Diff: ROBO_TWIN_CONT.h

Revision:

2:71b3736a1bd7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ROBO_TWIN_CONT.h	Fri Oct 21 10:54:03 2022 +0000
@@ -0,0 +1,39 @@
+#define R12_HAND_OPEN  0
+#define R12_HAND_CLOSE 1
+///ロボットポジション/////////
+#define  RP_WAIT       0
+#define  RP_WORK_UP    1
+#define  RP_WORK_DW    2
+#define  RP_ESC_CHG1   3
+#define  RP_H1WD_UP    4 //最初に溶接するヘッド
+#define  RP_WDP_1      5
+#define  RP_WDP_2      6
+#define  RP_ESC1_RT    7
+#define  RP_WDP_3      8
+#define  RP_WDP_4      9
+#define  RP_ESC_CHG2   10
+#define  RP_H2WD_UP    11//２番目にに溶接するヘッド
+#define  RP_WDP_5      12
+#define  RP_WDP_6      13
+#define  RP_ESC2_RT    14
+#define  RP_WDP_7      15
+#define  RP_WDP_8      16
+#define  RP_EJECT      17
+#define  RP_TEST1      18
+#define  RP_TEST2      19
+
+#define  RP_HOME      255
+void RB1A2_MOVE_WAIT(unsigned long tout_ms);
+void RB1A2_MOVE_SWAIT(unsigned long tout_s);//sでタイムアウトを指定
+void RB1A2_MOVE_EWAIT(unsigned long tout_s);//sでタイムアウトを指定
+void RB1A2_SEL_MOVE(unsigned char RB_SEL,unsigned int SPEED,unsigned int ACC);
+void RB1A2_HAND_CONT(unsigned char cont);//ハンド同時制御
+void RB1A2_SPEED_SET(unsigned char SET);//速度設定
+void RB1A2_HOME_MOVE();
+
+extern unsigned char RB1A2_SPEED_ADJ;
+extern unsigned char RB1A2_ACC_ADJ;
+
+
+extern unsigned char RP_SEL_SET;///ポジション選択
+