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static DLLAPI int ER_STDCALL | erGetName (ER_HND er_hnd, char *name) |
| Get the name of the robot. More...
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static DLLAPI int ER_STDCALL | erSetHomepos (ER_HND er_hnd, double *homepos) |
| Set robot joint homeposition. The kinematics joint homepos are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs() More...
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static DLLAPI int ER_STDCALL | erGetHomepos (ER_HND er_hnd, double *homepos) |
| Get robot joint homeposition. The kinematics joint homepos are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs() More...
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static DLLAPI int ER_STDCALL | erSetSweMin (ER_HND er_hnd, double *swe_min) |
| Set fix minimum travel ranges. The kinematics travel ranges swe_min are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs() More...
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static DLLAPI int ER_STDCALL | erGetSweMin (ER_HND er_hnd, double *swe_min) |
| Get fix minimum travel ranges. The kinematics travel ranges swe_min are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs() More...
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static DLLAPI int ER_STDCALL | erGetSweMinCalc (ER_HND er_hnd, double *swe_min_calc) |
| Get calculated minimum travel ranges. The kinematics calculated travel ranges swe_min_calc are in units [m] for prismatic joint type
and [rad] for rotational joint type
Use erGetSweCalcMode() to find out if travel ranges are fix or depending on equations
Get the number of joints with erGet_num_dofs() More...
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static DLLAPI int ER_STDCALL | erSetSweMax (ER_HND er_hnd, double *swe_max) |
| Set fix maximum travel ranges. The kinematics travel ranges swe_max are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs() More...
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static DLLAPI int ER_STDCALL | erGetSweMax (ER_HND er_hnd, double *swe_max) |
| Get fix maximum travel ranges. The kinematics travel ranges swe_max are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs() More...
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static DLLAPI int ER_STDCALL | erGetSweMaxCalc (ER_HND er_hnd, double *swe_max_calc) |
| Get calculated maximum travel ranges. The kinematics calculated travel ranges swe_max_calc are in units [m] for prismatic joint type
and [rad] for rotational joint type
Use erGetSweCalcMode() to find out if travel ranges are fix or depending on equations
Get the number of joints with erGet_num_dofs() More...
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static DLLAPI int ER_STDCALL | erGetSweMinMaxCalc (ER_HND er_hnd, double *swe_min_calc, double *swe_max_calc) |
| Get calculated minimum and maximum travel ranges. The kinematics calculated travel ranges swe_min_calc and swe_max_calc are in units [m] for prismatic joint type
and [rad] for rotational joint type
Use erGetSweCalcMode() to find out if travel ranges are fix or depending on equations
Get the number of joints with erGet_num_dofs() More...
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static DLLAPI int ER_STDCALL | erGetSweCalcMode (ER_HND er_hnd, long *swe_calc_mode) |
| Get calculation mode for travel ranges Travel ranges can be fixed or depending on joints by a formular for example. More...
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static DLLAPI int ER_STDCALL | erSetSweMin_passive (ER_HND er_hnd, double *swe_min_passive) |
| Set fix minimum travel ranges for passive joints. The kinematics travel ranges swe_min_passive are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs_passive() More...
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static DLLAPI int ER_STDCALL | erGetSweMin_passive (ER_HND er_hnd, double *swe_min_passive) |
| Get fix minimum travel ranges from passive joints. The kinematics travel ranges swe_min_passive are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of passive joints with erGet_num_dofs_passive() More...
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static DLLAPI int ER_STDCALL | erSetSweMax_passive (ER_HND er_hnd, double *swe_max_passive) |
| Set fix maximum travel ranges for passive joints. The kinematics travel ranges swe_max_passive are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs_passive() More...
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static DLLAPI int ER_STDCALL | erGetSweMax_passive (ER_HND er_hnd, double *swe_max_passive) |
| Get fix maximum travel ranges from passive joints. The kinematics travel ranges swe_max_passive are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of passive joints with erGet_num_dofs_passive() More...
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static DLLAPI int ER_STDCALL | erGetConfigName (ER_HND er_hnd, long config_idx, char *config_name) |
| Get the name of robot configuration. Get the number of configurations with erGetNumConfigs()
. More...
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static DLLAPI int ER_STDCALL | erGetJointName (ER_HND er_hnd, long active_jnt_no, char *jnt_name) |
| Get the name of active robot joint. More...
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static DLLAPI int ER_STDCALL | erGetJointName_passive (ER_HND er_hnd, long passive_jnt_no, char *jnt_name_passive) |
| Get the name of passive robot joint. More...
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static DLLAPI int ER_STDCALL | erSetJointSign (ER_HND er_hnd, double *joint_sign) |
| Set sign of robot joints. A robot joint sign can be positive +1 or negative -1. More...
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static DLLAPI int ER_STDCALL | erGetJointSign (ER_HND er_hnd, double *joint_sign) |
| Get sign of robot joints.
A robot joint sign can be positive +1 or negative -1.
See also erGetJointTypes(), erGetJointDirections() More...
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static DLLAPI int ER_STDCALL | erSetJointOffset (ER_HND er_hnd, double *joint_offset) |
| Set offset of robot joints.
Robot joint offsets joint_offset are in units [m] for prismatic joint type and [rad] for rotational joint type. More...
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static DLLAPI int ER_STDCALL | erGetJointOffset (ER_HND er_hnd, double *joint_offset) |
| Get offset of robot joints.
Robot joint offsets joint_offset are in units [m] for prismatic joint type and [rad] for rotational joint type. More...
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static DLLAPI int ER_STDCALL | erSetVqMax (ER_HND er_hnd, double *vq_max) |
| Set maximum of robot joint speeds.
Robot joint speeds vq_max are in units [m/s] for prismatic joint type and [rad/s] for rotational joint type. More...
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static DLLAPI int ER_STDCALL | erGetVqMax (ER_HND er_hnd, double *vq_max) |
| Get maximum of robot joint speeds.
Robot joint speeds vq_max are in units [m/s] for prismatic joint type and [rad/s] for rotational joint type. More...
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static DLLAPI int ER_STDCALL | erSetAqMax (ER_HND er_hnd, double *aq_max) |
| Set maximum of robot joint accelerations.
Robot joint accelerations aq_max are in units [m/s^2] for prismatic joint type and [rad/s^2] for rotational joint type. More...
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static DLLAPI int ER_STDCALL | erGetAqMax (ER_HND er_hnd, double *aq_max) |
| Get maximum of robot joint accelerations.
Robot joint accelerations aq_max are in units [m/s^2] for prismatic joint type and [rad/s^2] for rotational joint type. More...
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static DLLAPI int ER_STDCALL | erSetVxMax (ER_HND er_hnd, double vx_max) |
| Set maximum cartesian speed. More...
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static DLLAPI int ER_STDCALL | erGetVxMax (ER_HND er_hnd, double *vx_max) |
| Get maximum cartesian speed. More...
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static DLLAPI int ER_STDCALL | erSetVxOriMax (ER_HND er_hnd, double vx_ori_max) |
| Set maximum cartesian orientation speed. More...
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static DLLAPI int ER_STDCALL | erGetVxOriMax (ER_HND er_hnd, double *vx_ori_max) |
| Get maximum cartesian orientation speed. More...
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static DLLAPI int ER_STDCALL | erSetAxMax (ER_HND er_hnd, double ax_max) |
| Set maximum cartesian acceleration. More...
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static DLLAPI int ER_STDCALL | erGetAxMax (ER_HND er_hnd, double *ax_max) |
| Get maximum cartesian acceleration. More...
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static DLLAPI int ER_STDCALL | erSetAxOriMax (ER_HND er_hnd, double ax_ori_max) |
| Set maximum cartesian orientation acceleration. More...
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static DLLAPI int ER_STDCALL | erGetAxOriMax (ER_HND er_hnd, double *ax_ori_max) |
| Get maximum cartesian orientation acceleration. More...
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static DLLAPI int ER_STDCALL | erGetBackLink (ER_HND er_hnd, long *backlink) |
| Get robot back link status, obsolete function, use erGetBacklink() More...
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static DLLAPI int ER_STDCALL | erSetBacklink (ER_HND er_hnd, long backlink) |
| Set robot back link status
The back link status can be one of the following values.
KIN_BACK_LINK_NO=0, KIN_BACK_LINK_YES =1 or KIN_BACK_LINK_UNKNOWN =2
see also erGetBacklink() More...
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static DLLAPI int ER_STDCALL | erGetBacklink (ER_HND er_hnd, long *backlink) |
| Get robot back link status
The back link status can be one of the following values.
KIN_BACK_LINK_NO=0, KIN_BACK_LINK_YES =1 or KIN_BACK_LINK_UNKNOWN =2
see also erSetBacklink() More...
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static DLLAPI int ER_STDCALL | erSetAxis_couplingA2A3 (ER_HND er_hnd, long axis_couplingA2A3) |
| Set robot axis coupling between axis 2 and 3
The axis coupling can be one of the following values.
KIN_A2A3_COUPLING_NO=0, KIN_A2A3_COUPLING_YES =1 or KIN_A2A3_COUPLING_UNKNOWN =2
see also erGetAxis_couplingA2A3() More...
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static DLLAPI int ER_STDCALL | erGetAxis_couplingA2A3 (ER_HND er_hnd, long *axis_couplingA2A3) |
| Get robot axis coupling between axis 2 and 3
The axis coupling can be one of the following values.
KIN_A2A3_COUPLING_NO=0, KIN_A2A3_COUPLING_YES =1 or KIN_A2A3_COUPLING_UNKNOWN =2
see also erSetAxis_couplingA2A3() More...
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static DLLAPI int ER_STDCALL | erSetCounter_weight (ER_HND er_hnd, long counter_weight) |
| Set robot counter weight
The robot counter weight can be one of the following values.
KIN_COUNTER_WEIGHT_NO=0, KIN_COUNTER_WEIGHT_YES =1 or KIN_COUNTER_WEIGHT_UNKNOWN =2
see also erGetCounter_weight() More...
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static DLLAPI int ER_STDCALL | erGetCounter_weight (ER_HND er_hnd, long *counter_weight) |
| Get robot counter weight
The robot counter weight can be one of the following values.
KIN_COUNTER_WEIGHT_NO=0, KIN_COUNTER_WEIGHT_YES =1 or KIN_COUNTER_WEIGHT_UNKNOWN =2
see also erSetCounter_weight() More...
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static DLLAPI int ER_STDCALL | erSetTurn_interval (ER_HND er_hnd, double *turn_interval) |
| Set the turn interval for each robot joints
The kinematics turn interval turn_interval are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()
See also erGetTurn_interval() More...
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static DLLAPI int ER_STDCALL | erGetTurn_interval (ER_HND er_hnd, double *turn_interval) |
| Get the turn interval for each robot joints
The kinematics turn interval turn_interval are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()
See also erSetTurn_interval() More...
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static DLLAPI int ER_STDCALL | erSetTurn_offset (ER_HND er_hnd, double *turn_offset) |
| Set the turn offset for each robot joints
The kinematics turn offset turn_offset are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()
See also erGetTurn_offset() More...
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static DLLAPI int ER_STDCALL | erGetTurn_offset (ER_HND er_hnd, double *turn_offset) |
| Get the turn offset for each robot joints
The kinematics turn offset turn_offset are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()
See also erSetTurn_offset() More...
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static DLLAPI int ER_STDCALL | erSetTurn_value (ER_HND er_hnd, long *turn_value) |
| Set the turn value for each robot joint
The turn value turn_value determine the desired Turn in the target for the inverse kinematics calculation and for the trajectory planning
It takes effect if ER_PTP_TARGET_CALC_MODE_TURNS is set. The givin turn value must be a valid value and depends on the turn interval erSetTurn_interval() and the turn offset erSetTurn_offset(),
and as well from the robot joint location and its configuration.
Get the number of joints with erGet_num_dofs()
See also erGetTurn_value() More...
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static DLLAPI int ER_STDCALL | erGetTurn_value (ER_HND er_hnd, long *turn_value) |
| Get the turn value for each robot joints
The turn value turn_value determine the desired Turn in the target for the inverse kinematics calculation and for the motion planning
It takes effect if ER_PTP_TARGET_CALC_MODE_TURNS is set. Get the number of joints with erGet_num_dofs()
See also erSetTurn_value() More...
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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...
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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...
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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...
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static DLLAPI ER_HND ER_STDCALL | erConnectPositionerGetHND (ER_HND er_hnd) |
| Get robots connection handle between robot and positioner.
See also erConnectPositioner() More...
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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...
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static DLLAPI int ER_STDCALL | erConnectPositionerGetSync (ER_HND er_hnd) |
| Get robots synchronization flag for synchronization between robot and positioner.
See also erConnectPositionerSetSync() More...
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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...
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static DLLAPI ER_HND ER_STDCALL | erConnectConveyorGetHND (ER_HND er_hnd) |
| Get robots connection handle between robot and conveyor.
See also erConnectConveyor() More...
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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...
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static DLLAPI int ER_STDCALL | erConnectConveyorGetSync (ER_HND er_hnd) |
| Get robots synchronization flag for synchronization between robot and conveyor.
See also erConnectConveyorSetSync() More...
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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...
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static DLLAPI ER_HND ER_STDCALL | erConnectTrackMotionGetHND (ER_HND er_hnd) |
| Get robots connection handle between robot and track motion.
See also erConnectTrackMotion() More...
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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...
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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...
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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...
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static DLLAPI ER_HND ER_STDCALL | erConnectRobotGetHND (ER_HND er_hnd) |
| Get robots connection handle between robot and slave robot.
See also erConnectRobot() More...
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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...
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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...
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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...
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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...
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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...
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static DLLAPI int ER_STDCALL | erGet_n_Kin (ER_HND er_hnd) |
| Get the number of loaded kinematics. More...
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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...
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static DLLAPI int ER_STDCALL | erGetName (ER_HND er_hnd, char *name) |
| Get the name of the robot. More...
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