ndVput
(Library)
Transfers the position posture to an external device (RS232C input/output).
ndVput (<Storage variable type>, <Storage variable number>)
This statement provides a similar function to a VPUT instruction in the conventional language.
If <Position variable number> is negative:
The system transfers the robot's current position coordinates (the home position coordinates in the tool coordinate system when the tool is defined.) and a posture or contents of the position variable to an external device.
If <Position variable number> is positive:
The system transfers a storage variable type and contents of the position variable designated with a storage variable number, to the external device.
Requires file <pacman.h>
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#include <pacman.h>
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PROGRAM PRO65
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FLUSH
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CALL ndVType(1)
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'Sets the protocol (Conventional = 0/ New = 1)
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CALL nsVrst
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'Initializes the external device.
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CALL ndVis(4)
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'Starts up the external device (Sends 03).
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P1 = (1,2,3,4,5,6,7)
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J1 = (11,12,13,14,15,16)
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T1 = (21,22,23,24,25,26,27,28,29,30)
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CALL ndVput(pacPOS,1)
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'Sends the data of variable "P1"
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CALL ndVput(pacJNT,1)
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'Sends the data of variable "J1"
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CALL ndVput(pacTRN,1)
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'Sends the data of variable "T1"
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END
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