7Appendix
Real-time external control function Appendix-597
(2) Sample program for real-time external control function
A sample program that establishes a data link using Microsoft Visual C++5.0/6.0 (hereinafter VC) is shown
below.
The procedures for creating the program are briefly explained below.
Refer to the software manuals for details on operating VC and creating the application.
1) Create new project
2) Create program sample.cpp/strdef.h
1) Create new project
Start VC, and create a new project. Set the name to Win32 Console Application.
Using the project setting, add wsock32.lib to the object/library module.
2) Create program sample.cpp/strdef.h
Newly create the header file strdef.h and source file sample.cpp.
<Notes at compiling>
Use the setup of the alignment compiler option of the structure member with the 8 bytes of initial value. After
new creation of the project of Visual C++, if the setup is used with initial value, there is no problem. Refer to
the help of Visual C++ for details.
a)Header file strdef.h
//************************************************************************************
// Real-time control sample program
// Communication packet data structure definition header file
//************************************************************************************
// strdef.h
/*************************************************************************/
/*Joint coordinate system (Set unused axis to 0)*/
/*Refer to the instruction manual enclosed */
/*with each robot for details on each element. */
/*************************************************************************/
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