VARKON Version 1.18A 2004-09-07

 
 

rap_inrobtarget - function

 

Description

Read Rapid 'robtaget' variable to varkon variables
 

Syntax

RAP_INROBTARGET(client, var_name, trans, rot, conf, extax);
 
INT client
STRING var_name
VECTOR trans
FLOAT rot(4)
FLOAT conf(4)
FLOAT
extax(6)


 

Principal parameters

client - id of the created RPC connection to use
var_name - the name of the rapid robtarget-variable to read
trans - position (x,y,z)
rot
- orientaion (q1, q2, q3, q4)
conf
- confdata (cf1, cf4, cf6, cfx)
extax
- external axes (eax_a, eax_b, eax_c, eax_d, eax_e, eax_f)


 

Optional parameters

none
 

Return value

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

Comments

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

See also

tcp_connect()     tcp_listen()     tcp_close()     tcp_outint()     tcp_inint()     tcp_outvec()     tcp_invec()     tcp_infloat()     tcp_getlocal()     tcp_getremote()    
 

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