Method class for motion execution. More...

#include <erk_capi.h>

Inheritance diagram for ERK_CAPI_MOP_EXEC:

Static Public Member Functions
static DLLAPI int ER_STDCALL	erGET_NEXT_STEP (ER_HND er_hnd, long output_format, NEXT_STEP_DATA *p_next_step_data, double time)
	Returns the next interpolated position step the elapsed time and supplementary information like events, joint limits and messages. Opcode 118, Chapter 3.4.3, Page 3-54 The `output_format` specifies the format desired as output and can be one of the following values. 1: Joint encoder, 2: Joint angle/distance, 4: Cartesian ( w/orientation ), 5: Cartesian and joint encoder, 6: Cartesian and joint angle/distance Per default, `output_format` should be set = 2 Remarks After the target position has been set (using the erSET_NEXT_TARGET()), this function should be called repeatedly until the Status is 1 or 2, specifying that the Host-Application interpreter can continue. If Status is 1 and the Host-Application interpreter finds more target positions it should send the next one to this Kernel using the erSET_NEXT_TARGET() function before erGET_NEXT_STEP() is called again. If the Status is 1 and the Host-Application interpreter finds no more target positions it can continue to call this function until Status is 2. More...

static DLLAPI int ER_STDCALL	erGetCurrentStepData (ER_HND er_hnd, CURRENT_STEP_DATA *p_current_step_data)
	Returns interpolation data for the current interpolated step Remarks After the next step data are calculated, calling erGET_NEXT_STEP() , this function return additional interpolated data, such as motion type, distance to Target, time to Target, Target ID, Override, ... More...

static DLLAPI int ER_STDCALL	erSET_OVERRIDE_POSITION (ER_HND er_hnd, DFRAME *PosOffset)
	Sets a correction offset which will be added to the path during program execution. Opcode 129, Chapter 3.4.4, Page 3-69 This function can be used for sensor-compensated motion. It is effective at each time step. The passed value is valid until the function is called again. More...

static DLLAPI TErTargetID ER_STDCALL	erGET_CURRENT_TARGETID (ER_HND er_hnd)
	Returns the TargetID of the motion in execution. Opcode 163, Chapter 3.4.6, Page 3-91. More...

Static Public Member Functions inherited from ERK_CAPI_MOP
static DLLAPI int ER_STDCALL	erINITIALIZE (ER_HND *er_hnd, Host_HND host_hnd=NULL)
	Create a unique kinematics handle. Opcode 101, Chapter 3.4.1, Page 3-26, same as erInitKin() Initializes one instance of a robot and creates an unique kinematics handle `er_hnd` belonging to a robot kinematics. This handles is necessary to access individual data from the robot and to call other functions. More...

static DLLAPI int ER_STDCALL	erRESET (ER_HND er_hnd)
	Resets an instance of a robot to an initial state. Opcode 102, Chapter 3.4.1, Page 3-29 Settings are. More...

static DLLAPI int ER_STDCALL	erTERMINATE (ER_HND *er_hnd)
	Terminates an instance of a robot of the Kernel Opcode 103, Chapter 3.4.1, Page 3-30 See erUnloadKin() More...

static DLLAPI int ER_STDCALL	erSET_INITIAL_POSITION (ER_HND er_hnd, INITIAL_POSITION_DATA *p_initial_position_data)
	Sets the robot model to a position according to the input data Opcode 116, Chapter 3.4.3, Page 3-50 Remarks After initialization of the Kernel and after jogging the robot in the Host-Application, this function must be called at least once, before the erSET NEXT TARGET() function can be called. More...

static DLLAPI int ER_STDCALL	erSELECT_TRACKING (ER_HND er_hnd, long conveyor_flags)
	Selects the Tracking On or Off in the Kernel. Opcode 146, Chapter 3.4.7, Page 3-93 Function not supported In `conveyor_flags`, each of the 32 bits specifies if the corresponding conveyor is on or off: Bit on (1): Conveyor on, Bit off (0): Conveyor off. More...

static DLLAPI int ER_STDCALL	erSET_CONVEYOR_POSITION (ER_HND er_hnd, long input_format, long conveyor_flags, double conveyor_pos)
	Sends the conveyor position to the Kernel. Opcode 147, Chapter 3.4.7, Page 3-94 Function not supported The `input_format` specifies the format of the input to this function. Can be one of the following values: 1: Joint encoder, 2: Joint angle/distance In `conveyor_flags`, each of the 32 bits specifies if the corresponding conveyor is on or off: Bit on (1): Conveyor on, Bit off (0): Conveyor off. More...

static DLLAPI int ER_STDCALL	erDEFINE_EVENT (ER_HND er_hnd, long event_id, long target_id, double resolution, long type_of_event, double event_spec)
	Defines an internal asynchronous event that is to be generated relative to position and/or time in the Kernel. Opcode 148, Chapter 3.4.8, Page 3-96 Function not supported More...

static DLLAPI int ER_STDCALL	erCANCEL_EVENT (ER_HND er_hnd, long event_id)
	This function makes it possible to cancel an event previously defined in the Kernel by the erDEFINE_EVENT() function. Opcode 149, Chapter 3.4.8, Page 3-99 Function not supported More...

static DLLAPI int ER_STDCALL	erGET_EVENT (ER_HND er_hnd, long event_nr)
	This function gets information about an internal asynchronous event that occurred in the Kernel. Opcode 150, Chapter 3.4.8, Page 3-100 Function not supported More...

static DLLAPI int ER_STDCALL	erGET_MESSAGE (ER_HND er_hnd, long message_number)
	Gives information about controller messages that occurred. Opcode 154, Chapter 3.4.9, Page 3-104 Function not supported Use notify messages instead TErNotifyData. More...

Static Public Member Functions inherited from ERK_CAPI_DEVICES
static DLLAPI int ER_STDCALL	erInitKin (ER_HND *er_hnd, Host_HND host_hnd=NULL)
	Create a unique kinematics handle. Opcode 101, Chapter 3.4.1, Page 3-26, same as erINITIALIZE() Initializes one instance of a robot and creates an unique kinematics handle `er_hnd` belonging to a robot kinematics. This handles is necessary to access individual data from the robot and to call other functions. Use erLoadKin() to load an EASY-ROB rob file (*.rob) containing a kinematics. More...

static DLLAPI int ER_STDCALL	erUnloadKin (ER_HND *er_hnd)
	Unload an instance of kinematics of the Kernel. Unloads an instance of kinematics givin by the unique kinematics handle. Unloading a kinematics will call callback function TerFreeGeometryProc for each geometry belonging to this kinematics. The number of loaded kinematics will be decremented. This kinematics handle `er_hnd` is set to NULL and is not valid after calling this function. More...

static DLLAPI int ER_STDCALL	erConnectPositioner (ER_HND er_hnd, ER_HND er_hnd_connect)
	Connects a positioner kinematics with handle `er_hnd_connect` to the robot kinematics with handle `er_hnd`. Remarks Use erConnectPositionerSetSync() for synchronized motion with a positioner. Use erConnectPositionerGetSync() to receive synchronization status between robot and the connected positioner. More...

static DLLAPI ER_HND ER_STDCALL	erConnectPositionerGetHND (ER_HND er_hnd)
	Get robots connection handle between robot and positioner. See also erConnectPositioner() More...

static DLLAPI int ER_STDCALL	erConnectPositionerSetSync (ER_HND er_hnd, long connect_sync)
	Set robots synchronization flag for synchronization between robot and positioner. The synchronization flag `connect_sync` can be one of the following values. 1: ER_SYNC_OFF, 2: ER_SYNC_ON See also erConnectPositionerGetSync() More...

static DLLAPI int ER_STDCALL	erConnectPositionerGetSync (ER_HND er_hnd)
	Get robots synchronization flag for synchronization between robot and positioner. See also erConnectPositionerSetSync() More...

static DLLAPI int ER_STDCALL	erConnectConveyor (ER_HND er_hnd, ER_HND er_hnd_connect)
	Connects a conveyor kinematics with handle `er_hnd_connect` to the robot kinematics with handle `er_hnd`. Remarks Use erConnectConveyorSetSync() for synchronized motion with a conveyor. Use erConnectConveyorGetSync() to receive synchronization status between robot and the connected conveyor. More...

static DLLAPI ER_HND ER_STDCALL	erConnectConveyorGetHND (ER_HND er_hnd)
	Get robots connection handle between robot and conveyor. See also erConnectConveyor() More...

static DLLAPI int ER_STDCALL	erConnectConveyorSetSync (ER_HND er_hnd, long connect_sync)
	Set robots synchronization flag for synchronization between robot and conveyor. The synchronization flag `connect_sync` can be one of the following values. 1: ER_SYNC_OFF, 2: ER_SYNC_ON See also erConnectConveyorGetSync() More...

static DLLAPI int ER_STDCALL	erConnectConveyorGetSync (ER_HND er_hnd)
	Get robots synchronization flag for synchronization between robot and conveyor. See also erConnectConveyorSetSync() More...

static DLLAPI int ER_STDCALL	erConnectTrackMotion (ER_HND er_hnd, ER_HND er_hnd_connect)
	Connects a track motion kinematics with handle `er_hnd_connect` to the robot kinematics with handle `er_hnd`. Remarks Use erConnectTrackMotionSetSync() for synchronized motion with a track motion. Use erConnectTrackMotionGetSync() to receive synchronization status between robot and the connected track motion. More...

static DLLAPI ER_HND ER_STDCALL	erConnectTrackMotionGetHND (ER_HND er_hnd)
	Get robots connection handle between robot and track motion. See also erConnectTrackMotion() More...

static DLLAPI int ER_STDCALL	erConnectTrackMotionSetSync (ER_HND er_hnd, long connect_sync)
	Set robots synchronization flag for synchronization between robot and track motion. The synchronization flag `connect_sync` can be one of the following values. 1: ER_SYNC_OFF, 2: ER_SYNC_ON, 4: ER_SYNC_CONVEYOR See also erConnectTrackMotionGetSync() More...

static DLLAPI int ER_STDCALL	erConnectTrackMotionGetSync (ER_HND er_hnd)
	Get robots synchronization flag for synchronization between robot and track motion. See also erConnectTrackMotionSetSync() More...

static DLLAPI int ER_STDCALL	erConnectRobot (ER_HND er_hnd, ER_HND er_hnd_connect)
	Connects a slave robot kinematics with handle `er_hnd_connect` to the robot kinematics with handle `er_hnd`. Remarks Use erConnectRobotSetSync() for synchronized motion with a slave robot. Use erConnectRobotGetSync() to receive synchronization status between robot and the connected slave robot. More...

static DLLAPI ER_HND ER_STDCALL	erConnectRobotGetHND (ER_HND er_hnd)
	Get robots connection handle between robot and slave robot. See also erConnectRobot() More...

static DLLAPI int ER_STDCALL	erConnectRobotSetSync (ER_HND er_hnd, long connect_sync)
	Set robots synchronization flag for synchronization between robot and slave robot. The synchronization flag `connect_sync` can be one of the following values. 1: ER_SYNC_OFF, 2: ER_SYNC_ON See also erConnectRobotGetSync() More...

static DLLAPI int ER_STDCALL	erConnectRobotGetSync (ER_HND er_hnd)
	Get robots synchronization flag for synchronization between robot and slave robot. See also erConnectRobotSetSync() More...

static DLLAPI int ER_STDCALL	erUnloadTool (ER_HND er_hnd)
	Unload a kinematics tool. Unloads a kinematics tool givin by the unique kinematics handle. Unloading a kinematics tool will call callback function TerFreeGeometryProc for each geometry belonging to this kinematics tool. Remarks This kinematics handle `er_hnd` is still valid after calling this function. More...

static DLLAPI int ER_STDCALL	erLoadKin (ER_HND er_hnd, char *fln_rob)
	Load an EASY-ROB rob file (.rob) containing a kinematics. Loading a robfile will call the callback function TerLoadGeometryProc() each time when a geometry-file-name is detected in the robfile. In this case the host application has to read or import the geometry and store it inside their own structure. Remarks* Get a valid unique kinematics handle with erInitKin() In case the robfile cannot be loaded, the kinematics handle is not valid anymore. Get a new kinematics handle with erInitKin() More...

static DLLAPI int ER_STDCALL	erLoadTool (ER_HND er_hnd, char *fln_tool)
	Load an EASY-ROB tool file (*.tol) containing tool (tcp) data. Loading a toolfile will call the callback function TerLoadGeometryProc() each time when a geometry-file-name is detected in the toolfile. . More...

static DLLAPI int ER_STDCALL	erGet_n_Kin (ER_HND er_hnd)
	Get the number of loaded kinematics. More...

static DLLAPI int ER_STDCALL	erGet_n_Kin_IR (ER_HND er_hnd)
	Get the number of loaded kinematics with more than 3 joints and inverse kinematics. More...

static DLLAPI int ER_STDCALL	erGetName (ER_HND er_hnd, char *name)
	Get the name of the robot. More...

Additional Inherited Members
Static Public Attributes inherited from ERK_CAPI_MOP
static ERK_CAPI_MOP_DATA	erk_capi_mop_data
	Method class for start-, target data, motion time, etc. More...

static ERK_CAPI_MOP_PATH	erk_capi_mop_path
	Method class for path specifications, motion type (PTP, LIN, CIRC), speeds, acceleration, waiting time, etc. More...

static ERK_CAPI_MOP_PREP	erk_capi_mop_prep
	Method class for motion planning (preparation) More...

static ERK_CAPI_MOP_EXEC	erk_capi_mop_exec
	Method class for motion execution. More...

Static Public Attributes inherited from ERK_CAPI_DEVICES
static ERK_CAPI_ROB	erk_capi_rob
	Method class kinematics and transformations. More...

static ERK_CAPI_MOP	erk_capi_mop
	Method class for motion planning and -execution. More...

static ERK_CAPI_TOOLPATH	erk_capi_toolpath
	Method class for tool path definition. More...

Static Public Attributes inherited from ERK_CAPI
static ERK_CAPI_ADMIN	erk_capi_admin
	Method class to administrate this Robotics Simulation Kernel. More...

static ERK_CAPI_DEVICES	erk_capi_devices
	Method class to create, attach, update devices, for kinematics calculations and for motion planning and -execution. More...

static ERK_CAPI_SIM	erk_capi_sim
	Method class for simulation settings. More...

static ERK_CAPI_AUTOPATH	erk_capi_autopath
	Method class for collision free path planning. More...

static ERK_CAPI_TARGETS	erk_capi_targets
	Method class for paths and tags. More...

static ERK_CAPI_GEO	erk_capi_geo
	Method class to handle 3D Geometry Data. More...

static ERK_CAPI_SYS	erk_capi_sys
	Method class for mathematical calculations, simulation status, units. More...

Detailed Description

Method class for motion execution.

Member Function Documentation

◆ erGET_CURRENT_TARGETID()

static DLLAPI TErTargetID ER_STDCALL ERK_CAPI_MOP_EXEC::erGET_CURRENT_TARGETID ( ER_HND er_hnd )

static

Returns the TargetID of the motion in execution.
Opcode 163, Chapter 3.4.6, Page 3-91.

Parameters

[in] er_hnd unique kinematics handle ER_HND

Return values

0	- OK
1	- Error, invalid handle
TErTargetID	- target identifier that was passed with erSET NEXT TARGET(), TErTargetID

◆ erGET_NEXT_STEP()

static DLLAPI int ER_STDCALL ERK_CAPI_MOP_EXEC::erGET_NEXT_STEP	(	ER_HND	er_hnd,
		long	output_format,
		NEXT_STEP_DATA *	p_next_step_data,
		double	time
	)

static

Returns the next interpolated position step
the elapsed time and supplementary information like events, joint limits and messages.
Opcode 118, Chapter 3.4.3, Page 3-54
The output_format specifies the format desired as output and can be one of the following values.
1: Joint encoder, 2: Joint angle/distance, 4: Cartesian ( w/orientation ), 5: Cartesian and joint encoder, 6: Cartesian and joint angle/distance
Per default, output_format should be set = 2
Remarks
After the target position has been set (using the erSET_NEXT_TARGET()), this function should be called repeatedly until the Status is 1 or 2, specifying that the Host-Application interpreter can continue. If Status is 1 and the Host-Application interpreter finds more target positions it should send the next one to this Kernel using the erSET_NEXT_TARGET() function before erGET_NEXT_STEP() is called again. If the Status is 1 and the Host-Application interpreter finds no more target positions it can continue to call this function until Status is 2.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	output_format	format desired as output
[out]	p_next_step_data	data for next interpolation step NEXT_STEP_DATA
[in]	time	time [s]

Return values

2	- final step, target reached or speed is zero
1	- need more data, nothing to do
0	- OK, next step is calculated successful
-13	- the specified output format is not supported
-17	- the specified motion type is not supported
-25	- the motion is not possible in the specified time
-42	- no target set
-51	- no solution is found. One joint is out of range
-52	- Cartesian position is out of work range
-68	- fatal error, stopped calculating
-76	- incomplete or inconsistent motion specification, can't move
-1053	- Cartesian position is out of boudary work range
-1059	- Cartesian position is singular

◆ erGetCurrentStepData()

static DLLAPI int ER_STDCALL ERK_CAPI_MOP_EXEC::erGetCurrentStepData	(	ER_HND	er_hnd,
		CURRENT_STEP_DATA *	p_current_step_data
	)

static

Returns interpolation data for the current interpolated step
Remarks
After the next step data are calculated, calling erGET_NEXT_STEP() , this function return additional interpolated data,
such as motion type, distance to Target, time to Target, Target ID, Override, ...

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	p_current_step_data	data for current interpolation step CURRENT_STEP_DATA

Return values

0	- OK, next step is calculated successful
1	- Error, no interpolation data available

◆ erSET_OVERRIDE_POSITION()

static DLLAPI int ER_STDCALL ERK_CAPI_MOP_EXEC::erSET_OVERRIDE_POSITION	(	ER_HND	er_hnd,
		DFRAME *	PosOffset
	)

static

Sets a correction offset which will be added to the path during program execution.
Opcode 129, Chapter 3.4.4, Page 3-69
This function can be used for sensor-compensated motion. It is effective at each time step. The passed value is valid until the function is called again.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	PosOffset	correction offset DFRAME

Return values

0	- OK
1	- Error
-1	- not supported

The documentation for this class was generated from the following file:

erk_capi.h

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ erGET_CURRENT_TARGETID()

◆ erGET_NEXT_STEP()

◆ erGetCurrentStepData()

◆ erSET_OVERRIDE_POSITION()