Classes | Macros | Typedefs | Functions | Variables
krnx.h File Reference
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Classes

struct  TDebugMotionInfo
 
struct  TDebugSignalInfo
 
struct  TDebugSystemInfo
 
struct  TDebugTrajInfo
 
struct  TDebugVariableInfo
 
struct  TKrnxCurMotionData
 
struct  TKrnxCurMotionDataEx
 
struct  TKrnxCurRobotStatus
 
struct  TKrnxDDSig
 
struct  TKrnxDebugInfoEnt
 
struct  TKrnxErrorList
 
struct  TKrnxIoInfo
 
struct  TKrnxIoInfoEx
 
struct  TKrnxMonInfo
 
struct  TKrnxMotionInfo
 
struct  TKrnxPanelInfo
 
struct  TKrnxProgramInfo
 
struct  TKrnxRtcInfo
 
struct  TKrnxRtIoCtlDI
 
struct  TKrnxRtIoCtlDO
 
struct  TKrnxRtIoCtlInternal
 
struct  TKrnxStepperInfo
 
struct  TSignalEx
 

Macros

#define CALLBACK
 
#define DBG_FVAL_NUM   16
 
#define DECLSPEC_IMPORT
 
#define DI_MAX_SIGNAL   960
 
#define DO_MAX_SIGNAL   960
 
#define FALSE   0
 
#define INT_CBUF_SIZ   512
 
#define INTERNAL_MAX_SIGNAL   960
 
#define KRNX_CYC_KIND_ANGLE   (0x0001) /* 各軸位置(現在値) [rad or mm] */
 
#define KRNX_CYC_KIND_ANGLE_REF   (0x0002) /* 各軸位置(指令値) [rad or mm] */
 
#define KRNX_CYC_KIND_ANGLE_VEL   (0x0100) /* 各軸速度値(現在値/指令値) [rad/s or mm/s] */
 
#define KRNX_CYC_KIND_CURRENT   (0x0004) /* 各軸電流値(現在値) [A] */
 
#define KRNX_CYC_KIND_CURRENT_REF   (0x0020) /* 各軸電流値(指令値) [A] */
 
#define KRNX_CYC_KIND_CURRENT_SAT   (0x0040) /* 各軸電流飽和率(現在値/指令値) */
 
#define KRNX_CYC_KIND_ENCORDER   (0x0008) /* 各軸エンコーダー値(現在値) [bit] */
 
#define KRNX_CYC_KIND_ENCORDER_REF   (0x0080) /* 各軸エンコーダー値(指令値) [bit] */
 
#define KRNX_CYC_KIND_ERROR   (0x0010) /* エラーランプ/コード */
 
#define KRNX_CYC_KIND_LEGACY   (KRNX_CYC_KIND_ANGLE|KRNX_CYC_KIND_ANGLE_REF|KRNX_CYC_KIND_CURRENT|KRNX_CYC_KIND_ERROR)
 
#define KRNX_CYC_KIND_ROBOT_STATUS   (0x1000) /* ロボット状態 */
 
#define KRNX_CYC_KIND_SIG_EXTERNAL   (0x0400) /* 外部出力/入力信号 */
 
#define KRNX_CYC_KIND_SIG_INTERNAL   (0x0800) /* 内部信号 */
 
#define KRNX_CYC_KIND_SIZE   (13) /* 種類数 */
 
#define KRNX_CYC_KIND_SUPPORTED   ((1<<KRNX_CYC_KIND_SIZE)-1)
 
#define KRNX_CYC_KIND_XYZOAT   (0x0200) /* 変換位置/速度(現在値/指令値) [rad, mm, rad/s or mm/s][rad/s or mm/s] */
 
#define KRNX_CYC_KRNX2AS_KIND_ANGLE_RELATIVE   (0x0001) /* 各軸位置(相対値) [rad or mm] */
 
#define KRNX_CYC_KRNX2AS_KIND_LEGACY   (KRNX_CYC_KRNX2AS_KIND_ANGLE_RELATIVE)
 
#define KRNX_CYC_KRNX2AS_KIND_SIG_EXTERNAL_INPUT   (0x0004) /* 外部入力信号 */
 
#define KRNX_CYC_KRNX2AS_KIND_SIG_EXTERNAL_OUTPUT   (0x0002) /* 外部出力信号 */
 
#define KRNX_CYC_KRNX2AS_KIND_SIG_INTERNAL   (0x0008) /* 内部信号 */
 
#define KRNX_CYC_KRNX2AS_KIND_SIZE   (4) /* 種類数*/
 
#define KRNX_CYC_KRNX2AS_KIND_SUPPORTED   ((1<<KRNX_CYC_KRNX2AS_KIND_SIZE)-1 )
 
#define KRNX_E_ALREADYOPENED   (-0x2009)
 
#define KRNX_E_ASDELAYED   (-0x2012)
 
#define KRNX_E_ASERROR   (-0x1020)
 
#define KRNX_E_AUXNOTREADY   (-0x1004)
 
#define KRNX_E_AVOID_SING   (-0x1013) /* EX3578 a++ */
 
#define KRNX_E_BADARGS   (-0x1000)
 
#define KRNX_E_BADUSRID   (-0x100c)
 
#define KRNX_E_BUFDATANUM   (-0x2015)
 
#define KRNX_E_BUFEMPTY   (-0x2013)
 
#define KRNX_E_BUFNO   (-0x2014)
 
#define KRNX_E_BUFRCV   (-0x1011)
 
#define KRNX_E_BUFSND   (-0x1010)
 
#define KRNX_E_BUFTMO   (-0x1012)
 
#define KRNX_E_CANNOTCAL   (-0x1009)
 
#define KRNX_E_CANTLOGIN   (-0x2008)
 
#define KRNX_E_CANTMOVECONFIG   (-0x1030)
 
#define KRNX_E_COMPDATA   (-0x100a)
 
#define KRNX_E_CONNECT   (-0x2007)
 
#define KRNX_E_DISABLED   (-0x1022) /* FX00436 a */
 
#define KRNX_E_FILENOTREADY   (-0x1006)
 
#define KRNX_E_FOPENFAIL   (-0x1005)
 
#define KRNX_E_ILLCONFIG   (-0x1032)
 
#define KRNX_E_ILLCONTNO   (-0x2203) /* Dcon-plus16 */
 
#define KRNX_E_INTERNAL   (-0x1001)
 
#define KRNX_E_INVALIDFILENAME   (-0x2202) /* Dcon-plus6 */
 
#define KRNX_E_INVALIDPORT   (-0x2006)
 
#define KRNX_E_IOCTLSOCK   (-0x2002)
 
#define KRNX_E_JT5NOT0DEG   (-0x1031)
 
#define KRNX_E_KINENOTREADY   (-0x2011)
 
#define KRNX_E_LOSTPROMPT   (-0x100e)
 
#define KRNX_E_MATRIX   (-0x1007)
 
#define KRNX_E_MAXNICNO   (-0x2300)
 
#define KRNX_E_NOAVOID_SING   (-0x1014) /* EX3578 a-- */
 
#define KRNX_E_NODATA   (-0x2005)
 
#define KRNX_E_NOHOST   (-0x2001)
 
#define KRNX_E_NOROBOT   (-0x1021)
 
#define KRNX_E_NOTSUPPORTED   (-0x1002)
 
#define KRNX_E_NULLRESP   (-0x100d)
 
#define KRNX_E_OUTOFRANGE   (-0x1008)
 
#define KRNX_E_PCASALREADYRUNNING   (-0x2200) /* Dcon-plus6 */
 
#define KRNX_E_RT_COMP_NOT_CLEARED   (-0x2108)
 
#define KRNX_E_RT_CONNECT   (-0x2101)
 
#define KRNX_E_RT_CYCLIC   (-0x2105)
 
#define KRNX_E_RT_INTERNAL   (-0x2100)
 
#define KRNX_E_RT_NOTCONNECT   (-0x2103)
 
#define KRNX_E_RT_NOTSUPPORTED   (-0x2107)
 
#define KRNX_E_RT_SEND   (-0x2104)
 
#define KRNX_E_RT_SW_ON   (-0x2106) /* FX03195 a */
 
#define KRNX_E_RT_SYNCIO_NEED_POSDATA   (-0x2109)
 
#define KRNX_E_RT_TIMEOUT   (-0x2102)
 
#define KRNX_E_SHMEM_OPEN   (-0x2016)
 
#define KRNX_E_SOCK   (-0x2000)
 
#define KRNX_E_SOCKREAD   (-0x2004)
 
#define KRNX_E_SOCKWRITE   (-0x2003)
 
#define KRNX_E_TIMEOUT   (-0x1003)
 
#define KRNX_E_TOOMANYPROC   (-0x2201) /* Dcon-plus6 */
 
#define KRNX_E_UNDEF   (-0xFFFF)
 
#define KRNX_E_UNEXPECTED   (-0x2010)
 
#define KRNX_MAX_CONTROLLER   16 /* 最大接続コントローラ数 */
 
#define KRNX_MAX_ERROR_LIST_SIZ   10
 
#define KRNX_MAX_ERROR_MSG_SIZ   160
 
#define KRNX_MAX_PCPROG   3 /* 1コントローラがサポートするPCプログラム数 */
 
#define KRNX_MAX_ROBOT   8 /* 1コントローラがサポートするロボット台数 */
 
#define KRNX_MAXAXES   18 /* this should be same as the defined in AS system */
 
#define KRNX_MAXSIGNAL   512
 
#define KRNX_NOERROR   0
 
#define KRNX_WARN_SING   (-0x1015) /* EX3578-6 a */
 
#define NON_COMPATIBLE
 
#define QUAL_ARC   0x0100
 
#define QUAL_AUX   0x0080
 
#define QUAL_ELOG   0x0400 /* 特殊データ */
 
#define QUAL_FLT   0x0800
 
#define QUAL_IFP   0x0200
 
#define QUAL_INT   0x0010
 
#define QUAL_LOC   0x0002
 
#define QUAL_PRG   0x0001 /* プログラム、変数 */
 
#define QUAL_REAL   0x0004
 
#define QUAL_ROB   0x0040
 
#define QUAL_STR   0x0008
 
#define QUAL_SYS   0x0020 /* データ */
 
#define RT_IOCTL_CMD_INS   1
 
#define RT_IOCTL_CMD_NONE   0
 
#define RT_IOCTL_CMD_SYNC   2
 
#define TRUE   1
 
#define WINAPI
 

Typedefs

typedef char BOOL
 
typedef char BOOLEAN
 
typedef unsigned long DWORD
 
typedef BOOL(* FLoadCallBack) (void *param, long byte, const char *msg)
 
typedef void * HANDLE
 
typedef struct TDebugMotionInfo TDebugMotionInfo
 
typedef struct TDebugSignalInfo TDebugSignalInfo
 
typedef struct TDebugSystemInfo TDebugSystemInfo
 
typedef struct TDebugTrajInfo TDebugTrajInfo
 
typedef struct TDebugVariableInfo TDebugVariableInfo
 
typedef struct TKrnxDebugInfoEnt TKrnxDebugInfoEnt
 
typedef struct TKrnxErrorList TKrnxErrorList
 
typedef struct TKrnxRtcInfo TKrnxRtcInfo
 
typedef struct TKrnxRtIoCtlDI TKrnxRtIoCtlDI
 
typedef struct TKrnxRtIoCtlDO TKrnxRtIoCtlDO
 
typedef struct TKrnxRtIoCtlInternal TKrnxRtIoCtlInternal
 
typedef struct TSignalEx TSignalEx
 
typedef unsigned int UINT
 

Functions

DECLSPEC_IMPORT int WINAPI krnx_Abort (int cont_no, int robot_no, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_BufferBusy (int cont_no, int buf_no)
 
DECLSPEC_IMPORT int WINAPI krnx_BufferEmpty (int cont_no, int buf_no)
 
DECLSPEC_IMPORT int WINAPI krnx_BufferPeekB (int cont_no, int buf_no, short *req_code, char *p, int *num, int timeout)
 
DECLSPEC_IMPORT int WINAPI krnx_BufferPeekF (int cont_no, int buf_no, short *req_code, float *p, int *num, int timeout)
 
DECLSPEC_IMPORT int WINAPI krnx_BufferPeekW (int cont_no, int buf_no, short *req_code, short *p, int *num, int timeout)
 
DECLSPEC_IMPORT int WINAPI krnx_BufferRecvB (int cont_no, int buf_no, short *req_code, char *p, int *num, int timeout)
 
DECLSPEC_IMPORT int WINAPI krnx_BufferRecvF (int cont_no, int buf_no, short *req_code, float *p, int *num, int timeout)
 
DECLSPEC_IMPORT int WINAPI krnx_BufferRecvW (int cont_no, int buf_no, short *req_code, short *p, int *num, int timeout)
 
DECLSPEC_IMPORT int WINAPI krnx_BufferSendB (int cont_no, int buf_no, short req_code, const char *p, int num, int timeout)
 
DECLSPEC_IMPORT int WINAPI krnx_BufferSendF (int cont_no, int buf_no, short req_code, const float *p, int num, int timeout)
 
DECLSPEC_IMPORT int WINAPI krnx_BufferSendW (int cont_no, int buf_no, short req_code, const short *p, int num, int timeout)
 
DECLSPEC_IMPORT int WINAPI krnx_Close (int sd)
 
DECLSPEC_IMPORT int WINAPI krnx_Continue (int cont_no, int robot_no, int next, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_ConvertErrorCode (int *error_code, char *error_level)
 
DECLSPEC_IMPORT int WINAPI krnx_DDSigInfo (int cont_no, int io_no, const TKrnxDDSig **)
 
DECLSPEC_IMPORT int WINAPI krnx_Delete (int cont_no, const char *element_name, int element_type, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_Do (int cont_no, int robot_no, const char *cmd, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_Ereset (int cont_no, int robot_no, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_eth_close (int cont_no)
 
DECLSPEC_IMPORT int WINAPI krnx_eth_init (char *hostname)
 
DECLSPEC_IMPORT int WINAPI krnx_eth_open (int cont_no)
 
DECLSPEC_IMPORT int WINAPI krnx_ExecMon (int cont_no, const char *cmd, char *buffer, int buffer_sz, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_Execute (int cont_no, int robot_no, const char *program, int exec_num, int step_num, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_FrameMatrix (const float *mat_a, const float *mat_b, const float *mat_c, const float *mat_d, float *mat_p)
 
DECLSPEC_IMPORT int WINAPI krnx_FrameXyzoat (const float *xyz_a, const float *xyz_b, const float *xyz_c, const float *xyz_d, float *xyz_p)
 
DECLSPEC_IMPORT int WINAPI krnx_GetArmMode (int, int)
 
DECLSPEC_IMPORT int WINAPI krnx_GetASCycle (int robot_no, int *cycle_time)
 
DECLSPEC_IMPORT int WINAPI krnx_GetBaseMatrix (int cont_no, int robot_no, float *xyzoat, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_GetConfig (int cont_no, int robot_no, float *joint, int *conf)
 
DECLSPEC_IMPORT int WINAPI krnx_GetCurErrorInfo (int cont_no, int robot_no, int *error_code)
 
DECLSPEC_IMPORT int WINAPI krnx_GetCurErrorLamp (int cont_no, int robot_no, int *error_lamp)
 
DECLSPEC_IMPORT int WINAPI krnx_GetCurErrorList (int cont_no, TKrnxErrorList *errorlist)
 
DECLSPEC_IMPORT int WINAPI krnx_GetCurIoInfo (int cont_no, TKrnxIoInfo *ioinfo)
 
DECLSPEC_IMPORT int WINAPI krnx_GetCurIoInfoEx (int cont_no, TKrnxIoInfoEx *ioinfo)
 
DECLSPEC_IMPORT int WINAPI krnx_GetCurMotionData (int cont_no, int robot_no, TKrnxCurMotionData *md)
 
DECLSPEC_IMPORT int WINAPI krnx_GetCurMotionDataEx (int cont_no, int robot_no, TKrnxCurMotionDataEx *md)
 
DECLSPEC_IMPORT int WINAPI krnx_GetCurMotionInfo (int cont_no, int robot_no, TKrnxMotionInfo *mtninfo)
 
DECLSPEC_IMPORT int WINAPI krnx_GetCurRobotStatus (int cont_no, int robot_no, TKrnxCurRobotStatus *status)
 
DECLSPEC_IMPORT int WINAPI krnx_GetCycleCount (int cont_no, int robot_no, int counter_no)
 
DECLSPEC_IMPORT int WINAPI krnx_GetDebugInfo (int cont_no, int robot_no, TKrnxDebugInfoEnt *md, int data_num)
 
DECLSPEC_IMPORT int WINAPI krnx_GetDebugInfoSync (int cont_no, int robot_no, TKrnxDebugInfoEnt *md, int data_num)
 
DECLSPEC_IMPORT int WINAPI krnx_GetErrorInfo (int cont_no, int robot_no, int *error_code)
 
DECLSPEC_IMPORT int WINAPI krnx_GetIoInfo (int cont_no, TKrnxIoInfo *ioinfo)
 
DECLSPEC_IMPORT int WINAPI krnx_GetKrnxVersion (char *ver_text, int ver_len)
 
DECLSPEC_IMPORT int WINAPI krnx_GetLimitM (int cont_no, int robot_no, float *ll)
 
DECLSPEC_IMPORT int WINAPI krnx_GetLimitP (int cont_no, int robot_no, float *ul)
 
DECLSPEC_IMPORT int WINAPI krnx_GetMotionInfo (int cont_no, int robot_no, TKrnxMotionInfo *mtninfo)
 
DECLSPEC_IMPORT int WINAPI krnx_GetMotionInfoEx (int cont_no, int robot_no, TKrnxMotionInfo *mtninfo, int data_type)
 
DECLSPEC_IMPORT int WINAPI krnx_GetMotionInfoSync (int cont_no, int robot_no, TKrnxMotionInfo *md, int data_num)
 
DECLSPEC_IMPORT int WINAPI krnx_GetPanelInfo (int cont_no, int robot_no, TKrnxPanelInfo *panelinfo)
 
DECLSPEC_IMPORT int WINAPI krnx_GetProgramInfo (int cont_no, int robot_no, TKrnxProgramInfo *proginfo)
 
DECLSPEC_IMPORT int WINAPI krnx_GetProgramInfo2 (int cont_no, int robot_no, TKrnxProgramInfo *proginfo)
 
DECLSPEC_IMPORT int WINAPI krnx_GetRobotName (int cont_no, int robot_no, char *robot_name)
 
DECLSPEC_IMPORT int WINAPI krnx_GetRtcBufferLength (int cont_no, int robot_no)
 
DECLSPEC_IMPORT int WINAPI krnx_GetRtcCompData (int cont_no, int robot_no, float *comp)
 
DECLSPEC_IMPORT int WINAPI krnx_GetRtcCompLimit (int cont_no, int robot_no, float *comp_limit)
 
DECLSPEC_IMPORT int WINAPI krnx_GetRtcErrorFlag (int cont_no, int robot_no, int *error_flag)
 
DECLSPEC_IMPORT int WINAPI krnx_GetRtcInfo (int cont_no, TKrnxRtcInfo *rtc_info)
 
DECLSPEC_IMPORT int WINAPI krnx_GetRtcSwitch (int cont_no, int robot_no, int *rtc_sw)
 
DECLSPEC_IMPORT int WINAPI krnx_GetRtCyclicCtlKind (int cont_no, unsigned short *krnx_kind, unsigned short *as_kind)
 
DECLSPEC_IMPORT int WINAPI krnx_GetRtCyclicDataKind (int cont_no, unsigned short *krnx_kind, unsigned short *as_kind)
 
DECLSPEC_IMPORT int WINAPI krnx_GetSignal (int cont_no, int signal_no, int *status, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_GetToolMatrix (int cont_no, int robot_no, float *xyzoat, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_Hold (int cont_no, int robot_no, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_InverseMatrix (const float *matrix_a, float *matrix_b)
 
DECLSPEC_IMPORT int WINAPI krnx_InverseXyzoat (const float *xyzoat_a, float *xyzoat_b)
 
DECLSPEC_IMPORT int WINAPI krnx_IoGetDDSig (int cont_no, char *dd_di, char *dd_do)
 
DECLSPEC_IMPORT int WINAPI krnx_IoSetDI (int cont_no, const char *in, const char *mask, size_t size)
 
DECLSPEC_IMPORT int WINAPI krnx_IoSetDO (int cont_no, const char *out, const char *mask, size_t size)
 
DECLSPEC_IMPORT int WINAPI krnx_JacobiMatrix (int cont_no, int robot_no, const float *joint, const float *tool_matrix, float *jacobi66, float *matrix)
 
DECLSPEC_IMPORT int WINAPI krnx_JacobiXyzoat (int cont_no, int robot_no, const float *joint, const float *tool_xyzoat, float *jacobi66, float *xyzoat)
 
DECLSPEC_IMPORT int WINAPI krnx_JaInvMatrix (int cont_no, int robot_no, const float *joint, const float *tool_matrix, float *ja_inv66, float *matrix)
 
DECLSPEC_IMPORT int WINAPI krnx_JaInvXyzoat (int cont_no, int robot_no, const float *joint, const float *tool_xyzoat, float *ja_inv66, float *xyzoat)
 
DECLSPEC_IMPORT int WINAPI krnx_JointToMatrix (int cont_no, int robot_no, const float *joint, float *matrix)
 
DECLSPEC_IMPORT int WINAPI krnx_JointToXyzoat (int cont_no, int robot_no, const float *joint, float *xyzoat)
 
DECLSPEC_IMPORT int WINAPI krnx_Kill (int cont_no, int robot_no, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_List (int cont_no, const char *element_name, int element_type, char *buffer, int buffer_sz, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_Load (int cont_no, const char *filename)
 
DECLSPEC_IMPORT int WINAPI krnx_LoadEx (int cont_no, const char *filename, FLoadCallBack cbfp, void *cb_param)
 
DECLSPEC_IMPORT int WINAPI krnx_MatrixToJoint (int cont_no, int robot_no, const float *matrix, float *joint, const float *old_joint)
 
DECLSPEC_IMPORT int WINAPI krnx_MatrixToXyzoat (const float *matrix, float *xyzoat)
 
DECLSPEC_IMPORT int WINAPI krnx_MultiplyMatrix (const float *matrix_a, const float *matrix_b, float *matrix_c)
 
DECLSPEC_IMPORT int WINAPI krnx_MultiplyXyzoat (const float *xyzoat_a, const float *xyzoat_b, float *xyzoat_c)
 
DECLSPEC_IMPORT int WINAPI krnx_NotSupport (void)
 
DECLSPEC_IMPORT int WINAPI krnx_OldCompClear (int cont_no, int robot_no)
 
DECLSPEC_IMPORT int WINAPI krnx_Open (int cont_no, char *hostname)
 
DECLSPEC_IMPORT int WINAPI krnx_PanelHw (int, int, char *)
 
DECLSPEC_IMPORT int WINAPI krnx_PanelToPC (int, int, char *)
 
DECLSPEC_IMPORT int WINAPI krnx_PcAbort (int cont_no, int pcprogram_no, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_PcContinue (int cont_no, int pcprogram_no, int next, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_PcEnd (int cont_no, int pcprogram_no, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_PcExecute (int cont_no, int pcprogram_no, const char *program, int exec_num, int step_num, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_PcKill (int cont_no, int pcprogram_no, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_Prime (int cont_no, int robot_no, const char *program, int exec_num, int step_num, int create, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_PrimeRtcCompData (int cont_no, int robot_no, const float *comp, int *status)
 
DECLSPEC_IMPORT int WINAPI krnx_PrimeRtIoData (int cont_no, TKrnxRtIoCtlDO *io_do, TKrnxRtIoCtlDI *io_di, TKrnxRtIoCtlInternal *internal)
 
DECLSPEC_IMPORT int WINAPI krnx_RecOneStep (int cont_no, const char *program, int step_num, const char *step_data, int insert, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_Reset (int cont_no, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_RtcInit (int cont_no)
 
DECLSPEC_IMPORT int WINAPI krnx_RunPcAs (char *ini_file_name)
 
DECLSPEC_IMPORT int WINAPI krnx_Save (int cont_no, const char *filename, const char *program_name, int option)
 
DECLSPEC_IMPORT int WINAPI krnx_SaveEx (int cont_no, const char *filename, const char *program_name, int option, FLoadCallBack cbfp, void *cb_param)
 
DECLSPEC_IMPORT int WINAPI krnx_SendRtcCompData (int cont_no, unsigned short seq_no)
 
DECLSPEC_IMPORT int WINAPI krnx_SendRtCtlData (int cont_no, unsigned short seq_no, unsigned short kind)
 
DECLSPEC_IMPORT int WINAPI krnx_SetAppParam (int type, char *param)
 
DECLSPEC_IMPORT int WINAPI krnx_SetAsApiTimeoutPeriod (int cont_no, int period)
 
DECLSPEC_IMPORT int WINAPI krnx_SetAuxApiTimeoutPeriod (int cont_no, int period)
 
DECLSPEC_IMPORT int WINAPI krnx_SetBaseMatrix (int cont_no, int robot_no, const float *xyzoat, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_SetConveyorPos (int cont_no, int robot_no, int wk_no, float pos, float *prev)
 
DECLSPEC_IMPORT int WINAPI krnx_SetConveyorPosEx (int cont_no, int robot_no, int axis_no, int wk_no, float pos, float *prev)
 
DECLSPEC_IMPORT int WINAPI krnx_SetConveyorSpeed (int cont_no, int robot_no, float spd, float *prev)
 
DECLSPEC_IMPORT int WINAPI krnx_SetConveyorSpeedEx (int cont_no, int robot_no, int axis_no, float spd, float *prev)
 
DECLSPEC_IMPORT int WINAPI krnx_SetJoint (int cont_no, int robot_no, float ang[KRNX_MAXAXES])
 
DECLSPEC_IMPORT int WINAPI krnx_SetJT1Mode (int mode)
 
DECLSPEC_IMPORT int WINAPI krnx_SetMonSpeed (int cont_no, int robot_no, float speed, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_SetPanelInfo (int cont_no, int robot_no, TKrnxPanelInfo *panelinfo)
 
DECLSPEC_IMPORT int WINAPI krnx_SetPriority (DWORD p)
 
DECLSPEC_IMPORT int WINAPI krnx_SetRtcCompData (int cont_no, int robot_no, const float *comp, int *status, unsigned short seq_no)
 
DECLSPEC_IMPORT int WINAPI krnx_SetRtcCompDataEx (int cont_no, int robot_no, const float *comp, int *status, unsigned long *count_in, unsigned long *count_out, unsigned short seq_no)
 
DECLSPEC_IMPORT int WINAPI krnx_SetRtcCompMask (int cont_no, int robot_no, int mask)
 
DECLSPEC_IMPORT int WINAPI krnx_SetRtcErrorFlag (int cont_no, int robot_no, int error_flag, unsigned short seq_no)
 
DECLSPEC_IMPORT int WINAPI krnx_SetRtcInfo (int cont_no, TKrnxRtcInfo *rtc_info)
 
DECLSPEC_IMPORT int WINAPI krnx_SetRtCyclicDataKind (int cont_no, unsigned short kind)
 
DECLSPEC_IMPORT int WINAPI krnx_SetSignal (int cont_no, int signal_no, int status, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_SetToolMatrix (int cont_no, int robot_no, const float *xyzoat, int *as_err_code)
 
DECLSPEC_IMPORT int WINAPI krnx_StopPcAs (void)
 
DECLSPEC_IMPORT int WINAPI krnx_StopPcAsEx (int entry)
 
DECLSPEC_IMPORT void WINAPI krnx_timer_callback (void)
 
DECLSPEC_IMPORT int WINAPI krnx_Xyz456ToJoint (int cont_no, int robot_no, const float *xyzoat, float *joint, const float *old_joint, const float *tool)
 
DECLSPEC_IMPORT int WINAPI krnx_XyzoatToJoint (int cont_no, int robot_no, const float *xyzoat, float *joint, const float *old_joint)
 
DECLSPEC_IMPORT int WINAPI krnx_XyzoatToJoint2 (int cont_no, int robot_no, const float *xyzoat, float *joint, const float *old_joint, int conf)
 
DECLSPEC_IMPORT int WINAPI krnx_XyzoatToMatrix (const float *xyzoat, float *matrix)
 

Variables

short KRNX_SYSLOG_FLAG
 

Macro Definition Documentation

◆ CALLBACK

#define CALLBACK

Definition at line 17 of file krnx.h.

◆ DBG_FVAL_NUM

#define DBG_FVAL_NUM   16

Definition at line 100 of file krnx.h.

◆ DECLSPEC_IMPORT

#define DECLSPEC_IMPORT

Definition at line 21 of file krnx.h.

◆ DI_MAX_SIGNAL

#define DI_MAX_SIGNAL   960

Definition at line 96 of file krnx.h.

◆ DO_MAX_SIGNAL

#define DO_MAX_SIGNAL   960

Definition at line 97 of file krnx.h.

◆ FALSE

#define FALSE   0

Definition at line 16 of file krnx.h.

◆ INT_CBUF_SIZ

#define INT_CBUF_SIZ   512

Definition at line 77 of file krnx.h.

◆ INTERNAL_MAX_SIGNAL

#define INTERNAL_MAX_SIGNAL   960

Definition at line 98 of file krnx.h.

◆ KRNX_CYC_KIND_ANGLE

#define KRNX_CYC_KIND_ANGLE   (0x0001) /* 各軸位置(現在値) [rad or mm] */

Definition at line 172 of file krnx.h.

◆ KRNX_CYC_KIND_ANGLE_REF

#define KRNX_CYC_KIND_ANGLE_REF   (0x0002) /* 各軸位置(指令値) [rad or mm] */

Definition at line 173 of file krnx.h.

◆ KRNX_CYC_KIND_ANGLE_VEL

#define KRNX_CYC_KIND_ANGLE_VEL   (0x0100) /* 各軸速度値(現在値/指令値) [rad/s or mm/s] */

Definition at line 180 of file krnx.h.

◆ KRNX_CYC_KIND_CURRENT

#define KRNX_CYC_KIND_CURRENT   (0x0004) /* 各軸電流値(現在値) [A] */

Definition at line 174 of file krnx.h.

◆ KRNX_CYC_KIND_CURRENT_REF

#define KRNX_CYC_KIND_CURRENT_REF   (0x0020) /* 各軸電流値(指令値) [A] */

Definition at line 177 of file krnx.h.

◆ KRNX_CYC_KIND_CURRENT_SAT

#define KRNX_CYC_KIND_CURRENT_SAT   (0x0040) /* 各軸電流飽和率(現在値/指令値) */

Definition at line 178 of file krnx.h.

◆ KRNX_CYC_KIND_ENCORDER

#define KRNX_CYC_KIND_ENCORDER   (0x0008) /* 各軸エンコーダー値(現在値) [bit] */

Definition at line 175 of file krnx.h.

◆ KRNX_CYC_KIND_ENCORDER_REF

#define KRNX_CYC_KIND_ENCORDER_REF   (0x0080) /* 各軸エンコーダー値(指令値) [bit] */

Definition at line 179 of file krnx.h.

◆ KRNX_CYC_KIND_ERROR

#define KRNX_CYC_KIND_ERROR   (0x0010) /* エラーランプ/コード */

Definition at line 176 of file krnx.h.

◆ KRNX_CYC_KIND_LEGACY

#define KRNX_CYC_KIND_LEGACY   (KRNX_CYC_KIND_ANGLE|KRNX_CYC_KIND_ANGLE_REF|KRNX_CYC_KIND_CURRENT|KRNX_CYC_KIND_ERROR)

Definition at line 186 of file krnx.h.

◆ KRNX_CYC_KIND_ROBOT_STATUS

#define KRNX_CYC_KIND_ROBOT_STATUS   (0x1000) /* ロボット状態 */

Definition at line 184 of file krnx.h.

◆ KRNX_CYC_KIND_SIG_EXTERNAL

#define KRNX_CYC_KIND_SIG_EXTERNAL   (0x0400) /* 外部出力/入力信号 */

Definition at line 182 of file krnx.h.

◆ KRNX_CYC_KIND_SIG_INTERNAL

#define KRNX_CYC_KIND_SIG_INTERNAL   (0x0800) /* 内部信号 */

Definition at line 183 of file krnx.h.

◆ KRNX_CYC_KIND_SIZE

#define KRNX_CYC_KIND_SIZE   (13) /* 種類数 */

Definition at line 185 of file krnx.h.

◆ KRNX_CYC_KIND_SUPPORTED

#define KRNX_CYC_KIND_SUPPORTED   ((1<<KRNX_CYC_KIND_SIZE)-1)

Definition at line 187 of file krnx.h.

◆ KRNX_CYC_KIND_XYZOAT

#define KRNX_CYC_KIND_XYZOAT   (0x0200) /* 変換位置/速度(現在値/指令値) [rad, mm, rad/s or mm/s][rad/s or mm/s] */

Definition at line 181 of file krnx.h.

◆ KRNX_CYC_KRNX2AS_KIND_ANGLE_RELATIVE

#define KRNX_CYC_KRNX2AS_KIND_ANGLE_RELATIVE   (0x0001) /* 各軸位置(相対値) [rad or mm] */

Definition at line 190 of file krnx.h.

◆ KRNX_CYC_KRNX2AS_KIND_LEGACY

#define KRNX_CYC_KRNX2AS_KIND_LEGACY   (KRNX_CYC_KRNX2AS_KIND_ANGLE_RELATIVE)

Definition at line 195 of file krnx.h.

◆ KRNX_CYC_KRNX2AS_KIND_SIG_EXTERNAL_INPUT

#define KRNX_CYC_KRNX2AS_KIND_SIG_EXTERNAL_INPUT   (0x0004) /* 外部入力信号 */

Definition at line 192 of file krnx.h.

◆ KRNX_CYC_KRNX2AS_KIND_SIG_EXTERNAL_OUTPUT

#define KRNX_CYC_KRNX2AS_KIND_SIG_EXTERNAL_OUTPUT   (0x0002) /* 外部出力信号 */

Definition at line 191 of file krnx.h.

◆ KRNX_CYC_KRNX2AS_KIND_SIG_INTERNAL

#define KRNX_CYC_KRNX2AS_KIND_SIG_INTERNAL   (0x0008) /* 内部信号 */

Definition at line 193 of file krnx.h.

◆ KRNX_CYC_KRNX2AS_KIND_SIZE

#define KRNX_CYC_KRNX2AS_KIND_SIZE   (4) /* 種類数*/

Definition at line 194 of file krnx.h.

◆ KRNX_CYC_KRNX2AS_KIND_SUPPORTED

#define KRNX_CYC_KRNX2AS_KIND_SUPPORTED   ((1<<KRNX_CYC_KRNX2AS_KIND_SIZE)-1 )

Definition at line 196 of file krnx.h.

◆ KRNX_E_ALREADYOPENED

#define KRNX_E_ALREADYOPENED   (-0x2009)

Definition at line 142 of file krnx.h.

◆ KRNX_E_ASDELAYED

#define KRNX_E_ASDELAYED   (-0x2012)

Definition at line 145 of file krnx.h.

◆ KRNX_E_ASERROR

#define KRNX_E_ASERROR   (-0x1020)

Definition at line 125 of file krnx.h.

◆ KRNX_E_AUXNOTREADY

#define KRNX_E_AUXNOTREADY   (-0x1004)

Definition at line 108 of file krnx.h.

◆ KRNX_E_AVOID_SING

#define KRNX_E_AVOID_SING   (-0x1013) /* EX3578 a++ */

Definition at line 121 of file krnx.h.

◆ KRNX_E_BADARGS

#define KRNX_E_BADARGS   (-0x1000)

Definition at line 104 of file krnx.h.

◆ KRNX_E_BADUSRID

#define KRNX_E_BADUSRID   (-0x100c)

Definition at line 115 of file krnx.h.

◆ KRNX_E_BUFDATANUM

#define KRNX_E_BUFDATANUM   (-0x2015)

Definition at line 148 of file krnx.h.

◆ KRNX_E_BUFEMPTY

#define KRNX_E_BUFEMPTY   (-0x2013)

Definition at line 146 of file krnx.h.

◆ KRNX_E_BUFNO

#define KRNX_E_BUFNO   (-0x2014)

Definition at line 147 of file krnx.h.

◆ KRNX_E_BUFRCV

#define KRNX_E_BUFRCV   (-0x1011)

Definition at line 119 of file krnx.h.

◆ KRNX_E_BUFSND

#define KRNX_E_BUFSND   (-0x1010)

Definition at line 118 of file krnx.h.

◆ KRNX_E_BUFTMO

#define KRNX_E_BUFTMO   (-0x1012)

Definition at line 120 of file krnx.h.

◆ KRNX_E_CANNOTCAL

#define KRNX_E_CANNOTCAL   (-0x1009)

Definition at line 113 of file krnx.h.

◆ KRNX_E_CANTLOGIN

#define KRNX_E_CANTLOGIN   (-0x2008)

Definition at line 141 of file krnx.h.

◆ KRNX_E_CANTMOVECONFIG

#define KRNX_E_CANTMOVECONFIG   (-0x1030)

Definition at line 129 of file krnx.h.

◆ KRNX_E_COMPDATA

#define KRNX_E_COMPDATA   (-0x100a)

Definition at line 114 of file krnx.h.

◆ KRNX_E_CONNECT

#define KRNX_E_CONNECT   (-0x2007)

Definition at line 140 of file krnx.h.

◆ KRNX_E_DISABLED

#define KRNX_E_DISABLED   (-0x1022) /* FX00436 a */

Definition at line 127 of file krnx.h.

◆ KRNX_E_FILENOTREADY

#define KRNX_E_FILENOTREADY   (-0x1006)

Definition at line 110 of file krnx.h.

◆ KRNX_E_FOPENFAIL

#define KRNX_E_FOPENFAIL   (-0x1005)

Definition at line 109 of file krnx.h.

◆ KRNX_E_ILLCONFIG

#define KRNX_E_ILLCONFIG   (-0x1032)

Definition at line 131 of file krnx.h.

◆ KRNX_E_ILLCONTNO

#define KRNX_E_ILLCONTNO   (-0x2203) /* Dcon-plus16 */

Definition at line 165 of file krnx.h.

◆ KRNX_E_INTERNAL

#define KRNX_E_INTERNAL   (-0x1001)

Definition at line 105 of file krnx.h.

◆ KRNX_E_INVALIDFILENAME

#define KRNX_E_INVALIDFILENAME   (-0x2202) /* Dcon-plus6 */

Definition at line 164 of file krnx.h.

◆ KRNX_E_INVALIDPORT

#define KRNX_E_INVALIDPORT   (-0x2006)

Definition at line 139 of file krnx.h.

◆ KRNX_E_IOCTLSOCK

#define KRNX_E_IOCTLSOCK   (-0x2002)

Definition at line 135 of file krnx.h.

◆ KRNX_E_JT5NOT0DEG

#define KRNX_E_JT5NOT0DEG   (-0x1031)

Definition at line 130 of file krnx.h.

◆ KRNX_E_KINENOTREADY

#define KRNX_E_KINENOTREADY   (-0x2011)

Definition at line 144 of file krnx.h.

◆ KRNX_E_LOSTPROMPT

#define KRNX_E_LOSTPROMPT   (-0x100e)

Definition at line 117 of file krnx.h.

◆ KRNX_E_MATRIX

#define KRNX_E_MATRIX   (-0x1007)

Definition at line 111 of file krnx.h.

◆ KRNX_E_MAXNICNO

#define KRNX_E_MAXNICNO   (-0x2300)

Definition at line 167 of file krnx.h.

◆ KRNX_E_NOAVOID_SING

#define KRNX_E_NOAVOID_SING   (-0x1014) /* EX3578 a-- */

Definition at line 122 of file krnx.h.

◆ KRNX_E_NODATA

#define KRNX_E_NODATA   (-0x2005)

Definition at line 138 of file krnx.h.

◆ KRNX_E_NOHOST

#define KRNX_E_NOHOST   (-0x2001)

Definition at line 134 of file krnx.h.

◆ KRNX_E_NOROBOT

#define KRNX_E_NOROBOT   (-0x1021)

Definition at line 126 of file krnx.h.

◆ KRNX_E_NOTSUPPORTED

#define KRNX_E_NOTSUPPORTED   (-0x1002)

Definition at line 106 of file krnx.h.

◆ KRNX_E_NULLRESP

#define KRNX_E_NULLRESP   (-0x100d)

Definition at line 116 of file krnx.h.

◆ KRNX_E_OUTOFRANGE

#define KRNX_E_OUTOFRANGE   (-0x1008)

Definition at line 112 of file krnx.h.

◆ KRNX_E_PCASALREADYRUNNING

#define KRNX_E_PCASALREADYRUNNING   (-0x2200) /* Dcon-plus6 */

Definition at line 162 of file krnx.h.

◆ KRNX_E_RT_COMP_NOT_CLEARED

#define KRNX_E_RT_COMP_NOT_CLEARED   (-0x2108)

Definition at line 159 of file krnx.h.

◆ KRNX_E_RT_CONNECT

#define KRNX_E_RT_CONNECT   (-0x2101)

Definition at line 152 of file krnx.h.

◆ KRNX_E_RT_CYCLIC

#define KRNX_E_RT_CYCLIC   (-0x2105)

Definition at line 156 of file krnx.h.

◆ KRNX_E_RT_INTERNAL

#define KRNX_E_RT_INTERNAL   (-0x2100)

Definition at line 151 of file krnx.h.

◆ KRNX_E_RT_NOTCONNECT

#define KRNX_E_RT_NOTCONNECT   (-0x2103)

Definition at line 154 of file krnx.h.

◆ KRNX_E_RT_NOTSUPPORTED

#define KRNX_E_RT_NOTSUPPORTED   (-0x2107)

Definition at line 158 of file krnx.h.

◆ KRNX_E_RT_SEND

#define KRNX_E_RT_SEND   (-0x2104)

Definition at line 155 of file krnx.h.

◆ KRNX_E_RT_SW_ON

#define KRNX_E_RT_SW_ON   (-0x2106) /* FX03195 a */

Definition at line 157 of file krnx.h.

◆ KRNX_E_RT_SYNCIO_NEED_POSDATA

#define KRNX_E_RT_SYNCIO_NEED_POSDATA   (-0x2109)

Definition at line 160 of file krnx.h.

◆ KRNX_E_RT_TIMEOUT

#define KRNX_E_RT_TIMEOUT   (-0x2102)

Definition at line 153 of file krnx.h.

◆ KRNX_E_SHMEM_OPEN

#define KRNX_E_SHMEM_OPEN   (-0x2016)

Definition at line 149 of file krnx.h.

◆ KRNX_E_SOCK

#define KRNX_E_SOCK   (-0x2000)

Definition at line 133 of file krnx.h.

◆ KRNX_E_SOCKREAD

#define KRNX_E_SOCKREAD   (-0x2004)

Definition at line 137 of file krnx.h.

◆ KRNX_E_SOCKWRITE

#define KRNX_E_SOCKWRITE   (-0x2003)

Definition at line 136 of file krnx.h.

◆ KRNX_E_TIMEOUT

#define KRNX_E_TIMEOUT   (-0x1003)

Definition at line 107 of file krnx.h.

◆ KRNX_E_TOOMANYPROC

#define KRNX_E_TOOMANYPROC   (-0x2201) /* Dcon-plus6 */

Definition at line 163 of file krnx.h.

◆ KRNX_E_UNDEF

#define KRNX_E_UNDEF   (-0xFFFF)

Definition at line 169 of file krnx.h.

◆ KRNX_E_UNEXPECTED

#define KRNX_E_UNEXPECTED   (-0x2010)

Definition at line 143 of file krnx.h.

◆ KRNX_MAX_CONTROLLER

#define KRNX_MAX_CONTROLLER   16 /* 最大接続コントローラ数 */

Definition at line 59 of file krnx.h.

◆ KRNX_MAX_ERROR_LIST_SIZ

#define KRNX_MAX_ERROR_LIST_SIZ   10

Definition at line 73 of file krnx.h.

◆ KRNX_MAX_ERROR_MSG_SIZ

#define KRNX_MAX_ERROR_MSG_SIZ   160

Definition at line 74 of file krnx.h.

◆ KRNX_MAX_PCPROG

#define KRNX_MAX_PCPROG   3 /* 1コントローラがサポートするPCプログラム数 */

Definition at line 62 of file krnx.h.

◆ KRNX_MAX_ROBOT

#define KRNX_MAX_ROBOT   8 /* 1コントローラがサポートするロボット台数 */

Definition at line 61 of file krnx.h.

◆ KRNX_MAXAXES

#define KRNX_MAXAXES   18 /* this should be same as the defined in AS system */

Definition at line 66 of file krnx.h.

◆ KRNX_MAXSIGNAL

#define KRNX_MAXSIGNAL   512

Definition at line 69 of file krnx.h.

◆ KRNX_NOERROR

#define KRNX_NOERROR   0

Definition at line 103 of file krnx.h.

◆ KRNX_WARN_SING

#define KRNX_WARN_SING   (-0x1015) /* EX3578-6 a */

Definition at line 123 of file krnx.h.

◆ NON_COMPATIBLE

#define NON_COMPATIBLE

Definition at line 79 of file krnx.h.

◆ QUAL_ARC

#define QUAL_ARC   0x0100

Definition at line 413 of file krnx.h.

◆ QUAL_AUX

#define QUAL_AUX   0x0080

Definition at line 412 of file krnx.h.

◆ QUAL_ELOG

#define QUAL_ELOG   0x0400 /* 特殊データ */

Definition at line 415 of file krnx.h.

◆ QUAL_FLT

#define QUAL_FLT   0x0800

Definition at line 416 of file krnx.h.

◆ QUAL_IFP

#define QUAL_IFP   0x0200

Definition at line 414 of file krnx.h.

◆ QUAL_INT

#define QUAL_INT   0x0010

Definition at line 409 of file krnx.h.

◆ QUAL_LOC

#define QUAL_LOC   0x0002

Definition at line 406 of file krnx.h.

◆ QUAL_PRG

#define QUAL_PRG   0x0001 /* プログラム、変数 */

Definition at line 405 of file krnx.h.

◆ QUAL_REAL

#define QUAL_REAL   0x0004

Definition at line 407 of file krnx.h.

◆ QUAL_ROB

#define QUAL_ROB   0x0040

Definition at line 411 of file krnx.h.

◆ QUAL_STR

#define QUAL_STR   0x0008

Definition at line 408 of file krnx.h.

◆ QUAL_SYS

#define QUAL_SYS   0x0020 /* データ */

Definition at line 410 of file krnx.h.

◆ RT_IOCTL_CMD_INS

#define RT_IOCTL_CMD_INS   1

Definition at line 361 of file krnx.h.

◆ RT_IOCTL_CMD_NONE

#define RT_IOCTL_CMD_NONE   0

Definition at line 360 of file krnx.h.

◆ RT_IOCTL_CMD_SYNC

#define RT_IOCTL_CMD_SYNC   2

Definition at line 362 of file krnx.h.

◆ TRUE

#define TRUE   1

Definition at line 15 of file krnx.h.

◆ WINAPI

#define WINAPI

Definition at line 14 of file krnx.h.

Typedef Documentation

◆ BOOL

typedef char BOOL

Definition at line 10 of file krnx.h.

◆ BOOLEAN

typedef char BOOLEAN

Definition at line 11 of file krnx.h.

◆ DWORD

typedef unsigned long DWORD

Definition at line 12 of file krnx.h.

◆ FLoadCallBack

typedef BOOL(* FLoadCallBack) (void *param, long byte, const char *msg)

Definition at line 475 of file krnx.h.

◆ HANDLE

typedef void* HANDLE

Definition at line 9 of file krnx.h.

◆ TDebugMotionInfo

typedef struct TDebugMotionInfo TDebugMotionInfo

◆ TDebugSignalInfo

typedef struct TDebugSignalInfo TDebugSignalInfo

◆ TDebugSystemInfo

typedef struct TDebugSystemInfo TDebugSystemInfo

◆ TDebugTrajInfo

typedef struct TDebugTrajInfo TDebugTrajInfo

◆ TDebugVariableInfo

typedef struct TDebugVariableInfo TDebugVariableInfo

◆ TKrnxDebugInfoEnt

typedef struct TKrnxDebugInfoEnt TKrnxDebugInfoEnt

◆ TKrnxErrorList

typedef struct TKrnxErrorList TKrnxErrorList

◆ TKrnxRtcInfo

typedef struct TKrnxRtcInfo TKrnxRtcInfo

◆ TKrnxRtIoCtlDI

typedef struct TKrnxRtIoCtlDI TKrnxRtIoCtlDI

◆ TKrnxRtIoCtlDO

typedef struct TKrnxRtIoCtlDO TKrnxRtIoCtlDO

◆ TKrnxRtIoCtlInternal

typedef struct TKrnxRtIoCtlInternal TKrnxRtIoCtlInternal

◆ TSignalEx

typedef struct TSignalEx TSignalEx

◆ UINT

typedef unsigned int UINT

Definition at line 13 of file krnx.h.

Function Documentation

◆ krnx_Abort()

DECLSPEC_IMPORT int WINAPI krnx_Abort ( int  cont_no,
int  robot_no,
int *  as_err_code 
)

◆ krnx_BufferBusy()

DECLSPEC_IMPORT int WINAPI krnx_BufferBusy ( int  cont_no,
int  buf_no 
)

◆ krnx_BufferEmpty()

DECLSPEC_IMPORT int WINAPI krnx_BufferEmpty ( int  cont_no,
int  buf_no 
)

◆ krnx_BufferPeekB()

DECLSPEC_IMPORT int WINAPI krnx_BufferPeekB ( int  cont_no,
int  buf_no,
short *  req_code,
char *  p,
int *  num,
int  timeout 
)

◆ krnx_BufferPeekF()

DECLSPEC_IMPORT int WINAPI krnx_BufferPeekF ( int  cont_no,
int  buf_no,
short *  req_code,
float *  p,
int *  num,
int  timeout 
)

◆ krnx_BufferPeekW()

DECLSPEC_IMPORT int WINAPI krnx_BufferPeekW ( int  cont_no,
int  buf_no,
short *  req_code,
short *  p,
int *  num,
int  timeout 
)

◆ krnx_BufferRecvB()

DECLSPEC_IMPORT int WINAPI krnx_BufferRecvB ( int  cont_no,
int  buf_no,
short *  req_code,
char *  p,
int *  num,
int  timeout 
)

◆ krnx_BufferRecvF()

DECLSPEC_IMPORT int WINAPI krnx_BufferRecvF ( int  cont_no,
int  buf_no,
short *  req_code,
float *  p,
int *  num,
int  timeout 
)

◆ krnx_BufferRecvW()

DECLSPEC_IMPORT int WINAPI krnx_BufferRecvW ( int  cont_no,
int  buf_no,
short *  req_code,
short *  p,
int *  num,
int  timeout 
)

◆ krnx_BufferSendB()

DECLSPEC_IMPORT int WINAPI krnx_BufferSendB ( int  cont_no,
int  buf_no,
short  req_code,
const char *  p,
int  num,
int  timeout 
)

◆ krnx_BufferSendF()

DECLSPEC_IMPORT int WINAPI krnx_BufferSendF ( int  cont_no,
int  buf_no,
short  req_code,
const float *  p,
int  num,
int  timeout 
)

◆ krnx_BufferSendW()

DECLSPEC_IMPORT int WINAPI krnx_BufferSendW ( int  cont_no,
int  buf_no,
short  req_code,
const short *  p,
int  num,
int  timeout 
)

◆ krnx_Close()

DECLSPEC_IMPORT int WINAPI krnx_Close ( int  sd)

◆ krnx_Continue()

DECLSPEC_IMPORT int WINAPI krnx_Continue ( int  cont_no,
int  robot_no,
int  next,
int *  as_err_code 
)

◆ krnx_ConvertErrorCode()

DECLSPEC_IMPORT int WINAPI krnx_ConvertErrorCode ( int *  error_code,
char *  error_level 
)

◆ krnx_DDSigInfo()

DECLSPEC_IMPORT int WINAPI krnx_DDSigInfo ( int  cont_no,
int  io_no,
const TKrnxDDSig **   
)

◆ krnx_Delete()

DECLSPEC_IMPORT int WINAPI krnx_Delete ( int  cont_no,
const char *  element_name,
int  element_type,
int *  as_err_code 
)

◆ krnx_Do()

DECLSPEC_IMPORT int WINAPI krnx_Do ( int  cont_no,
int  robot_no,
const char *  cmd,
int *  as_err_code 
)

◆ krnx_Ereset()

DECLSPEC_IMPORT int WINAPI krnx_Ereset ( int  cont_no,
int  robot_no,
int *  as_err_code 
)

◆ krnx_eth_close()

DECLSPEC_IMPORT int WINAPI krnx_eth_close ( int  cont_no)

◆ krnx_eth_init()

DECLSPEC_IMPORT int WINAPI krnx_eth_init ( char *  hostname)

◆ krnx_eth_open()

DECLSPEC_IMPORT int WINAPI krnx_eth_open ( int  cont_no)

◆ krnx_ExecMon()

DECLSPEC_IMPORT int WINAPI krnx_ExecMon ( int  cont_no,
const char *  cmd,
char *  buffer,
int  buffer_sz,
int *  as_err_code 
)

◆ krnx_Execute()

DECLSPEC_IMPORT int WINAPI krnx_Execute ( int  cont_no,
int  robot_no,
const char *  program,
int  exec_num,
int  step_num,
int *  as_err_code 
)

◆ krnx_FrameMatrix()

DECLSPEC_IMPORT int WINAPI krnx_FrameMatrix ( const float *  mat_a,
const float *  mat_b,
const float *  mat_c,
const float *  mat_d,
float *  mat_p 
)

◆ krnx_FrameXyzoat()

DECLSPEC_IMPORT int WINAPI krnx_FrameXyzoat ( const float *  xyz_a,
const float *  xyz_b,
const float *  xyz_c,
const float *  xyz_d,
float *  xyz_p 
)

◆ krnx_GetArmMode()

DECLSPEC_IMPORT int WINAPI krnx_GetArmMode ( int  ,
int   
)

◆ krnx_GetASCycle()

DECLSPEC_IMPORT int WINAPI krnx_GetASCycle ( int  robot_no,
int *  cycle_time 
)

◆ krnx_GetBaseMatrix()

DECLSPEC_IMPORT int WINAPI krnx_GetBaseMatrix ( int  cont_no,
int  robot_no,
float *  xyzoat,
int *  as_err_code 
)

◆ krnx_GetConfig()

DECLSPEC_IMPORT int WINAPI krnx_GetConfig ( int  cont_no,
int  robot_no,
float *  joint,
int *  conf 
)

◆ krnx_GetCurErrorInfo()

DECLSPEC_IMPORT int WINAPI krnx_GetCurErrorInfo ( int  cont_no,
int  robot_no,
int *  error_code 
)

◆ krnx_GetCurErrorLamp()

DECLSPEC_IMPORT int WINAPI krnx_GetCurErrorLamp ( int  cont_no,
int  robot_no,
int *  error_lamp 
)

◆ krnx_GetCurErrorList()

DECLSPEC_IMPORT int WINAPI krnx_GetCurErrorList ( int  cont_no,
TKrnxErrorList *  errorlist 
)

◆ krnx_GetCurIoInfo()

DECLSPEC_IMPORT int WINAPI krnx_GetCurIoInfo ( int  cont_no,
TKrnxIoInfo *  ioinfo 
)

◆ krnx_GetCurIoInfoEx()

DECLSPEC_IMPORT int WINAPI krnx_GetCurIoInfoEx ( int  cont_no,
TKrnxIoInfoEx *  ioinfo 
)

◆ krnx_GetCurMotionData()

DECLSPEC_IMPORT int WINAPI krnx_GetCurMotionData ( int  cont_no,
int  robot_no,
TKrnxCurMotionData *  md 
)

◆ krnx_GetCurMotionDataEx()

DECLSPEC_IMPORT int WINAPI krnx_GetCurMotionDataEx ( int  cont_no,
int  robot_no,
TKrnxCurMotionDataEx *  md 
)

◆ krnx_GetCurMotionInfo()

DECLSPEC_IMPORT int WINAPI krnx_GetCurMotionInfo ( int  cont_no,
int  robot_no,
TKrnxMotionInfo *  mtninfo 
)

◆ krnx_GetCurRobotStatus()

DECLSPEC_IMPORT int WINAPI krnx_GetCurRobotStatus ( int  cont_no,
int  robot_no,
TKrnxCurRobotStatus *  status 
)

◆ krnx_GetCycleCount()

DECLSPEC_IMPORT int WINAPI krnx_GetCycleCount ( int  cont_no,
int  robot_no,
int  counter_no 
)

◆ krnx_GetDebugInfo()

DECLSPEC_IMPORT int WINAPI krnx_GetDebugInfo ( int  cont_no,
int  robot_no,
TKrnxDebugInfoEnt *  md,
int  data_num 
)

◆ krnx_GetDebugInfoSync()

DECLSPEC_IMPORT int WINAPI krnx_GetDebugInfoSync ( int  cont_no,
int  robot_no,
TKrnxDebugInfoEnt *  md,
int  data_num 
)

◆ krnx_GetErrorInfo()

DECLSPEC_IMPORT int WINAPI krnx_GetErrorInfo ( int  cont_no,
int  robot_no,
int *  error_code 
)

◆ krnx_GetIoInfo()

DECLSPEC_IMPORT int WINAPI krnx_GetIoInfo ( int  cont_no,
TKrnxIoInfo *  ioinfo 
)

◆ krnx_GetKrnxVersion()

DECLSPEC_IMPORT int WINAPI krnx_GetKrnxVersion ( char *  ver_text,
int  ver_len 
)

◆ krnx_GetLimitM()

DECLSPEC_IMPORT int WINAPI krnx_GetLimitM ( int  cont_no,
int  robot_no,
float *  ll 
)

◆ krnx_GetLimitP()

DECLSPEC_IMPORT int WINAPI krnx_GetLimitP ( int  cont_no,
int  robot_no,
float *  ul 
)

◆ krnx_GetMotionInfo()

DECLSPEC_IMPORT int WINAPI krnx_GetMotionInfo ( int  cont_no,
int  robot_no,
TKrnxMotionInfo *  mtninfo 
)

◆ krnx_GetMotionInfoEx()

DECLSPEC_IMPORT int WINAPI krnx_GetMotionInfoEx ( int  cont_no,
int  robot_no,
TKrnxMotionInfo *  mtninfo,
int  data_type 
)

◆ krnx_GetMotionInfoSync()

DECLSPEC_IMPORT int WINAPI krnx_GetMotionInfoSync ( int  cont_no,
int  robot_no,
TKrnxMotionInfo *  md,
int  data_num 
)

◆ krnx_GetPanelInfo()

DECLSPEC_IMPORT int WINAPI krnx_GetPanelInfo ( int  cont_no,
int  robot_no,
TKrnxPanelInfo *  panelinfo 
)

◆ krnx_GetProgramInfo()

DECLSPEC_IMPORT int WINAPI krnx_GetProgramInfo ( int  cont_no,
int  robot_no,
TKrnxProgramInfo *  proginfo 
)

◆ krnx_GetProgramInfo2()

DECLSPEC_IMPORT int WINAPI krnx_GetProgramInfo2 ( int  cont_no,
int  robot_no,
TKrnxProgramInfo *  proginfo 
)

◆ krnx_GetRobotName()

DECLSPEC_IMPORT int WINAPI krnx_GetRobotName ( int  cont_no,
int  robot_no,
char *  robot_name 
)

◆ krnx_GetRtcBufferLength()

DECLSPEC_IMPORT int WINAPI krnx_GetRtcBufferLength ( int  cont_no,
int  robot_no 
)

◆ krnx_GetRtcCompData()

DECLSPEC_IMPORT int WINAPI krnx_GetRtcCompData ( int  cont_no,
int  robot_no,
float *  comp 
)

◆ krnx_GetRtcCompLimit()

DECLSPEC_IMPORT int WINAPI krnx_GetRtcCompLimit ( int  cont_no,
int  robot_no,
float *  comp_limit 
)

◆ krnx_GetRtcErrorFlag()

DECLSPEC_IMPORT int WINAPI krnx_GetRtcErrorFlag ( int  cont_no,
int  robot_no,
int *  error_flag 
)

◆ krnx_GetRtcInfo()

DECLSPEC_IMPORT int WINAPI krnx_GetRtcInfo ( int  cont_no,
TKrnxRtcInfo *  rtc_info 
)

◆ krnx_GetRtcSwitch()

DECLSPEC_IMPORT int WINAPI krnx_GetRtcSwitch ( int  cont_no,
int  robot_no,
int *  rtc_sw 
)

◆ krnx_GetRtCyclicCtlKind()

DECLSPEC_IMPORT int WINAPI krnx_GetRtCyclicCtlKind ( int  cont_no,
unsigned short *  krnx_kind,
unsigned short *  as_kind 
)

◆ krnx_GetRtCyclicDataKind()

DECLSPEC_IMPORT int WINAPI krnx_GetRtCyclicDataKind ( int  cont_no,
unsigned short *  krnx_kind,
unsigned short *  as_kind 
)

◆ krnx_GetSignal()

DECLSPEC_IMPORT int WINAPI krnx_GetSignal ( int  cont_no,
int  signal_no,
int *  status,
int *  as_err_code 
)

◆ krnx_GetToolMatrix()

DECLSPEC_IMPORT int WINAPI krnx_GetToolMatrix ( int  cont_no,
int  robot_no,
float *  xyzoat,
int *  as_err_code 
)

◆ krnx_Hold()

DECLSPEC_IMPORT int WINAPI krnx_Hold ( int  cont_no,
int  robot_no,
int *  as_err_code 
)

◆ krnx_InverseMatrix()

DECLSPEC_IMPORT int WINAPI krnx_InverseMatrix ( const float *  matrix_a,
float *  matrix_b 
)

◆ krnx_InverseXyzoat()

DECLSPEC_IMPORT int WINAPI krnx_InverseXyzoat ( const float *  xyzoat_a,
float *  xyzoat_b 
)

◆ krnx_IoGetDDSig()

DECLSPEC_IMPORT int WINAPI krnx_IoGetDDSig ( int  cont_no,
char *  dd_di,
char *  dd_do 
)

◆ krnx_IoSetDI()

DECLSPEC_IMPORT int WINAPI krnx_IoSetDI ( int  cont_no,
const char *  in,
const char *  mask,
size_t  size 
)

◆ krnx_IoSetDO()

DECLSPEC_IMPORT int WINAPI krnx_IoSetDO ( int  cont_no,
const char *  out,
const char *  mask,
size_t  size 
)

◆ krnx_JacobiMatrix()

DECLSPEC_IMPORT int WINAPI krnx_JacobiMatrix ( int  cont_no,
int  robot_no,
const float *  joint,
const float *  tool_matrix,
float *  jacobi66,
float *  matrix 
)

◆ krnx_JacobiXyzoat()

DECLSPEC_IMPORT int WINAPI krnx_JacobiXyzoat ( int  cont_no,
int  robot_no,
const float *  joint,
const float *  tool_xyzoat,
float *  jacobi66,
float *  xyzoat 
)

◆ krnx_JaInvMatrix()

DECLSPEC_IMPORT int WINAPI krnx_JaInvMatrix ( int  cont_no,
int  robot_no,
const float *  joint,
const float *  tool_matrix,
float *  ja_inv66,
float *  matrix 
)

◆ krnx_JaInvXyzoat()

DECLSPEC_IMPORT int WINAPI krnx_JaInvXyzoat ( int  cont_no,
int  robot_no,
const float *  joint,
const float *  tool_xyzoat,
float *  ja_inv66,
float *  xyzoat 
)

◆ krnx_JointToMatrix()

DECLSPEC_IMPORT int WINAPI krnx_JointToMatrix ( int  cont_no,
int  robot_no,
const float *  joint,
float *  matrix 
)

◆ krnx_JointToXyzoat()

DECLSPEC_IMPORT int WINAPI krnx_JointToXyzoat ( int  cont_no,
int  robot_no,
const float *  joint,
float *  xyzoat 
)

◆ krnx_Kill()

DECLSPEC_IMPORT int WINAPI krnx_Kill ( int  cont_no,
int  robot_no,
int *  as_err_code 
)

◆ krnx_List()

DECLSPEC_IMPORT int WINAPI krnx_List ( int  cont_no,
const char *  element_name,
int  element_type,
char *  buffer,
int  buffer_sz,
int *  as_err_code 
)

◆ krnx_Load()

DECLSPEC_IMPORT int WINAPI krnx_Load ( int  cont_no,
const char *  filename 
)

◆ krnx_LoadEx()

DECLSPEC_IMPORT int WINAPI krnx_LoadEx ( int  cont_no,
const char *  filename,
FLoadCallBack  cbfp,
void *  cb_param 
)

◆ krnx_MatrixToJoint()

DECLSPEC_IMPORT int WINAPI krnx_MatrixToJoint ( int  cont_no,
int  robot_no,
const float *  matrix,
float *  joint,
const float *  old_joint 
)

◆ krnx_MatrixToXyzoat()

DECLSPEC_IMPORT int WINAPI krnx_MatrixToXyzoat ( const float *  matrix,
float *  xyzoat 
)

◆ krnx_MultiplyMatrix()

DECLSPEC_IMPORT int WINAPI krnx_MultiplyMatrix ( const float *  matrix_a,
const float *  matrix_b,
float *  matrix_c 
)

◆ krnx_MultiplyXyzoat()

DECLSPEC_IMPORT int WINAPI krnx_MultiplyXyzoat ( const float *  xyzoat_a,
const float *  xyzoat_b,
float *  xyzoat_c 
)

◆ krnx_NotSupport()

DECLSPEC_IMPORT int WINAPI krnx_NotSupport ( void  )

◆ krnx_OldCompClear()

DECLSPEC_IMPORT int WINAPI krnx_OldCompClear ( int  cont_no,
int  robot_no 
)

◆ krnx_Open()

DECLSPEC_IMPORT int WINAPI krnx_Open ( int  cont_no,
char *  hostname 
)

◆ krnx_PanelHw()

DECLSPEC_IMPORT int WINAPI krnx_PanelHw ( int  ,
int  ,
char *   
)

◆ krnx_PanelToPC()

DECLSPEC_IMPORT int WINAPI krnx_PanelToPC ( int  ,
int  ,
char *   
)

◆ krnx_PcAbort()

DECLSPEC_IMPORT int WINAPI krnx_PcAbort ( int  cont_no,
int  pcprogram_no,
int *  as_err_code 
)

◆ krnx_PcContinue()

DECLSPEC_IMPORT int WINAPI krnx_PcContinue ( int  cont_no,
int  pcprogram_no,
int  next,
int *  as_err_code 
)

◆ krnx_PcEnd()

DECLSPEC_IMPORT int WINAPI krnx_PcEnd ( int  cont_no,
int  pcprogram_no,
int *  as_err_code 
)

◆ krnx_PcExecute()

DECLSPEC_IMPORT int WINAPI krnx_PcExecute ( int  cont_no,
int  pcprogram_no,
const char *  program,
int  exec_num,
int  step_num,
int *  as_err_code 
)

◆ krnx_PcKill()

DECLSPEC_IMPORT int WINAPI krnx_PcKill ( int  cont_no,
int  pcprogram_no,
int *  as_err_code 
)

◆ krnx_Prime()

DECLSPEC_IMPORT int WINAPI krnx_Prime ( int  cont_no,
int  robot_no,
const char *  program,
int  exec_num,
int  step_num,
int  create,
int *  as_err_code 
)

◆ krnx_PrimeRtcCompData()

DECLSPEC_IMPORT int WINAPI krnx_PrimeRtcCompData ( int  cont_no,
int  robot_no,
const float *  comp,
int *  status 
)

◆ krnx_PrimeRtIoData()

DECLSPEC_IMPORT int WINAPI krnx_PrimeRtIoData ( int  cont_no,
TKrnxRtIoCtlDO *  io_do,
TKrnxRtIoCtlDI *  io_di,
TKrnxRtIoCtlInternal *  internal 
)

◆ krnx_RecOneStep()

DECLSPEC_IMPORT int WINAPI krnx_RecOneStep ( int  cont_no,
const char *  program,
int  step_num,
const char *  step_data,
int  insert,
int *  as_err_code 
)

◆ krnx_Reset()

DECLSPEC_IMPORT int WINAPI krnx_Reset ( int  cont_no,
int *  as_err_code 
)

◆ krnx_RtcInit()

DECLSPEC_IMPORT int WINAPI krnx_RtcInit ( int  cont_no)

◆ krnx_RunPcAs()

DECLSPEC_IMPORT int WINAPI krnx_RunPcAs ( char *  ini_file_name)

◆ krnx_Save()

DECLSPEC_IMPORT int WINAPI krnx_Save ( int  cont_no,
const char *  filename,
const char *  program_name,
int  option 
)

◆ krnx_SaveEx()

DECLSPEC_IMPORT int WINAPI krnx_SaveEx ( int  cont_no,
const char *  filename,
const char *  program_name,
int  option,
FLoadCallBack  cbfp,
void *  cb_param 
)

◆ krnx_SendRtcCompData()

DECLSPEC_IMPORT int WINAPI krnx_SendRtcCompData ( int  cont_no,
unsigned short  seq_no 
)

◆ krnx_SendRtCtlData()

DECLSPEC_IMPORT int WINAPI krnx_SendRtCtlData ( int  cont_no,
unsigned short  seq_no,
unsigned short  kind 
)

◆ krnx_SetAppParam()

DECLSPEC_IMPORT int WINAPI krnx_SetAppParam ( int  type,
char *  param 
)

◆ krnx_SetAsApiTimeoutPeriod()

DECLSPEC_IMPORT int WINAPI krnx_SetAsApiTimeoutPeriod ( int  cont_no,
int  period 
)

◆ krnx_SetAuxApiTimeoutPeriod()

DECLSPEC_IMPORT int WINAPI krnx_SetAuxApiTimeoutPeriod ( int  cont_no,
int  period 
)

◆ krnx_SetBaseMatrix()

DECLSPEC_IMPORT int WINAPI krnx_SetBaseMatrix ( int  cont_no,
int  robot_no,
const float *  xyzoat,
int *  as_err_code 
)

◆ krnx_SetConveyorPos()

DECLSPEC_IMPORT int WINAPI krnx_SetConveyorPos ( int  cont_no,
int  robot_no,
int  wk_no,
float  pos,
float *  prev 
)

◆ krnx_SetConveyorPosEx()

DECLSPEC_IMPORT int WINAPI krnx_SetConveyorPosEx ( int  cont_no,
int  robot_no,
int  axis_no,
int  wk_no,
float  pos,
float *  prev 
)

◆ krnx_SetConveyorSpeed()

DECLSPEC_IMPORT int WINAPI krnx_SetConveyorSpeed ( int  cont_no,
int  robot_no,
float  spd,
float *  prev 
)

◆ krnx_SetConveyorSpeedEx()

DECLSPEC_IMPORT int WINAPI krnx_SetConveyorSpeedEx ( int  cont_no,
int  robot_no,
int  axis_no,
float  spd,
float *  prev 
)

◆ krnx_SetJoint()

DECLSPEC_IMPORT int WINAPI krnx_SetJoint ( int  cont_no,
int  robot_no,
float  ang[KRNX_MAXAXES] 
)

◆ krnx_SetJT1Mode()

DECLSPEC_IMPORT int WINAPI krnx_SetJT1Mode ( int  mode)

◆ krnx_SetMonSpeed()

DECLSPEC_IMPORT int WINAPI krnx_SetMonSpeed ( int  cont_no,
int  robot_no,
float  speed,
int *  as_err_code 
)

◆ krnx_SetPanelInfo()

DECLSPEC_IMPORT int WINAPI krnx_SetPanelInfo ( int  cont_no,
int  robot_no,
TKrnxPanelInfo *  panelinfo 
)

◆ krnx_SetPriority()

DECLSPEC_IMPORT int WINAPI krnx_SetPriority ( DWORD  p)

◆ krnx_SetRtcCompData()

DECLSPEC_IMPORT int WINAPI krnx_SetRtcCompData ( int  cont_no,
int  robot_no,
const float *  comp,
int *  status,
unsigned short  seq_no 
)

◆ krnx_SetRtcCompDataEx()

DECLSPEC_IMPORT int WINAPI krnx_SetRtcCompDataEx ( int  cont_no,
int  robot_no,
const float *  comp,
int *  status,
unsigned long *  count_in,
unsigned long *  count_out,
unsigned short  seq_no 
)

◆ krnx_SetRtcCompMask()

DECLSPEC_IMPORT int WINAPI krnx_SetRtcCompMask ( int  cont_no,
int  robot_no,
int  mask 
)

◆ krnx_SetRtcErrorFlag()

DECLSPEC_IMPORT int WINAPI krnx_SetRtcErrorFlag ( int  cont_no,
int  robot_no,
int  error_flag,
unsigned short  seq_no 
)

◆ krnx_SetRtcInfo()

DECLSPEC_IMPORT int WINAPI krnx_SetRtcInfo ( int  cont_no,
TKrnxRtcInfo *  rtc_info 
)

◆ krnx_SetRtCyclicDataKind()

DECLSPEC_IMPORT int WINAPI krnx_SetRtCyclicDataKind ( int  cont_no,
unsigned short  kind 
)

◆ krnx_SetSignal()

DECLSPEC_IMPORT int WINAPI krnx_SetSignal ( int  cont_no,
int  signal_no,
int  status,
int *  as_err_code 
)

◆ krnx_SetToolMatrix()

DECLSPEC_IMPORT int WINAPI krnx_SetToolMatrix ( int  cont_no,
int  robot_no,
const float *  xyzoat,
int *  as_err_code 
)

◆ krnx_StopPcAs()

DECLSPEC_IMPORT int WINAPI krnx_StopPcAs ( void  )

◆ krnx_StopPcAsEx()

DECLSPEC_IMPORT int WINAPI krnx_StopPcAsEx ( int  entry)

◆ krnx_timer_callback()

DECLSPEC_IMPORT void WINAPI krnx_timer_callback ( void  )

◆ krnx_Xyz456ToJoint()

DECLSPEC_IMPORT int WINAPI krnx_Xyz456ToJoint ( int  cont_no,
int  robot_no,
const float *  xyzoat,
float *  joint,
const float *  old_joint,
const float *  tool 
)

◆ krnx_XyzoatToJoint()

DECLSPEC_IMPORT int WINAPI krnx_XyzoatToJoint ( int  cont_no,
int  robot_no,
const float *  xyzoat,
float *  joint,
const float *  old_joint 
)

◆ krnx_XyzoatToJoint2()

DECLSPEC_IMPORT int WINAPI krnx_XyzoatToJoint2 ( int  cont_no,
int  robot_no,
const float *  xyzoat,
float *  joint,
const float *  old_joint,
int  conf 
)

◆ krnx_XyzoatToMatrix()

DECLSPEC_IMPORT int WINAPI krnx_XyzoatToMatrix ( const float *  xyzoat,
float *  matrix 
)

Variable Documentation

◆ KRNX_SYSLOG_FLAG

short KRNX_SYSLOG_FLAG

khi_robot_control
Author(s): nakamichi_d
autogenerated on Sat Oct 21 2023 02:54:50