Group_Jog_Motion_PCS

Group Jog Motion Functions (Cartesian coordinate system) More...

Collaboration diagram for Group_Jog_Motion_PCS:

Functions
RTN_ERR FNTYPE	NMC_GroupJogTcpFrame (I32_T DevID, I32_T GroupIndex, I32_T CartAxis, I32_T Dir, _opt_null_ const F64_T *PMaxVel)
	Enable the JOG motion of group axis in the Cartesian coordinate system with respect to the tool center point (TCP). More...
RTN_ERR FNTYPE	NMC_GroupJogPcsFrame (I32_T DevID, I32_T GroupIndex, I32_T CartAxis, I32_T Dir, _opt_null_ const F64_T *PMaxVel)
	Enable the JOG motion of group axis in the Product coordinate system. More...

Detailed Description

Group Jog Motion Functions (Cartesian coordinate system)

Todo:

Update description of Tcp & Pcs Frame function.

(No description in official pdf manual).

Function Documentation

RTN_ERR FNTYPE NMC_GroupJogPcsFrame	(	I32_T	DevID,
		I32_T	GroupIndex,
		I32_T	CartAxis,
		I32_T	Dir,
		_opt_null_ const F64_T *	PMaxVel
	)

Enable the JOG motion of group axis in the Product coordinate system.

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
	CartAxis	The coordinate axis index for the motion in the (TCP) Cartesian coordinate system. Please refer to the below table.
	Dir	Direction. 0: Forward, 1: Reverse
[out]	PMaxVel	A pointer variable to set the maximum. Input NULL (0) to ignore the parameter.

Cartesian Coordinate Axis (PCS)	V	U	C	B	A	Z	Y	X
Bit index	7	6	5	4	3	2	1	0
The power is the index of bit

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

Reference:
None.

RTN_ERR FNTYPE NMC_GroupJogTcpFrame	(	I32_T	DevID,
		I32_T	GroupIndex,
		I32_T	CartAxis,
		I32_T	Dir,
		_opt_null_ const F64_T *	PMaxVel
	)

Enable the JOG motion of group axis in the Cartesian coordinate system with respect to the tool center point (TCP).

Parameters

	DevID	Device ID (DevID)
	GroupIndex	Group index
	CartAxis	The coordinate axis index for the motion in the (TCP) Cartesian coordinate system. Please refer to the below table.
	Dir	Direction. 0: Forward, 1: Reverse
[out]	PMaxVel	A pointer variable to set the maximum. Input NULL (0) to ignore the parameter.

Cartesian Coordinate Axis (TCP)	V	U	C	B	A	Z	Y	X
Bit index	7	6	5	4	3	2	1	0
The power is the index of bit

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

Reference:
None.