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| int | check_xbus_prot (unsigned char *datas, int funcode) |
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| void | close (void) |
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| int | is_ok (void) |
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| int | send_pend (int funcode, int num, int timeout, unsigned char *ret_data) |
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| int | send_xbus (int funcode, unsigned char *datas, int num) |
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| | UxbusCmdTcp (SocketPort *arm_port) |
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| | ~UxbusCmdTcp (void) |
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| int | cgpio_delay_set_digital (int ionum, int value, float delay_sec) |
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| int | cgpio_get_analog1 (float *value) |
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| int | cgpio_get_analog2 (float *value) |
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| int | cgpio_get_auxdigit (int *value) |
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| int | cgpio_get_state (int *state, int *digit_io, float *analog, int *input_conf, int *output_conf, int *input_conf2=NULL, int *output_conf2=NULL) |
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| int | cgpio_position_set_analog (int ionum, float value, float xyz[3], float tol_r) |
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| int | cgpio_position_set_digital (int ionum, int value, float xyz[3], float tol_r) |
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| int | cgpio_set_analog1 (float value) |
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| int | cgpio_set_analog2 (float value) |
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| int | cgpio_set_auxdigit (int ionum, int value) |
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| int | cgpio_set_infun (int ionum, int fun) |
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| int | cgpio_set_outfun (int ionum, int fun) |
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| int | check_verification (int *rx_data) |
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| int | clean_conf (void) |
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| int | clean_err (void) |
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| int | clean_war (void) |
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| int | cnter_plus (void) |
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| int | cnter_reset (void) |
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| int | config_io_stop_reset (int io_type, int val) |
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| int | get_cmdnum (int *rx_data) |
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| int | get_err_code (int *rx_data) |
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| int | get_fk (float angles[7], float pose[6]) |
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| int | get_hd_types (int *rx_data) |
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| int | get_ik (float pose[6], float angles[7]) |
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| int | get_joint_pose (float angles[7]) |
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| int | get_joint_tau (float jnt_taus[7]) |
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| int | get_pose_offset (float pose1[6], float pose2[6], float offset[6], int orient_type_in=0, int orient_type_out=0) |
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| int | get_position_aa (float pose[6]) |
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| int | get_reduced_mode (int *rx_data) |
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| int | get_reduced_states (int *on, int xyz_list[6], float *tcp_speed, float *joint_speed, float jrange_rad[14]=NULL, int *fense_is_on=NULL, int *collision_rebound_is_on=NULL, int length=21) |
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| int | get_report_tau_or_i (int *rx_data) |
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| int | get_robot_sn (unsigned char rx_data[40]) |
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| int | get_safe_level (int *level) |
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| int | get_state (int *rx_data) |
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| int | get_tcp_pose (float pose[6]) |
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| int | get_traj_rw_status (int *rx_data) |
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| int | get_version (unsigned char rx_data[40]) |
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| int | gripper_addr_r16 (int addr, float *value) |
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| int | gripper_addr_r32 (int addr, float *value) |
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| int | gripper_addr_w16 (int addr, float value) |
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| int | gripper_addr_w32 (int addr, float value) |
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| int | gripper_clean_err (void) |
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| int | gripper_get_errcode (int rx_data[2]) |
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| int | gripper_get_pos (float *pulse) |
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| int | gripper_modbus_clean_err (void) |
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| int | gripper_modbus_get_errcode (int *err) |
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| int | gripper_modbus_get_pos (float *pulse) |
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| int | gripper_modbus_r16s (int addr, int len, unsigned char *rx_data) |
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| int | gripper_modbus_set_en (int value) |
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| int | gripper_modbus_set_mode (int value) |
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| int | gripper_modbus_set_pos (float pulse) |
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| int | gripper_modbus_set_posspd (float speed) |
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| int | gripper_modbus_set_zero (void) |
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| int | gripper_modbus_w16s (int addr, float value, int len) |
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| int | gripper_set_en (int value) |
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| int | gripper_set_mode (int value) |
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| int | gripper_set_pos (float pulse) |
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| int | gripper_set_posspd (float speed) |
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| int | gripper_set_zero (void) |
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| int | is_joint_limit (float joint[7], int *value) |
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| int | is_tcp_limit (float pose[6], int *value) |
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| int | load_traj (char filename[81]) |
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| int | motion_en (int id, int value) |
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| int | move_circle (float pose1[6], float pose2[6], float mvvelo, float mvacc, float mvtime, float percent) |
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| int | move_gohome (float mvvelo, float mvacc, float mvtime) |
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| int | move_joint (float mvjoint[7], float mvvelo, float mvacc, float mvtime) |
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| int | move_jointb (float mvjoint[7], float mvvelo, float mvacc, float mvradii) |
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| int | move_line (float mvpose[6], float mvvelo, float mvacc, float mvtime) |
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| int | move_line_aa (float mvpose[6], float mvvelo, float mvacc, float mvtime, int mvcoord=0, int relative=0) |
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| int | move_line_tool (float mvpose[6], float mvvelo, float mvacc, float mvtime) |
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| int | move_lineb (float mvpose[6], float mvvelo, float mvacc, float mvtime, float mvradii) |
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| int | move_servo_cart_aa (float mvpose[6], float mvvelo, float mvacc, int tool_coord=0, int relative=0) |
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| int | move_servo_cartesian (float mvpose[6], float mvvelo, float mvacc, float mvtime) |
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| int | move_servoj (float mvjoint[7], float mvvelo, float mvacc, float mvtime) |
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| int | playback_traj (int times, int spdx=1) |
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| int | playback_traj_old (int times) |
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| int | reload_dynamics (void) |
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| int | save_conf (void) |
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| int | save_traj (char filename[81]) |
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| int | servo_addr_r16 (int id, int addr, float *value) |
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| int | servo_addr_r32 (int id, int addr, float *value) |
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| int | servo_addr_w16 (int id, int addr, float value) |
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| int | servo_addr_w32 (int id, int addr, float value) |
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| int | servo_get_dbmsg (int rx_data[16]) |
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| int | servo_set_zero (int id) |
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| int | set_brake (int axis, int en) |
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| int | set_collis_reb (int on_off) |
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| int | set_collis_sens (int value) |
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| int | set_collision_tool_model (int tool_type, int n=0, float *argv=NULL) |
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| int | set_fense_on (int on_off) |
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| int | set_gravity_dir (float gravity_dir[3]) |
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| int | set_joint_jerk (float jerk) |
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| int | set_joint_maxacc (float maxacc) |
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| int | set_modbus_baudrate (int baud) |
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| int | set_modbus_timeout (int value) |
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| int | set_mode (int value) |
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| int | set_record_traj (int value) |
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| int | set_reduced_jointspeed (float jspd_rad) |
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| int | set_reduced_jrange (float jrange_rad[14]) |
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| int | set_reduced_linespeed (float lspd_mm) |
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| int | set_reduced_mode (int on_off) |
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| int | set_report_tau_or_i (int tau_or_i) |
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| int | set_safe_level (int level) |
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| int | set_self_collision_detection (int on_off) |
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| int | set_servot (float jnt_taus[7]) |
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| int | set_simulation_robot (int on_off) |
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| int | set_state (int value) |
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| int | set_tcp_jerk (float jerk) |
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| int | set_tcp_load (float mass, float load_offset[3]) |
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| int | set_tcp_maxacc (float maxacc) |
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| int | set_tcp_offset (float pose_offset[6]) |
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| int | set_teach_sens (int value) |
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| int | set_timeout (float timeout) |
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| int | set_world_offset (float pose_offset[6]) |
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| int | set_xyz_limits (int xyz_list[6]) |
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| int | shutdown_system (int value) |
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| int | sleep_instruction (float sltime) |
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| int | tgpio_addr_r16 (int addr, float *value) |
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| int | tgpio_addr_r32 (int addr, float *value) |
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| int | tgpio_addr_w16 (int addr, float value) |
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| int | tgpio_addr_w32 (int addr, float value) |
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| int | tgpio_delay_set_digital (int ionum, int value, float delay_sec) |
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| int | tgpio_get_analog1 (float *value) |
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| int | tgpio_get_analog2 (float *value) |
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| int | tgpio_get_digital (int *io1, int *io2) |
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| int | tgpio_position_set_digital (int ionum, int value, float xyz[3], float tol_r) |
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| int | tgpio_set_digital (int ionum, int value) |
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| int | tgpio_set_modbus (unsigned char *send_data, int length, unsigned char *recv_data) |
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| | UxbusCmd (void) |
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| int | vc_set_jointv (float jnt_v[7], int jnt_sync) |
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| int | vc_set_linev (float line_v[6], int coord) |
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| | ~UxbusCmd (void) |
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Public Member Functions inherited from UxbusCmd