Yamaha DRCX Uživatelský manuál stáhnout pdf (Strana 9)

YAMAHA SR1 Provider User's Guide - 9 -

ORiN Forum DENSO WAVE Inc.

2.2.4. CaoController::Execute method

Execute the command.

The arguments of the Execute method specify a command as a BSTR and a parameter as a VARIANT array.

For details about commands, refer to "

3Command Reference".

Syntax [<vntRet:VT_VARIANT>=]Execute(<bstrCmd:VT_BSTR>[,<vntParam:VT_VARIANT>])

< vntR

et >

：

[out] Return value of command (VT_VARIANT)

< bstrCmd >

：

[in] Command (VT_BSTR)

< vntParam >

：

[in] Parameter (VT_VARIANT)

Example

----------------------------------------------------------------------------------------------------------------------------------

Dim vRes As Variant

vRes = caoCtrl.Execute(“SRVO”, 1) ‘ Servo ON

----------------------------------------------------------------------------------------------------------------------------------

2.2.5. CaoRobot::AddVariable method

The AddVariable method of CaoRobot class is a method for access to variables. In the SR1 provider, specify a

system variable for the variable name.

Refer to Table

2-6 about the system variables implemented in the SR1 provider.

2.2.6. CaoRobot::Halt method

When a robot motion command of the CaoRobot class, such as the Move and Execute methods, is executed,

the robot motion can be stopped using the Halt method.

2.2.7. CaoRobot::Move method

Move the robot to the specified position. The first argument specifies the Move command type, and the second

argument specifies the destination information and speed in a VARIANT array. The following shows the

argument specifications of Move.

Syntax Move <lComp:VT_I4>,<vntParam : (VT_VARIANT | VT_ARRAY)>

< lComp >

：

[in] Command number (VT_I4) Refer to

Table

2-3.

< vntParam >

：

[in] Destination parameter array (VT_VARIANT | VT_ARRAY)

Refer to

Table 2-4.

1 2 3 4 5 6 7 8 9 10 11 12 13 14 ... 33 34

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