Mitsubishi Electric CR800 Series - Page 138

4 Appendix
4-18
union rtdata2 { // Monitor data 2
POSE pos2; // XYZ type [mm/rad]
JOINT jnt2; // JOINT type [mm/rad]
PULSE pls2; // PULSE type [mm/rad] or Integer type [% / non-unit]
long lng2[8]; // Integer type [% / non-unit]
} dat2;
unsigned short RecvType3; // Reply data-type specification 3
union rtdata3 { // Monitor data 3
POSE pos3; // XYZ type [mm/rad]
JOINT jnt3; // JOINT type [mm/rad]
PULSE pls3; // PULSE type [mm/rad] or Integer type [% / non-unit]
long lng3[8]; // Integer type [% / non-unit]
} dat3;
} MXTCMD;
■ Source file sample.cpp
// sample.cpp
// Change the definition in the "strdef.h" file by the S/W version of the controller.
// Refer to the "strdef.h" file for details.
//
#define _CRT_SECURE_NO_WARNINGS
#include <windows.h>
#include <iostream>
#include <winsock.h>
#include <stdio.h>
#include <conio.h>
#include <string.h>
#include <math.h>
#include "strdef.h"
#define NO_FLAGS_SET 0
#define MAXBUFLEN 512
using namespace std;
INT main(VOID)
{
WSADATA Data;
SOCKADDR_IN destSockAddr;
SOCKET destSocket;
unsigned long destAddr;
int status;
int numsnt;
int numrcv;
char sendText[MAXBUFLEN];
char recvText[MAXBUFLEN];
char dst_ip_address[MAXBUFLEN];
unsigned short port;
char msg[MAXBUFLEN];
char buf[MAXBUFLEN];
char type,type_mon[4];
unsigned short IOSendType=0; // Send input/output signal data designation
unsigned short IORecvType=0; // Reply input/output signal data designation
unsigned short IOBitTop=0;