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Varkon MBS Programmers manual

# RAP robot control routines

MBS name | Description
--- | ---
rap_infloat | Read Rapid num variable to Varkon float
rap_outfloat | Write Varkon float to Rapid num variable
rap_inint | Read Rapid num variable to Varkon int
rap_outint | Write Varkon int to Rapid num variable
rap_inrobtarget | Read Rapid robtarget to Varkon variables
rap_outrobtarget | Write Varkon variables to Rapid robtarget
rap_injointtarget | Read Rapid robtarget to Varkon variables
rap_outjointtarget | Write Varkon variables to Rapid robtarget
rap_inspeed | Read Rapid speeddata to Varkon float array
rap_outspeed | Write Varkon float array to Rapid speeddata
rap_infloatarr | Read Rapid num array to Varkon float array
rap_outfloatarr | Write Varkon float array to Rapid num array
rap_inrobtarr | Read Rapid robtarget array to Varkon arrays
rap_outrobtarr | Write Varkon arrays to Rapid robtarget array
rpc_clientcreate | Create client for Remote Procedure calls (RPC)
rpc_clientdestroy | Destroy RPC client

Comment

RAP routines are only available for UNIX platforms when building Varkon from the sources. See $VARKON_ROOT/sources/makefile.

Varkon version 1.19C svn# 120