McomSendPosition

Board	Supported
Host System	Yes
V4L2	No
Clarity UHD	No
Concord PoE	No
GenTL	No
GevIQ	No
GigE Vision	No
Indio	Yes
Iris GTX	Yes
Radient eV-CL	No
Rapixo CL	No
Rapixo CoF	No
Rapixo CXP	No
USB3 Vision	No

Sends a position to the robot. This does not move the robot, but simply sends a found position to the robot controller.

Syntax

void McomSendPosition(
    AIL_ID     ComId,            //in
    AIL_INT64  OperationCode,    //in
    AIL_INT64  Status,           //in
    AIL_INT64  ObjectSpecifier,  //in
    AIL_DOUBLE PositionX,        //in
    AIL_DOUBLE PositionY,        //in
    AIL_DOUBLE PositionZ,        //in
    AIL_DOUBLE RotationX,        //in
    AIL_DOUBLE RotationY,        //in
    AIL_DOUBLE RotationZ,        //in
    AIL_INT64  ControlFlag,      //in
    AIL_DOUBLE ControlValue      //in
)

Description

This function sends a position to the robot controller. It is typically used to change the robot's position to the specified coordinates.

You can only use this function when you specify an Industrial Communication context that has been allocated to communicate with a robot controller.

Use RotationX, RotationY, RotationZ to specify rotations about the different positional axes. The table below indicates how the robot controllers internally represent this data.

Robot type	Robot controller representation
ABB	The orientation is converted by the robot controller to a quaternion.
DENSO	Roll
Epson	W
Fanuc	W
KUKA	C
Staubli	Rx

Note: This function is only available if you have the Aurora Imaging Library Industrial & Robot Communications package, or another relevant update installed.

Parameters

ComId (in, AIL_ID)

Specifies the identifier of the Industrial Communication context. The Industrial Communication context must have been allocated to communicate with a robot controller.

OperationCode (in, AIL_INT64)

Specifies the operation code (opcode) of the command. This parameter must be set one of to the following values:

For specifying the operation code

Value	Description
M_COM_ROBOT_FIND_POSITION_RESULT	Specifies that the Aurora Imaging Library application is sending a new position to the robot controller.
1024 <= Value <= 2047	Specifies the value of the user-defined operation code. Note that if you want to start the user operation code offset at 0 instead of 1024, you can use M_COM_USER_OPCODE + opcode value.

Status (in, AIL_INT64)

Specifies the status code to send to the robot controller.

For specifying the status code sent to the robot controller

Value	Description
M_COM_ERROR	Specifies that the Aurora Imaging Library application was not successful in finding a new position or that the robot should stop.
M_COM_SUCCESS	Specifies that the Aurora Imaging Library application was successful in finding a new position.

ObjectSpecifier (in, AIL_INT64)

Specifies the user identifier associated with the object at the specified position. This should ideally correspond to the value received from ObjectSpecifierPtr during the previous call of the McomWaitPositionRequest function.

PositionX (in, AIL_DOUBLE)

Specifies the X-position to the robot controller.

PositionY (in, AIL_DOUBLE)

Specifies the Y-position to the robot controller.

PositionZ (in, AIL_DOUBLE)

Specifies the Z-position to the robot controller.

RotationX (in, AIL_DOUBLE)

Specifies the rotation around the positional X-axis to the robot controller.

RotationY (in, AIL_DOUBLE)

Specifies the rotation around the positional Y-axis to the robot controller.

RotationZ (in, AIL_DOUBLE)

Specifies the rotation around the positional Z-axis to the robot controller.

ControlFlag (in, AIL_INT64)

Reserved for future expansion and must be set to M_DEFAULT.

ControlValue (in, AIL_DOUBLE)

Reserved for future expansion and must be set to M_DEFAULT.