u m b e r
* Set "0" for data P[6] to P[11] if the system has no external axis.
Set "0" for data P[7] to P[12] if the system has robots with 7 axes.
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REMARKS
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Abov, 1: Elbow Under
0:Front Side, 1: Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100 (Serial Port,
Ethernet)
REFERENCE
"BscMovEx2" "BscMovjEx" "BscMovlEx"
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BscImovEx2
FUNCTION
Moves robot with linear motion form the current position for the
increment value in a specified frame system.(robots with 7 axes or
more)
FORMAT
_declspec( dllexport ) short APIENTRY BscImovEx(short nCid,short
ctype,char *vtype,double spd,char *framename,short toolno,double
*p,short axisNum);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
ctype
Controller selection; 0 : ERC, 1 : MRC, 2 : XRC,
3 : NX100 , 4 : YRC1000,
YRC1000micro, DX200, DX100,
5 : FS100
*vtype
Move speed selection; V : Control point;
VR : Position angular
spd
Move speed (0.1 to ****.*mm/s, 0.1 to ***.* °/s)
*framename Coordinate name;
BASE : Base coordinate;
ROBOT : Robot coordinate;
UF1
: User coordinate1...
TOOL : Tool coordinate
(Only for YRC1000/YRC1000micro/
DX200/DX100/FS100/
NX100/XRC/MRC)
toolno
Tool number
*p
Head pointer to the target position storage area
axisNum
Number of robot axes
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
YRC1000 and YRC1000micro and DX200 and DX100 and FS100 only can
be used robot with 7 axes or more.
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REMARKS
Target Position
The target position is represented as follows.
P [9 ]
Ta rg e t p o s itio n in th e s p e c ifie d
c o o rd in a te s ys te m
X -a x is c o o rd in a te (u n it: m m )
Y-a x is c o o rd in a te (u n it: m m )
Z -a x is c o o rd in a te (u n it: m m )
W ris t a n g le R x (u n it: ゜ )
W ris t a n g le R y (u n it: ゜ )
W ris t a n g le R z (u n it: ゜ )
7 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
8 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
9 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
1 0 th a x is p u ls e n u m b e r
P [1 0 ]
P [11 ]
P [1 2 ]
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
-
P [0 ]
P [1 ]
P [2 ]
P [3 ]
P [4 ]
P [5 ]
P [6 ]
P [7 ]
P [8 ]
R o b o ts w ith 7 a x e s
X -a x is c o o rd in a te (u n it: m m )
Y-a x is c o o rd in a te (u n it: m m )
Z -a x is c o o rd in a te (u n it: m m )
W ris t a n g le R x (u n it: ゜ )
W ris t a n g le R y (u n it: ゜ )
W ris t a n g le R z (u n it: ゜ )
Re
(u n it: ゜ )
8 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
9 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
1 0 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
1 3 th a x is p u ls e n u m b e r
* Set "0" for data P[6] to P[11] if the system has no external axis.
Set "0" for data P[7] to P[12] if the system has robots with 7 axes.
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Abov, 1: Elbow Under
0:Front Side, 1: Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC(Serial Port, Ethernet), ERC(Serial Port)
REFERENCE
"BscMovEx2" "BscMovjEx" "BscMovlEx"
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BscMDSP
FUNCTION
Sends message data.
FORMAT
_declspec( dllexport ) short APIENTRY BscMDSP(short nCid,char
*ptr);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*ptr Message storage pointer
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Number of message characters
The character string for a message is restricted as follows.
With YRC1000/YRC1000micro/DX200/DX100/FS100/NX100/XRC/
MRC;
Character string with 30 characters maximum.
With ERC;
Character string with 28 characters maximum.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
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BscMov
FUNCTION
Moves robot with specified motion from the current position to a target position in a specified frame system.
FORMAT
_declspec( dllexport ) short APIENTRY BscMov(short nCid,char
*movtype,char *vtype,double spd,char *framename,short
rconf,short toolno,double *p);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*movtype
Motion type; MOVJ : Joint;
MOVL : Linear;
IMOV : Linear (incrementa value)
*vtype
Move speed selection; V : Control point;
VR : Position angular
VJ : Joint speed
spd
Move speed ( 0.1 to ***.* mm/s, 0.1 to ***.*°/s,
0.001 to 100.00%)
*framename Coordinate name;
BASE : Base coordinate;
ROBOT : Robot coordinate;
UF1
: User coordinate1...
TOOL : Tool coordinate
(Only for NX100/XRC/MRC with
motion type "IMOV.")
rconf
Form
toolno
Tool number
*p
Head pointer to the target position storage area
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
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REMARKS
Target Position
The target position data are represented as follows.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
Target position in the specified coordinate system
X-axis coordinate (unit: mm)
Y-axis coordinate (unit: mm)
Z-axis coordinate (unit: mm)
Wrist angle Rx (unit: ゜)
Wrist angle Ry (unit: ゜)
Wrist angle Rz (unit: ゜)
7th axis pulse number (mm for traveling axis)
8th axis pulse number (mm for traveling axis)
9th axis pulse number (mm for traveling axis)
10th axis pulse number
11th axis pulse number
12th axis pulse number
*Set "0" for data P[7] to P[11] if the system has no external axis.
CONTROLLER
NX100, XRC, MRC (Serial Port, Ethernet), ERC (Serial Port)
* Refer to the BscMovEx2 for the YRC1000/YRC1000micro/DX200/
DX100/FS100.
REFERENCE
"BscMovEx" "BscMovl" "BscImov" "BscMovEx2"
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BscMovEx
FUNCTION
Moves robot with specified motion from the current position to a target position in a specified frame system.(robots with 7 axes or
more)
FORMAT
_declspec( dllexport ) short APIENTRY BscMovEx(short nCid,char
*movtype,char *vtype,double spd,char *framename,long rconf,short
toolno,double *p,short axisNum);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*movtype
Motion type; MOVJ : Joint;
MOVL : Linear;
IMOV : Linear (incrementa value)
*vtype
Move speed selection; V : Control point;
VR : Position angular
VJ : Joint speed
spd
Move speed ( 0.1 to ***.* mm/s, 0.1 to ***.*°/s,
0.01 to 100.00 %)
*framename Coordinate name;
BASE : Base coordinate;
ROBOT : Robot coordinate;
UF1
: User coordinate1...
TOOL : Tool coordinate
(Only motion type "IMOV.")
rconf
Form
toolno
Tool number
*p
Head pointer to the target position storage area
axisNum
Number of axis
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is to keep compatibility. Please use BscMovEx2.
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
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REMARKS
Target Position
The target position data are represented as follows.
P [9 ]
Ta rg e t p o s itio n in th e s p e c ifie d
c o o rd in a te s ys te m
X -a x is c o o rd in a te (u n it: m m )
Y-a x is c o o r d in a te (u n it: m m )
Z -a x is c o o rd in a te (u n it: m m )
W ris t a n g le R x (u n it: ゜ )
W ris t a n g le R y ( u n it: ゜ )
W ris t a n g le R z ( u n it: ゜ )
7 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
8 th a x is p u ls e n u m b e r (
m m fo r tra v e lin g a x is )
9 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
1 0 th a x is p u ls e n u m b e r
P [1 0 ]
P [11 ]
P [1 2 ]
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
-
P [0 ]
P [1 ]
P [2 ]
P [3 ]
P [4 ]
P [5 ]
P [6 ]
P [7 ]
P [8 ]
R o b o ts w ith 7 a x e s
X -a x is c o o rd in a te (u n it: m m )
Y-a x is c o o r d in a te (u n it: m m )
Z -a x is c o o rd in a te (u n it: m m )
W ris t a n g le R x (u n it: ゜ )
W ris t a n g le R y ( u n it: ゜ )
W ris t a n g le R z ( u n it: ゜ )
Re
(u n it: ゜ )
8 th a x is p u ls e n u m b e r (
m m fo r tra v e lin g a x is )
9 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
1 0 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
1 3 th a x is p u ls e n u m b e r
*Set "0" for data P[6] to P[11] if the system has no external axis.
Set "0" for data P[7] to P[12] if the system has robots with 7 axes.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100 (Serial Port,
Ethernet)
REFERENCE
"BscMovjEx" "BscMovlEx" "BscImovEx"
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BscMovEx2
FUNCTION
Moves robot with specified motion from the current position to a target position in a specified frame system.(robots with 7 axes or
more)
FORMAT
_declspec( dllexport ) short APIENTRY BscMovEx(short nCid,short
ctype,char *movtype,char *vtype,double spd,char *framename,long
rconf,short toolno,double *p,short axisNum);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
ctype
Controller selection; 0 : ERC, 1 : MRC, 2 : XRC,
3 : NX100 , 4 : YRC1000,
YRC1000micro, DX200, DX100,
5 : FS100
*movtype
Motion type; MOVJ : Joint;
MOVL : Linear;
IMOV : Linear (incrementa value)
*vtype
Move speed selection; V : Control point;
VR : Position angular
VJ : Joint speed
spd
Move speed ( 0.1 to ***.* mm/s, 0.1 to ***.*°/s,
0.01 to 100.00 %)
*framename Coordinate name;
BASE : Base coordinate;
ROBOT : Robot coordinate;
UF1
: User coordinate1...
TOOL : Tool coordinate
(Only for YRC1000/YRC1000micro/
DX200/DX100/FS100/NX100/XRC/
MRC with motion type "IMOV.")
rconf
Form
toolno
Tool number
*p
Head pointer to the target position storage area
axisNum
Number of robot axes
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
YRC1000 and YRC1000micro and DX200 and DX100 and FS100 only can
be used robot with 7 axes or more.
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REMARKS
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
Target Position
The target position data are represented as follows.
P [9 ]
Ta rg e t p o s itio n in th e s p e c ifie d
c o o rd in a te s ys te m
X -a x is c o o rd in a te (u n it: m m )
Y-a x is c o o r d in a te (u n it: m m )
Z -a x is c o o rd in a te (u n it: m m )
W ris t a n g le R x (u n it: ゜ )
W ris t a n g le R y ( u n it: ゜ )
W ris t a n g le R z ( u n it: ゜ )
7 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
8 th a x is p u ls e n u m b e r (
m m fo r tra v e lin g a x is )
9 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
1 0 th a x is p u ls e n u m b e r
P [1 0 ]
P [11 ]
P [1 2 ]
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
-
P [0 ]
P [1 ]
P [2 ]
P [3 ]
P [4 ]
P [5 ]
P [6 ]
P [7 ]
P [8 ]
R o b o ts w ith 7 a x e s
X -a x is c o o rd in a te (u n it: m m )
Y-a x is c o o r d in a te (u n it: m m )
Z -a x is c o o rd in a te (u n it: m m )
W ris t a n g le R x (u n it: ゜ )
W ris t a n g le R y ( u n it: ゜ )
W ris t a n g le R z ( u n it: ゜ )
Re
(u n it: ゜ )
8 th a x is p u ls e n u m b e r (
m m fo r tra v e lin g a x is )
9 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
1 0 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
1 3 th a x is p u ls e n u m b e r
*Set "0" for data P[6] to P[11] if the system has no external axis.
Set "0" for data P[7] to P[12] if the system has robots with 7 axes.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC(Serial Port, Ethernet),
ERC(Serial Port)
REFERENCE
"BscMovjEx" "BscMovlEx" "BscImovEx2"
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BscMovj
FUNCTION
Moves robot with joint motion to a target position in a specified
frame system.
FORMAT
_declspec( dllexport ) short APIENTRY BscMovj(short nCid,double
spd,char *framename,short rconf,short toolno,double *p);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
spd
Move speed (0.01 to 100.0%)
*framename Coordinate name; BASE : Base coordinate;
ROBOT : Robot coordinate;
UF1
: User coordinate1...
rconf
Form
toolno
Tool number
*p
Head pointer to the target position storage area
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
From
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
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REMARKS
Target Position
The target positions are represented as follows.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
Target position in the specified coordinate system
X-axis coordinate (unit: mm)
Y-axis coordinate (unit: mm)
Z-axis coordinate (unit: mm)
Wrist angle Rx (unit: ゜)
Wrist angle Ry (unit: ゜)
Wrist angle Rz (unit: ゜)
7th axis pulse number (mm for traveling axis)
8th axis pulse number (mm for traveling axis)
9th axis pulse number (mm for traveling axis)
10th axis pulse number
11th axis pulse number
12th axis pulse number
*Set "0" for data P[7] to P[11] if the system has no external axis.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100,NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
* Refer to the BscMovjEx for the YRC1000/YRC1000micro/DX200/
DX100/FS100 with 7 axes or more.
REFERENCE
"BscMov" "BscMovl" "BscImov"
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BscMovjEx
FUNCTION
Moves robot with joint motion to a target position in a specified
frame system. (robots with 7 axes or more)
FORMAT
_declspec( dllexport ) short APIENTRY BscMovjEx(short nCid,double spd,char *framename,long rconf,short toolno,double *p,short
axisNum);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
spd
Move speed (0.01 to 100.0%)
*framename Coordinate name; BASE : Base coordinate;
ROBOT : Robot coordinate;
UF1
: User coordinate1...
rconf
Form
toolno
Tool number
*p
Head pointer to the target position storage area
axisNum
Number of axis
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
From
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
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REMARKS
Target Position
The target positions are represented as follows.
P [9 ]
Ta rg e t p o s itio n in th e s p e c ifie d
c o o rd in a te s ys te m
X -a x is c o o rd in a te (u n it: m m )
Y-a x is c o o rd in a te (u n it: m m )
Z -a x is c o o rd in a te (u n it: m m )
W ris t a n g le R x (u n it: ゜ )
W ris t a n g le R y (u n it: ゜ )
W ris t a n g le R z (u n it: ゜ )
7 th a x is p u ls e n u m b e r
(m m fo r tra ve lin g a x is )
8 th a x is p u ls e n u m b e r
(m m fo r tra ve lin g a x is )
9 th a x is p u ls e n u m b e r
(m m fo r tra ve lin g a x is )
1 0 th a x is p u ls e n u m b e r
P [1 0 ]
P [11 ]
P [1 2 ]
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
-
P [0 ]
P [1 ]
P [2 ]
P [3 ]
P [4 ]
P [5 ]
P [6 ]
P [7 ]
P [8 ]
R o b o ts w ith 7 a x e s
X -a x is c o o rd in a te (u n it: m m )
Y-a x is c o o rd in a te (u n it: m m )
Z -a x is c o o rd in a te (u n it: m m )
W ris t a n g le R x (u n it: ゜ )
W ris t a n g le R y (u n it: ゜ )
W ris t a n g le R z (u n it: ゜ )
Re
(u n it: ゜ )
8 th a x is p u ls e n u m b e r
(m m fo r tra ve lin g a x is )
9 th a x is p u ls e n u m b e r
(m m fo r tra ve lin g a x is )
1 0 th a x is p u ls e n u m b e r
(m m fo r tra ve lin g a x is )
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
1 3 th a x is p u ls e n u m b e r
*Set "0" for data P[6] to P[11] if the system has no external axis.
Set "0" for data P[7] to P[12] if the system has robots with 7 axes.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100 (Serial Port,
Ethernet)
REFERENCE
"BscMovEx2" "BscMovlEx" "BscImovEx2"
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BscMovl
FUNCTION
Moves robot with linear motion to a target position in a specified
frame system.
FORMAT
_declspec( dllexport ) short APIENTRY BscMovl(short nCid,char
*vtype,double spd,char *framename,short rconf,short toolno,double
*p);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*vtype
Move speed selection; V : Control point;
VR : Position angular
spd
Move speed (0.1 to ****.* mm/s, 0.1 to ***.*°/s)
*framename Coordinate name; BASE : Base coordinate;
ROBOT : Robot coordinate;
UF1
: User coordinate1...
rconf
Form
toolno
Tool number
*p
Head pointer to the target position storage area
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
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REMARKS
Target Position
The target positions are represented as follows.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
Target position in the specified coordinate system
X-axis coordinate (unit: mm)
Y-axis coordinate (unit: mm)
Z-axis coordinate (unit: mm)
Wrist angle Rx (unit: ゜)
Wrist angle Ry (unit: ゜)
Wrist angle Rz (unit: ゜)
7th axis pulse number (mm for traveling axis)
8th axis pulse number (mm for traveling axis)
9th axis pulse number (mm for traveling axis)
10th axis pulse number
11th axis pulse number
12th axis pulse number
*Set "0" for data P[7] to P[11] if the system has no external axis.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
* Refer to the BscMovlEx for the YRC1000/YRC1000micro/DX200/
DX100/FS100 with 7 axes or more.
REFERENCE
"BscMov" "BscMovEx" "BscImov"
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BscMovlEx
FUNCTION
Moves robot with linear motion to a target position in a specified
frame system. (robots with 7 axes or more)
FORMAT
_declspec( dllexport ) short APIENTRY BscMovlEx(short nCid,char
*vtype,double spd,char *framename,long rconf,short toolno,double
*p,short axisNum);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*vtype
Move speed selection; V : Control point;
VR : Position angular
spd
Move speed (0.1 to ****.* mm/s, 0.1 to ***.*°/s)
*framename Coordinate name; BASE : Base coordinate;
ROBOT : Robot coordinate;
UF1
: User coordinate1...
rconf
Form
toolno
Tool number
*p
Head pointer to the target position storage area
axisNum
Number of axis
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
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REMARKS
Target Position
The target positions are represented as follows.
P [9 ]
Ta rg e t p o s itio n in th e s p e c ifie d
c o o rd in a te s ys te m
X -a x is c o o rd in a te (u n it: m m )
Y-a x is c o o r d in a te (u n it: m m )
Z -a x is c o o rd in a te (u n it: m m )
W ris t a n g le R x (u n it: ゜ )
W ris t a n g le R y ( u n it: ゜ )
W ris t a n g le R z ( u n it: ゜ )
7 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
8 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
9 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
1 0 th a x is p u ls e n u m b e r
P [1 0 ]
P [11 ]
P [1 2 ]
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
-
P [0 ]
P [1 ]
P [2 ]
P [3 ]
P [4 ]
P [5 ]
P [6 ]
P [7 ]
P [8 ]
R o b o ts w ith 7 a x e s
X -a x is c o o rd in a te (u n it: m m
Y-a x is c o o r d in a te (u n it: m m
Z -a x is c o o rd in a te (u n it: m m
W ris t a n g le R x (u n it: ゜ )
W ris t a n g le R y ( u n it: ゜ )
W ris t a n g le R z ( u n it: ゜ )
Re
(u n it: ゜ )
8 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
9 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
1 0 th a x is p u ls e n u m b e r
(m m fo r tra v e lin g a x is )
11 th a x is p u ls e n u m b e r
1 2 th a x is p u ls e n u m b e r
1 3 th a x is p u ls e n u m b e r
*Set "0" for data P[6] to P[11] if the system has no external axis.
Set "0" for data P[7] to P[12] if the system has robots with 7 axes.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100 (Serial Port,
Ethernet)
REFERENCE
"BscMovEx2" "BscMovjEx" "BscImovEx2"
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BscOPLock
FUNCTION
Interlocks the robot.
FORMAT
_declspec( dllexport ) short APIENTRY BscOPLock(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Interlock Status
Once interlock is set, all but the following are interlocked.
With YRC1000/YRC1000micro/DX200/DX100/FS100/NX100
* Emergency stop, hold from the programming pendant.
* Input signals except I/O mode change, external start, external
servo ON, cycle change, I/O prohibited, P.P/PANEL prohibited,
and master call
Interlock cannot be accomplished when the programming pendant
is in the editing mode, or when file access is operating by other
functions.
With XRC
* Hold from the programming pendant.
* Hold, emergency stop from the playback box.
* Input signal other than I/O 404x, 405x and 409x. (including
external hold, external servo OFF)
Interlock cannot be accomplished when the programming pendant
is in the editing mode, or when file access is operating by other
functions.
With MRC
* Hold from the programming pendant.
* Hold, emergency stop from the playback box.
* Input signal other than I/O 404x and 405x. (including external hold,
external servo OFF)
Interlock cannot be accomplished when the programming pendant
is in the editing mode, or when file access is operating by other
functions.
With ERC
* Start and hold buttons of panel operation.
* Emergency stop button of panel operation.
* Servo power ON button of panel operation.
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CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscOPUnLock"
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BscOPUnLock
FUNCTION
Releases the robot interlocked status.
FORMAT
_declspec( dllexport ) short APIENTRY BscOPUnLock(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscOPLock"
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BscPMov
FUNCTION
Moves robot to a specified pulse position.
FORMAT
_declspec( dllexport ) short APIENTRY BscPMov(short nCid,char
*movtype,char *vtype,double spd,short toolno,double *p);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*movvtype Motion type; MOVJ : Joint;
MOVL : Linear
*vtype
Move speed selection; V : Control point;
VR : Position angular
VJ : Joint speed
spd
Move speed (0.1 to ****.* mm/s, 0.1 to ***.*°/s,
0.01 to 100.00%)
toolno
Tool number
*p
Head pointer to the target position storage area
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Target Position
The target position data are represented as follows.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
Target position in units of pulses
S-axis pulse number
L-axis pulse number
U-axis pulse number
R-axis pulse number
B-axis pulse number
T-axis pulse number
7th axis pulse number
8th axis pulse number
9th axis pulse number
10th axis pulse number
11th axis pulse number
12th axis pulse number
*Set "0" for data P[7] to P[11] if the system has no external axis.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
* Refer to the BscPMovEx for the YRC1000/YRC1000micro/DX200/
DX100/FS100 with 7 axes or more.
REFERENCE
"BscPMovj" "BscPMovl"
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BscPMovEx
FUNCTION
Moves robot to a specified pulse position. (robots with 7 axes or
more)
FORMAT
_declspec( dllexport ) short APIENTRY BscPMovEx(short
nCid,char *movtype,char *vtype,double spd,short toolno,double
*p,short axisNum);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*movvtype Motion type; MOVJ : Joint, MOVL : Linear
*vtype
Move speed selection; V : TCP speed
VR : Play speed of the posture
VJ : Joint speed
spd
Move speed (0.1 to ****.* mm/s, 0.1 to ***.*°/s,
0.01 to 100.00%)
toolno
Tool number
*p
Head pointer to the target position storage area
axisNum Number of axis
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Target Position
The target position data are represented as follows.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
P[12]
Target position
in units of pulses
S-axis pulse number
L-axis pulse number
U-axis pulse number
R-axis pulse number
B-axis pulse number
T-axis pulse number
7th axis pulse number
8th axis pulse number
9th axis pulse number
10th axis pulse number
11th axis pulse number
12th axis pulse number
-
Robots with 7 axes
S-axis pulse number
L-axis pulse number
U-axis pulse number
R-axis pulse number
B-axis pulse number
T-axis pulse number
E-axis pulse number
8th axis pulse number
9th axis pulse number
10th axis pulse number
11th axis pulse number
12th axis pulse number
13th axis pulse number
*Set "0" for data P[6] to P[11] if the system has no external axis.
Set "0" for data P[7] to P[12] if the system has robots with 7 axes.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100 (Serial Port,
Ethernet)
REFERENCE
"BscPMovjEx" "BscPMovlEx"
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BscPMovj
FUNCTION
Moves robot to a specified pulse position with joint motion.
FORMAT
_declspec( dllexport ) short APIENTRY BscPMovj(short nCid,double spd,short toolno,double *p);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
spd
Move speed (0.01 to 100.00%)
toolno Tool number
*p
Head pointer to the target position storage area
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Target Position
The target position data are represented as follows.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
Target position in units of pulses
S-axis pulse number
L-axis pulse number
U-axis pulse number
R-axis pulse number
B-axis pulse number
T-axis pulse number
7th axis pulse number
8th axis pulse number
9th axis pulse number
10th axis pulse number
11th axis pulse number
12th axis pulse number
*Set "0" for data P[7] to P[11] if the system has no external axis.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
* Refer to the BscPMovjEx for the YRC1000/YRC1000micro/
DX200/DX100/FS100 with 7 axes or more.
REFERENCE
"BscPMovl" "BscPMov"
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BscPMovjEx
FUNCTION
Moves robot to a specified pulse position with joint motion. (robots
with 7 axes or more)
FORMAT
_declspec( dllexport ) short APIENTRY BscPMovjEx(short
nCid,double spd,short toolno,double *p,short axisNum);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
spd
Move speed (0.01 to 100.00%)
toolno
Tool number
*p
Head pointer to the target position storage area
axisNum Number of axis
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Target Position
The target position data are represented as follows.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
P[12]
Target position
in units of pulses
S-axis pulse number
L-axis pulse number
U-axis pulse number
R-axis pulse number
B-axis pulse number
T-axis pulse number
7th axis pulse number
8th axis pulse number
9th axis pulse number
10th axis pulse number
11th axis pulse number
12th axis pulse number
-
Robots with 7 axes
S-axis pulse number
L-axis pulse number
U-axis pulse number
R-axis pulse number
B-axis pulse number
T-axis pulse number
E-axis pulse number
8th axis pulse number
9th axis pulse number
10th axis pulse number
11th axis pulse number
12th axis pulse number
13th axis pulse number
*Set "0" for data P[6] to P[11] if the system has no external axis.
Set "0" for data P[7] to P[12] if the system has robots with 7 axes.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100 (Serial Port,
Ethernet)
REFERENCE
"BscPMovlEx" "BscPMovEx"
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BscPMovl
FUNCTION
Moves robot to a specified pulse position with linear motion.
FORMAT
_declspec( dllexport ) short APIENTRY BscPMovl(short nCid,char
*vtype,double spd,short toolno,double *p);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*vtype Move speed selection; V : Control point;
VR : Position angular
spd
Move speed (0.1 to ****.*mm/s, 0.1 to ***.*°/s）
toolno Tool number
*p
Head pointer to the target position storage area
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Target Position
The target position data are represented as follows.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
Target position in units of pulses
S-axis pulse number
L-axis pulse number
U-axis pulse number
R-axis pulse number
B-axis pulse number
T-axis pulse number
7th axis pulse number
8th axis pulse number
9th axis pulse number
10th axis pulse number
11th axis pulse number
12th axis pulse number
*Set "0" for data P[7] to P[11] if the system has no external axis.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
* Refer to the BscPMovlEx for the YRC1000/YRC1000micro/
DX200/DX100/FS100 with 7 axes or more.
REFERENCE
"BscPMovj" "BscPMov"
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BscPMovlEx
FUNCTION
Moves robot to a specified pulse position with linear motion.
FORMAT
_declspec( dllexport ) short APIENTRY BscPMovlEx(short
nCid,char *vtype,double spd,short toolno,double *p,short axisNum);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*vtype
Move speed selection; V : Control point;
VR : Position angular
spd
Move speed (0.1 to ****.*mm/s, 0.1 to ***.*°/s）
toolno
Tool number
*p
Head pointer to the target position storage area
axisNum Number of axis
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Target Position
The target position data are represented as follows.
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
P[12]
Target position
in units of pulses
S-axis pulse number
L-axis pulse number
U-axis pulse number
R-axis pulse number
B-axis pulse number
T-axis pulse number
7th axis pulse number
8th axis pulse number
9th axis pulse number
10th axis pulse number
11th axis pulse number
12th axis pulse number
-
Robots with 7 axes
S-axis pulse number
L-axis pulse number
U-axis pulse number
R-axis pulse number
B-axis pulse number
T-axis pulse number
E-axis pulse number
8th axis pulse number
9th axis pulse number
10th axis pulse number
11th axis pulse number
12th axis pulse number
13th axis pulse number
*Set "0" for data P[6] to P[11] if the system has no external axis.
Set "0" for data P[7] to P[12] if the system has robots with 7 axes.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100 (Serial Port,
Ethernet)
REFERENCE
"BscPMovjEx" "BscPMovEx"
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BscPutUFrame
FUNCTION
Sets a specified user frame data.
FORMAT
_declspec( dllexport ) short APIENTRY BscPutUFrame(short
nCid,char *ufname,double *p);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*ufname Storage pointer of the user coordinate name to be written
in.
*p
Head pointer to the user coordinate data storage area
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function does not support the robot with 7 axes or more.
User Coordinate Name
The following coordinate names correspond to the user coordinate
numbers.
User Coordinate Name
User coordinate 1
User coordinate 2
User coordinate 3
:
:
User coordinate 21
User coordinate 22
User coordinate 23
User coordinate 24
Specified
Name
UF1
UF2
UF3
:
:
UF21
UF22
UF23
UF24
* User coordinate numbers 9 to 24 are effective only for NX100/
XRC/MRC.
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REMARKS
Variable Types
Coordinate values of the user coordinate system specified with the
user coordinate number are assigned to the user coordinate data as
follows.
Variables
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
P[12]
P[13]
P[14]
P[15]
P[16]
P[17]
P[18]
P[19]
P[20]
P[21]
P[22]
P[23]
P[24]
P[25]
P[26]
P[27]
Coordinate
System
ORG
XX
XY
Meaning
X-axis coordinate (unit: mm, effective down to 3 decimal places)
Y-axis coordinate (unit: mm, effective down to 3 decimal places)
Z-axis coordinate (unit: mm, effective down to 3 decimal places)
Wrist angle Rx (unit:°, effective down to 2 decimal places)
Wrist angle Ry (unit:°, effective down to 2 decimal places)
Wrist angle Rz (unit:°, effective down to 2 decimal places)
Form
X-axis coordinate (unit: mm, effective down to 3 decimal places)
Y-axis coordinate (unit: mm, effective down to 3 decimal places)
Z-axis coordinate (unit: mm, effective down to 3 decimal places)
Wrist angle Rx (unit:°, effective down to 2 decimal places)
Wrist angle Ry (unit:°, effective down to 2 decimal places)
Wrist angle Rz (unit:°, effective down to 2 decimal places)
Form
X-axis coordinate (unit: mm, effective down to 3 decimal places)
Y-axis coordinate (unit: mm, effective down to 3 decimal places)
Z-axis coordinate (unit: mm, effective down to 3 decimal places)
Wrist angle Rx (unit:°, effective down to 2 decimal places)
Wrist angle Ry (unit:°, effective down to 2 decimal places)
Wrist angle Rz (unit:°, effective down to 2 decimal places)
Form
Tool number
7th axis pulse number (mm for traveling axis)
8th axis pulse number (mm for traveling axis)
9th axis pulse number (mm for traveling axis)
10th axis pulse number
11th axis pulse number
12th axis pulse number
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
CONTROLLER
NX100, XRC, MRC (Serial Port, Ethernet), ERC (Serial Port)
REFERENCE
"BscGetUFrame" "BscPutUFrameEx2"
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BscPutUFrameEx2
FUNCTION
Sets a specified user frame data.
FORMAT
_declspec( dllexport ) short APIENTRY BscPutUFrame(short
nCid,short ctype,char *ufname,double *p);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
ctype
Controller selection; 0 : ERC, 1 : MRC, 2 : XRC,
3 : NX100 , 4 : YRC1000,
YRC1000micro,DX200, DX100,
5 : FS100
*ufname Storage pointer of the user coordinate name to be written
in.
*p
Head pointer to the user coordinate data storage area
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function does not support the robot with 7 axes or more.
User Coordinate Name
The following coordinate names correspond to the user coordinate
numbers.
User Coordinate Name
User coordinate 1
User coordinate 2
User coordinate 3
:
:
User coordinate 61
User coordinate 62
User coordinate 63
User coordinate 64
Specified
Name
UF1
UF2
UF3
:
:
UF61
UF62
UF63
UF64
* User coordinate numbers 9 to 64 are effective only for YRC1000/
YRC1000micro/DX200/DX100.
* User coordinate numbers 9 to 16 are effective only for FS100.
* User coordinate numbers 9 to 24 are effective only for NX100/
XRC/MRC.
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REMARKS
Variable Types
Coordinate values of the user coordinate system specified with the
user coordinate number are assigned to the user coordinate data as
follows.
Variables
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P[8]
P[9]
P[10]
P[11]
P[12]
P[13]
P[14]
P[15]
P[16]
P[17]
P[18]
P[19]
P[20]
P[21]
P[22]
P[23]
P[24]
P[25]
P[26]
P[27]
Coordinate
System
ORG
XX
XY
Meaning
X-axis coordinate (unit: mm, effective down to 3 decimal places
Y-axis coordinate (unit: mm, effective down to 3 decimal places)
Z-axis coordinate (unit: mm, effective down to 3 decimal places)
Wrist angle Rx (unit:°, effective down to 2 decimal places) *1
Wrist angle Ry (unit:°, effective down to 2 decimal places) *1
Wrist angle Rz (unit:°, effective down to 2 decimal places) *1
Form
X-axis coordinate (unit: mm, effective down to 3 decimal places
Y-axis coordinate (unit: mm, effective down to 3 decimal places)
Z-axis coordinate (unit: mm, effective down to 3 decimal places)
Wrist angle Rx (unit:°, effective down to 2 decimal places) *1
Wrist angle Ry (unit:°, effective down to 2 decimal places) *1
Wrist angle Rz (unit:°, effective down to 2 decimal places) *1
Form
X-axis coordinate (unit: mm, effective down to 3 decimal places
Y-axis coordinate (unit: mm, effective down to 3 decimal places)
Z-axis coordinate (unit: mm, effective down to 3 decimal places)
Wrist angle Rx (unit:°, effective down to 2 decimal places) *1
Wrist angle Ry (unit:°, effective down to 2 decimal places) *1
Wrist angle Rz (unit:°, effective down to 2 decimal places) *1
Form
Tool number
7th axis pulse number (mm for traveling axis)
8th axis pulse number (mm for traveling axis)
9th axis pulse number (mm for traveling axis)
10th axis pulse number
11th axis pulse number
12th axis pulse number
*1 YRC1000, YRC1000micro, DX200, DX100, FS100 is effective
down to 4 decimal places.
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
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REFERENCE
"BscGetUFrame" "BscPutUFrame"
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BscPutVarData
FUNCTION
Sets variable data.
FORMAT
_declspec( dllexport ) short APIENTRY BscPutVarData(short
nCid,short type,short varno,double *p);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
type Variable Types
varno Variable number
*p
Head pointer to the numeric variable storage area
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC/MRC.
Variable Types
The variable types are represented as follows.
0 : Byte type
1 : Integer type
2 : Double-precision type
3 : Real type
4 : Robot axis position type
5 : Base axis position type
6 : Station axis position type (pulse type only)
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REMARKS
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Data Type Numbe
Type
(Pulse/ r of
Number
XYZ) values P[0]
0
1
Byte
1
1
Integer
2
1
Double
3
1
Real
4
Pulse
8
0
4
XYZ
10
1
5
Pulse
8
0
5
XYZ
10
1
6
Pulse
8
0
Content
P[1]
P[2]
P[3]
S-axis Pulses L-axis Pulses U-axis Pulses R-axis Pulses
Coordinate X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
Base Axis-1 Base Axis-2 Base Axis-3 Base Axis-4
Pulses
Pulses
Pulses
Pulses
Coordinate X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
Station Axis-1 Station Axis-2 Station Axis-3 Station Axis-4
Pulses
Pulses
Pulses
Pulses
Variable Data Type Numbe
Content
Type
(Pulse/
r of
Number
XYZ) values
P[5]
P[6]
P[7]
0
1
1
1
2
1
3
1
4
Pulse
8 B-axis Pulses T-axis Pulses Tool Number
4
XYZ
10 Rx Angle(deg) Ry Angle(deg) Rz Angle(deg)
5
Pulse
8
5
XYZ
10
6
Pulse
8
P[4]
Base Axis-5 Base Axis-6 Tool Number
Pulses
Pulses
Rx Angle(deg) Ry Angle(deg) Rz Angle(deg)
Station Axis-5 Station Axis-6 Tool Number
Pulses
Pulses
P[8]
P[9]
Form
Tool
Number
-
Form
-
Tool
Number
-
The robot axis position and base axis position type variables include
the pulse type and XYZ type, according to the first return value.
The station axis position type variable contains the pulse type only.
See the following for details on the coordinate system types and
form.
Coordinate Types
YRC1000, YRC1000micro, DX200, DX100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
:
:
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
:
:
Coordinate
type
:
:
63
64
65
66
Coordinate name
:
:
User coordinate 62
User coordinate 63
Tool coordinate
Master tool coordinate
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REMARKS
Coordinate Types
FS100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
Coordinate
type
10
11
12
13
14
15
16
17
18
19
Coordinate name
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
Tool coordinate
Master tool coordinate
Coordinate Types
NX100/XRC/MRC
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
10
11
12
13
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
Coordinate
type
14
15
16
17
18
19
20
21
22
23
24
25
26
27
Coordinate name
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
User coordinate 17
User coordinate 18
User coordinate 19
User coordinate 20
User coordinate 21
User coordinate 22
User coordinate 23
User coordinate 24
Tool coordinate
Master tool coordinate
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REMARKS
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
* With the MRC or MRC2, the data D5 and D7 are disregarded.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
REFERENCE
"BscGetVarData" "BscGetVarData2"
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BscPutVarData2
FUNCTION
Sets variable data. (robot with 7 axes or more)
FORMAT
_declspec( dllexport ) short APIENTRY BscPutVarData2(short
nCid,short type,short varno,double *p,short axisNum);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
type
Variable Types
varno
Variable number
*p
Head pointer to the numeric variable storage area
axisNum Number of axis
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100/XRC/MRC.
Variable Types
The variable types are represented as follows.
0 : Byte type
1 : Integer type
2 : Double-precision type
3 : Real type
4 : Robot axis position type
5 : Base axis position type
6 : Station axis position type (pulse type only)
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REMARKS
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Data Type Number
Content
Type
(Pulse/
of
Number
XYZ) values P[0]
P[1]
P[2]
P[3]
P[4]
0
1
Byte
1
1
Integer
2
1
Double
3
1
Real
4
Pulse
10
0
S-axis Pulses L-axis Pulses U-axis Pulses R-axis Pulses
4
XYZ
10
1
Coordinate X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
5
Pulse
8
0
Base Axis-1 Base Axis-2 Base Axis-3 Base Axis-4
Pulses
Pulses
Pulses
Pulses
5
XYZ
10
1
Coordinate X-axis (mm) Y-axis (mm) Z-axis (mm)
Type
6
Pulse
8
0
Station Axis-1 Station Axis-2 Station Axis-3 Station Axis-4
Pulses
Pulses
Pulses
Pulses
Variable Data Type Number
Content
Type
(Pulse/
of
Number
XYZ)
values
P[5]
P[6]
P[7]
P[8]
0
1
1
1
2
1
3
1
4
Pulse
10
B-axis Pulses T-axis Pulses 7thaxis Pulses 8thaxis Pulses
4
XYZ
10
Rx Angle(deg) Ry Angle(deg) Rz Angle(deg)
Form
5
Pulse
8
-
5
XYZ
10
Base Axis-5 Base Axis-6 Tool Number
Pulses
Pulses
Rx Angle(deg) Ry Angle(deg) Rz Angle(deg)
6
Pulse
8
Station Axis-5 Station Axis-6 Tool Number
Pulses
Pulses
Form
-
P[9]
Tool
Number
Tool
Number
Tool
Number
-
The robot axis position and base axis position type variables include
the pulse type and XYZ type, according to the first return value.
The station axis position type variable contains the pulse type only.
See the following for details on the coordinate system types and
form.
Coordinate Types
YRC1000/YRC1000micro/DX200/DX100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
:
:
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
:
:
Coordinate
type
:
:
63
64
65
66
Coordinate name
:
:
User coordinate 62
User coordinate 63
Tool coordinate
Master tool coordinate
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REMARKS
Coordinate Types
FS100
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
Coordinate
type
10
11
12
13
14
15
16
17
18
19
Coordinate name
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
Tool coordinate
Master tool coordinate
Coordinate Types
NX100/XRC
The following coordinate names correspond to the coordinate type
data.
Coordinate
type
0
1
2
3
4
5
6
7
8
9
10
11
12
13
Coordinate name
Base coordinate
Robot coordinate
User coordinate 1
User coordinate 2
User coordinate 3
User coordinate 4
User coordinate 5
User coordinate 6
User coordinate 7
User coordinate 8
User coordinate 9
User coordinate 10
User coordinate 11
User coordinate 12
Coordinate
type
14
15
16
17
18
19
20
21
22
23
24
25
26
27
Coordinate name
User coordinate 13
User coordinate 14
User coordinate 15
User coordinate 16
User coordinate 17
User coordinate 18
User coordinate 19
User coordinate 20
User coordinate 21
User coordinate 22
User coordinate 23
User coordinate 24
Tool coordinate
Master tool coordinate
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
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CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC
(Serial Port, Ethernet)
REFERENCE
"BscGetVarData" "BscGetVarData2"
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BscStartJob
FUNCTION
Starts job. (A job to be started has the job name which is selected
last.)
FORMAT
_declspec( dllexport ) short APIENTRY BscStartJob(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
1
: Current job name not specified
Others : Error codes
REMARKS
Call Condition
The BscSelectJob function must be called up and the current job
name must be specified before executing this function.
To restart a job during startup that has been held by the
"BscHoldOn" function, release the hold by "BscHoldOff" function to
call up the BscContinueJob function.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscContinueJob" "BscSelectJob"
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BscSelectJob
FUNCTION
Selects a job.
FORMAT
_declspec( dllexport ) short APIENTRY BscSelectJob(short
nCid,char *name);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*name Job name storage pointer
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Job name
The character string for the job name is restricted as follows.
Character string with 30 characters maximum. (8 characters that
can be used in the MS-DOS)
Specify "*" instead of the job name to select all the jobs.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscFindFirstMaster" "BscDeleteJob" "BscSetMasterJob"
"BscSetLineNumber" "BscStartJob"
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BscSelectMode
FUNCTION
Selects mode. (Teach or Play)
FORMAT
_declspec( dllexport ) short APIENTRY BscSelectMode(short
nCid,short mode);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
mode Selected mode
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
CONTROLLER
Selected Mode
The selected mode is represented as follows.
1 : Teach
2 : Play
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
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BscSelLoopCycle
FUNCTION
Changes the cycle mode to auto mode.
FORMAT
_declspec( dllexport ) short APIENTRY BscSelLoopCycle(short
nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscSelStepCycle" "BscSelOneCycle"
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BscSelOneCycle
FUNCTION
Changes the cycle mode to 1-cycle mode.
FORMAT
_declspec( dllexport ) short APIENTRY BscSelOneCycle(short
nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscSelStepCycle" "BscSelLoopCycle"
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BscSelStepCycle
FUNCTION
Changes the cycle mode to step mode.
FORMAT
_declspec( dllexport ) short APIENTRY BscSelStepCycle(short
nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscSelOneCycle" "BscSelLoopCycle"
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BscSetLineNumber
FUNCTION
Sets a line number of current job.
FORMAT
_declspec( dllexport ) short APIENTRY BscSetLineNumber(short
nCid,short line);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
line Line number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscSelectJob"
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BscSetMasterJob
FUNCTION
Sets a job as a master job.
FORMAT
_declspec( dllexport ) short APIENTRY BscSetMasterJob(short
nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Call Condition
The BscSelectJob function must be called up and the registered
job must be specified before executing this function.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscDeleteJob" "BscSelectJob"
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BscReset
FUNCTION
Resets a robot alarm.
FORMAT
_declspec( dllexport ) short APIENTRY BscReset(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscCancel"
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BscSetCtrlGroup
FUNCTION
Sets a control group.
FORMAT
_declspec( dllexport ) short APIENTRY BscSetCtrlGroup(short
nCid,short groupno);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
groupno Control group information to be set
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the MRC.
Refer to BscSetCtrlGroupDX for the transmission with the
YRC1000/YRC1000micro/DX200/DX100.
Refer to BscSetCtrlGroupXrc for the transmission with the FS100/
NX100/XRC.
When the power supply of robot controller is started up, robot 1,
base 1, and station 1 (when a base and a stations exist) are specified. In a system with a base axis (such as travel axis), when the
manipulator with this base axis is specified, this base axis is automatically specified.
The following settings can not be made.
- Selection of control axis which does not exist
- Simultaneous specification of R1 and R2
- Specification of multiple number of stations
Control Group Information
The control group information is represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
D0：R1（Robot 1）
D1：R2（Robot 2）
D2：S1（Station 1）
D3：S2（Station 2）
D4：S3（Station 3）
D5：S4（Station 4）
D6：S5（Station 5）
D7：S6（Station 6）
CONTROLLER
MRC (Serial Port, Ethernet)
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REFERENCE
"BscGetCtrlGroupDX" "BscSetCtrlGroupDX" "BscIsCtrlGroupDX"
"BscSetCtrlGroupXrc" "BscGetCtrlGroupXrc"
"BscIsCtrlGroupXrc" "BscIsTaskInfXrc" "BscGetCtrlGroup"
"BscIsCtrlGroup" "BscIsTaskInf" "BscChangeTask"
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BscSetCtrlGroupXrc
FUNCTION
Sets a control group.
FORMAT
_declspec( dllexport ) short APIENTRY BscSetCtrlGroupXrc(short
nCid,short groupno1,short groupno2);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
groupno1 Control group information to be set (robot axis)
groupno2 Control group information to be set (station axis)
OUT (Return)
groupno1 Control group information to be set (robot axis)
groupno2 Control group information to be set (station axis)
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the FS100/
NX100/XRC.
Refer to BscSetCtrlGroupDX for the transmission with the
YRC1000/YRC1000micro/DX200/DX100.
Refer to BscSetCtrlGroup for transmission with the MRC.
When the power supply of robot controller is started up, robot 1,
base 1, and station 1 (when a base and a stations exist) are specified. In a system with a base axis (such as travel axis), when the
manipulator with this base axis is specified, this base axis is automatically specified.
The following settings can not be made.
- Selection of control axis which does not exist
- Simultaneous specification of R1 and R2
- Specification of multiple number of stations
Control Group Information (Robot Axis)
The control group information is represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
D0：R1（Robot 1）
D1：R2（Robot 2）
D2：R3（Robot 3）
D3：R4（Robot 4）
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REMARKS
Control Group Information (Station Axis)
The control group information is represented by bit data in decimals.
D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
D0：S1（Station1）
D1：S2（Station2）
D2：S3（Station3）
D3：S4（Station4）
D4：S5（Station5）
D5：S6（Station6）
D6：S7（Station7）
D7：S8（Station8）
D8：S9（Station9）
D9：S10（Station10）
D10：S11（Station11）
D11：S12（Station12）
CONTROLLER
FS100, NX100, XRC (Serial Port, Ethernet)
REFERENCE
"BscGetCtrlGroupDX" "BscSetCtrlGroupDX" "BscIsCtrlGroupDX"
"BscGetCtrlGroupXrc" "BscIsCtrlGroupXrc" "BscIsTaskInfXrc"
"BscSetCtrlGroup" "BscGetCtrlGroup" "BscIsCtrlGroup"
"BscIsTaskInf" "BscChangeTask"
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BscSetCtrlGroupDX
FUNCTION
Sets a control group.
FORMAT
_declspec( dllexport ) short APIENTRY BscSetCtrlGroupDX(short
nCid,long groupno1,long groupno2);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
groupno1 Control group information to be set (robot axis)
groupno2 Control group information to be set (station axis)
OUT (Return)
groupno1 Control group information to be set (robot axis)
groupno2 Control group information to be set (station axis)
Return Value
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100.
Refer to BscSetCtrlGroupXrc for transmission with the FS100/
NX100/XRC.
Refer to BscSetCtrlGroup for transmission with the MRC.
When the power supply of robot controller is started up, robot 1,
base 1, and station 1 (when a base and a stations exist) are specified. In a system with a base axis (such as travel axis), when the
manipulator with this base axis is specified, this base axis is automatically specified.
The following settings can not be made.
- Selection of control axis which does not exist
- Simultaneous specification of R1 and R2
- Specification of multiple number of stations
Control Group Information (Robot Axis)
The control group information is represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
D0：R1（Robot 1）
D1：R2（Robot 2）
D2：R3（Robot 3）
D3：R4（Robot 4）
:
:
D7：R8（Robot 8）
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REMARKS
Control Group Information (Station Axis)
The control group information is represented by bit data in decimals.
D23 ・・・ D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
・・・
D0：S1（Station1）
D1：S2（Station2）
D2：S3（Station3）
D3：S4（Station4）
D4：S5（Station5）
D5：S6（Station6）
D6：S7（Station7）
D7：S8（Station8）
D8：S9（Station9）
D9：S10（Station10）
D10：S11（Station11）
D11：S12（Station12）
:
:
D23：S24（Station24）
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100 (Serial Port, Ethernet)
REFERENCE
"BscGetCtrlGroupDX" "BscIsCtrlGroupDX" "BscSetCtrlGroupXrc"
"BscGetCtrlGroupXrc" "BscIsCtrlGroupXrc" "BscIsTaskInfXrc"
"BscSetCtrlGroup" "BscGetCtrlGroup" "BscIsCtrlGroup"
"BscIsTaskInf" "BscChangeTask"
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BscServoOff
FUNCTION
Sets servo power supply OFF.
FORMAT
_declspec( dllexport ) short APIENTRY BscServoOff(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscServoOn" "BscIsServo"
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BscServoOn
FUNCTION
Sets servo power supply ON.
FORMAT
_declspec( dllexport ) short APIENTRY BscServoOn(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscServoOff" "BscIsServo"
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7.4 DCI Function
7.4
DCI Function
Job save, load, or variable load, save are automatically accomplished when the robot is under
playback mode, by preparing the functions corresponding to the instructions.
Reads the robot status (current position, alarm, error, servo status, etc.), and controls the system (start, hold, job call, etc.).
The following functions are available.
BscDCILoadSave
BscDCILoadSaveOnce
BscDCIGetPos
BscDCIGetPos2
BscDCIGetVarData
BscDCIGetVarDataEx
BscDCIPutPos
BscDCIPutPos2
BscDCIPutVarData
BscDCIPutVarDataEx
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7.4 DCI Function
BscDCILoadSave
FUNCTION
Loads or saves a job with DCI instruction.
FORMAT
_declspec( dllexport ) short APIENTRY BscDCILoadSave(short
nCid,short timec);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
timec Waiting time for sending/receiving (sec)
OUT (Return)
None
Return Value
-1
: Failed to send/receive
Others : Number of received jobs
REMARKS
Number of Sending/Receiving
This function retries communication of the sending/receiving signal
until the specified waiting time comes.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscDCILoadSaveOnce" "BscDCIGetPos" "BscDCIPutPos"
"BscDCIGetPos2" "BscDCIPutPos2" "BscDCIGetVarData"
"BscDCIPutVarData"
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7.4 DCI Function
BscDCILoadSaveOnce
FUNCTION
Loads or saves a job with DCI instruction.
FORMAT
_declspec( dllexport ) short APIENTRY BscDCILoadSaveOnce(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
-1
: Failed to send/receive
Others : Number of received jobs
REMARKS
Number of Sending/Receiving
This function waits indefinitely until sending/receiving request is
sent from the robot. Communication is accomplished a single time
when the request arrives.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscDCILoadSave" "BscDCIGetPos" "BscDCIPutPos"
"BscDCIGetPos2" "BscDCIPutPos2" "BscDCIGetVarData"
"BscDCIPutVarData"
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7.4 DCI Function
BscDCIGetPos
FUNCTION
Gets a variable with DCI instruction.
FORMAT
_declspec( dllexport ) short APIENTRY BscDCIGetPos(short
nCid,short *type,short *rconf,double *p);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*type Variable type number (pointer)
*rconf Form data (pointer)
*p
Head pointer to the numeric variable storage area
OUT (Return)
*rconf Form data (pointer)
*p
Head pointer to the numeric variable storage area
Return Value
-1
: Failed to send
Others : Variable type number
REMARKS
Variable Type Number
The variable type number is represented as follows.
Variable
Contents
1
2
3
4
5
6
7
8
9
YRC1000/YRC1000micro/DX200
ERC
DX100/FS100/NX100/XRC/MRC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
Base axis position type (pulse)
Base axis position type (XYZ)
Station axis position type (pulse)
-
Variable type numberand and the storage area, number of values.
Variable Type
Number
1～9
Storage
area
p
Number of
values
6
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7.4 DCI Function
REMARKS
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Number
Type
of
Number values
1
1
2
1
3
1
4
1
5
6
6
6
7
6
8
6
9
6
Content
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
Byte
Integer
Double
Real
S-axis
L-axis
U-axis
R-axis
B-axis
T-axis
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
X-axis
Y-axis
Z-axis
Wrist angle Wrist angle Wrist angle
(mm)
(mm)
(mm)
Rx (deg)
Ry (deg)
Rz (deg)
Base
Base
Base
Base
Base
Base
Axis-1 Pulses Axis-2 Pulses Axis-3 Pulses Axis-4 Pulses Axis-5 Pulses Axis-6 Pulses
Base
Base
Base
Base
Base
Base
Axis-1 (mm) Axis-2 (mm) Axis-3 (mm) Axis-4 (mm) Axis-5 (mm) Axis-6 (mm)
Station
Station
Station
Station
Station
Station
Axis-1 Pulses Axis-2 Pulses Axis-3 Pulses Axis-4 Pulses Axis-5 Pulses Axis-6 Pulses
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscDCILoadSave" "BscDCILoadSaveOnce" "BscDCIPutPos"
"BscDCIPutPos2" "BscDCIPutVarData"
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7.4 DCI Function
BscDCIGetPos2
FUNCTION
Gets a variable with DCI instruction. (robots with 7 axes or more)
FORMAT
_declspec( dllexport ) short APIENTRY BscDCIGetPos2(short
nCid,short *type,short *rconf,double *p,short *axisNum);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*type
Variable type number (pointer)
*rconf
Form data (pointer)
*p
Head pointer to the numeric variable storage area
*axisNum Number of axis (pointer)
OUT (Return)
*rconf Form data (pointer)
*p
Head pointer to the numeric variable storage area
Return Value
-1
: Failed to send
Others : Variable type number
REMARKS
Variable Type Number
The variable type number is represented as follows.
Variable
Contents
1
2
3
4
5
6
7
8
9
YRC1000/YRC1000micro/DX200
DX100/FS100/NX100/XRC/MRC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
Base axis position type (pulse)
Base axis position type (XYZ)
Station axis position type (pulse)
ERC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
External axis position type (pulse)
External axis position type (XYZ)
-
Variable type numberand and the storage area, number of values.
Variable Type
Number
1～9
Storage
area
p
Number of
values
8
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7.4 DCI Function
REMARKS
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Abov, 1: Elbow Under
0:Front Side,
1: Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable
Type
Number
1
2
3
4
5
6
7
8
9
Variable
Type
Num ber
1
2
3
4
5
6
7
8
9
CONTROLLER
Number
Content
of
values
P[0]
P[1]
P[2]
P[3]
1
Byte
1
Integer
1
Double
1
Real
8
S-axis Pulses L-axis Pulses
U-axis
R-axis
Pulses
Pulses
6
X-axis
Y-axis
Z-axis
W rist angle
Rx (deg)
(mm)
(mm)
(mm)
6
Base
Base
Base
Base
Axis-1 Pulses Axis-2 Pulses Axis-3 Pulses Axis-4 Pulses
6
Base
Base
Base
Base
Axis-1 (mm) Axis-2 (mm) Axis-3 (mm) Axis-4 (mm)
6
Station
Station
Station
Station
Axis-1 Pulses Axis-2 Pulses Axis-3 Pulses Axis-4 Pulses
Num ber
Content
of
values
P[4]
P[5]
P[6]
1
1
1
1
th
8
B-axis Pulses T-axis Pulses
7 axis
Pulses
6
W rist angle
W rist angle
Ry (deg)
Rz (deg)
6
Base
Base
Axis-5 Pulses Axis-6 Pulses
6
Base
Base
Axis-5 (mm) Axis-6 (mm)
6
Station
Station
Axis-5 Pulses Axis-6 Pulses
P[7]
th
8 axis
Pulses
-
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
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7.4 DCI Function
REFERENCE
"BscDCILoadSave" "BscDCILoadSaveOnce" "BscDCIPutPos"
"BscDCIPutPos2" "BscDCIPutVarData"
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7.4 DCI Function
BscDCIGetVarData
FUNCTION
Gets a variable with DCI instruction.
FORMAT
_declspec( dllexport ) short APIENTRY BscDCIGetVarData(short
nCid,short *type,short *rconf,double *p, char *str);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*type Variable type number (pointer)
*rconf Form data (pointer)
*p
Head pointer to the numeric variable storage area
*str
Head pointer to the character variable storage area
OUT (Return)
*rconf Form data (pointer)
*p
Head pointer to the numeric variable storage area
*str
Head pointer to the character variable storage area
Return Value
-1
: Failed to send
Others : Variable type number
REMARKS
Restrictions
String variables can only be used with the YRC1000/YRC1000micro/DX200/DX100/FS100 or NX100 ver3.0 or later.
Variable Type Number
The variable type number is represented as follows.
Variable
Contents
1
2
3
4
5
6
7
YRC1000/ YRC1000micro
NX100
DX200/DX100/FS100
(before v3.0)
NX100(v3.0 and after)
XRC/MRC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
Base axis position type (pulse)
8
9
Base axis position type (XYZ)
Station axis position type (pulse)
ERC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
External axis position type
(pulse)
External axis position type (XYZ)
-
NOTE String type is valid only for the NX100 V3.0 and later, or for
the YRC1000/YRC1000micro/DX200/DX100/FS100.
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7.4 DCI Function
REMARKS
Variable type numberand and the storage area, number of values.
Variable Type
Number
1～9
10
Storage
area
p
str
Number of
values
6
16
When this function is used to receive a string type variable
make sure that the character variable storage area is alloNOTE cated for 17 characters.
Declaration in Visual Basic: Dim S_Variable As String *17
Declaration in C++:
char S_Variable[17]
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Abov, 1: Elbow Under
0:Front Side,
1: Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Number
Type
of
Number values
1
1
2
1
3
1
4
1
5
6
6
6
7
6
8
6
9
6
Content
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
Byte
Integer
Double
Real
S-axis
L-axis
U-axis
R-axis
B-axis
T-axis
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
X-axis
Y-axis
Z-axis
Wrist angle Wrist angle Wrist angle
(mm)
(mm)
(mm)
Rx (deg)
Ry (deg)
Rz (deg)
Base
Base
Base
Base
Base
Base
Axis-1
Axis-2
Axis-3
Axis-4
Axis-5
Axis-6
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
Base
Base
Base
Base
Base
Base
Axis-1 (mm) Axis-2 (mm) Axis-3 (mm) Axis-4 (mm) Axis-5 (mm) Axis-6 (mm)
Station
Station
Station
Station
Station
Station
Axis-1
Axis-2
Axis-3
Axis-4
Axis-5
Axis-6
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
Content of the character variable storage area
Variable Type
Number
Number of
values
10
16
Content
str
String
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7.4 DCI Function
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscDCILoadSave" "BscDCILoadSaveOnce" "BscDCIPutPos"
"BscDCIPutPos2" "BscDCIPutVarData"
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7.4 DCI Function
BscDCIGetVarDataEx
FUNCTION
Gets a variable with DCI instruction.(robots with 7 axes or more)
FORMAT
_declspec( dllexport ) short APIENTRY BscDCIGetVarDataEx(short
nCid,short *type,long *rconf,double *p, char *str,short *axisNum);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*type Variable type number (pointer)
*rconf Form data (pointer)
*p
Head pointer to the numeric variable storage area
*str
Head pointer to the character variable storage area
*axisNum Number of axis (pointer)
OUT (Return)
*rconf
Form data (pointer)
*p
Head pointer to the numeric variable storage area
*str
Head pointer to the character variable storage area
*axisNum Number of axis (pointer)
Return Value
-1
: Failed to send
Others : Variable type number
REMARKS
Restrictions
String variables can only be used with the YRC1000/YRC1000micro/DX200/DX100/FS100 or NX100 ver3.0 or later.
Variable Type Number
The variable type number is represented as follows.
Variable
Contents
1
2
3
4
5
6
7
YRC1000/ YRC1000micro
NX100
DX200/DX100/FS100
(before v3.0)
NX100(v3.0 and after)
XRC/MRC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
Base axis position type (pulse)
8
9
Base axis position type (XYZ)
Station axis position type (pulse)
ERC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
External axis position type
(pulse)
External axis position type (XYZ)
-
• If the robot controller incluedes 7-axis robot, P-variable
NOTE
specification is for 7-axis robot.
• String type is valid only for the NX100 V3.0 and later, or for
the YRC1000/YRC1000micro/DX200/DX100/FS100.
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7.4 DCI Function
REMARKS
Variable type numberand and the storage area, number of values.
Variable Type
Number
1～9
10
Storage
area
p
str
Number of
values
7
16
When this function is used to receive a string type variable
make sure that the character variable storage area is alloNOTE cated for 17 characters.
Declaration in Visual Basic: Dim S_Variable As String *17
Declaration in C++:
char S_Variable[17]
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Number
Type
of
Number values
1
1
2
1
3
1
4
1
5
7
6
7
7
6
8
6
9
6
Content
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
Byte
Integer
Double
Real
S-axis
L-axis
U-axis
R-axis
B-axis
T-axis
E-axis
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
X-axis
Y-axis
Z-axis
Wrist angle Wrist angle Wrist angle
Re
(mm)
(mm)
(mm)
Rx (deg)
Ry (deg)
Rz (deg)
(deg)
Base
Base
Base
Base
Base
Base
Axis-1
Axis-2
Axis-3
Axis-4
Axis-5
Axis-6
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
Base
Base
Base
Base
Base
Base
Axis-1 (mm) Axis-2 (mm) Axis-3 (mm) Axis-4 (mm) Axis-5 (mm) Axis-6 (mm)
Station
Station
Station
Station
Station
Station
Axis-1
Axis-2
Axis-3
Axis-4
Axis-5
Axis-6
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
Content of the character variable storage area
Variable Type
Number
Number of
values
10
16
Content
str
String
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7.4 DCI Function
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscDCILoadSave" "BscDCILoadSaveOnce" "BscDCIPutPos"
"BscDCIPutPos2" "BscDCIPutVarData" "BscDCIPutVarDataEx"
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7.4 DCI Function
BscDCIPutPos
FUNCTION
Sets a variable with DCI instruction.
FORMAT
_declspec( dllexport ) short APIENTRY BscDCIPutPos(short
nCid,short type,short rconf,double *p);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
type Variable type number
rconf Form data
*p
Head pointer to the numeric variable storage area
OUT (Return)
None
Return Value
-1
: Failed to send
Others : Normal completion
REMARKS
Variable Type Number
The variable type number is represented as follows.
Variable
Contents
1
2
3
4
5
6
7
8
9
YRC1000/YRC1000micro/DX200
DX100/FS100/NX100/XRC/MRC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
Base axis position type (pulse)
Base axis position type (XYZ)
Station axis position type (pulse)
ERC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
External axis position type (pulse)
External axis position type (XYZ)
-
Variable type numberand and the storage area, number of values.
Variable Type
Number
1～9
Storage
area
p
Number of
values
6
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
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7.4 DCI Function
REMARKS
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Number
Type
of
Number values
1
1
2
1
3
1
4
1
5
6
6
6
7
6
8
6
9
6
Content
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
Byte
Integer
Double
Real
S-axis
L-axis
U-axis
R-axis
B-axis
T-axis
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
X-axis
Y-axis
Z-axis
Wrist angle Wrist angle Wrist angle
(mm)
(mm)
(mm)
Rx (deg)
Ry (deg)
Rz (deg)
Base
Base
Base
Base
Base
Base
Axis-1 Pulses Axis-2 Pulses Axis-3 Pulses Axis-4 Pulses Axis-5 Pulses Axis-6 Pulses
Base
Base
Base
Base
Base
Base
Axis-1 (mm) Axis-2 (mm) Axis-3 (mm) Axis-4 (mm) Axis-5 (mm) Axis-6 (mm)
Station
Station
Station
Station
Station
Station
Axis-1 Pulses Axis-2 Pulses Axis-3 Pulses Axis-4 Pulses Axis-5 Pulses Axis-6 Pulses
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscDCILoadSave" "BscDCILoadSaveOnce" "BscDCIGetPos"
"BscDCIGetPos2" "BscDCIGetVarData"
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7.4 DCI Function
BscDCIPutPos2
FUNCTION
Sets a variable with DCI instruction. (robots with 7 axes or more)
FORMAT
_declspec( dllexport ) short APIENTRY BscDCIPutPos2(short
nCid,short type,short rconf,double *p,short axisNum);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
type
Variable type number
rconf
Form data
*p
Head pointer to the numeric variable storage area
axisNum Number of axis
OUT (Return)
None
Return Value
-1
: Failed to send
Others : Variable type number
REMARKS
Variable Type Number
The variable type number is represented as follows.
Variable
Contents
1
2
3
4
5
6
7
8
9
YRC1000/YRC1000micro/DX200
DX100/FS100/NX100/XRC/MRC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
Base axis position type (pulse)
Base axis position type (XYZ)
Station axis position type (pulse)
ERC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
External axis position type (pulse)
External axis position type (XYZ)
-
Variable type numberand and the storage area, number of values.
Variable Type
Number
1～9
Storage
area
p
Number of
values
8
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7.4 DCI Function
REMARKS
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
V a r ia b le
T yp e
N um ber
1
2
3
4
5
N um ber
of
v a lu e s
1
1
1
1
8
6
6
7
6
8
6
9
6
Variable
Type
Num ber
1
2
3
4
5
6
7
8
9
CONTROLLER
C o n te n t
P [0 ]
P [1 ]
P [2 ]
P [3 ]
B y te
In te g e r
D o u b le
R eal
S - a x is
L - a x is
U - a x is
R - a x is
P u ls e s
P u ls e s
P u ls e s
P u ls e s
X - a x is
Y - a x is
Z - a x is
W ris t a n g le
(m m )
(m m )
(m m )
R x (d e g )
Base
Base
Base
Base
A x is - 1
A x is - 2
A x is - 3
A x is - 4
P u ls e s
P u ls e s
P u ls e s
P u ls e s
Base
Base
Base
Base
A x is - 1 ( m m ) A x is - 2 ( m m ) A x is - 3 ( m m ) A x is - 4 ( m m )
S ta tio n
S ta t io n
S ta tio n
S ta tio n
A x is - 1
A x is - 2
A x is - 3
A x is - 4
P u ls e s
P u ls e s
P u ls e s
P u ls e s
Num ber
Content
of
values
P[4]
P[5]
P[6]
1
1
1
1
th
8
B-axis Pulses T-axis Pulses
7 axis
Pulses
6
W rist angle
W rist angle
Ry (deg)
Rz (deg)
6
Base
Base
Axis-5 Pulses Axis-6 Pulses
6
Base
Base
Axis-5 (mm) Axis-6 (mm)
6
Station
Station
Axis-5 Pulses Axis-6 Pulses
P[7]
th
8 axis
Pulses
-
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC
(Serial Port, Ethernet)
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7.4 DCI Function
REFERENCE
"BscDCILoadSave" "BscDCILoadSaveOnce" "BscDCIGetPos"
"BscDCIGetPos2" "BscDCIGetVarData"
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7.4 DCI Function
BscDCIPutVarData
FUNCTION
Sets a variable with DCI instruction.
FORMAT
_declspec( dllexport ) short APIENTRY BscDCIPutVarData(short
nCid,short type,short rconf,double *p, char *str);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
type Variable type number
rconf Form data
*p
Head pointer to the numeric variable storage area
*str
Head pointer to the character variable storage area
OUT (Return)
None
Return Value
-1
: Failed to send
Others : Variable type number
REMARKS
Restrictions
String variables can only be used with the YRC1000/YRC1000micro/DX200/DX100/FS100 or NX100 ver3.0 or later.
Variable Type Number
The variable type number is represented as follows.
Variable
Contents
1
2
3
4
5
6
7
YRC1000/ YRC1000micro
NX100
DX200/DX100/FS100
(before v3.0)
NX100(v3.0 and after)
XRC/MRC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
Base axis position type (pulse)
8
9
Base axis position type (XYZ)
Station axis position type (pulse)
ERC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
External axis position type
(pulse)
External axis position type (XYZ)
-
NOTE String type is valid only for the NX100 V3.0 and later, or for
the YRC1000/YRC1000micro/DX200/DX100/FS100.
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7.4 DCI Function
REMARKS
Variable type numberand and the storage area, number of values.
Variable Type
Number
1～9
10
Storage
area
p
str
Number of
values
6
16
When this function is used to receive a string type variable
make sure that the character variable storage area is alloNOTE cated for 17 characters.
Declaration in Visual Basic: Dim S_Variable As String *17
Declaration in C++:
char S_Variable[17]
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
0:Elbow Abov,
0:Front Side,
0:R<180,
0:T<180,
0:S<180,
Reserved
1:No-Flip
1: Elbow Under
1: Back Side
1:R>=180
1:T>=180
1:S>=180
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Number
Type
of
Number values
1
1
2
1
3
1
4
1
5
6
6
6
7
6
8
6
9
6
Content
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
Byte
Integer
Double
Real
S-axis
L-axis
U-axis
R-axis
B-axis
T-axis
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
X-axis
Y-axis
Z-axis
Wrist angle Wrist angle Wrist angle
(mm)
(mm)
(mm)
Rx (deg)
Ry (deg)
Rz (deg)
Base
Base
Base
Base
Base
Base
Axis-1
Axis-2
Axis-3
Axis-4
Axis-5
Axis-6
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
Base
Base
Base
Base
Base
Base
Axis-1 (mm) Axis-2 (mm) Axis-3 (mm) Axis-4 (mm) Axis-5 (mm) Axis-6 (mm)
Station
Station
Station
Station
Station
Station
Axis-1
Axis-2
Axis-3
Axis-4
Axis-5
Axis-6
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
Content of the character variable storage area
Variable Type
Number
Number of
values
10
16
Content
str
String
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7.4 DCI Function
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscDCILoadSave" "BscDCILoadSaveOnce" "BscDCIGetPos"
"BscDCIGetPos2" "BscDCIGetVarData"
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7.4 DCI Function
BscDCIPutVarDataEx
FUNCTION
Sets a variable with DCI instruction.(robots with 7 axes or more)
FORMAT
_declspec( dllexport ) short APIENTRY BscDCIPutVarDataEx(short
nCid,short type,long rconf,double *p, char *str,short axisNum);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
type Variable type number
rconf Form data
*p
Head pointer to the numeric variable storage area
*str
Head pointer to the character variable storage area
axisNum Number of axis
OUT (Return)
None
Return Value
-1
: Failed to send
Others : Variable type number
REMARKS
Restrictions
String variables can only be used with the YRC1000/YRC1000micro/DX200/DX100/FS100 or NX100 ver3.0 or later.
Variable Type Number
The variable type number is represented as follows.
Variable
Contents
1
2
3
4
5
6
7
YRC1000/ YRC1000micro
NX100
DX200/DX100/FS100
(before v3.0)
NX100(v3.0 and after)
XRC/MRC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
Base axis position type (pulse)
8
9
Base axis position type (XYZ)
Station axis position type (pulse)
ERC
Byte type
Integer type
Double-precision type
Real type
Robot axis position type (pulse)
Robot axis position type (XYZ)
External axis position type
(pulse)
External axis position type (XYZ)
-
• If the robot controller incluedes 7-axis robot, P-variable
NOTE
specification is for 7-axis robot.
• String type is valid only for the NX100 V3.0 and later, or for
the YRC1000/YRC1000micro/DX200/DX100/FS100.
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7.4 DCI Function
REMARKS
Variable type numberand and the storage area, number of values.
Variable Type
Number
1～9
10
Storage
area
p
str
Number of
values
7
16
When this function is used to receive a string type variable
make sure that the character variable storage area is alloNOTE cated for 17 characters.
Declaration in Visual Basic: Dim S_Variable As String *17
Declaration in C++:
char S_Variable[17]
Form
The form data are represented by bit data in decimals.
D7 D6 D5 D4 D3 D2 D1 D0
0:Flip,
1:No-Flip
0:Elbow Abov, 1: Elbow Under
0:Front Side,
1: Back Side
0:R<180,
1:R>=180
0:T<180,
1:T>=180
0:S<180,
1:S>=180
Reserved
* With the ERC or ERC2, the data from D3 to D7 are disregarded.
* With the MRC or MRC2, the data D5 and D7 are disregarded.
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area
contains the number of values indicated below.
Variable Number
Type
of
Number values
1
1
2
1
3
1
4
1
5
7
6
7
7
6
8
6
9
6
Content
P[0]
P[1]
P[2]
P[3]
P[4]
P[5]
P[6]
Byte
Integer
Double
Real
S-axis
L-axis
U-axis
R-axis
B-axis
T-axis
E-axis
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses Pulses
X-axis
Y-axis
Z-axis
Wrist angle Wrist angle Wrist angle Re
(mm)
(mm)
(mm)
Rx (deg)
Ry (deg)
Rz (deg) (deg)
Base
Base
Base
Base
Base
Base
Axis-1
Axis-2
Axis-3
Axis-4
Axis-5
Axis-6
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
Base
Base
Base
Base
Base
Base
Axis-1 (mm) Axis-2 (mm) Axis-3 (mm) Axis-4 (mm) Axis-5 (mm) Axis-6 (mm)
Station
Station
Station
Station
Station
Station
Axis-1
Axis-2
Axis-3
Axis-4
Axis-5
Axis-6
Pulses
Pulses
Pulses
Pulses
Pulses
Pulses
Content of the character variable storage area
Variable Type
Number
Number of
values
10
16
Content
str
String
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7.4 DCI Function
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscDCILoadSave" "BscDCILoadSaveOnce" "BscDCIGetPos"
"BscDCIGetPos2" "BscDCIGetVarData" "BscDCIGetVarDataEx"
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7.5 I/O Signal Read/Write Function
7.5
I/O Signal Read/Write Function
Reads or writes the I/O signals.
The following functions are available.
BscReadIO
BscReadIO2
BscWriteIO
BscWriteIO2
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7.5 I/O Signal Read/Write Function
BscReadIO
FUNCTION
Reads specified count of coil status. Up to 256 coil numbers can be
specified.
FORMAT
_declspec( dllexport ) short APIENTRY BscReadIO(short
nCid,short add,short num,short *stat);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
add Read starting address number
num Number of read signals (up to 256)
*stat Coil status
OUT (Return)
*stat Coil status
Return Value
-1
: Header number error
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the XRC/MRC.
Refer to the BscReadIO2 for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100.
Unnecessary Signals
All unnecessary signals are set to 0 unless the number of the read
data items is a multiple of 8.
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7.5 I/O Signal Read/Write Function
REMARKS
List of I/O Signals
MRC
Signal
0xxx
1xxx
2xxx
3xxx
4xxx
5xxx
6xxx
7xxx
8xxx
82xx
9xxx
Signal Range
0010 to 0167 (128)
1010 to 1167 (128)
2010 to 2187 (144)
3010 to 3187 (144)
4010 to 4167 (128)
5010 to 5247 (192)
6010 to 6047 (32)
7010 to 7327 (256)
8010 to 8087 (64)
8210 to 8247 (32)
9010 to 9167 (128)
Name
Robot universal input
Robot universal output
External input
External output
Robot specific input
Robot specific output
Timer/counter
Auxiliary relay
Control status signal
Pseudo input signal
DL input
Read
○
○
○
○
○
○
×
○
○
○
○
Write
×
×
×
×
×
×
×
×
×
×
○
Signal Range
0010 to 0247 (192)
1010 to 1247 (192)
2010 to 2327 (256)
3010 to 3327 (256)
4010 to 4287 (224)
5010 to 5387 (304)
7010 to 7887 (704)
8010 to 8127 (96)
8210 to 8247 (32)
9010 to 9167 (128)
Name
Robot universal input
Robot universal output
External input
External output
Robot specific input
Robot specific output
Auxiliary relay
Control status signal
Pseudo input signal
Network input
Read
○
○
○
○
○
○
×
○
○
○
○
Write
×
×
×
×
×
×
×
×
×
×
○
XRC
Signal
0xxx
1xxx
2xxx
3xxx
4xxx
5xxx
6xxx
7xxx
8xxx
82xx
9xxx
CONTROLLER
XRC, MRC (Serial Port, Ethernet)
REFERENCE
"BscWriteIO" "BscReadIO2" "BscWriteIO2"
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7.5 I/O Signal Read/Write Function
BscReadIO2
FUNCTION
Reads specified count of coil status. Up to 256 coil numbers can be
specified.
FORMAT
_declspec( dllexport ) short APIENTRY BscReadIO2(short
nCid,DWORD add,short num,short *stat);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
add Read starting address number
num Number of read signals (up to 256)
*stat Coil status
OUT (Return)
*stat Coil status
Return Value
-1
: Header number error
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100.
Refer to the BscReadIO for transmission with the XRC/ MRC.
Unnecessary Signals
All unnecessary signals are set to 0 unless the number of the read
data items is a multiple of 8.
List of I/O Signals
YRC1000
Sig nal
0xxxx
1xxxx
2xxxx
27xxx
3xxxx
37xxx
4xxxx
5xxxx
6xxxx
7xxxx
8xxxx
87xxx
S ig nal R ang e
0001 0 to 051 27 (40 96)
1001 0 to 151 27 (40 96)
2001 0 to 251 27 (40 96)
2701 0 to 295 67 (20 48)
3001 0 to 351 27 (40 96)
3701 0 to 395 67 (20 48)
4001 0 to 425 67 (20 48)
5001 0 to 551 27 (40 96)
7001 0 to 799 97 (79 92)
8001 0 to 851 27 (40 96)
8701 0 to 872 07 (16 0)
N am e
R ob ot univ ersal inp ut
R ob ot univ ersal outp ut
External inp ut
N etw ork inp ut
External outp ut
N etw ork outp ut
R ob ot sp ecific inp ut
R ob ot sp ecific outp ut
Auxiliary relay
C ontrol status sig nal
Pseudo inp ut sig nal
R ead
○
○
○
○
○
○
○
○
×
○
○
○
W rite
×
×
×
○
×
×
×
×
×
×
×
×
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7.5 I/O Signal Read/Write Function
REMARKS
YRC1000micro
S ig nal
0xxxx
1xxxx
2xxxx
27xxx
3xxxx
37xxx
4xxxx
5xxxx
6xxxx
7xxxx
8xxxx
87xxx
S ig nal R ang e
0001 0 to 051 27 (40 96)
1001 0 to 151 27 (40 96)
2001 0 to 212 87 (10 24)
2701 0 to 295 67 (20 48)
3001 0 to 312 87 (10 24)
3701 0 to 395 67 (20 48)
4001 0 to 425 67 (20 48)
5001 0 to 551 27 (40 96)
7001 0 to 799 97 (79 92)
8001 0 to 851 27 (40 96)
8701 0 to 872 07 (16 0)
N am e
R ob ot univ ersal inp ut
R ob ot univ ersal outp ut
E xternal inp ut
N etw ork inp ut
E xternal output
N etw ork outp ut
R ob ot sp ecific inp ut
R ob ot sp ecific outp ut
A uxiliary relay
C ontrol status sig nal
P seudo inp ut sig nal
R ead
○
○
○
○
○
○
○
○
×
○
○
○
W rite
×
×
×
○
×
×
×
×
×
×
×
×
Sig na l R ange
00010 to 05127 (4096)
10010 to 15127 (4096)
20010 to 25127 (4096)
27010 to 29567 (2048)
30010 to 35127 (4096)
37010 to 39567 (2048)
40010 to 41607 (1280)
50010 to 53007 (2400)
70010 to 79997 (7992)
80010 to 80647 (512)
82010 to 82207 (160)
N am e
R obot universal inp ut
R obot universal outp ut
Externa l inp ut
N etwork inp ut
Externa l o utp ut
N etwork outp ut
R obot specific inp ut
R obot specific outp ut
Auxiliary relay
C ontrol status sig nal
Pseudo input sig nal
R ead
○
○
○
○
○
○
○
○
×
○
○
○
W rite
×
×
×
○
×
×
×
×
×
×
×
×
Signal Range
00010 to 02567 (2048)
10010 to 12567 (2048)
20010 to 22567 (2048)
25010 to 27567 (2048)
30010 to 32567 (2048)
35010 to 37567 (2048)
40010 to 41607 (1280)
50010 to 52007 (1600)
70010 to 79997 (7992)
80010 to 80647 (512)
82010 to 82207 (160)
Name
Robot universal input
Robot universal output
External input
Network input
External output
Network output
Robot specific input
Robot specific output
Auxiliary relay
Control status signal
Pseudo input signal
Read
○
○
○
○
○
○
○
○
×
○
○
○
Write
×
×
×
○
×
×
×
×
×
×
×
×
Signal Range
00010 to 01287 (1024)
10010 to 11287 (1024)
20010 to 21287 (1024)
25010 to 26287 (1024)
30010 to 31287 (1024)
35010 to 36287 (1024)
40010 to 41607 (1280)
50010 to 52007 (1600)
70010 to 79997 (7992)
80010 to 80647 (512)
82010 to 82207 (160)
Name
Robot universal input
Robot universal output
External input
Network input
External output
Network output
Robot specific input
Robot specific output
Auxiliary relay
Control status signal
Pseudo input signal
Read
○
○
○
○
○
○
○
○
×
○
○
○
Write
×
×
×
○
×
×
×
×
×
×
×
×
DX200
S ig na l
0xxxx
1xxxx
2xxxx
27xxx
3xxxx
37xxx
4xxxx
5xxxx
6xxxx
7xxxx
8xxxx
82xxx
DX100
Signal
0xxxx
1xxxx
2xxxx
25xxx
3xxxx
35xxx
4xxxx
5xxxx
6xxxx
7xxxx
8xxxx
82xxx
FS100
Signal
0xxxx
1xxxx
2xxxx
25xxx
3xxxx
35xxx
4xxxx
5xxxx
6xxxx
7xxxx
8xxxx
82xxx
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7.5 I/O Signal Read/Write Function
REMARKS
NX100
Signal
0xxxx
1xxxx
2xxxx
22xxx
3xxxx
32xxx
4xxxx
5xxxx
6xxxx
7xxxx
8xxxx
82xxx
Signal Range
00010 to 01287 (1024)
10010 to 11287 (1024)
20010 to 21287 (1024)
22010 to 23287 (1024)
30010 to 31287 (1024)
32010 to 33287 (1024)
40010 to 40807 (640)
50010 to 51007 (800)
70010 to 79997 (7992)
80010 to 80647 (512)
82010 to 82127 (96)
Name
Robot universal input
Robot universal output
External input
Network input
External output
Network output
Robot specific input
Robot specific output
Auxiliary relay
Control status signal
Pseudo input signal
Read
○
○
○
○
○
○
○
○
×
○
○
○
Write
×
×
×
○
×
×
×
×
×
×
×
×
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100 (Serial
Port, Ethernet)
REFERENCE
"BscWriteIO2" "BscReadIO" "BscWriteIO"
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7.5 I/O Signal Read/Write Function
BscWriteIO
FUNCTION
Writes specified count of coil status. Up to 256 coil numbers can be
specified. Address numbers to be written are only of Nos. 9000's.
FORMAT
_declspec( dllexport ) short APIENTRY BscWriteIO(short nCid,short
add,short num,short *stat);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
add Read starting address number
num Number of read signals (up to 256)
*stat Coil status
OUT (Return)
*stat Coil status
Return Value
-1
: Header number error
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the XRC/MRC.
Refer to the BscWriteIO2 for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100.
Unnecessary Signals
All unnecessary data exist in the last data unless the number of the
written data items is a multiple of 8.
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7.5 I/O Signal Read/Write Function
REMARKS
List of I/O Signals
MRC
Signal
0xxx
1xxx
2xxx
3xxx
4xxx
5xxx
6xxx
7xxx
8xxx
82xx
9xxx
Signal Range
0010 to 0167 (128)
1010 to 1167 (128)
2010 to 2187 (144)
3010 to 3187 (144)
4010 to 4167 (128)
5010 to 5247 (192)
6010 to 6047 (32)
7010 to 7327 (256)
8010 to 8087 (64)
8210 to 8247 (32)
9010 to 9167 (128)
Name
Robot universal input
Robot universal output
External input
External output
Robot specific input
Robot specific output
Timer/counter
Auxiliary relay
Control status signal
Pseudo input signal
DL input
Read
○
○
○
○
○
○
×
○
○
○
○
Write
×
×
×
×
×
×
×
×
×
×
○
Signal Range
0010 to 0247 (192)
1010 to 1247 (192)
2010 to 2327 (256)
3010 to 3327 (256)
4010 to 4287 (224)
5010 to 5387 (304)
7010 to 7887 (704)
8010 to 8127 (96)
8210 to 8247 (32)
9010 to 9167 (128)
Name
Robot universal input
Robot universal output
External input
External output
Robot specific input
Robot specific output
Auxiliary relay
Control status signal
Pseudo input signal
Network input
Read
○
○
○
○
○
○
×
○
○
○
○
Write
×
×
×
×
×
×
×
×
×
×
○
XRC
Signal
0xxx
1xxx
2xxx
3xxx
4xxx
5xxx
6xxx
7xxx
8xxx
82xx
9xxx
CONTROLLER
XRC, MRC (Serial Port, Ethernet)
REFERENCE
"BscReadIO" "BscReadIO2" "BscWriteIO2"
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7.5 I/O Signal Read/Write Function
BscWriteIO2
FUNCTION
Writes specified count of coil status. Up to 256 coil numbers can be
specified. Address numbers to be written are only of or
Nos.27000’s (YRC1000/YRC1000micro/DX200) Nos.25000’s
(FS100/DX100) or Nos. 22000's (NX100).
FORMAT
_declspec( dllexport ) short APIENTRY BscWriteIO2(short
nCid,DWORD add,short num,short *stat);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
add Read starting address number
num Number of read signals (up to 256)
*stat Coil status
OUT (Return)
*stat Coil status
Return Value
-1
: Header number error
0
: Normal completion
Others : Error codes
REMARKS
Restrictions
This function is effective only for transmission with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100.
Refer to the BscWriteIO for transmission with the XRC/ MRC.
Unnecessary Signals
All unnecessary data exist in the last data unless the number of the
written data items is a multiple of 8.
List of I/O Signals
YRC1000
Sig nal
0xxxx
1xxxx
2xxxx
27xxx
3xxxx
37xxx
4xxxx
5xxxx
6xxxx
7xxxx
8xxxx
87xxx
S ig nal R ang e
0001 0 to 051 27 (40 96)
1001 0 to 151 27 (40 96)
2001 0 to 251 27 (40 96)
2701 0 to 295 67 (20 48)
3001 0 to 351 27 (40 96)
3701 0 to 395 67 (20 48)
4001 0 to 425 67 (20 48)
5001 0 to 551 27 (40 96)
7001 0 to 799 97 (79 92)
8001 0 to 851 27 (40 96)
8701 0 to 872 07 (16 0)
N am e
R ob ot univ ersal inp ut
R ob ot univ ersal outp ut
External inp ut
N etw ork inp ut
External outp ut
N etw ork outp ut
R ob ot sp ecific inp ut
R ob ot sp ecific outp ut
Auxiliary relay
C ontrol status sig nal
Pseudo inp ut sig nal
R ead
○
○
○
○
○
○
○
○
×
○
○
○
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×
×
×
○
×
×
×
×
×
×
×
×
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7.5 I/O Signal Read/Write Function
REMARKS
YRC1000micro
S ig nal
0xxxx
1xxxx
2xxxx
27xxx
3xxxx
37xxx
4xxxx
5xxxx
6xxxx
7xxxx
8xxxx
87xxx
S ig nal R ang e
0001 0 to 051 27 (40 96)
1001 0 to 151 27 (40 96)
2001 0 to 212 87 (10 24)
2701 0 to 295 67 (20 48)
3001 0 to 312 87 (10 24)
3701 0 to 395 67 (20 48)
4001 0 to 425 67 (20 48)
5001 0 to 551 27 (40 96)
7001 0 to 799 97 (79 92)
8001 0 to 851 27 (40 96)
8701 0 to 872 07 (16 0)
N am e
R ob ot univ ersal inp ut
R ob ot univ ersal outp ut
E xternal inp ut
N etw ork inp ut
E xternal output
N etw ork outp ut
R ob ot sp ecific inp ut
R ob ot sp ecific outp ut
A uxiliary relay
C ontrol status sig nal
P seudo inp ut sig nal
R ead
○
○
○
○
○
○
○
○
×
○
○
○
W rite
×
×
×
○
×
×
×
×
×
×
×
×
Sig na l R ange
00010 to 05127 (4096)
10010 to 15127 (4096)
20010 to 25127 (4096)
27010 to 29567 (2048)
30010 to 35127 (4096)
37010 to 39567 (2048)
40010 to 41607 (1280)
50010 to 53007 (2400)
70010 to 79997 (7992)
80010 to 80647 (512)
82010 to 82207 (160)
N am e
R obot universal inp ut
R obot universal outp ut
Externa l inp ut
N etwork inp ut
Externa l o utp ut
N etwork outp ut
R obot specific inp ut
R obot specific outp ut
Auxiliary relay
C ontrol status sig nal
Pseudo input sig nal
R ead
○
○
○
○
○
○
○
○
×
○
○
○
W rite
×
×
×
○
×
×
×
×
×
×
×
×
DX200
S ig na l
0xxxx
1xxxx
2xxxx
27xxx
3xxxx
37xxx
4xxxx
5xxxx
6xxxx
7xxxx
8xxxx
82xxx
DX100
Signal
0xxxx
1xxxx
2xxxx
25xxx
3xxxx
35xxx
4xxxx
5xxxx
6xxxx
7xxxx
8xxxx
82xxx
Signal Range
00010 to 02567 (2048)
10010 to 12567 (2048)
20010 to 22567 (2048)
25010 to 27567 (2048)
30010 to 32567 (2048)
35010 to 37567 (2048)
40010 to 41607 (1280)
50010 to 52007 (1600)
70010 to 79997 (7992)
80010 to 80647 (512)
82010 to 82207 (160)
Name
Robot universal input
Robot universal output
External input
Network input
External output
Network output
Robot specific input
Robot specific output
Auxiliary relay
Control status signal
Pseudo input signal
Read
○
○
○
○
○
○
○
○
×
○
○
○
Write
×
×
×
○
×
×
×
×
×
×
×
×
Signal Range
00010 to 01287 (1024)
10010 to 11287 (1024)
20010 to 21287 (1024)
25010 to 26287 (1024)
30010 to 31287 (1024)
35010 to 36287 (1024)
40010 to 41607 (1280)
50010 to 52007 (1600)
70010 to 79997 (7992)
80010 to 80647 (512)
82010 to 82207 (160)
Name
Robot universal input
Robot universal output
External input
Network input
External output
Network output
Robot specific input
Robot specific output
Auxiliary relay
Control status signal
Pseudo input signal
Read
○
○
○
○
○
○
○
○
×
○
○
○
Write
×
×
×
○
×
×
×
×
×
×
×
×
FS100
Signal
0xxxx
1xxxx
2xxxx
25xxx
3xxxx
35xxx
4xxxx
5xxxx
6xxxx
7xxxx
8xxxx
82xxx
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7.5 I/O Signal Read/Write Function
REMARKS
NX100
Signal
0xxxx
1xxxx
2xxxx
22xxx
3xxxx
32xxx
4xxxx
5xxxx
6xxxx
7xxxx
8xxxx
82xxx
Signal Range
00010 to 01287 (1024)
10010 to 11287 (1024)
20010 to 21287 (1024)
22010 to 23287 (1024)
30010 to 31287 (1024)
32010 to 33287 (1024)
40010 to 40807 (640)
50010 to 51007 (800)
70010 to 79997 (7992)
80010 to 80647 (512)
82010 to 82127 (96)
Name
Robot universal input
Robot universal output
External input
Network input
External output
Network output
Robot specific input
Robot specific output
Auxiliary relay
Control status signal
Pseudo input signal
Read
○
○
○
○
○
○
○
○
×
○
○
○
Write
×
×
×
○
×
×
×
×
×
×
×
×
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100 (Serial
Port, Ethernet)
REFERENCE
"BscReadIO2" "BscReadIO" "BscWriteIO"
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7.6 Other Functions
7.6
Other Functions
The following functions are also available.
BscClose
BscCommand
BscConnect
BscDisConnect
BscDiskFreeSizeGet
BscEnforcedClose
BscGets
BscInBytes
BscOpen
BscOutBytes
BscPuts
BscReConnect
BscReStartJob
BscSetBreak
BscSetCom
BscSetCondBSC
BscSetEServerMode
BscSetEther
BscStatus
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7.6 Other Functions
BscClose
FUNCTION
Releases a communication handler.
FORMAT
_declspec( dllexport ) short APIENTRY BscClose(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Failed to release
REMARKS
Call Condition
It is necessary to disconnect the communications lines BscDisConnect function before calling this function.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscOpen" "BscDisConnect"
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7.6 Other Functions
BscCommand
FUNCTION
Sends a transmission command.
FORMAT
_declspec( dllexport ) short APIENTRY BscCommand(short
nCid,char *h_buf,char *d_buf,short fforever);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*h_buf Header character string pointer
*d_buf Data character string pointer
fforever Robot response; 0 : No wait; 1 : Wait
OUT (Return)
None
Return Value
-1
: Failed to send
Others : Normal completion
REMARKS
Header Character String
The header character string is represented by the header number
and sub code number, in that order.
Data Character String
The data character string is represented by the data queue plus \r
(carriage return) at the end.
<Example>
When sending the "SERVO ON" command
If Header number 01
Sub code number 000,
then Header character string 01,000
Data character string SVON 1\r
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
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7.6 Other Functions
BscConnect
FUNCTION
Connects communications lines.
FORMAT
_declspec( dllexport ) short APIENTRY BscConnect(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0 : Error
1 : Normal completion
REMARKS
Call Condition
Before calling this function, it is necessary to set the communications lines with BscOpen function followed by BscSetCom function
(serial port) or BscSetEther function (Ethernet) or BscSetEServerMode function (Ethernet Server).
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscOpen" "BscSetCom"(Serial Port) "BscSetEther"(Ethernet)
"BscDisConnect"
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7.6 Other Functions
BscDisConnect
FUNCTION
Disconnects communications lines.
FORMAT
_declspec( dllexport ) short APIENTRY BscDisConnect(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0 : Error
1 : Normal completion
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscClose" "BscConnect"
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7.6 Other Functions
BscDiskFreeSizeGet
FUNCTION
Gets free capacity of the specified drive.
FORMAT
_declspec( dllexport ) short APIENTRY BscDiskFreeSizeGet(short
nCid,short dno,long *dsize);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
dno Drive number 1:A to 26:Z
dsize Free capacity pointer
OUT (Return)
dsize Free capacity pointer
Return Value
0 : Error
1 : Normal completion
REMARKS
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
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7.6 Other Functions
BscEnforcedClose
FUNCTION
Closes compulsorily.
FORMAT
_declspec( dllexport ) short APIENTRY BscEnforcedClose(short
nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
Others : Failed to release
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscOpen" "BscDisConnect"
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7.6 Other Functions
BscGets
FUNCTION
Sends a character string by transmission in TTY level.
FORMAT
_declspec( dllexport ) short APIENTRY BscGets(short nCid,char
*bufptr,WORD bsize,WORD *plengets);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*bufptr
Received character string pointer
bsize
Maximum character count
plengets Received character count
OUT (Return)
*bufptr Received character string pointer
Return Value
Received character count
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscPuts" "BscInBytes" "BscOutBytes"
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7.6 Other Functions
BscInBytes
FUNCTION
Returns the number of characters which are received by transmission in TTY level.
FORMAT
_declspec( dllexport ) short APIENTRY BscInBytes(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
Received character count
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscGets" "BscPuts" "BscOutBytes"
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7.6 Other Functions
BscOpen
FUNCTION
Gets a communication handler.
FORMAT
_declspec( dllexport ) short APIENTRY BscOpen(char *path,short
mode);
ARGUMENTS
IN (Transfer)
*path Communication current directory storage pointer
mode Communication type : 1 (=0x01) : serial port,
16 (=0x10) : Ethernet
256 (=0x100) : Ethernet Server
OUT (Return)
None
Return Value
-1
: Acquisition Failure
-8
: License Error
Others : Communication handler ID number
REMARKS
Call Condition
By calling the BscSetCom function (serial port) or BscSetEther
(Ethernet) BscSetEServerMode(Ethernet Server) BscConnect function after calling this function, communications can be started.
Type of Communications
Only 1 (=1x01): serial port or 16 (=0x10): Ethernet or 256 (=0x100):
Ethernet Server can be used. For any other values, an error
occurs.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscClose" "BscSetCom"(Serial Port) "BscSetEther"(Ethernet)
"BscSetEServerMode"(Ethernet Server) "BscConnect"
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7.6 Other Functions
BscOutBytes
FUNCTION
Returns the remaining number of characters which are sent by
transmission in TTY level.
FORMAT
_declspec( dllexport ) short APIENTRY BscOutBytes(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
Sending character count
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscGets" "BscPuts" "BscInBytes"
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7.6 Other Functions
BscPuts
FUNCTION
Sends a character string by transmission in TTY level.
FORMAT
_declspec( dllexport ) short APIENTRY BscPuts(short nCid,char
*bufptr,WORD length);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*bufptr Sending character string pointer
length Sending character count
OUT (Return)
None
Return Value
Sending character count
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscGets" "BscInBytes" "BscOutBytes"
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7.6 Other Functions
BscReConnect
FUNCTION
Connects communications lines again.
FORMAT
_declspec( dllexport ) short APIENTRY BscReConnect(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0 : Error
1 : Normal completion
REMARKS
Call Condition
Before calling this function, it is necessary to set the communications lines with the BscOpen function and BscSetCom function
(serial port), or BscSetEther function (Ethernet) or BscSetEServerMode function (Ethernet Server).
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscOpen" "BscSetCom"(Serial Port) "BscSetEther"(Ethernet)
"BscDisConnect"
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7.6 Other Functions
BscReStartJob
FUNCTION
Starts job again.
FORMAT
_declspec( dllexport ) short APIENTRY BscReStartJob(short nCid);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
OUT (Return)
None
Return Value
0
: Normal completion
1
: Current job name not specified
Others : Error codes
REMARKS
Call Condition
The BscSelectJob function must be called up and the current job
name must be specified before executing this function.
To restart a job during startup that has been held by the BscHoldOn
function, release the hold by BscHoldOff function to call up the BscContinueJob function.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscContinueJob" "BscSelectJob"
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7.6 Other Functions
BscSetBreak
FUNCTION
Cancels transmission.
FORMAT
_declspec( dllexport ) short APIENTRY BscSetBreak(short
nCid,short flg);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
flg
Forced completion flag ; 0 : No forced completion,
1 : Forced completion
OUT (Return)
None
Return Value
-1 : Communication handler error
0 : Normal completion
REMARKS
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
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7.6 Other Functions
BscSetCom
FUNCTION
Sets communications parameters of the serial port.
FORMAT
_declspec( dllexport ) short APIENTRY BscSetCom(short nCid,
short port,DWORD baud,short parity,short clen,short stp);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
port Communication port number
1 : COM1, 2 : COM2, 3 : COM3, 4 : COM4, ･･･ ,
255 : COM255
baud Baud rate 150, 300, 600, 1200, 2400, 4800, 9600, 19200
parity Parity 0: None, 1: Odd, 2: Even
clen Data length 7: 7 bits, 8: 8 bits
Stop bit 0 : 1 bit, 1 : 1.5 bits, 2 : 2 bits
stp
OUT (Return)
None
Return Value
0 : Error
1 : Normal completion
REMARKS
Call Condition
Before calling this function, it is necessary to get the communication
handler of the serial port with BscOpen function. After calling this
function, communications can be done using the BscConnect function.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC, ERC (Serial Port)
REFERENCE
"BscOpen" "BscConnect"
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7.6 Other Functions
BscSetCondBSC
FUNCTION
Sets a communication control timer or retry counter.
FORMAT
_declspec( dllexport ) short APIENTRY BscSetCondBSC(short
nCid,short timerA,short timerB,short rtyR,short rtyW);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
timerA Timer A (control timer, unit: msec)
timerB Timer B (text timer, unit: msec)
rtyR
Sequence retry counter
rtyW
Text retry counter
OUT (Return)
None
Return Value
-1 : Communication handler error
0 : Normal completion
REMARKS
Initial Value
timerA 10000(msec)
timerB 30000(msec)
rtyR
3
rtyW
3
Note:
This function is used to change the parameters of MOTOCOM32 on
the personal computer.
To change the robot controller transmission parameters (control timers, retry counter), use the programming pendant of the robot controller.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
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7.6 Other Functions
BscSetEServerMode
FUNCTION
Sets the communication parameters for Ethernet Server function.
FORMAT
_declspec( dllexport ) short APIENTRY BscSetEServerMode(short
nCid, char *IPaddr, short Mode);
ARGUMENTS
IN (Transfer)
nCid
Communication handler ID number
*IPaddr IP address of receiver
Mode
Server communication mode 1: Server mode,
-1: Exclusive mode
OUT (Return)
None
Return Value
0 : Error
1 : Normal completion
REMARKS
Call Condition
Before calling this function, it is necessary to get the communication
handler of the serial port with BscOpen function. After calling this
function, communications can be done using the BscConnect function.
Mode Specification
This function specifies the Ethernet Server mode. The following
modes are available:
Server Mode:
The network connection between the controller and application is
ended after each command. Because of this, multiple applications
can communicate simultaneously to the same controller via the
network connection.
Exclusive Mode:
The network connection with the controller is exclusive to a single
application. After the BscConnect function is called, the network
connection is maintained until the BscDisConnect function is
called.
Because the differences between these network connection modes
are processed inside MOTOCOM32, it is not necessary to make
any change to the connection method on application side, other
than to appoint the mode with this function.
Restrictions
DCI function is not supported with Ethernet Server function communication.
The function is only available for communication with the YRC1000/
YRC1000micro/DX200/DX100/FS100/NX100.
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100 (Ethernet)
REFERENCE
"BscOpen" "BscConnect"
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7.6 Other Functions
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7.6 Other Functions
BscSetEther
FUNCTION
Sets parameters for Ethernet communications.
FORMAT
_declspec( dllexport ) short APIENTRY BscSetEther(short nCid,
char *IPaddr, short mode, HWND hWnd);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
IPaddr IP address of receiver
mode Execution mode 0: Client, 1: Stand alone
hWnd Window handle
OUT (Return)
None
Return Value
0 : Error
1 : Normal completion
REMARKS
Call Condition
Before calling this function, it is necessary to get the communication
handler of the serial port with BscOpen function. After calling this
function, communications can be done using the BscConnect function.
Execution Mode and IP Address of Receiver
Select the corresponding "mode" argument to the communications
function to be used. That "mode" argument determines whether the
application to be operated by personal computer is to be client or
server.
Function
Host Control
DCI
Stand Alone
Mode
(Personal Computer)
0 (Client)
IPaddr
Must be always set.
1 (Server)
Can be omitted.
When the personal computer is set to server (mode = 1), setting
YRC1000/YRC1000micro/DX200/DX100/FS100/NX100/XRC/MRC
IP address to the IP address (IPaddr) determines that the server is
a specified client server.
<Example>
Client:
BscSetEther(nCid, "192.168.10.10", 0, hWnd);
Specified client server (IP address must be always written.):
BscSetEther(nCid, "192.168.10.10", 1, hWnd);
Some client servers (IP address is not written.):
BscSetEther(nCid, "", 1, hWnd);
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Ethernet)
REFERENCE
"BscOpen" "BscConnect"
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7.6 Other Functions
BscStatus
FUNCTION
Reads the status.
FORMAT
_declspec( dllexport ) short APIENTRY BscStatus(short nCid,char
*hpt,char *dpt,unsigned short sz,char *rbuf);
ARGUMENTS
IN (Transfer)
nCid Communication handler ID number
*hpt Header character string pointer
*dpt Sending data character string pointer
sz
Sending data character string size
*rbuf Received data character string pointer
OUT (Return)
*rbuf Received data character string pointer
Return Value
0
: Normal completion
Others : Error codes
CONTROLLER
YRC1000, YRC1000micro, DX200, DX100, FS100, NX100, XRC,
MRC (Serial Port, Ethernet)
ERC (Serial Port)
REFERENCE
"BscGetStatus"
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7.7 DLL Functions Corresponding to Transmission-related Key words
7.7 DLL Functions Corresponding to Transmissionrelated Key words
7.7.1
DLL Functions Related to Transmission Commands
Read/Monitoring System
RALARM
BscGetError
BscGetError2
BscGetFirstAlarm
BscGetNextAlarm
BscIsErrorCode
RPOS
BscIsLoc
RPOSJ
BscIsLoc
BscGetPulsePos
RSTATS
BscGetStatus
BscIsCycle
BscIsServo
BscIsTeachMode
BscIsPlayMode
BscIsRemoteMode
BscIsHold
BscIsAlarm
BscIsError
RJSEQ
BscIsJobName
BscIsJobLine
BscIsJobStep
RPOSC
BscIsRobotPos
BscGetCartPos
JWAIT
BscJobWait
RGROUP
BscGetCtrlGroupDX
BscIsCtrlGroupDX
BscGetCtrlGroupXrc
BscIsCtrlGroupXrc
BscIsTaskInfXrc
BscGetCtrlGroup
BscIsCtrlGroup
BscIsTaskInf
RTRQ
BscGetTorque
RMAXTRQ
BscGetMaxTorque
RENCTMP
BscGetEncTmp
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7.7 DLL Functions Corresponding to Transmission-related Key words
RSYSTM
BscGetSysTime
Read/Data Access System
RJDIR
BscFindFirst
BscFindFirstMaster
BscFindNext
BscFindNextMaster
RUFRAME
BscGetUFrame
UPLOAD
BscUpload
BscUploadEx
SAVEV
BscGetVarData
BscGetVarData2
BscHostGetVarData
BscHostGetVarDataM
BscGetVarDataEx
Operation System
HOLD
BscHoldOn
BscHoldOff
RESET
BscReset
CANCEL
BscCancel
MODE
BscSelectMode
CYCLE
BscSelStepCycle
BscSelOneCycle
BscSelLoopCycle
HLOCK
BscOPLock
BscOPUnLock
MDSP
BscMDSP
SVON
BscServoOn
BscServoOff
CGROUP
BscSetCtrlGroupDX
BscSetCtrlGroupXrc
BscSetCtrlGroup
CTASK
BscChangeTask
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7.7 DLL Functions Corresponding to Transmission-related Key words
Editing System
DELETE
BscDeleteJob
WUFRAME
BscPutUFrame
BscPutUFrameEx2
CVTRJ
BscConvertJobP2R
DOWNLOAD
BscDownload
BscDownloadEx
CVTSJ
BscConvertJobR2P
LOADV
BscPutVarData
BscPutVarData2
BscHostPutVarData
BscHostPutVarDataM
BscPutVarDataEx
Job Selection System
SETMJ
BscSetMasterJob
JSEQ
BscSetLineNumber
Startup System
START
BscStartJob
BscContinueJob
MOVJ
BscMovj
BscMovjEx
BscMov
BscMovEx
BscMovEx2
MOVL
BscMovl
BscMovlEx
BscMov
BscMovEx
BscMovEx2
IMOV
BscImov
BscImovEx
BscImovEx2
BscMov
BscMovEx
BscMovEx2
PMOVJ
BscPMovj
BscPMovjEx
BscPMov
BscPMovEx
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7.7 DLL Functions Corresponding to Transmission-related Key words
PMOVL
BscPMovl
BscPMovlEx
BscPMov
BscPMovEx
Other DLL Functions
BscCommand
BscStatus
7.7.2
DLL Functions Related to DCI Function
LOADJ
BscDCILoadSave
BscDCILoadSaveOnce
SAVEJ
BscDCILoadSave
BscDCILoadSaveOnce
LOADV
BscDCIGetPos
BscDCIGetPos2
BscDCIGetVarData
BscDCIGetVarDataEx
SAVEV
BscDCIPutPos
BscDCIPutPos2
BscDCIPutVarData
BscDCIPutVarDataEx
7.7.3
DLL Functions Related to I/O Read/Write
I/O Read
BscReadIO
BscReadIO2
I/O Write
BscWriteIO
BscWriteIO2
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7.7 DLL Functions Corresponding to Transmission-related Key words
7.7.4
DLL Functions Related to Personal Computer Communications Port
Port Connection
BscOpen
BscSetCom
BscSetEServerMode
BscSetEther
BscConnect
BscReConnect
Port Disconnection
BscClose
BscDisConnect
BscEnforcedClose
Transmission
Parameter Setting
BscSetCondBSC
7.7.5
Other DLL Functions
BscDiskFreeSizeGet
BscGets
BscInBytes
BscOutBytes
BscPuts
BscSetBreak
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8.1 Frequently-asked questions
8 Appendix
8.1
Frequently-asked questions
When the driver has been installed with USB type key connected to
a personal computer
1. With the USB type key attached to a personal computer, delete the item registered
as"USB Token" in Device Manager.
2. Uninstall the driver (Sentinel System Driver) with "Add/Remove Programs".
3. Install the driver with key detached from personal computer.
(For installation, refer to " 1.4 Hardware Lock Key " in the following section.)
When the previous version key driver has been installed after installing the key driver
Although it is rare, there may be some trouble in this case.
Uninstall the driver(Sentinel System Driver) with "Add / Remove Programs".
(For installation, refer to " 1.4 Hardware Lock Key " in the following section.)
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MOTOCOM32
OPERATOR’S MANUAL
For inquiries or after-sales service on this product, contact
your local YASKAWA representative as shown below.
YASKAWA ELECTRIC CORPORATION
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu, 806-0004, Japan
Phone: +81-93-645-7703 Fax: +81-93-645-7802
www.yaskawa.co.jp
YASKAWA AMERICA, INC. (MOTOMAN ROBOTICS DIVISION)
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone: +1-937-847-6200 Fax: +1-937-847-6277
www.motoman.com
YASKAWA EUROPE GmbH (ROBOTICS DIVISION)
Yaskawastrasse 1, 85391, Allershausen, Germany
Phone: +49-8166-90-100 Fax: +49-8166-90-103
www.yaskawa.eu.com
YASKAWA NORDIC AB
Verkstadsgatan 2, Box 504, SE-385 25 Torsas, Sweden
Phone: +46-480-417-800 Fax: +46-486-414-10
www.yaskawa.se
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai 200021, China
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
www.yaskawa.com.cn
YASKAWA SHOUGANG ROBOT CO., LTD.
No.7 Yongchang North Road, Beijing E&T Development Area, Beijing 100076, China
Phone: +86-10-6788-2858 Fax: +86-10-6788-2878
www.ysr-motoman.cn
YASKAWA ELECTRIC KOREA CORPORATION
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea
Phone: +82-2-784-7844 Fax: +82-2-784-8495
www.yaskawa.co.kr
YASKAWA ELECTRIC TAIWAN CORPORATION
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone: +886-2-8913-1333 Fax: +886-2-8913-1513
www.yaskawa.com.tw
YASKAWA ASIA PACIFIC PTE. LTD.
30A Kallang Place, #06-01, 339213, Singapore
Phone: +65-6282-3003 Fax: +65-6289-3003
www.yaskawa.com.sg
YASKAWA ELECTRIC (THAILAND) CO., LTD.
59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang,
Bangkok 10310, Thailand
Phone: +66-2-017-0099 Fax: +66-2-017-0199
www.yaskawa.co.th
PT. YASKAWA ELECTRIC INDONESIA
Secure Building-Gedung B Lantai Dasar & Lantai 1 Jl. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone: +62-21-2982-6470 Fax: +62-21-2982-6471
www.yaskawa.co.id
YASKAWA INDIA PRIVATE LIMITED (ROBOTICS DIVISION)
#426, Udyog Vihar Phase-IV, Gurugram, Haryana 122016, India
Phone: +91-124-475-8500 Fax: +91-124-475-8542
www.yaskawaindia.in
Specifications are subject to change without notice
for ongoing product modifications and improvements.
C Printed in Japan June 2023 99-09
MANUAL NO.
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