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New in version C#SDK-V1.1.3: Web-3.8.2
/**
* @brief UDP extended axis communication parameter configuration
* @param [in] ip PLC IP address
* @param [in] port Port number
* @param [in] period Communication cycle (ms, default is 2, do not modify this parameter)
* @param [in] lossPkgTime Packet loss detection time (ms)
* @param [in] lossPkgNum Number of packet losses
* @param [in] disconnectTime Communication disconnection confirmation time
* @param [in] reconnectEnable Enable automatic reconnection after communication disconnect 0-Disabled 1-Enabled
* @param [in] reconnectPeriod Reconnection period (ms)
* @param [in] reconnectNum Reconnection count
* @param [in] selfConnect Whether to automatically establish a connection after power failure; 0-Do not establish a connection; 1-Establish a connection
* @return Error code
*/
int ExtDevSetUDPComParam(std::string ip, int port, int period, int lossPkgTime, int lossPkgNum, int disconnectTime, int reconnectEnable, int reconnectPeriod, int reconnectNum, int selfConnect);
13.18. Get UDP extended axis communication parameter configuration
New in version C#SDK-v1.0.7.
/**
* @brief Get UDP extended axis communication parameters
* @param [out] ip PLC IP address
* @param [out] port Port number
* @param [out] period Communication cycle (ms, default is 2, do not modify this parameter)
* @param [out] lossPkgTime Packet loss detection time (ms)
* @param [out] lossPkgNum Number of packet losses
* @param [out] disconnectTime Communication disconnection confirmation time
* @param [out] reconnectEnable Automatic reconnection after disconnection 0-disabled 1-enabled
* @param [out] reconnectPeriod Reconnection period (ms)
* @param [out] reconnectNum Number of reconnection attempts
* @return Error code
*/
int ExtDevGetUDPComParam(std::string& ip, int& port, int& period, int& lossPkgTime, int& lossPkgNum, int& disconnectTime, int& reconnectEnable, int& reconnectPeriod, int& reconnectNum);
13.19. Load UDP communication
New in version C#SDK-v1.0.7.
/**
* @brief Load UDP communication
* @return Error code
*/
int ExtDevLoadUDPDriver();
13.20. Unload UDP communication
New in version C#SDK-v1.0.7.
/**
* @brief Unload UDP communication
* @return Error code
*/
int ExtDevUnloadUDPDriver();
13.21. Restore connection after abnormal disconnection of UDP extended axis communication
New in version C#SDK-v1.0.7.
/**
* @brief Restore connection after abnormal disconnection of UDP extended axis communication
* @return Error code
*/
int ExtDevUDPClientComReset();
13.22. Close communication after abnormal disconnection of UDP extended axis communication
New in version C#SDK-v1.0.7.
/**
* @brief Close communication after abnormal disconnection of UDP extended axis communication
* @return Error code
*/
int ExtDevUDPClientComClose();
13.23. UDP extended axis parameter configuration
New in version C#SDK-v1.0.7.
/**
* @brief UDP extended axis parameter configuration
* @param [in] axisID Axis number
* @param [in] axisType Extended axis type 0-translation; 1-rotation
* @param [in] axisDirection Extended axis direction 0-forward; 1-backward
* @param [in] axisMax Maximum position of the extended axis mm
* @param [in] axisMin Minimum position of the extended axis mm
* @param [in] axisVel Speed mm/s
* @param [in] axisAcc Acceleration mm/s2
* @param [in] axisLead Lead mm
* @param [in] encResolution Encoder resolution
* @param [in] axisOffect Weld start point extension axis offset
* @param [in] axisCompany Driver manufacturer 1-Hechuan; 2-Huichuan; 3-Panasonic
* @param [in] axisModel Driver model 1-Hechuan-SV-XD3EA040L-E, 2-Hechuan-SV-X2EA150A-A, 1-Huichuan-SV620PT5R4I,1-Panasonic-MADLN15SG, 2-Panasonic-MSDLN25SG, 3-Panasonic-MCDLN35SG
* @param [in] axisEncType Encoder type 0-Incremental; 1-Absolute
* @return Error code
*/
int ExtAxisParamConfig(int axisID, int axisType, int axisDirection, double axisMax, double axisMin, double axisVel, double axisAcc, double axisLead, long encResolution, double axisOffect, int axisCompany, int axisModel, int axisEncType);
13.24. Set the installation position of the extended axis
New in version C#SDK-v1.0.7.
/**
* @brief Set the installation position of the extended axis
* @param [in] installType 0-robot installed on external axis, 1-robot installed outside external axis
* @return Error code
*/
int SetRobotPosToAxis(int installType);
13.25. Set extended axis system DH parameter configuration
New in version C#SDK-v1.0.7.
/**
* @brief Set the DH parameter configuration for the extended axis system
* @param [in] axisConfig External axis configuration, 0-single-degree-of-freedom linear slide rail, 1-two-degree-of-freedom L-type indexer, 2-three-degree-of-freedom, 3-four-degree-of-freedom, 4-single-degree-of-freedom indexer
* @param [in] axisDHd1 External axis DH parameter d1 mm
* @param [in] axisDHd2 External axis DH parameter d2 mm
* @param [in] axisDHd3 External axis DH parameter d3 mm
* @param [in] axisDHd4 External axis DH parameter d4 mm
* @param [in] axisDHa1 External axis DH parameter 11 mm
* @param [in] axisDHa2 External axis DH parameter a2 mm
* @param [in] axisDHa3 External axis DH parameter a3 mm
* @param [in] axisDHa4 External axis DH parameter a4 mm
* @return Error code
*/
int SetAxisDHParaConfig(int axisConfig, double axisDHd1, double axisDHd2, double axisDHd3, double axisDHd4, double axisDHa1, double axisDHa2, double axisDHa3, double axisDHa4);
13.26. UDP extended axis enable
New in version C#SDK-v1.0.7.
/**
* @brief UDP extended axis enable
* @param [in] axisID Axis number [1-4]
* @param [in] status 0-disable; 1-enable
* @return Error code
*/
int ExtAxisServoOn(int axisID, int status);
13.27. UDP extended axis reset
New in version C#SDK-v1.0.7.
/**
* @brief UDP extended axis zero return
* @param [in] axisID axis number [1-4]
* @param [in] mode zero return mode 0-return to current position, 1-return to negative limit, 2-return to positive limit
* @param [in] searchVel zero search speed (mm/s)
* @param [in] latchVel Latching speed (mm/s)
* @return Error code
*/
int ExtAxisSetHoming(int axisID, int mode, double searchVel, double latchVel);
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