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Changed in version Java: SDK-v1.0.5-3.8.2
/**
* @brief UDP extended axis communication parameter configuration
* @param [in] param Communication parameters
* @return Error code
*/
int ExtDevSetUDPComParam(UDPComParam param);
13.18. Get UDP Extended Axis Communication Parameter Configuration
/**
* @brief Get UDP extended axis communication parameters
* @param [out] param Communication parameters
* @return Error code
*/
int ExtDevGetUDPComParam(UDPComParam param);
13.19. Load UDP Communication
/**
* @brief Load UDP communication
* @return Error code
*/
int ExtDevLoadUDPDriver();
13.20. Unload UDP Communication
/**
* @brief Unload UDP communication
* @return Error code
*/
int ExtDevUnloadUDPDriver();
13.21. Reconnect After UDP Extended Axis Communication Exception Disconnection
/**
* @brief Reconnect after UDP extended axis communication exception disconnection
* @return Error code
*/
int ExtDevUDPClientComReset();
13.22. Close Communication After UDP Extended Axis Communication Exception Disconnection
/**
* @brief Close communication after UDP extended axis communication exception disconnection
* @return Error code
*/
int ExtDevUDPClientComClose();
13.23. UDP Extended Axis Parameter Configuration
/**
* @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-reverse
* @param [in] axisMax Extended axis maximum position mm
* @param [in] axisMin Extended axis minimum position 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 starting point extended 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, int encResolution, double axisOffect, int axisCompany, int axisModel, int axisEncType);
13.24. Set Extended Axis Installation Position
/**
* @brief Set extended axis installation position
* @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
/**
* @brief Set extended axis system DH parameter configuration
* @param [in] axisConfig External axis configuration, 0-single degree of freedom linear slide, 1-two degree of freedom L-type positioner, 2-three degree of freedom, 3-four degree of freedom, 4-single degree of freedom positioner
* @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 a1 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
/**
* @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 Homing
/**
* @brief UDP extended axis homing
* @param [in] axisID Axis number [1-4]
* @param [in] mode Homing method 0-current position homing, 1-negative limit homing, 2-positive limit homing
* @param [in] searchVel Homing speed (mm/s)
* @param [in] latchVel Homing latch speed (mm/s)
* @return Error code
*/
int ExtAxisSetHoming(int axisID, int mode, double searchVel, double latchVel);
13.28. UDP Extended Axis Jog Start
/**
* @brief UDP extended axis jog start
* @param [in] axisID Axis number [1-4]
* @param [in] direction Rotation direction 0-reverse; 1-forward
* @param [in] vel Speed (mm/s)
* @param [in] acc Acceleration (mm/s2)
* @param [in] maxDistance Maximum jog distance
* @return Error code
*/
int ExtAxisStartJog(int axisID, int direction, double vel, double acc, double maxDistance);
13.29. UDP Extended Axis Jog Stop
/**
* @brief UDP extended axis jog stop
* @param [in] axisID Axis number [1-4]
* @return Error code
*/
int ExtAxisStopJog(int axisID);
13.30. UDP Extended Axis Configuration and Jog Code Example
public static int TestUDPAxis(Robot robot)//UDP
{
UDPComParam para1=new UDPComParam("192.168.58.88", 2021, 2, 100, 3, 200, 1, 100, 5, 1);
int rtn = robot.ExtDevSetUDPComParam(para1);
String ip = ""; int port = 0; int period = 0; int lossPkgTime = 0; int lossPkgNum = 0; int disconnectTime = 0; int reconnectEnable = 0; int reconnectPeriod = 0; int reconnectNum = 0;
UDPComParam para2=new UDPComParam(ip, port, period, lossPkgTime, lossPkgNum, disconnectTime, reconnectEnable, reconnectPeriod, reconnectNum,0);
rtn = robot.ExtDevGetUDPComParam(para2);
robot.ExtDevLoadUDPDriver();
rtn = robot.ExtAxisServoOn(1, 1);
rtn = robot.ExtAxisServoOn(2, 1);
robot.Sleep(3000);
robot.ExtAxisSetHoming(1, 0, 10, 2);
robot.Sleep(3000);
rtn = robot.ExtAxisSetHoming(2, 0, 10, 2);
robot.Sleep(4000);
rtn = robot.SetRobotPosToAxis(1);
rtn = robot.SetAxisDHParaConfig(10, 20, 0, 0, 0, 0, 0, 0, 0);
rtn = robot.ExtAxisParamConfig(1, 1, 1, 1000, -1000, 1000, 1000, 1.905, 262144, 200, 1, 0, 0);
rtn = robot.ExtAxisParamConfig(2, 1, 1, 1000, -1000, 1000, 1000, 4.444, 262144, 200, 1, 0, 0);
robot.Sleep(4000);
robot.ExtAxisStartJog(1, 0, 10, 10, 30);
robot.Sleep(4000);
robot.ExtAxisStopJog(1);
robot.Sleep(4000);
robot.ExtAxisServoOn(1, 0);
robot.Sleep(4000);
robot.ExtAxisStartJog(2, 0, 10, 10, 30);
robot.Sleep(4000);
robot.ExtAxisStopJog(2);
robot.Sleep(4000);
robot.ExtAxisServoOn(2, 0);
robot.Sleep(4000);
robot.ExtDevUnloadUDPDriver();
return 0;
}
13.31. Set Extended Axis Coordinate System Reference Point - Four-Point Method
/**
* @brief Set extended axis coordinate system reference point - four-point method
* @param [in] pointNum Point number [1-4]
* @return Error code
*/
int ExtAxisSetRefPoint(int pointNum);
13.32. Calculate Extended Axis Coordinate System - Four-Point Method
/**
* @brief Calculate extended axis coordinate system - four-point method
* @param [out] coord Coordinate system value
* @return Error code
*/
int ExtAxisComputeECoordSys(DescPose coord);
13.33. Positioner Coordinate System Reference Point Setting
/**
* @brief Positioner coordinate system reference point setting
* @param [in] pointNum Point number [1-4]
* @return Error code
*/
int PositionorSetRefPoint(int pointNum);
13.34. Positioner Coordinate System Calculation - Four-Point Method
/**
* @brief Positioner coordinate system calculation - four-point method
* @param [out] coord Coordinate system value
* @return Error code
*/
int PositionorComputeECoordSys(DescPose coord);
13.35. Set Calibration Reference Point Pose in Extended Axis End Coordinate System
/**
* @brief Set calibration reference point pose in extended axis end coordinate system
* @param [in] pos Pose value
* @return Error code
*/
int SetRefPointInExAxisEnd(DescPose pos);
13.36. Apply Extended Axis Coordinate System
/**
* @brief Apply extended axis coordinate system
* @param [in] applyAxisId Extended axis number bit0-bit3 corresponds to extended axis number 1-4, e.g., to apply extended axis 1 and 3, it is 0b 0000 0101; which is 5
* @param [in] axisCoordNum Extended axis coordinate system number
* @param [in] coord Coordinate system value
* @param [in] calibFlag Calibration flag 0-no, 1-yes
* @return Error code
*/
int ExtAxisActiveECoordSys(int applyAxisId, int axisCoordNum, DescPose coord, int calibFlag);
13.37. Get Extended Axis Coordinate System
New in version Java: SDK-v1.0.5-3.8.2
/**
* @brief Get extended axis coordinate system
* @param [out] coord Extended axis coordinate system
* @return Error code
*/
int ExtAxisGetCoord(DescPose coord);
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