EASY-ROBâ„¢ Kernel
v8.606
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#include "erk_capi_types.h"
Go to the source code of this file.
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DLLAPI long ER_STDCALL | erKernelGetVersion (void) |
Returns the Kernels Version. More... | |
DLLAPI long ER_STDCALL | erKernelSetLicensePriority (int license_priority) |
Set license priority. Call this function before initializing the Kernel erKernelInitialize() Parameter license_priority is one of ER_LICENSE_PRIORITY_LMNGR, ER_LICENSE_PRIORITY_LOCALIf license_priority is not set, ER_LICENSE_PRIORITY_LMNGR is default setting, see erKernelGetLicensePriority() More... | |
DLLAPI long ER_STDCALL | erKernelGetLicensePriority (int *license_priority) |
Get license priority. Parameter license_priority is one of ER_LICENSE_PRIORITY_LMNGR, ER_LICENSE_PRIORITY_LOCALIf license_priority is not set, ER_LICENSE_PRIORITY_LMNGR is default setting, see erKernelSetLicensePriority() More... | |
DLLAPI long ER_STDCALL | erKernelSetLicenseFile (char *license_file) |
Set location and name of license file. Call this function before initializing the Kernel erKernelInitialize() If license_file is not set, it is supposed that the license file resides in the current folder, see erKernelGetLicenseFile(), erKernelAddLicenseFile() More... | |
DLLAPI long ER_STDCALL | erKernelAddLicenseFile (char *license_file) |
Set an additional location and name of license file. Call this function before initializing the Kernel erKernelInitialize() If license_file is not set, it is supposed that the license file resides in the current folder, see erKernelGetLicenseFile(), erKernelSetLicenseFile() More... | |
DLLAPI long ER_STDCALL | erKernelGetLicenseFile (char *license_file) |
Get location and name of license file. If license_file is not set the string is empty, see erKernelSetLicenseFile(), erKernelAddLicenseFile() More... | |
DLLAPI long ER_STDCALL | erKernelInitialize (char *HostApplicationPath, char *Sold_To_ID, long mode=0) |
Initializes the Kernel. After calling this initial functions all other kernel functions are available. Before calling this initial functions all callback functions should be defined and initialized, thus they can be used when calling this function. The HostApplicationPath must contain the path where the host application is running. The maximum string lenght is ER_HS_MAXSTRThe Sold_To_ID contains an individual customer identifier, per default = NULLThe mode is not implemented yet, per default = 0. More... | |
DLLAPI void ER_STDCALL | erKernelFree (void) |
Free all internal Kernel data. Calling this function will delete all internal Kernel data After calling this functions not any kernel functions is available Even callback functions are not available. More... | |
DLLAPI long ER_STDCALL | erKernelGetLicense (char *hw_id) |
Check license and supplies unique HardwareID or DongleID. More... | |
DLLAPI long ER_STDCALL | erKernelGetHardwareID (char *hw_id) |
Supplies unique HardwareID or DongleID. More... | |
DLLAPI long ER_STDCALL | erKernelGetOptions (char *opt) |
Supplies option string containing all enabled options. More... | |
DLLAPI long ER_STDCALL | erKernelGetOptionsDisabled (char *nopt) |
Supplies option string containing all disabled options. More... | |
DLLAPI void ER_STDCALL | erSetCallBack_LogProc (TerLogProc Handler) |
Define Callback function for Log Messages. More... | |
DLLAPI void ER_STDCALL | erEnableCallBack_LogProc (long onoff) |
Enable/Disable Log messages. This function enables or disables Log Messages used with callback function TerLogProc This function can be called before kernel initialization erKernelInitialize() More... | |
DLLAPI void ER_STDCALL | erSetCallBack_LoadGeometryProc (TerLoadGeometryProc Handler) |
Define Callback function to load a geometry The Host application is prompted to load a geometry. More... | |
DLLAPI void ER_STDCALL | erSetCallBack_UpdateGeometryProc (TerUpdateGeometryProc Handler) |
Define Callback function to updat a geometries The Host application is prompted to update a geometry. More... | |
DLLAPI void ER_STDCALL | erSetCallBack_FreeGeometryProc (TerFreeGeometryProc Handler) |
Define Callback function to free Geometry The Host application is prompted to free a geometry. More... | |
DLLAPI void ER_STDCALL | erSetCallBack_GetActualTravelRangesProc (TerGetActualTravelRangesProc Handler) |
Define Callback function to calculate travel ranges by host application The Host application takes care to calculate the travel ranges. More... | |
DLLAPI void ER_STDCALL | erSetCallBack_NotifyProc (TerNotifyProc Handler) |
Define Callback function for notify messages The Kernel informs the host application about internel status messages. More... | |
DLLAPI void ER_STDCALL | erSetCallBack_GrpSyncProc (TerGrpSyncProc Handler) |
Define Callback function for group synchonization. More... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI ER_HND ER_STDCALL | erConnectPositionerGetHND (ER_HND er_hnd) |
Get robots connection handle between robot and positioner. See also erConnectPositioner() More... | |
DLLAPI long 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... | |
DLLAPI long ER_STDCALL | erConnectPositionerGetSync (ER_HND er_hnd) |
Get robots synchronization flag for synchronization between robot and positioner. See also erConnectPositionerSetSync() More... | |
DLLAPI long 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... | |
DLLAPI ER_HND ER_STDCALL | erConnectConveyorGetHND (ER_HND er_hnd) |
Get robots connection handle between robot and conveyor. See also erConnectConveyor() More... | |
DLLAPI long 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... | |
DLLAPI long ER_STDCALL | erConnectConveyorGetSync (ER_HND er_hnd) |
Get robots synchronization flag for synchronization between robot and conveyor. See also erConnectConveyorSetSync() More... | |
DLLAPI long 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... | |
DLLAPI ER_HND ER_STDCALL | erConnectTrackMotionGetHND (ER_HND er_hnd) |
Get robots connection handle between robot and track motion. See also erConnectTrackMotion() More... | |
DLLAPI long 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... | |
DLLAPI long ER_STDCALL | erConnectTrackMotionGetSync (ER_HND er_hnd) |
Get robots synchronization flag for synchronization between robot and track motion. See also erConnectTrackMotionSetSync() More... | |
DLLAPI long 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... | |
DLLAPI ER_HND ER_STDCALL | erConnectRobotGetHND (ER_HND er_hnd) |
Get robots connection handle between robot and slave robot. See also erConnectRobot() More... | |
DLLAPI long 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... | |
DLLAPI long ER_STDCALL | erConnectRobotGetSync (ER_HND er_hnd) |
Get robots synchronization flag for synchronization between robot and slave robot. See also erConnectRobotSetSync() More... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long ER_STDCALL | erGet_n_Kin (ER_HND er_hnd) |
Get the number of loaded kinematics. More... | |
DLLAPI long 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... | |
DLLAPI long ER_STDCALL | erGetName (ER_HND er_hnd, char *name) |
Get the name of the robot. More... | |
DLLAPI long ER_STDCALL | erGetIDs (ER_HND er_hnd, long *kin_id, long *inv_id, long *inv_sub_id) |
Get Kinematics ID of the robot.kin_id represents the kinematics ID. It can be one of the following values.ER_RRRRRR_ID =1, ER_TTTRRR_ID =2, ER_RRRRRR_BL_ID =3, ER_UNIV_ROB_ID =10, ER_DH_ID =11 Remarks Most robots are modelled with universal coordinates ER_UNIV_ROB_ID. More... | |
DLLAPI long ER_STDCALL | erGet_num_dofs (ER_HND er_hnd) |
Get number of active robot joints. More... | |
DLLAPI long ER_STDCALL | erGet_num_dofs_passive (ER_HND er_hnd) |
Get number of passive robot joints. More... | |
DLLAPI long ER_STDCALL | erGetJointTypes (ER_HND er_hnd, long *jnt_type_active) |
Get active robot joint types. An active robot joint type can be rotational JNT_TYPE_ROT or prismatic JNT_TYPE_TRANS See also erGetJointSign(), erGetJointDirections() More... | |
DLLAPI long ER_STDCALL | erGetJointTypes_passive (ER_HND er_hnd, long *jnt_type_passive) |
Get passive robot joint types. A passive robot joint type can be rotational JNT_TYPE_ROT or prismatic JNT_TYPE_TRANS See also erGetJointDirections_passive() More... | |
DLLAPI long ER_STDCALL | erGetJointDirections (ER_HND er_hnd, long *jnt_direction_active) |
Get direction of active robot joints. A robot joint direction can be JNT_DIRECTION_X, JNT_DIRECTION_Y or JNT_DIRECTION_Z See also erGetJointSign(), erGetJointTypes() More... | |
DLLAPI long ER_STDCALL | erGetJointDirections_passive (ER_HND er_hnd, long *jnt_direction_passive) |
Get direction of passive robot joints. A robot joint direction can be JNT_DIRECTION_X, JNT_DIRECTION_Y or JNT_DIRECTION_Z See also erGetJointTypes_passive() More... | |
DLLAPI long ER_STDCALL | erGetJointChainTypes (ER_HND er_hnd, long *jnt_chain_type_active) |
Get chain type of active robot joints. A robot chain type can be JNT_CHAIN_TYPE_CHAIN, JNT_CHAIN_TYPE_NO_CHAIN or JNT_CHAIN_TYPE_SEP_NO_CHAIN . More... | |
DLLAPI long ER_STDCALL | erGetJointChainTypes_passive (ER_HND er_hnd, long *jnt_chain_type_passive) |
Get chain type of passive robot joints. A robot chain type can be JNT_CHAIN_TYPE_CHAIN, JNT_CHAIN_TYPE_NO_CHAIN or JNT_CHAIN_TYPE_SEP_NO_CHAIN . More... | |
DLLAPI long ER_STDCALL | erGetJointAttachDof_active (ER_HND er_hnd, long *jnt_attach_dof_active) |
Get Attach-Dof of active robot joints. An active joint with chain type JNT_CHAIN_TYPE_CHAIN is attached to an active or passive joint. A valid Attach-Dof number for such an active joint is [0..num_dof], whereby num_dof represents the number of active jointsA negative Attach-Dof value of -99 means that the active joint has a chain type of JNT_CHAIN_TYPE_NO_CHAIN or JNT_CHAIN_TYPE_SEP_NO_CHAIN. More... | |
DLLAPI long ER_STDCALL | erGetJointAttachDof_passive (ER_HND er_hnd, long *jnt_attach_dof_passive) |
Get Attach-Dof of passive robot joints. A passive joint is attached to an active joint. A valid Attach-Dof number number is [0..num_dof], whereby num_dof represents the number of active jointsA negative Attach-Dof represents an error. More... | |
DLLAPI long ER_STDCALL | erGetMoveBaseMode (ER_HND er_hnd, long *move_base_mode) |
Gets moveable base mode. A kinematics base can be fixed or moveable. 0: Robot base is fix (default) 1: Robot base is moveable. More... | |
DLLAPI long ER_STDCALL | erGetMoveBasepJointIdx (ER_HND er_hnd, long *move_base_pjointidx) |
Gets passive joint idx representing the moveable base. If a kinematics base is moveable, the move_base_pjointidx gives the index [1..number of passive joints] of the passive joints representing the moveable base.Otherwise it is 0, see erGetMoveBaseMode(), erGetpJointMoveBase() More... | |
DLLAPI long ER_STDCALL | erGetpJointMoveBase (ER_HND er_hnd, DFRAME *pjntTmb) |
Get transformation from passive joint 'pjnt' to the moveable base 'mb'. If a kinematics base is moveable, the pjntTmb contains the transformation from passive joint 'pjnt' to the moveable base 'mb' frame.Otherwise pjntTmb is identity, see erGetMoveBasepJointIdx(), erGetRobotBaseToMoveBase() More... | |
DLLAPI long ER_STDCALL | erGetRobotBaseToMoveBase (ER_HND er_hnd, DFRAME *bTmb) |
Get transformation from robot base 'b' to the moveable base 'mb'. If a kinematics base is moveable, the bTmb contains the transformation from robot base 'b' to the moveable base 'mb' frame.Otherwise bTmb is identity, see erGetMoveBasepJointIdx(), erGetpJointMoveBase() More... | |
DLLAPI long ER_STDCALL | erSetJoints (ER_HND er_hnd, double *q_solut) |
Set robot joint data. The kinematics joint data q_solut are in units [m] for prismatic joint type and [rad] for rotational joint type. More... | |
DLLAPI long ER_STDCALL | erSetJoint (ER_HND er_hnd, double q_solut, long jnt_no) |
Set a single robot joint data. The kinematics joint data q_solut are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of active joints with erGet_num_dofs() More... | |
DLLAPI long ER_STDCALL | erGetJoints (ER_HND er_hnd, double *q_solut) |
Get robot joint data. The kinematics joint data q_solut are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of active joints with erGet_num_dofs() Remarks Call this function after calling the inverse kinematics transformation, erInvKinRobotBaseTip(), erInvKinWorldTip(), erInvKinRobotBaseTcp(), erInvKinWorldTcp() More... | |
DLLAPI long ER_STDCALL | erGetJointSolutions (ER_HND er_hnd, double *q_solutions, long *q_warnings) |
Get all robot joint solutions. The kinematics joint data q_solutions are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of active joints with erGet_num_dofs() Get the number of configurations with erGetNumConfigs() Remarks Call this function after calling the inverse kinematics transformation, erInvKinRobotBaseTip(), erInvKinWorldTip(), erInvKinRobotBaseTcp(), erInvKinWorldTcp() More... | |
DLLAPI long ER_STDCALL | erGetJointSpeeds (ER_HND er_hnd, double *v_solut) |
Get robot joint speeds. The kinematics joint speeds v_solut are in units [m/s] for prismatic joint type and [rad/s] for rotational joint type Get the number of active joints with erGet_num_dofs() More... | |
DLLAPI long ER_STDCALL | erGetJointAccels (ER_HND er_hnd, double *a_solut) |
Get robot joint accelerations. The kinematics joint accelerations a_solut are in units [m/s^2] for prismatic joint type and [rad/s^2] for rotational joint type Get the number of active joints with erGet_num_dofs() More... | |
DLLAPI long ER_STDCALL | erGetJoints_passive (ER_HND er_hnd, double *q_passive) |
Get passive robot joint data. The kinematics passive joint data q_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... | |
DLLAPI long ER_STDCALL | erSetConfig (ER_HND er_hnd, long config) |
Set robot configuration A new robot configuration takes effect when calling the inverse kinematics transformation. See The config is valid for 1 to number of possible configurations, see erGetNumConfigs()Remarks The motion planner can change the configuration only for the motion types ER_JOINT (ER_PTP) or ER_SLEW. In case of CP (continuous path, i.e. ER_LIN or ER_CIRC), a givin configuration will be ignored. More... | |
DLLAPI long ER_STDCALL | erGetConfig (ER_HND er_hnd, long *config) |
Get current robot configuration Gets current robot configuration. See also erSetConfig(). The config is valid for 1 to number of possible configurations, see erGetNumConfigs(). More... | |
DLLAPI long ER_STDCALL | erFindConfig (ER_HND er_hnd, long *config) |
Find current robot configuration Finds current robot configuration, depending on current robot joint location. The config is valid for 1 to number of possible configurations, see erGetNumConfigs()Remarks If the robot configuration cannot be found, a notify message ER_NOTIFY_CODE_FIND_CONFIG_FAILED will be generated. More... | |
DLLAPI long ER_STDCALL | erGetNumConfigs (ER_HND er_hnd, long *num_configs) |
Get number of possible robot configurations. More... | |
DLLAPI long ER_STDCALL | erInvKinRobotBaseTip (ER_HND er_hnd, DFRAME *bTt) |
Calculating the inverse kinematics transformation. The bTt is the location of the flange w.r.t. robots base.Get the calculated robot joint data with erGetJoints(). More... | |
DLLAPI long ER_STDCALL | erInvKinWorldTip (ER_HND er_hnd, DFRAME *iTt) |
Calculating the inverse kinematics transformation. The iTt is the location of the flange w.r.t. inertia (world).Get the calculated robot joint data with erGetJoints(). More... | |
DLLAPI long ER_STDCALL | erInvKinRobotBaseTcp (ER_HND er_hnd, DFRAME *bTw) |
Calculating the inverse kinematics transformation. The bTw is the location of the tcp w.r.t. robots base.Get the calculated robot joint data with erGetJoints(). More... | |
DLLAPI long ER_STDCALL | erInvKinWorldTcp (ER_HND er_hnd, DFRAME *iTw) |
Calculating the inverse kinematics transformation. The iTw is the location of the tcp w.r.t. inertia (world).Get the calculated robot joint data with erGetJoints(). More... | |
DLLAPI long ER_STDCALL | erSetTool (ER_HND er_hnd, DFRAME *tTw) |
Set robot tool (TCP) data w.r.t. robots flange. More... | |
DLLAPI long ER_STDCALL | erGetTool (ER_HND er_hnd, DFRAME *tTw) |
Get robot tool (TCP) data w.r.t. robots flange. More... | |
DLLAPI long ER_STDCALL | erGetToolFix (ER_HND er_hnd, DFRAME *tTwfix) |
Get robot tool fix (TCP) data w.r.t. robots flange, without Tool Offset. More... | |
DLLAPI long ER_STDCALL | erSetToolOffset (ER_HND er_hnd, DFRAME *wTwo) |
Set robot tool offset (TCP) data w.r.t. robots fix Tcp. More... | |
DLLAPI long ER_STDCALL | erGetToolOffset (ER_HND er_hnd, DFRAME *wTwo) |
Get robot tool offset (TCP) data w.r.t. robots fix Tcp. More... | |
DLLAPI long ER_STDCALL | erSetBaseRobotBase (ER_HND er_hnd, DFRAME *bTbase) |
Set $BASE (wobj) w.r.t robot base. The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode() All targets are defined w.r.t to this BASE frame (program shifting) More... | |
DLLAPI long ER_STDCALL | erGetBaseRobotBase (ER_HND er_hnd, DFRAME *bTbase) |
Get $BASE (wobj) w.r.t robot base. The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode() All targets are defined w.r.t to this BASE frame (program shifting) More... | |
DLLAPI long ER_STDCALL | erSetBaseWorld (ER_HND er_hnd, DFRAME *iTbase) |
Set $BASE (wobj) w.r.t inertia (world). The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode() All targets are defined w.r.t to this BASE frame (program shifting) More... | |
DLLAPI long ER_STDCALL | erGetBaseWorld (ER_HND er_hnd, DFRAME *iTbase) |
Get $BASE (wobj) w.r.t inertia (world). The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode() All targets are defined w.r.t to this BASE frame (program shifting) More... | |
DLLAPI long ER_STDCALL | erSetRobotBase (ER_HND er_hnd, DFRAME *iTb) |
Set robot base location w.r.t. world. More... | |
DLLAPI long ER_STDCALL | erGetRobotBase (ER_HND er_hnd, DFRAME *iTb) |
Get robot base location w.r.t. world. More... | |
DLLAPI long ER_STDCALL | erGetRobotBaseTip (ER_HND er_hnd, DFRAME *bTt) |
Get robot tip (flange) location w.r.t. robot base. More... | |
DLLAPI long ER_STDCALL | erGetRobotBaseTcp (ER_HND er_hnd, DFRAME *bTw) |
Get robot tcp location w.r.t. robot base. More... | |
DLLAPI long ER_STDCALL | erGetWorldTip (ER_HND er_hnd, DFRAME *iTt) |
Get robot tip location w.r.t. inertia (world) coorsys. More... | |
DLLAPI long ER_STDCALL | erGetWorldTcp (ER_HND er_hnd, DFRAME *iTw) |
Get robot tcp location w.r.t. inertia (world) coorsys. More... | |
DLLAPI long ER_STDCALL | erUpdateKin (ER_HND er_hnd) |
Updates the complete kinematics. This function calculates the location of all axis coorsys, the robots tip and tcp w.r.t. robot base. In most cases the forward kinematics calculation is executed. Call this function first, before retrieving the location of axis coorsys. More... | |
DLLAPI long ER_STDCALL | erGetJointFrameRobotBase (ER_HND er_hnd, long active_jnt_no, DFRAME *bTax) |
Get location of active joint coorsys w.r.t robot base. Get the number of active joints with erGet_num_dofs() More... | |
DLLAPI long ER_STDCALL | erGetJointFrameRobotBase_passive (ER_HND er_hnd, long passive_jnt_no, DFRAME *bTax) |
Get location of passive joint coorsys w.r.t robot base. Get the number of passive joints with erGet_num_dofs_passive() More... | |
DLLAPI long ER_STDCALL | erGetJointFrameWorld (ER_HND er_hnd, long active_jnt_no, DFRAME *iTax) |
Get location of active joint coorsys w.r.t innertia (world). Get the number of active joints with erGet_num_dofs() More... | |
DLLAPI long ER_STDCALL | erGetJointFrameWorld_passive (ER_HND er_hnd, long passive_jnt_no, DFRAME *iTax) |
Get location of passive joint coorsys w.r.t innertia (world). Get the number of passive joints with erGet_num_dofs_passive() More... | |
DLLAPI long ER_STDCALL | erSetExtTcpRobotBase (ER_HND er_hnd, DFRAME *bText, long use_ext_flange) |
Set location of external TCP w.r.t robot base. Exeption: If use_ext_flange is set, the external TCP w.r.t is defined w.r.t. the (tip) flange of a positioner for example. More... | |
DLLAPI long ER_STDCALL | erGetExtTcpRobotBase (ER_HND er_hnd, DFRAME *bText) |
Get location of external TCP w.r.t robot base. More... | |
DLLAPI long ER_STDCALL | erSetExtTcpWorld (ER_HND er_hnd, DFRAME *iText) |
Set location of external TCP w.r.t inertia (world). More... | |
DLLAPI long ER_STDCALL | erGetExtTcpWorld (ER_HND er_hnd, DFRAME *iText) |
Get location of external TCP w.r.t inertia (world). More... | |
DLLAPI long ER_STDCALL | erSetExtTcpMode (ER_HND er_hnd, long ext_tcp_mode) |
Set external TCP mode. The external TCP can be IPO_MODE_BASE (tool guided) or IPO_MODE_TOOL (work object guided) More... | |
DLLAPI long ER_STDCALL | erGetExtTcpMode (ER_HND er_hnd, long *ext_tcp_mode) |
Get external TCP mode. The external TCP can be IPO_MODE_BASE (tool guided) or IPO_MODE_TOOL (work object guided) More... | |
DLLAPI long ER_STDCALL | erGetInvKinID (ER_HND er_hnd, long *invkin_id) |
Inverse kinematics ID for cRobot. . More... | |
DLLAPI long ER_STDCALL | erGetInvKinSubID (ER_HND er_hnd, long *invkinsub_id) |
Inverse kinematics Sub-ID for cRobot. . More... | |
DLLAPI long ER_STDCALL | erSetJointSolutions (ER_HND er_hnd, double *q_solutions, long *q_warnings) |
Set all robot joint solutions. The kinematics joint data q_solutions are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of active joints with erGet_num_dofs() Get the number of configurations with erGetNumConfigs() Remarks Call this function after calling the inverse kinematics transformation, erInvKinRobotBaseTip(), erInvKinWorldTip(), erInvKinRobotBaseTcp(), erInvKinWorldTcp() More... | |
DLLAPI long ER_STDCALL | erSetJointDyn (ER_HND er_hnd, double q_dyn, long jnt_no) |
Set a single actual robot joint data. The kinematics joint data q_dyn are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of active joints with erGet_num_dofs() More... | |
DLLAPI long ER_STDCALL | erGetRobotBasetoFirstJoint (ER_HND er_hnd, DFRAME *T) |
DLLAPI long ER_STDCALL | erGetJointFrameActiveNext (ER_HND er_hnd, long active_jnt_no, DFRAME *T) |
DLLAPI long ER_STDCALL | erSetJointFrameActiveNext (ER_HND er_hnd, long active_jnt_no, DFRAME *T) |
DLLAPI long ER_STDCALL | erGetJointFrameActiveLast (ER_HND er_hnd, long active_jnt_no, DFRAME *T) |
DLLAPI long ER_STDCALL | erSetJointFrameActiveLast (ER_HND er_hnd, long active_jnt_no, DFRAME *T) |
DLLAPI long ER_STDCALL | erGetJointFramePassiveNext (ER_HND er_hnd, long passive_jnt_no, DFRAME *T) |
DLLAPI long ER_STDCALL | erSetJointFramePassiveNext (ER_HND er_hnd, long passive_jnt_no, DFRAME *T) |
DLLAPI long ER_STDCALL | erGetJointFramePassiveLast (ER_HND er_hnd, long passive_jnt_no, DFRAME *T) |
DLLAPI long ER_STDCALL | erSetJointFramePassiveLast (ER_HND er_hnd, long passive_jnt_no, DFRAME *T) |
DLLAPI void **ER_STDCALL | erGet_erk_kin_usr_ptr (ER_HND er_hnd) |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long ER_STDCALL | erGetJointName (ER_HND er_hnd, long active_jnt_no, char *jnt_name) |
Get the name of active robot joint. More... | |
DLLAPI long ER_STDCALL | erGetJointName_passive (ER_HND er_hnd, long passive_jnt_no, char *jnt_name_passive) |
Get the name of passive robot joint. More... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long ER_STDCALL | erSetVxMax (ER_HND er_hnd, double vx_max) |
Set maximum cartesian speed. More... | |
DLLAPI long ER_STDCALL | erGetVxMax (ER_HND er_hnd, double *vx_max) |
Get maximum cartesian speed. More... | |
DLLAPI long ER_STDCALL | erSetVxOriMax (ER_HND er_hnd, double vx_ori_max) |
Set maximum cartesian orientation speed. More... | |
DLLAPI long ER_STDCALL | erGetVxOriMax (ER_HND er_hnd, double *vx_ori_max) |
Get maximum cartesian orientation speed. More... | |
DLLAPI long ER_STDCALL | erSetAxMax (ER_HND er_hnd, double ax_max) |
Set maximum cartesian acceleration. More... | |
DLLAPI long ER_STDCALL | erGetAxMax (ER_HND er_hnd, double *ax_max) |
Get maximum cartesian acceleration. More... | |
DLLAPI long ER_STDCALL | erSetAxOriMax (ER_HND er_hnd, double ax_ori_max) |
Set maximum cartesian orientation acceleration. More... | |
DLLAPI long ER_STDCALL | erGetAxOriMax (ER_HND er_hnd, double *ax_ori_max) |
Get maximum cartesian orientation acceleration. More... | |
DLLAPI long ER_STDCALL | erGetBackLink (ER_HND er_hnd, long *backlink) |
Get robot back link status, obsolete function, use erGetBacklink() More... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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 planningIt 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... | |
DLLAPI long 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 planningIt 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
DLLAPI long ER_STDCALL | erSetTrackingWindow (ER_HND er_hnd, long active, double up, double down, TErTrackingWindowID id_tw, char *name=NULL) |
Activates and deactivates the boundaries for a Tracking Window. This function enables a tracking window (typical for a painting applications) and defines the boudary Up- and Down-Stream values. This function works in conjunction with erConnectConveyor(), erConnectConveyorSetSync() and erSetconveyorStartCondition() Remarks Connect the robot first with a conveyor, using erConnectConveyor(), and set the synchronization to ER_SYNC_ON, using erConnectConveyorSetSync(), before activating the tracking window. A tracking window can have one of the following status: 0: TRK_WND_NOT_ACTIVE, 1: TRK_WND_WAITING, 2: TRK_WND_INSIDE or 3: TRK_WND_OUT_OF_BOUNDARY and will be obtained with the NEXT_STEP_DATA when calling erGET_NEXT_STEP() Activating a tracking window sets the status to TRK_WND_WAITING. Deactivating a tracking window sets the status to TRK_WND_NOT_ACTIVE. More... | |
DLLAPI long ER_STDCALL | erSetconveyorStartCondition (ER_HND er_hnd, double tx0) |
Sets the conveyor start condition. This function set the conveyor start condition for the Tracking Window (typical for a painting applications). The tx0 in units [m] is an offset position in X-direction and is defined w.r.t. to the flange of the conveyor device.This function works in conjunction with erSetTrackingWindow() More... | |
DLLAPI long ER_STDCALL | erSetEvents_DOUT (ER_HND er_hnd, int idx=1, long io_value=ER_EVENT_BOOL_UNDEF, char *io_name=0, long strig_type=ER_EVENT_TRIGGER_OFF, double strig_time=0, double strig_dist=0, long ttrig_type=ER_EVENT_TRIGGER_OFF, double ttrig_time=0, double ttrig_dist=0) |
Set an event for a boolean output A boolean event for binary outputs is controlled by trigger data, when the movement starts and when the movement reaches the target location. When a trigger condition is met, the binary output is set to ER_EVENT_BOOL_OFF or ER_EVENT_BOOL_ON. Trigger data can be set when the movement starts and when the movement reaches the target. Each trigger consist of three parameters: type ,time and distance. Trigger signal type can be one of the following values. More... | |
DLLAPI long ER_STDCALL | erSetEvents_DIN (ER_HND er_hnd, int idx=1, long io_value=ER_EVENT_BOOL_UNDEF, char *io_name=0, long leadcond_type=ER_EVENT_CONDITION_UNDEF, double leadcond_value=0, long lagcond_type=ER_EVENT_CONDITION_UNDEF, double lagcond_value=0) |
Set event conditions for a binary input for target location An input is checked before a movement starts (leading) and/or when the movement reaches the target (lagging). In the case of flyby, the checks are made closed to the start and the target location. Each check depends on the specified condition type combined with a condition value. A condition type can be one of the following values. More... | |
DLLAPI long ER_STDCALL | erSetSpeedReductionEnable (ER_HND er_hnd, long speed_reduction_enable) |
Set speed reduction enable. If speed reduction is enabled, the robots TCP speed gets reduced (while motion execution in erGET_NEXT_STEP()) if the desired nominal joint speeds exceeds the maximum allowed joint speed, defined with erSetVqMax(). Remarks Per default, speed reduction is enabled. Speed reduction causes the TrajectoryTime to increase, while the RemainingTime represents the minimum time necessary to reach the target. More... | |
DLLAPI long ER_STDCALL | erGetSpeedReductionEnable (ER_HND er_hnd, long *speed_reduction_enable) |
Get speed reduction enable. If speed reduction is enabled, the robots TCP speed gets reduced (while motion execution in erGET_NEXT_STEP()) if the desired nominal joint speeds exceeds the maximum allowed joint speed, defined with erSetVqMax(). Remarks Per default, speed reduction is enabled. Speed reduction causes the TrajectoryTime to increase, while the RemainingTime represents the minimum time necessary to reach the target. More... | |
DLLAPI long ER_STDCALL | erSELECT_MOTION_TYPE (ER_HND er_hnd, long motion_type) |
Selects the motion type. Opcode 120, Chapter 3.4.4, Page 3-58 The motion_type can be one of the following valuesER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4. More... | |
DLLAPI long ER_STDCALL | erSELECT_TARGET_TYPE (ER_HND er_hnd, long target_type) |
selects one of different types for the specification of targets. Opcode 121, Chapter 3.4.4, Page 3-59 The target_type can be one of the following valuesER_TARGET_TYPE_ABS = 0 absolute w.r.t. object frame ER_TARGET_TYPE_ABSJOINT = 9 single axis motion More... | |
DLLAPI long ER_STDCALL | erSELECT_TRAJECTORY_MODE (ER_HND er_hnd, long trajectory_on) |
Selects on or off for the trajectory mode. Opcode 122, Chapter 3.4.4, Page 3-62 The trajectory_on can be one of the following values0: OFF or 1: ON. More... | |
DLLAPI long ER_STDCALL | erSET_ADVANCE_MOTION (ER_HND er_hnd, long Number_of_motion) |
Defines the number of motions, the motion planner may run in advance of the interpolator (look_ahead). Opcode 127, Chapter 3.4.4, Page 3-67. More... | |
DLLAPI long ER_STDCALL | erSET_MOTION_FILTER (ER_HND er_hnd, long filter_factor) |
defines the filter factor for smoothing velocity profiles of motions. Opcode 128, Chapter 3.4.4, Page 3-68 Per default ER_MOTION_FILTER_GEO is set More... | |
DLLAPI long ER_STDCALL | erREVERSE_MOTION (ER_HND er_hnd, double distance) |
Instructs to do a reverse motion. Opcode 130, Chapter 3.4.4, Page 3-70 The robot moves backwards along the same path as it used to get to the current position. After calling this function, erGET_NEXT_STEP() should be called repeatedly in order to get the reverse motion steps. More... | |
DLLAPI long ER_STDCALL | erSET_PAYLOAD_PARAMETER (ER_HND er_hnd, long storage, char *frame_id, long param_number, double param_value) |
Allows specifying payloads at different locations on the robot. It has to be supported when the payload influences the motion planning. E.g. the load by a tool on the flange may be specified. Opcode 160, Chapter 3.4.4, Page 3-71 The storage pecifies where to modify the data and can be one of the following values.1: Modify in memory, 2: Modify on disk. More... | |
DLLAPI long ER_STDCALL | erSET_CONFIGURATION_CONTROL (ER_HND er_hnd, char *param_id, char *param_contents) |
Allows the setting of controller-specific data for the control of robot configurations. Opcode 161, Chapter 3.4.4, Page 3-72 Function not supported Use function erSetConfig(), erGetConfig() to change the robots configuration. More... | |
DLLAPI long ER_STDCALL | erSET_OVERRIDE_SPEED (ER_HND er_hnd, double correction_value, long correction_type) |
Sets correction values for scaling the programmed speed during program execution. Opcode 139, Chapter 3.4.5, Page 3-82. The parameter correction_type specifies when the correction is effective and can be one of the following values.0: It becomes effective at the next call to erGET_NEXT_STEP() 1: It becomes effective for the next target supplied by erSET_NEXT_TARGET() See also erSET_OVERRIDE_SPEED_EX() More... | |
DLLAPI long ER_STDCALL | erSET_OVERRIDE_ACCELERATION (ER_HND er_hnd, double correction_value, long accel_type, long correction_type) |
Sets correction values for scaling the robot acceleration. Opcode 155, Chapter 3.4.5, Page 3-83. The accel_type specifies the type of acceleration and can be one of the following values.1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration. The parameter correction_type specifies when the correction is effective and can be one of the following values.0: It becomes effective at the next call to erGET_NEXT_STEP() 1: It becomes effective for the next target supplied by erSET_NEXT_TARGET() See also erSET_OVERRIDE_ACCELERATION_EX() More... | |
DLLAPI long ER_STDCALL | erSET_OVERRIDE_SPEED_EX (ER_HND er_hnd, ER_HND er_hnd_slave, double speed_override, double tcp_speed_max=0) |
Sets override for scaling the programmed speed during program execution. If er_hnd_slave is NULL, speed_override and tcp_speed_max set for the kinematics with handle er_hnd for the next call to erSET_NEXT_TARGET().If er_hnd_slave is equal to er_hnd , speed_override and tcp_speed_max set for the kinematics with handle er_hnd and becomes effective immediatly, erGET_NEXT_STEP().If er_hnd_slave is set and NOT equal to er_hnd, speed_override and tcp_speed_max set for the kinematics with handle er_hnd_slave and becomes effective immediatly, erGET_NEXT_STEP().See also erSET_OVERRIDE_SPEED() More... | |
DLLAPI long ER_STDCALL | erSET_OVERRIDE_ACCELERATION_EX (ER_HND er_hnd, ER_HND er_hnd_slave, double accel_override, double tcp_accel_max=0) |
Sets override for scaling the programmed acceleration during program execution. If er_hnd_slave is NULL, speed_override and tcp_speed_max set for the kinematics with handle er_hnd for the next call to erSET_NEXT_TARGET().If er_hnd_slave is equal to er_hnd , accel_override and tcp_accel_max set for the kinematics with handle er_hnd and becomes effective immediatly, erGET_NEXT_STEP().If er_hnd_slave is set and NOT equal to er_hnd, accel_override and tcp_accel_max set for the kinematics with handle er_hnd_slave and becomes effective immediatly, erGET_NEXT_STEP().See also erSET_OVERRIDE_ACCELERATION() More... | |
DLLAPI long ER_STDCALL | erSetAutoAccel (ER_HND er_hnd, long autoaccel) |
Enables automatic calculation of acceleration depending on programmed speed. Using AutoAccel is a proper way to come close to real cycle times. The parameter autoaccel specifies the effect when planning a new motion and can be one of the following values.0: ER_AUTOACCEL_MODE_OFF disables auto accel calculation for all motions 1: ER_AUTOACCEL_MODE_POS calculation for CP motions for position 2: ER_AUTOACCEL_MODE_ORI calculation for CP motions 4: ER_AUTOACCEL_MODE_AX Calculation for PTP motions 3: ER_AUTOACCEL_MODE_DEF calculation for CP motions for position and for orientation 7: ER_AUTOACCEL_MODE_ON enables calculation for all motions Remarks If auto accel is enabled, other acceleration functions such as erSET_JOINT_ACCELERATIONS(), erSET_CARTESIAN_POSITION_ACCELERATION() and erSET_CARTESIAN_ORIENTATION_ACCELERATION() will have no effect. More... | |
DLLAPI long ER_STDCALL | erGetAutoAccel (ER_HND er_hnd, long *autoaccel) |
Get status for automatic calculation of acceleration depending on programmed speed. Using AutoAccel is a proper way to come close to real cycle times. The parameter autoaccel specifies the effect when planning a new motion and can be one of the following values.0: ER_AUTOACCEL_MODE_OFF disables auto accel calculation for all motions 1: ER_AUTOACCEL_MODE_POS calculation for CP motions for position 2: ER_AUTOACCEL_MODE_ORI calculation for CP motions 4: ER_AUTOACCEL_MODE_AX Calculation for PTP motions 3: ER_AUTOACCEL_MODE_DEF calculation for CP motions for position and for orientation 7: ER_AUTOACCEL_MODE_ON enables calculation for all motions Remarks If auto accel is enabled, other acceleration functions such as erSET_JOINT_ACCELERATIONS(), erSET_CARTESIAN_POSITION_ACCELERATION() and erSET_CARTESIAN_ORIENTATION_ACCELERATION() will have no effect. More... | |
DLLAPI long ER_STDCALL | erSetAccSet (ER_HND er_hnd, double acc, double ramp) |
Set lagging of accelerations. Using AccSet is a proper way to come close to real cycle times when the robot carries high payloads for example. The parameter acc and ramp are given in percentage values in the range from 20% to 100%.acc: Acceleration and Deceleration as percentage value of normal values.ramp: Change of Acceleration and Deceleration as percentage value of normal values. More... | |
DLLAPI long ER_STDCALL | erGetAccSet (ER_HND er_hnd, double *acc, double *ramp) |
Get lagging of accelerations. Using AccSet is a proper way to come close to real cycle times when the robot carries high payloads for example. The parameter acc and ramp are given in percentage values in the range from 20% to 100%.acc: Acceleration and Deceleration as percentage value of normal values.ramp: Change of Acceleration and Deceleration as percentage value of normal values. More... | |
DLLAPI long ER_STDCALL | erSET_INTERPOLATION_TIME (ER_HND er_hnd, double InterpolationTime) |
Sets the interpolation time. Opcode 119, Chapter 3.4.3, Page 3-56 Set the interpolation time step. This has an effect when calling erGET_NEXT_STEP() Per default the interpolation time is set to 50ms. More... | |
DLLAPI long ER_STDCALL | erSELECT_ORIENTATION_INTERPOLATION_MODE (ER_HND er_hnd, long interpolation_mode, long ori_const) |
Set orientation interpolation mode. Opcode 123, Chapter 3.4.4, Page 3-63 The interpolation_mode is per default =1 one angle (QUATERNION)The ori_const is 0: Orientation is variant or 1: Orientation is constant. More... | |
DLLAPI long ER_STDCALL | erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE (ER_HND er_hnd, long circ_orientation_interpolation_mode) |
Selects the circular orientation interpolation mode. The parameter circ_orientation_interpolation_mode specifies how the orientation is interpolated during a circle motion and can be one of the following values.0: ER_CIRC_ORI_INTERPOLATION_START_END, 1: ER_CIRC_ORI_INTERPOLATION_START_VIA_END, 2: ER_CIRC_ORI_INTERPOLATION_START_VIAORI_END 3: ER_CIRC_ORI_INTERPOLATION_TANGENTIAL, 4: ER_CIRC_ORI_INTERPOLATION_FIX. More... | |
DLLAPI long ER_STDCALL | erSELECT_DOMINANT_INTERPOLATION (ER_HND er_hnd, long dominant_int_type, long dominant_int_param=0) |
Sets the interplation space defining the movement. Opcode 124, Chapter 3.4.4, Page 3-66 The parameter dominant_int_type specifies the dominant interpolation type and can be one of the following values.ER_DOMINANT_INTERPOLATION_POS, ER_DOMINANT_INTERPOLATION_ORI, ER_DOMINANT_INTERPOLATION_AXIS, ER_DOMINANT_INTERPOLATION_AUTO The parameter dominant_int_param ( not supported) specifies an extra parameter for certain interpolation types and can be one of the following values.2: specifies which orientation component is master. 3: specifies which axis is master. If dominant_int_param is 0 then the controller will select an axis. More... | |
DLLAPI long ER_STDCALL | erSET_JOINT_SPEEDS (ER_HND er_hnd, long all_joint_flags, long joint_flags, double speed_percent) |
sets the joint speed expressed as percentage of the maximal joint speed. Opcode 131, Chapter 3.4.5, Page 3-74. Remarks If all_joint_flags is 1, the value in speed_percent is in [rad/s] for rotational joint type and in [m/s] for prismatic joint type.It is recommended to set all_joint_flags =0 and use joint_flags , where speed_percent is a percentage value.The maximum joint speeds can be changed with erSetVqMax() and erGetVqMax(). More... | |
DLLAPI long ER_STDCALL | erSET_CARTESIAN_POSITION_SPEED (ER_HND er_hnd, double speed_value) |
Sets the speed for Cartesian motion. Opcode 133, Chapter 3.4.5, Page 3-75. More... | |
DLLAPI long ER_STDCALL | erSET_CARTESIAN_ORIENTATION_SPEED (ER_HND er_hnd, long rotation_no, double speed_ori_value) |
Sets the speed for the orientation during Cartesian motion. Opcode 134, Chapter 3.4.5, Page 3-76. The rotation_no should be 1. More... | |
DLLAPI long ER_STDCALL | erSET_JOINT_ACCELERATIONS (ER_HND er_hnd, long all_joint_flags, long joint_flags, double accel_percent, long accel_type) |
Sets the joint accelerations expressed as percentage of the maximal joint acceleration. Opcode 135, Chapter 3.4.5, Page 3-77. Remarks If all_joint_flags is 1, the value in accel_percent is in [rad/s^2] for rotational joint type and in [m/s^2] for prismatic joint type.It is recommended to set all_joint_flags =0 and use joint_flags , where accel_percent is a percentage value.The maximum joint accelerations can be changed with erSetAqMax() and erGetAqMax(). The accel_type specifies the type of acceleration and can be one of the following values.1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration. More... | |
DLLAPI long ER_STDCALL | erSET_CARTESIAN_POSITION_ACCELERATION (ER_HND er_hnd, double accel_value, long accel_type) |
Sets acceleration for cartesian motion [m/sec^2]. Opcode 137, Chapter 3.4.5, Page 3-78. The accel_type specifies the type of acceleration and can be one of the following values.1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration. More... | |
DLLAPI long ER_STDCALL | erSET_CARTESIAN_ORIENTATION_ACCELERATION (ER_HND er_hnd, long rotation_no, double accel_ori_value, long accel_type) |
Sets acceleration for the orientation during cartesian motion [m/sec^2]. Opcode 138, Chapter 3.4.5, Page 3-79. The rotation_no should be 1.The accel_type specifies the type of acceleration and can be one of the following values.1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration. More... | |
DLLAPI long ER_STDCALL | erGET_CARTESIAN_POSITION_ACCELERATION (ER_HND er_hnd, double *accel_value, long accel_type) |
Gets acceleration for cartesian motion [m/sec^2]. The accel_type specifies the type of acceleration and can be one of the following values.1: Acceleration, 2: Deceleration. More... | |
DLLAPI long ER_STDCALL | erGET_CARTESIAN_ORIENTATION_ACCELERATION (ER_HND er_hnd, long rotation_no, double *accel_ori_value, long accel_type) |
Gets acceleration for the orientation during cartesian motion [m/sec^2]. The rotation_no should be 1.The accel_type specifies the type of acceleration and can be one of the following values.1: Acceleration, 2: Deceleration. More... | |
DLLAPI long ER_STDCALL | erSET_JOINT_JERKS (ER_HND er_hnd, long all_joint_flags, long joint_flags, double jerk_percent, long jerk_type) |
Sets the joint jerk expressed as a percentage of the maximal joint jerk for each specified joint. Opcode 162, Chapter 3.4.5, Page 3-80. Remarks If all_joint_flags is 1, the value in jerk_percent is in [rad/s^3] for rotational joint type and in [m/s^3] for prismatic joint type.It is recommended to set all_joint_flags =0 and use joint_flags , where jerk_percent is a percentage value.The jerk_type specifies the type of jerk and can be one of the following values.1: Jerk during acceleration, 2: Jerk during deceleration, 3: Jerk during acceleration and deceleration. More... | |
DLLAPI long ER_STDCALL | erSET_MOTION_TIME (ER_HND er_hnd, double time_value) |
Specifies the motion time for the next motion. Opcode 156, Chapter 3.4.5, Page 3-81. More... | |
DLLAPI long ER_STDCALL | erSELECT_FLYBY_MODE (ER_HND er_hnd, long flyby_on) |
Defines rounding / flyby condition. Opcode 140, Chapter 3.4.6, Page 3-85 Per default Flyby is disabled In case of flyby, the robot moves through a CP target with programmed speeds and will not decelerate. Disbable flyby, to reach the target with zero speed (fine position). More... | |
DLLAPI long ER_STDCALL | erSET_FLYBY_CRITERIA_PARAMETER (ER_HND er_hnd, long param_number, long joint_nr, double param_value) |
Sets the value of a flyby parameter. Opcode 141, Chapter 3.4.6, Page 3-86 Function not supported More... | |
DLLAPI long ER_STDCALL | erSELECT_FLYBY_CRITERIA (ER_HND er_hnd, long param_number) |
Selects a flyby criterion (parameter). Opcode 142, Chapter 3.4.6, Page 3-87 Function not supported More... | |
DLLAPI long ER_STDCALL | erCANCEL_FLYBY_CRITERIA (ER_HND er_hnd, long param_number) |
Cancels (unselects) a fly-by criterion. Opcode 143, Chapter 3.4.6, Page 3-88 Function not supported More... | |
DLLAPI long ER_STDCALL | erSELECT_POINT_ACCURACY (ER_HND er_hnd, long accuracy_type) |
Selects a criterion for when a target is reached. Opcode 144, Chapter 3.4.6, Page 3-89 Function not supported More... | |
DLLAPI long ER_STDCALL | erSET_POINT_ACCURACY_PARAMETER (ER_HND er_hnd, long accuracy_type, double accuracy_value) |
Sets the value of a parameter determining point accuracy. Opcode 145, Chapter 3.4.6, Page 3-90 Function not supported More... | |
DLLAPI long ER_STDCALL | erSET_NEXT_TARGET (ER_HND er_hnd, NEXT_TARGET_DATA *p_next_target_data) |
Sends the next target position. This may include intermediate position, radius and angle for circular motion. Opcode 117, Chapter 3.4.3, Page 3-52 This function prepares the next motion based on givin target data in NEXT_TARGET_DATA. If the return is OK, the TrajectoryTime in [sec] is calculated Remarks The function may pass a position and a further TargetParamValue at the same time. For some motion types the Kernel may require more than one call of erSET_NEXT_TARGET() before it can start the motion (e.g. ER_CIRC). Function erGET_NEXT_STEP() reports this as normal, returning Status = 1 (need more data) and ElapsedTime = 0. Use erSET_NEXT_TARGET_ADVANCE() to define data for the about next target. More... | |
DLLAPI long ER_STDCALL | erSET_NEXT_TARGET_ADVANCE (ER_HND er_hnd, NEXT_TARGET_DATA_ADVANCE *p_next_target_data_advance) |
Sends about next target data The function gives information about the next target, stored in NEXT_TARGET_DATA_ADVANCE Remarks This function should be called once, just before calling erSET_NEXT_TARGET() Parameter AdvanceParam=2 sets all data in NEXT_TARGET_DATA_ADVANCE to default values. More... | |
DLLAPI long ER_STDCALL | erSTOP_MOTION (ER_HND er_hnd) |
Stops the on-going motion toward the target. Opcode 151, Chapter 3.4.8, Page 3-101 See also erCONTINUE_MOTION(), erCANCEL_MOTION() Remarks After calling this function, the erGET_NEXT_STEP() should be called repeatedly until its Status is 2 (speed is zero) in order to get the deceleration steps. More... | |
DLLAPI long ER_STDCALL | erCONTINUE_MOTION (ER_HND er_hnd) |
Continues a motion that was stopped with the erSTOP_MOTION() function. Opcode 152, Chapter 3.4.8, Page 3-102 See also erSTOP_MOTION(), erCANCEL_MOTION() Remarks After calling this function, the erGET_NEXT_STEP() should be called repeatedly in order to get the acceleration steps. More... | |
DLLAPI long ER_STDCALL | erCANCEL_MOTION (ER_HND er_hnd) |
Cancel a motion that was stopped with erSTOP_MOTION() function. Opcode 153, Chapter 3.4.8, Page 3-103 See also erSTOP_MOTION(), erCONTINUE_MOTION() Remarks This function clears any remaining target positions in the Kernel. More... | |
DLLAPI long 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 = 2Remarks 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... | |
DLLAPI long 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... | |
DLLAPI long 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... | |
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... | |
DLLAPI long ER_STDCALL | erInitToolPath (ER_HND er_hnd, ER_TOOLPATH_HND *er_tpth_hnd) |
Create a unique tool path handle for a kinematics. More... | |
DLLAPI long ER_STDCALL | erUnloadToolPath (ER_TOOLPATH_HND *er_tpth_hnd) |
Unload an instance of a kinematics tool path. More... | |
DLLAPI long ER_STDCALL | erInsertToolPath (ER_HND er_hnd, ER_TOOLPATH_HND *er_tpth_hnd, ER_TOOLPATH_HND er_tpth_hnd_ref) |
Create and insert a unique tool path handle. The created tool path handle er_tpth_hnd is inserted before the tool path handle er_tpth_hnd_ref Remarks If parameter er_tpth_hnd_ref is NULL, the new tool path is appended. More... | |
DLLAPI long ER_STDCALL | erSwapToolPath (ER_TOOLPATH_HND er_tpth_hnd1, ER_TOOLPATH_HND er_tpth_hnd2) |
Swap two tool pathes. Swaps the position of two tool path handles. More... | |
DLLAPI long ER_STDCALL | erToolPathGetTargetLocationNumber (ER_TOOLPATH_HND er_tpth_hnd) |
Get the number of target locations in tool path. More... | |
DLLAPI ER_HND ER_STDCALL | erToolPathGetER_HND (ER_TOOLPATH_HND er_tpth_hnd) |
Device Handle belonging to tool path. This method is obsolete -> use erToolPathGetRobotHandle() More... | |
DLLAPI char *ER_STDCALL | erToolPathName (ER_TOOLPATH_HND er_tpth_hnd) |
Name of tool path. More... | |
DLLAPI long ER_STDCALL | erToolPathEnable (ER_TOOLPATH_HND er_tpth_hnd, long enable) |
Enable or disable tool path Parameter enable is one of ER_ONOFF_DISABLE, ER_ONOFF_ENABLE, ER_ONOFF_STATUS. More... | |
DLLAPI ER_HND ER_STDCALL | erToolPathGetRobotHandle (ER_TOOLPATH_HND er_tpth_hnd) |
Get device robot handle belonging to tool path handle. More... | |
DLLAPI ER_HND ER_STDCALL | erToolPathGetTrackMotionHandle (ER_TOOLPATH_HND er_tpth_hnd) |
Get device track motion handle belonging to tool path handle. More... | |
DLLAPI ER_HND ER_STDCALL | erToolPathGetPositionerHandle (ER_TOOLPATH_HND er_tpth_hnd) |
Get device positioner handle belonging to tool path handle. More... | |
DLLAPI ER_HND ER_STDCALL | erToolPathGetConveyorHandle (ER_TOOLPATH_HND er_tpth_hnd) |
Get device conveyor handle belonging to tool path handle. More... | |
DLLAPI long ER_STDCALL | erToolPathSetTrackMotionHandle (ER_TOOLPATH_HND er_tpth_hnd, ER_HND hnd_TrackMotion=NULL) |
Set track motion handle belonging to tool path handle. The tool path handles the track motion device as external axis, see erConnectTrackMotion() hnd_TrackMotion=NULL will remove track motion handle from the tool path. More... | |
DLLAPI long ER_STDCALL | erToolPathSetPositionerHandle (ER_TOOLPATH_HND er_tpth_hnd, ER_HND hnd_Positioner=NULL) |
Set positioner handle belonging to tool path handle. The tool path handles the positioner device as external axis, see erConnectPositioner() hnd_Positioner=NULL will remove positioner handle from the tool path. More... | |
DLLAPI long ER_STDCALL | erToolPathSetConveyorHandle (ER_TOOLPATH_HND er_tpth_hnd, ER_HND hnd_Conveyor=NULL) |
Set conveyor handle belonging to tool path handle. The tool path handles the conveyor device as external axis, see erConnectConveyor() hnd_Conveyor=NULL will remove conveyor handle from the tool path. More... | |
DLLAPI char *ER_STDCALL | erToolPathLogFileName (ER_TOOLPATH_HND er_tpth_hnd) |
Name log file. More... | |
DLLAPI char *ER_STDCALL | erToolPathPrgFileName (ER_TOOLPATH_HND er_tpth_hnd) |
Name program file. More... | |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL | erToolPathGetTargetLocationFirst (ER_TOOLPATH_HND er_tpth_hnd) |
Get the first 'target location handle' in the tool path. More... | |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL | erToolPathGetTargetLocationLast (ER_TOOLPATH_HND er_tpth_hnd) |
Get the last 'target location handle' in the tool path. More... | |
DLLAPI long ER_STDCALL | CpyEventsTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EVENTS_HND hnd) |
Copy events to template data. The events defined with events handle hnd are copied to the events template belonging to the tool path handle er_tpth_hnd . More... | |
DLLAPI ER_TARGET_EVENTS_HND ER_STDCALL | GetEventsTemplateHnd (ER_TOOLPATH_HND er_tpth_hnd) |
Get events template data from tool path. Get the events template data belonging to the tool path er_tpth_hnd . More... | |
DLLAPI long ER_STDCALL | CpyMotionAttributesTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_ATTRIBUTES_HND hnd) |
Copy attributes to template data. The attributes defined with attribute handle hnd are copied to the attribute template belonging to the tool path handle er_tpth_hnd . More... | |
DLLAPI ER_TARGET_ATTRIBUTES_HND ER_STDCALL | GetMotionAttributesTemplateHnd (ER_TOOLPATH_HND er_tpth_hnd) |
Get attributes template data from tool path. Get the attributes template data belonging to the tool path er_tpth_hnd . More... | |
DLLAPI long ER_STDCALL | CpyMoveJointTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_MOVE_JOINT_HND hnd) |
Copy move joint data to template data. The move joint data defined with move joint handle hnd are copied to the move joint template belonging to the tool path handle er_tpth_hnd . More... | |
DLLAPI ER_TARGET_MOVE_JOINT_HND ER_STDCALL | GetMoveJointTemplate (ER_TOOLPATH_HND er_tpth_hnd) |
Get move joint template data from tool path. Get the move joint template data belonging to the tool path er_tpth_hnd . More... | |
DLLAPI long ER_STDCALL | CpyMoveCPTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_MOVE_CP_HND hnd) |
Copy move cp data to template data. The move cp data defined with move cp handle hnd are copied to the move cp template belonging to the tool path handle er_tpth_hnd . More... | |
DLLAPI ER_TARGET_MOVE_CP_HND ER_STDCALL | GetMoveCPTemplate (ER_TOOLPATH_HND er_tpth_hnd) |
Get move cp template data from tool path. Get the move cp template data belonging to the tool path er_tpth_hnd . More... | |
DLLAPI long ER_STDCALL | CpyExtAxTrackMotionTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND hnd) |
Copy external axis track motion data to template data. The external axis track motion data defined with external axis track motion handle hnd are copied to the external axis track motion template belonging to the tool path handle er_tpth_hnd . More... | |
DLLAPI ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND ER_STDCALL | GetExtAxTrackMotionTemplate (ER_TOOLPATH_HND er_tpth_hnd) |
Get external axis track motion template data from tool path. Get the external axis track motion template data belonging to the tool path er_tpth_hnd . More... | |
DLLAPI long ER_STDCALL | CpyExtAxPositionerTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EXTAX_DEVICE_POSITIONER_HND hnd) |
Copy external axis positioner data to template data. The external axis positioner data defined with external axis positioner handle hnd are copied to the external axis positioner template belonging to the tool path handle er_tpth_hnd . More... | |
DLLAPI ER_TARGET_EXTAX_DEVICE_POSITIONER_HND ER_STDCALL | GetExtAxPositionerTemplate (ER_TOOLPATH_HND er_tpth_hnd) |
Get external axis positioner template data from tool path. Get the external axis positioner template data belonging to the tool path er_tpth_hnd . More... | |
DLLAPI long ER_STDCALL | CpyExtAxConveyorTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND hnd) |
Copy external axis conveyor data to template data. The external axis conveyor data defined with external axis conveyor handle hnd are copied to the external axis conveyor template belonging to the tool path handle er_tpth_hnd . More... | |
DLLAPI ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND ER_STDCALL | GetExtAxConveyorTemplate (ER_TOOLPATH_HND er_tpth_hnd) |
Get external axis conveyor template data from tool path. Get the external axis conveyor template data belonging to the tool path er_tpth_hnd . More... | |
DLLAPI long ER_STDCALL | erToolPathReset (ER_TOOLPATH_HND er_tpth_hnd) |
Reset all tool path target locations. All target locations defined in tool path er_tpth_hnd are resetted to default values and set to invalid. More... | |
DLLAPI long ER_STDCALL | erToolPathResetInitRobot (ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL) |
Set initial joint start location for the robot. Remarks Read current joint data from loaded robot. This method must be called before the interpolation starts. More... | |
DLLAPI long ER_STDCALL | erToolPathResetInitTrackMotion (ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL) |
Set initial joint start location for the TrackMotion. Remarks Read current joint data from loaded TrackMotion. This method must be called before the interpolation starts. More... | |
DLLAPI long ER_STDCALL | erToolPathResetInitPositioner (ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL) |
Set initial joint start location for the Positioner. Remarks Read current joint data from loaded Positioner. This method must be called before the interpolation starts. More... | |
DLLAPI long ER_STDCALL | erToolPathResetInitConveyor (ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL) |
Set initial joint start location for the Conveyor. Remarks Read current joint data from loaded Conveyor. This method must be called before the interpolation starts. More... | |
DLLAPI long ER_STDCALL | erToolPathSetInitPos (ER_TOOLPATH_HND er_tpth_hnd, double InterpolationTime=0) |
Initializes the Trajectory Planner based on current settings. Remarks This method must be called before the interpolation starts, see erGET_NEXT_TOOLPATH_STEP() More... | |
DLLAPI long ER_STDCALL | erGET_NEXT_TOOLPATH_STEP_INIT (ER_TOOLPATH_HND er_tpth_hnd, long cntrl=ER_MOP_GNTPS_CNTRL_INIT) |
Initializes the interpolation through a complete tool path Parameter cntrl must be set to ER_MOP_GNTPS_CNTRL_INIT and can be extended by an individual bitwise-inclusive-OR operator (|) of. More... | |
DLLAPI long ER_STDCALL | erGET_NEXT_TOOLPATH_STEP (ER_TOOLPATH_HND er_tpth_hnd, long cntrl, NEXT_STEP_DATA *p_next_step_data=NULL, double time=0) |
Interpolation through a complete tool path Parameter cntrl is an individual bitwise-inclusive-OR operator (|) of ER_MOP_GNTPS_CNTRL_NEXT_STEP, ER_MOP_GNTPS_CNTRL_UPDATE_GEO, ER_MOP_GNTPS_CNTRL_STEPDATA_OUT Remarks Before using this method, call erGET_NEXT_TOOLPATH_STEP_INIT(), see also erGET_NEXT_STEP() More... | |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL | erGET_NEXT_TOOLPATH_STEP_cTargetLocation (ER_TOOLPATH_HND er_tpth_hnd) |
Get the current 'target location handle' while interpolation through a complete tool path. More... | |
DLLAPI long ER_STDCALL | erGET_NEXT_TOOLPATH_STEP_TERMINATE (ER_TOOLPATH_HND er_tpth_hnd) |
Terminates interpolation Remarks This method must be called after the interpolation of a tool path, see erGET_NEXT_TOOLPATH_STEP() More... | |
DLLAPI long ER_STDCALL | erTargetLocationReset (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Reset Target location to default values Remarks The target location is marked as invalid. See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status. More... | |
DLLAPI long ER_STDCALL | erAddTargetLocation (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_LOCATION_HND *er_tarloc_hnd) |
Add a new target location to a tool path Remarks The new target location is reset to default values and marked as invalid, use erGetTargetLocationNumber() to receive the number of target locations in the tool path. See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status. More... | |
DLLAPI long ER_STDCALL | erInsertTargetLocation (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_LOCATION_HND *er_tarloc_hnd, ER_TARGET_LOCATION_HND er_tarloc_hnd_ref=NULL) |
Insert a new target location to a tool path before an existing target location Remarks The new target location is inserted before the target location with handle er_tarloc_hnd_ref .If parameter er_tarloc_hnd_ref is NULL, the new target location is appended, see erAddTargetLocation().The new target location is reset to default values and marked as invalid, use erGetTargetLocationNumber() to receive the number of target locations in the tool path. See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status. More... | |
DLLAPI long ER_STDCALL | erUnloadTargetLocation (ER_TARGET_LOCATION_HND *er_tarloc_hnd) |
Unload/delete a target location from a tool path Remarks Use erGetTargetLocationNumber() to receive the number of remaining target locations in the tool path. More... | |
DLLAPI long ER_STDCALL | erSwapTargetLocation (ER_TARGET_LOCATION_HND er_tarloc_hnd1, ER_TARGET_LOCATION_HND er_tarloc_hnd2) |
Swap the order of two target location in a tool path Remarks Both target location handle must be in the same tool path. Use erGetTargetLocationIdx() to get the belonging index for each target location. More... | |
DLLAPI long ER_STDCALL | erGetTargetLocationNumber (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Number of target locations in a tool path. More... | |
DLLAPI ER_HND ER_STDCALL | erhGetTargetLocationER_HND (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Device handle belonging to target location. More... | |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL | erGetTargetLocationFirst (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Get first target location in a tool path. More... | |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL | erGetTargetLocationLast (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Get last target location in a tool path. More... | |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL | erGetTargetLocationNext (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Get next target location in a tool path. More... | |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL | erGetTargetLocationPrev (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Get previous target location in a tool path. More... | |
DLLAPI long ER_STDCALL | erSetTargetLocation_Move_JointAbs (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *JointPos, double speed_percent=0, double override_speed=0, double *Tool=0) |
Move_JointAbs, full synchronized PTP, motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More... | |
DLLAPI long ER_STDCALL | erSetTargetLocation_Move_Joint (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *CartPosVec, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, double *Tool=0, double *Base=0) |
Move_Joint, full synchronized PTP, motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More... | |
DLLAPI long ER_STDCALL | erSetTargetLocation_Move_Joint_Frame (ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME *CartPosFrame, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, DFRAME *ToolFrame=0, DFRAME *BaseFrame=0) |
Move_Joint, full synchronized PTP, motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More... | |
DLLAPI long ER_STDCALL | erSetTargetLocation_Move_SlewAbs (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *JointPos, double speed_percent=0, double override_speed=0, double *Tool=0) |
Move_SlewAbs, not synchronized PTP, motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More... | |
DLLAPI long ER_STDCALL | erSetTargetLocation_Move_Slew (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *CartPosVec, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, double *Tool=0, double *Base=0) |
Move_Slew, not synchronized PTP, motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More... | |
DLLAPI long ER_STDCALL | erSetTargetLocation_Move_Slew_Frame (ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME *CartPosFrame, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, DFRAME *ToolFrame=0, DFRAME *BaseFrame=0) |
Move_Slew, not synchronized PTP, motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More... | |
DLLAPI long ER_STDCALL | erSetTargetLocation_Move_LIN (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *CartPosVec, double speed_cp=0, double speed_ori=0, double override_speed=0, long flyby_on=-1, double *Tool=0, double *Base=0) |
Move_LIN, continious path motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More... | |
DLLAPI long ER_STDCALL | erSetTargetLocation_Move_LIN_Frame (ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME *CartPosFrame, double speed_cp=0, double speed_ori=0, double override_speed=0, long flyby_on=-1, DFRAME *ToolFrame=0, DFRAME *BaseFrame=0) |
Move_LIN, continious path motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More... | |
DLLAPI long ER_STDCALL | erSetTargetLocation_Move_CIRC (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *CartPosVecVia, double *CartPosVec, double speed_cp=0, double speed_ori=0, double override_speed=0, long flyby_on=-1, double *Tool=0, double *Base=0) |
Move_CIRC, continious path motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More... | |
DLLAPI long ER_STDCALL | erSetTargetLocation_Move_CIRC_Frame (ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME *CartPosFrameVia, DFRAME *CartPosFrame, double speed_cp=0, double speed_ori=0, double override_speed=0, long flyby_on=-1, DFRAME *ToolFrame=0, DFRAME *BaseFrame=0) |
Move_CIRC, continious path motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More... | |
DLLAPI ER_TARGET_HEAD_HND ER_STDCALL | erGetTargetLocationHeaderDataHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Handle for target header data. More... | |
DLLAPI ER_TOOLPATH_HND ER_STDCALL | erGetTargetLocationToolPathHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Tool path handle belonging to target location handle. More... | |
DLLAPI long ER_STDCALL | erGetTargetLocationIdx (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Index of target location. More... | |
DLLAPI char *ER_STDCALL | erGetTargetLocationName (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Name of target location. More... | |
DLLAPI char *ER_STDCALL | erGetTargetLocationNameVia (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Name of target Via location, in case of circular motion. More... | |
DLLAPI long ER_STDCALL | erTargetLocationValid (ER_TARGET_LOCATION_HND er_tarloc_hnd, long valid) |
Validity of a target location A target location is per default invalid when created e.g. ERK_CAPI_TOOLPATH_TARGETS::erAddTargetLocation() and set to valid when a motion e.g. ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN() is defined. This method allows to ask the validity of this target location valid=2 ,to set the validity of this target location valid=1 ,or to unset the validity of this target location valid=0 . More... | |
DLLAPI ER_TARGET_INSTRUCTIONS_HND ER_STDCALL | erGetTargetLocationInstructionsHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Handle for target instruction data Remarks Instructions are individual command or information attached to a target location. They don't influence in the calculated trajectory. Instructions are very useful when creating a robot program using the API post processing function ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc(). More... | |
DLLAPI char *ER_STDCALL | erGetInstructions_information (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Get information target instruction data for target location. For further explanations see GetInstructionsHnd(), erSetInstructions(). More... | |
DLLAPI char *ER_STDCALL | erGetInstructions_LeadInstructions (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Get LeadInstructions target instruction data for target location. For further explanations see GetInstructionsHnd(), erSetInstructions(). More... | |
DLLAPI char *ER_STDCALL | erGetInstructions_LagInstructions (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Get LagInstructions target instruction data for target location. For further explanations see GetInstructionsHnd(), erSetInstructions(). More... | |
DLLAPI int ER_STDCALL | erSetInstructions (ER_TARGET_LOCATION_HND er_tarloc_hnd, char *InfoTxt=NULL, char *LeadInst=NULL, char *LagInst=NULL) |
Set target instruction data for information, leading- and lagging instruction. For further explanations see GetInstructionsHnd(). More... | |
DLLAPI ER_TARGET_EVENTS_HND ER_STDCALL | erGetTargetLocationEventsHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Handle for target events data. More... | |
DLLAPI long ER_STDCALL | erSetEvents_EventDOUT (ER_TARGET_EVENTS_HND hnd, int idx=1, long io_value=ER_EVENT_BOOL_UNDEF, char *io_name=0, long strig_type=ER_EVENT_TRIGGER_OFF, double strig_time=0, double strig_dist=0, long ttrig_type=ER_EVENT_TRIGGER_OFF, double ttrig_time=0, double ttrig_dist=0) |
Set an event for a boolean output for target location A boolean event for binary outputs is controlled by trigger data, when the movement starts and when the movement reaches the target location. When a trigger condition is met, the binary output is set to ER_EVENT_BOOL_OFF or ER_EVENT_BOOL_ON. Trigger data can be set when the movement starts and when the movement reaches the target. Each trigger consist of three parameters: type ,time and distance. Trigger signal type can be one of the following values. More... | |
DLLAPI long ER_STDCALL | erGetEvents_EventDOUT (ER_TARGET_EVENTS_HND hnd, int idx, long *io_value, char *io_name, long *strig_type, double *strig_time, double *strig_dist, long *ttrig_type, double *ttrig_time, double *ttrig_dist) |
Get an event for a boolean output for target location A boolean event for binary outputs is controlled by trigger data, when the movement starts and when the movement reaches the target location. see detailed information in Set_EventDOUT() or erSetEvents_EventDOUT() More... | |
DLLAPI long ER_STDCALL | erSetEvents_EventDIN (ER_TARGET_EVENTS_HND hnd, int idx=1, long io_value=ER_EVENT_BOOL_UNDEF, char *io_name=0, long leadcond_type=ER_EVENT_CONDITION_UNDEF, double leadcond_value=0, long lagcond_type=ER_EVENT_CONDITION_UNDEF, double lagcond_value=0) |
Set event conditions for a binary input for target location An input is checked before a movement starts (leading) and/or when the movement reaches the target (lagging). In the case of flyby, the checks are made closed to the start and the target location. Each check depends on the specified condition type combined with a condition value. A condition type can be one of the following values. More... | |
DLLAPI ER_TARGET_ATTRIBUTES_AUX_HND ER_STDCALL | erGetTargetLocationMotionAttributesAuxHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Handle for target attributes auxiliary data. More... | |
DLLAPI ER_TARGET_ATTRIBUTES_HND ER_STDCALL | erGetTargetLocationMotionAttributesHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Handle for target attributes data Typical attributes belonging to a target location are: e.g. target_id, external TCP, Base data, Tool data , motion type, override speed, velocity profile, flyby, autoaccel, lead- and lag time, etc. Remarks The returned handle ER_TARGET_ATTRIBUTES_HND is used to access target attributes data. More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_enabled (ER_TARGET_ATTRIBUTES_HND hnd) |
Enables/disables a target location If the target location is disabled, the trajectory interpolator will skip this target. More... | |
DLLAPI TErTargetID *ER_STDCALL | erGetMotionAttributes_target_id (ER_TARGET_ATTRIBUTES_HND hnd) |
unique target ID of a target location More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_WobjCartPosVec (ER_TARGET_ATTRIBUTES_HND hnd) |
WorkObject valid for all cartesian target locations such as CartPosVec, CartPosVecVia Using this transformation, all cartesian targets 'T' are modified to T' = WorkObj * T see e.g. ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN() More... | |
DLLAPI DFRAME *ER_STDCALL | erGetMotionAttributes_WobjCartPosFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *WobjCartPosFrame) |
Get WorkObject valid for all cartesian target locations such as CartPosVec, CartPosVecVia Using this transformation, all cartesian targets 'T' are modified to T' = WorkObj * T see e.g. ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN() More... | |
DLLAPI DFRAME *ER_STDCALL | erSetMotionAttributes_WobjCartPosFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *WobjCartPosFrame) |
Set WorkObject valid for all cartesian target locations such as CartPosVec, CartPosVecVia Using this transformation, all cartesian targets 'T' are modified to T' = WorkObj * T see e.g. ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN() More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_ext_tcp_mode (ER_TARGET_ATTRIBUTES_HND hnd) |
Enables/disables external TCP for a target location IPO_MODE_BASE (tool guided) or IPO_MODE_TOOL (work object guided) More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_BaseVec (ER_TARGET_ATTRIBUTES_HND hnd) |
Program shift Base for a target location Base '$BASE, $UFrame' has only if IPO_MODE_BASE is set and external TCP disabled All targets are defined w.r.t to this BASE frame (program shifting) see inq_BaseIdx(), inq_BaseName() More... | |
DLLAPI DFRAME *ER_STDCALL | erGetMotionAttributes_BaseFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *BaseFrame) |
Program shift Base for a target location Base '$BASE, $UFrame' has only if IPO_MODE_BASE is set and external TCP disabled All targets are defined w.r.t to this BASE frame (program shifting) see inq_BaseIdx(), inq_BaseName() More... | |
DLLAPI DFRAME *ER_STDCALL | erSetMotionAttributes_BaseFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *BaseFrame) |
Program shift Base for a target location Base '$BASE, $UFrame' has only if IPO_MODE_BASE is set and external TCP disabled All targets are defined w.r.t to this BASE frame (program shifting) see inq_BaseIdx(), inq_BaseName() More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_BaseIdx (ER_TARGET_ATTRIBUTES_HND hnd) |
Idx for program shift Base for a target location see inq_BaseVec(), inq_BaseName() This BaseIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More... | |
DLLAPI char *ER_STDCALL | erGetMotionAttributes_BaseName (ER_TARGET_ATTRIBUTES_HND hnd) |
Name for program shift Base for a target location see inq_BaseVec(), inq_BaseIdx() This BaseName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_extTcpBaseVec (ER_TARGET_ATTRIBUTES_HND hnd) |
external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location Transformation from RobotBase or from flange of positioner to external TCP see inq_extTcpBaseIdx(), inq_extTcpBaseName() More... | |
DLLAPI DFRAME *ER_STDCALL | erGetMotionAttributes_extTcpBaseFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpBaseFrame) |
external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location Transformation from RobotBase or from flange of positioner to external TCP see inq_extTcpBaseIdx(), inq_extTcpBaseName() More... | |
DLLAPI DFRAME *ER_STDCALL | erSetMotionAttributes_extTcpBaseFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpBaseFrame) |
external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location Transformation from RobotBase or from flange of positioner to external TCP see inq_extTcpBaseIdx(), inq_extTcpBaseName() More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_extTcpBaseIdx (ER_TARGET_ATTRIBUTES_HND hnd) |
Idx for external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location see inq_extTcpBaseVec(), inq_extTcpBaseName() This extTcpBaseIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More... | |
DLLAPI char *ER_STDCALL | erGetMotionAttributes_extTcpBaseName (ER_TARGET_ATTRIBUTES_HND hnd) |
Name for external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location see inq_extTcpBaseVec(), inq_extTcpBaseIdx() This extTcpBaseName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_extTcpWorldVec (ER_TARGET_ATTRIBUTES_HND hnd) |
external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location Transformation from RobotWorld or from flange of positioner to external TCP see inq_extTcpWorldIdx(), inq_extTcpWorldName() More... | |
DLLAPI DFRAME *ER_STDCALL | erGetMotionAttributes_extTcpWorldFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpWorldFrame) |
external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location Transformation from RobotWorld or from flange of positioner to external TCP see inq_extTcpWorldIdx(), inq_extTcpWorldName() More... | |
DLLAPI DFRAME *ER_STDCALL | erSetMotionAttributes_extTcpWorldFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpWorldFrame) |
external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location Transformation from RobotWorld or from flange of positioner to external TCP see inq_extTcpWorldIdx(), inq_extTcpWorldName() More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_extTcpWorldIdx (ER_TARGET_ATTRIBUTES_HND hnd) |
Idx for external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location see inq_extTcpWorldVec(), inq_extTcpWorldName() This extTcpWorldIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More... | |
DLLAPI char *ER_STDCALL | erGetMotionAttributes_extTcpWorldName (ER_TARGET_ATTRIBUTES_HND hnd) |
Name for external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location see inq_extTcpWorldVec(), inq_extTcpWorldIdx() This extTcpWorldName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_extTcpOffsetVec (ER_TARGET_ATTRIBUTES_HND hnd) |
external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location Transformation from extTcpBase or extTcpWorld see inq_extTcpOffsetIdx(), inq_extTcpOffsetName() More... | |
DLLAPI DFRAME *ER_STDCALL | erGetMotionAttributes_extTcpOffsetFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpOffsetFrame) |
external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location Transformation from extTcpBase or extTcpWorld see inq_extTcpOffsetIdx(), inq_extTcpOffsetName() More... | |
DLLAPI DFRAME *ER_STDCALL | erSetMotionAttributes_extTcpOffsetFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpOffsetFrame) |
external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location Transformation from extTcpBase or extTcpWorld see inq_extTcpOffsetIdx(), inq_extTcpOffsetName() More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_extTcpOffsetIdx (ER_TARGET_ATTRIBUTES_HND hnd) |
Idx for external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location see inq_extTcpOffsetVec(), inq_extTcpOffsetName() This extTcpOffsetIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More... | |
DLLAPI char *ER_STDCALL | erGetMotionAttributes_extTcpOffsetName (ER_TARGET_ATTRIBUTES_HND hnd) |
Name for external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location see inq_extTcpOffsetVec(), inq_extTcpOffsetIdx() This extTcpOffsetName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_ToolVec (ER_TARGET_ATTRIBUTES_HND hnd) |
Tool (TCP) for a target location Transformation from Tip to TCP see inq_ToolIdx(), inq_ToolName() More... | |
DLLAPI DFRAME *ER_STDCALL | erGetMotionAttributes_ToolFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolFrame) |
Tool (TCP) for a target location Transformation from Tip to TCP see inq_ToolIdx(), inq_ToolName() More... | |
DLLAPI DFRAME *ER_STDCALL | erSetMotionAttributes_ToolFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolFrame) |
Tool (TCP) for a target location Transformation from Tip to TCP see inq_ToolIdx(), inq_ToolName() More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_ToolIdx (ER_TARGET_ATTRIBUTES_HND hnd) |
Idx for Tool for a target location see inq_ToolVec(), inq_ToolName() This ToolIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More... | |
DLLAPI char *ER_STDCALL | erGetMotionAttributes_ToolName (ER_TARGET_ATTRIBUTES_HND hnd) |
Name for Tool for a target location see inq_ToolVec(), inq_ToolIdx() This ToolName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_ToolOffsetVec (ER_TARGET_ATTRIBUTES_HND hnd) |
ToolOffset (TCP) for a target location Offset Transformation from TCP see inq_ToolOffsetIdx(), inq_ToolOffsetName() More... | |
DLLAPI DFRAME *ER_STDCALL | erGetMotionAttributes_ToolOffsetFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolOffsetFrame) |
ToolOffset (TCP) for a target location Offset Transformation from TCP see inq_ToolOffsetIdx(), inq_ToolOffsetName() More... | |
DLLAPI DFRAME *ER_STDCALL | erSetMotionAttributes_ToolOffsetFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolOffsetFrame) |
ToolOffset (TCP) for a target location Offset Transformation from TCP see inq_ToolOffsetIdx(), inq_ToolOffsetName() More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_ToolOffsetIdx (ER_TARGET_ATTRIBUTES_HND hnd) |
Idx for ToolOffset for a target location see inq_ToolOffsetVec(), inq_ToolOffsetName() This ToolOffsetIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More... | |
DLLAPI char *ER_STDCALL | erGetMotionAttributes_ToolOffsetName (ER_TARGET_ATTRIBUTES_HND hnd) |
Name for ToolOffset for a target location see inq_ToolOffsetVec(), inq_ToolOffsetIdx() This ToolOffsetName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_speed_reduction_enable (ER_TARGET_ATTRIBUTES_HND hnd) |
Speed reduction enable for a target location The speed reduction enable can be one of the following values ER_SPEED_REDUCTION_ENABLE = 1, ER_SPEED_REDUCTION_DISABLE = 0 If speed reduction is enabled, the robots TCP speed gets reduced (while motion execution in erGET_NEXT_STEP()) if the desired nominal joint speeds exceeds the maximum allowed joint speed, defined with erSetVqMax(). Remarks Per default, speed reduction is enabled. Speed reduction causes the TrajectoryTime to increase, while the RemainingTime represents the minimum time necessary to reach the target. More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_motype (ER_TARGET_ATTRIBUTES_HND hnd) |
Motion Type for a target location The motion type can be one of the following values ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4 Remarks Methods such as. More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_dom_type (ER_TARGET_ATTRIBUTES_HND hnd) |
Dominant interpolation type for a target location The dominant interpolation type can be one of the following values. ER_DOMINANT_INTERPOLATION_POS, ER_DOMINANT_INTERPOLATION_ORI, ER_DOMINANT_INTERPOLATION_AXIS, ER_DOMINANT_INTERPOLATION_AUTO Remarks Default setting is ER_DOMINANT_INTERPOLATION_AUTO. More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_advance_motion (ER_TARGET_ATTRIBUTES_HND hnd) |
Number of motions, the motion planner may run in advance of the interpolator (look_ahead) for a target location Remarks Default value: 1. More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_override_speed (ER_TARGET_ATTRIBUTES_HND hnd) |
Correction values as percentage value for scaling the programmed speed for a target location Remarks Default value: 100%. More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_acc (ER_TARGET_ATTRIBUTES_HND hnd) |
Acceleration and deceleration as percentage value in the range from 20% to 100% of normal values for a target location Remarks Default value: 100% Smaller values results in a smoother acceleration and deceleratio nwhen the robot carries high payloads for example. More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_ramp (ER_TARGET_ATTRIBUTES_HND hnd) |
Change of acceleration and deceleration as percentage value in the range from 20% to 100% of normal values for a target location Remarks Default value: 100% Smaller values results in a smoother acceleration and deceleration when the robot carries high payloads for example. More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_filter_factor (ER_TARGET_ATTRIBUTES_HND hnd) |
Filter factor for smoothing velocity profiles of motions The filter_factor is one of ER_MOTION_FILTER_GEO or ER_MOTION_FILTER_C2 Remarks Per default ER_MOTION_FILTER_C2 is set It makes sense to keep one filter_factor for the complete tool path. More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_flyby_on (ER_TARGET_ATTRIBUTES_HND hnd) |
Rounding / flyby condition for a target location In case of flyby enabled, the robot moves through a target location with programmed speeds and will not decelerate flyby_on is one of ER_FLYBY_OFF, ER_FLYBY_ON Remarks Default value: ER_FLYBY_OFF. More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_flyby_speed_percent (ER_TARGET_ATTRIBUTES_HND hnd) |
flyby by speed [%] for a target location In case of flyby by speed, the robot starts moving into the next segment when the current speed is less then the flyby_speed_percent value. flyby_speed_percent has only an effect if flyby is enabled and if set > 0%, see inq_flyby_on(), inq_flyby_dist() Remarks Default value: 0% More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_flyby_dist (ER_TARGET_ATTRIBUTES_HND hnd) |
flyby by distance [m] for a target location In case of flyby by distance, the robot starts moving into the next segment when the distance to the target is less then the flyby_dist value. flyby_dist has only an effect if flyby is enabled and if set > 0 [m], see inq_flyby_on(), inq_flyby_speed_percent() Remarks Default value: 0 [m] More... | |
DLLAPI long *ER_STDCALL | erGetMotionAttributes_autoaccel (ER_TARGET_ATTRIBUTES_HND hnd) |
Automatic calculation of acceleration depending on programmed speed for a target location Using AutoAccel is a proper way to come close to real cycle times. Autoaccel can be one of the following values. 0: ER_AUTOACCEL_MODE_OFF disables auto accel calculation for all motions 1: ER_AUTOACCEL_MODE_POS calculation for CP motions for position 2: ER_AUTOACCEL_MODE_ORI calculation for CP motions 4: ER_AUTOACCEL_MODE_AX Calculation for PTP motions 3: ER_AUTOACCEL_MODE_DEF calculation for CP motions for position and for orientation 7: ER_AUTOACCEL_MODE_ON enables calculation for all motions Remarks Default value: ER_AUTOACCEL_MODE_OFF. More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_LeadWaitTime (ER_TARGET_ATTRIBUTES_HND hnd) |
Leading time [s] before robot will start moving to target location Remarks Default value: 0 Has only an effect when flyby is disabled, see inq_LagWaitTime() More... | |
DLLAPI double *ER_STDCALL | erGetMotionAttributes_LagWaitTime (ER_TARGET_ATTRIBUTES_HND hnd) |
Lagging time [s] after robot reaches its target location Remarks Default value: 0 Has only an effect when flyby is disabled, see inq_LeadWaitTime() More... | |
DLLAPI ER_TARGET_MOVE_JOINT_HND ER_STDCALL | erGetTargetLocationMoveJointHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Handle for target move joint data Typical data belonging to a move joint target location are: target_type, speed_percent, accel_percent, JointPos , CartPosVec, configuration, ptp_target_calculation_mode, turn_value Remarks The returned handle ER_TARGET_MOVE_JOINT_HND is used to access target move joint data. More... | |
DLLAPI long *ER_STDCALL | erGetMoveJoint_target_type (ER_TARGET_MOVE_JOINT_HND hnd) |
Target type for joint move for target location is one of. More... | |
DLLAPI double *ER_STDCALL | erGetMoveJoint_speed_percent (ER_TARGET_MOVE_JOINT_HND hnd) |
Speed_percent percentage speed definition [>0-1000%] for joint move for target location. More... | |
DLLAPI double *ER_STDCALL | erGetMoveJoint_accel_percent (ER_TARGET_MOVE_JOINT_HND hnd) |
Accel_percent percentage acceleration definition [>0-1000%] for joint move for target location. More... | |
DLLAPI double *ER_STDCALL | erGetMoveJoint_JointPos (ER_TARGET_MOVE_JOINT_HND hnd) |
Joint position for joint move for target location Remarks Use for. More... | |
DLLAPI double *ER_STDCALL | erGetMoveJoint_CartPosVec (ER_TARGET_MOVE_JOINT_HND hnd) |
Cartesian position w.r.t. Base for joint move for target location Remarks Use for. More... | |
DLLAPI long *ER_STDCALL | erGetMoveJoint_configuration (ER_TARGET_MOVE_JOINT_HND hnd) |
configuration Robot configuration [1-ER_KIN_CONFIGS] for target location More... | |
DLLAPI long *ER_STDCALL | erGetMoveJoint_ptp_target_calculation_mode (ER_TARGET_MOVE_JOINT_HND hnd) |
Ptp_target_calculation_mode for target location is one of ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG. More... | |
DLLAPI long *ER_STDCALL | erGetMoveJoint_turn_value (ER_TARGET_MOVE_JOINT_HND hnd) |
Turn value for each robot joint for joint move for target location The 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, see inq_ptp_target_calculation_mode() More... | |
DLLAPI ER_TARGET_MOVE_CP_HND ER_STDCALL | erGetTargetLocationMoveCPHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Handle for target move CP data Typical data belonging to a move CP target location are: target_type, speed_cp, speed_ori, accel_cp, accel_ori, CartPosVec, CartPosVecVia, interpolation_mode, orientation_interpolation_mode Remarks The returned handle ER_TARGET_MOVE_CP_HND is used to access target move CP data. More... | |
DLLAPI long *ER_STDCALL | erGetMoveCP_target_type (ER_TARGET_MOVE_CP_HND hnd) |
Target type for CP move for target location is always. More... | |
DLLAPI double *ER_STDCALL | erGetMoveCP_speed_cp (ER_TARGET_MOVE_CP_HND hnd) |
Cartesian speed [m/s], for CP move for target location. More... | |
DLLAPI double *ER_STDCALL | erGetMoveCP_speed_ori (ER_TARGET_MOVE_CP_HND hnd) |
Cartesian orientation speed [rad/s], for CP move for target location. More... | |
DLLAPI double *ER_STDCALL | erGetMoveCP_accel_cp (ER_TARGET_MOVE_CP_HND hnd) |
Cartesian acceleration [m/s^2], for CP move for target location. More... | |
DLLAPI double *ER_STDCALL | erGetMoveCP_accel_ori (ER_TARGET_MOVE_CP_HND hnd) |
Cartesian orientation acceleration [rad/s^2], for CP move for target location. More... | |
DLLAPI double *ER_STDCALL | erGetMoveCP_CartPosVec (ER_TARGET_MOVE_CP_HND hnd) |
Cartesian position w.r.t. Base for CP move for target location Remarks Use for. More... | |
DLLAPI double *ER_STDCALL | erGetMoveCP_CartPosVecVia (ER_TARGET_MOVE_CP_HND hnd) |
Cartesian position at VIA location w.r.t. Base for CP move for target location Remarks Use for. More... | |
DLLAPI long *ER_STDCALL | erGetMoveCP_interpolation_mode (ER_TARGET_MOVE_CP_HND hnd) |
Orientation interpolation mode for CP move for target location The interpolation_mode is one of =1 one angle (QUATERNION), =2 two angle (QUATERNION), =3 three angle (VARIABLE) per default =1 one angle (QUATERNION) More... | |
DLLAPI long *ER_STDCALL | erGetMoveCP_circ_orientation_interpolation_mode (ER_TARGET_MOVE_CP_HND hnd) |
Circular orientation interpolation mode for CP move for target location The circular orientation interpolation_mode is one of. More... | |
DLLAPI ER_TARGET_MOTION_EXEC_HND ER_STDCALL | erGetTargetLocationMotionExecHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Handle for target execution data Target execution data are calculated while interpolation through the complete tool path, if the robot has reached the target see also. More... | |
DLLAPI long ER_STDCALL | erGetMotionExec_motion_success (ER_TARGET_MOTION_EXEC_HND hnd) |
Motion success is true when the robot has reached the target location successfully Remarks ERK_CAPI_TOOLPATH::erGET_NEXT_TOOLPATH_STEP_INIT() at the beginning of interpolation will reset motion_success for each targat location. More... | |
DLLAPI double ER_STDCALL | erGetMotionExec_time_stamp (ER_TARGET_MOTION_EXEC_HND hnd) |
Time stamp - total execution time [s] at the target location, while interpolation through the complete tool path Remarks ERK_CAPI_TOOLPATH::erGET_NEXT_TOOLPATH_STEP_INIT() sets the time_stamp = 0. More... | |
DLLAPI double ER_STDCALL | erGetMotionExec_trajectory_time (ER_TARGET_MOTION_EXEC_HND hnd) |
Trajectory time [s], time to reach the target location, while interpolation through the complete tool path. More... | |
DLLAPI long ER_STDCALL | erGetMotionExec_configuration (ER_TARGET_MOTION_EXEC_HND hnd) |
Robot configuration, when reaching the target, while interpolation through the complete tool path Remarks Normally a robot configuration will NOT change during a CP (ER_LIN, ER_CIRC) move Valid robot configurations are between 1 and number of possible configurations depending on robot, maximum ER_KIN_CONFIGS A valid robot configuration can be specified with. More... | |
DLLAPI double *ER_STDCALL | erGetMotionExec_JointPos (ER_TARGET_MOTION_EXEC_HND hnd) |
Joint position at target location, while interpolation through the complete tool path. More... | |
DLLAPI double *ER_STDCALL | erGetMotionExec_ExtAxValues (ER_TARGET_MOTION_EXEC_HND hnd) |
External axis values at target location, while interpolation through the complete tool path. More... | |
DLLAPI ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND ER_STDCALL | erGetTargetLocationExtAxTrackHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Handle for external axis of a Track/Slider-Motion Typical data belonging to external axis data are: number of external axis used, synchonization type, external axis data Remarks External axis data should be specified after the move definition of a target location The returned handle ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND is used to access external axis data for Track/Slider-Motion see example SetExtAxTrackMotionIdx() More... | |
DLLAPI long *ER_STDCALL | erGetExtAxTrack_number_extax_used (ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND hnd) |
Number of external axis used for Track/Slider see example GetExtAxTrackMotionHnd() More... | |
DLLAPI long *ER_STDCALL | erGetExtAxTrack_sync_type (ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND hnd) |
Synchonization for Track/Slider For a Track/Slider motion, the synchonization should be always ER_SYNC_ON see example GetExtAxTrackMotionHnd() More... | |
DLLAPI ER_EXTAX_KIN_DATA *ER_STDCALL | erGetExtAxTrack_extax_data (ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND hnd, long extax_idx) |
External axis values for Track/Slider Values ER_EXTAX_KIN_DATA are: . More... | |
DLLAPI long ER_STDCALL | erSetExtAxTrackIdx (ER_TARGET_LOCATION_HND er_tarloc_hnd, long extax_idx, double axis_value, double speed_value=0, long sync_type=ER_SYNC_UNDEF, ER_HND er_hnd_connect=0) |
Set external axis values for Track/Slider for target location see example GetExtAxTrackMotionHnd() Remarks Use ERK_CAPI_TOOLPATH::erToolPathSetTrackMotionHandle() to set the Track/Slider device, belonging to this tool path. More... | |
DLLAPI ER_TARGET_EXTAX_DEVICE_POSITIONER_HND ER_STDCALL | erGetTargetLocationExtAxPositionerHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Handle for external axis of a Positioner/TurnTable-Motion Typical data belonging to external axis data are: number of external axis used, synchonization type, external axis data Remarks External axis data should be specified after the move definition of a target location The returned handle ER_TARGET_EXTAX_DEVICE_POSITIONER_HND is used to access external axis data for Positioner/TurnTable-Motion see example SetExtAxPositionerIdx() More... | |
DLLAPI long *ER_STDCALL | erGetExtAxPositioner_number_extax_used (ER_TARGET_EXTAX_DEVICE_POSITIONER_HND hnd) |
Number of external axis used for Positioner/TurnTable see example GetExtAxPositionerHnd() More... | |
DLLAPI long *ER_STDCALL | erGetExtAxPositioner_sync_type (ER_TARGET_EXTAX_DEVICE_POSITIONER_HND hnd) |
Synchonization for Positioner/TurnTable For a Positioner/TurnTable motion, the synchonization can be one of ER_SYNC_ON, ER_SYNC_OFF see example GetExtAxPositionerHnd() More... | |
DLLAPI ER_EXTAX_KIN_DATA *ER_STDCALL | erGetExtAxPositioner_extax_data (ER_TARGET_EXTAX_DEVICE_POSITIONER_HND hnd, long extax_idx) |
External axis values for Positioner/TurnTable Values ER_EXTAX_KIN_DATA are: . More... | |
DLLAPI long ER_STDCALL | erSetExtAxPositionerIdx (ER_TARGET_LOCATION_HND er_tarloc_hnd, long extax_idx, double axis_value, double speed_value=0, long sync_type=ER_SYNC_UNDEF, ER_HND er_hnd_connect=0) |
Set external axis values for Positioner/TurnTable for target location see example GetExtAxPositionerHnd() Remarks Use ERK_CAPI_TOOLPATH::erToolPathSetPositionerHandle() to set the Positioner/TurnTable device, belonging to this tool path. More... | |
DLLAPI ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND ER_STDCALL | erGetTargetLocationExtAxConveyorHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd) |
Handle for external axis of a Conveyor-Motion Typical data belonging to external axis data are: number of external axis used, synchonization type, external axis data Remarks External axis data should be specified after the move definition of a target location The returned handle ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND is used to access external axis data for Conveyor-Motion see example erGetExtAxConveyor_sync_type() More... | |
DLLAPI long *ER_STDCALL | erGetExtAxConveyor_number_extax_used (ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND hnd) |
Number of external axis used for Conveyor see example GetExtAxConveyorHnd() More... | |
DLLAPI long *ER_STDCALL | erGetExtAxConveyor_sync_type (ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND hnd) |
Synchonization for Conveyor For a Conveyor motion, the synchonization can be one of ER_SYNC_ON, ER_SYNC_OFF see example GetExtAxConveyorHnd() More... | |
DLLAPI ER_EXTAX_KIN_DATA *ER_STDCALL | erGetExtAxConveyor_extax_data (ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND hnd, long extax_idx) |
External axis values for Conveyor Values ER_EXTAX_KIN_DATA are: . More... | |
DLLAPI long ER_STDCALL | erSetExtAxConveyorIdx (ER_TARGET_LOCATION_HND er_tarloc_hnd, long extax_idx, double axis_value, double speed_value=0, long sync_type=ER_SYNC_UNDEF, ER_HND er_hnd_connect=0) |
Set external axis values for Conveyor for target location see example GetExtAxConveyorHnd() Remarks Use ERK_CAPI_TOOLPATH::erToolPathSetConveyorHandle() to set the Conveyor device, belonging to this tool path. More... | |
DLLAPI long ER_STDCALL | erSetConveyorTrackingWindow (ER_TARGET_LOCATION_HND er_tarloc_hnd, long active, double up, double down, TErTrackingWindowID id_tw, char *name=NULL) |
Activates and deactivates the boundaries for a Tracking Window. This function enables a tracking window (typical for a painting applications) and defines the boudary Up- and Down-Stream values. This function works in conjunction with erConnectConveyor(), erConnectConveyorSetSync() and erSetconveyorStartCondition() Remarks Connect the robot first with a conveyor, using erConnectConveyor(), and set the synchronization to ER_SYNC_ON, using erConnectConveyorSetSync(), before activating the tracking window. A tracking window can have one of the following status: 0: TRK_WND_NOT_ACTIVE, 1: TRK_WND_WAITING, 2: TRK_WND_INSIDE or 3: TRK_WND_OUT_OF_BOUNDARY and will be obtained with the NEXT_STEP_DATA when calling erGET_NEXT_STEP() Activating a tracking window sets the status to TRK_WND_WAITING. Deactivating a tracking window sets the status to TRK_WND_NOT_ACTIVE. More... | |
DLLAPI long ER_STDCALL | erSetConveyorStartOffsetCondition (ER_TARGET_LOCATION_HND er_tarloc_hnd, double tx0) |
Sets the conveyor start offset condition. This function set the conveyor start condition for the Tracking Window (typical for a painting applications). The tx0 in units [m] is an offset position in X-direction and is defined w.r.t. to the flange of the conveyor device.This function works in conjunction with erSetTrackingWindow() More... | |
DLLAPI long ER_STDCALL | erTPth_TBox_Fct (int FctIdx, int FctSubIdx, ER_TOOLPATH_HND er_tpth_hnd, int constraint_param, char *svalues=NULL) |
Method for miscellaneous tool path calculations Requires DLL EasySimKernel_tboxx64.dll. More... | |
DLLAPI long ER_STDCALL | erTPth_PostProc (char *ApiPP_Dll_Name, int FctIdx, int FctSubIdx, ER_TOOLPATH_HND er_tpth_hnd, char *program_name, char *target_path=NULL, int pp_param=0, char *svalues=NULL) |
Method for post processing, creating a robot program for a tool path An example Visual Studio Project is available, creating a robot program for KUKA Controller. The name of the DLL is user defined, e.g. 'EasySimKernel_apippx64.dll' Remarks The DLL is loaded and linked will calling this method. Thus, the DLL can be generated again without restarting the Host application. This allows quick changes and adjustments in the shop floor. More... | |
DLLAPI long ER_STDCALL | erTPth_Fct (ER_TOOLPATH_HND er_tpth_hnd) |
Do Fct. ... tbd. More... | |
DLLAPI long ER_STDCALL | erColl_BeginModel (ER_COLLISION_HND *er_coll_hnd, long n_tris) |
Creates a collision handle for one Model and preallocate memory for n_tris triangles. More... | |
DLLAPI long ER_STDCALL | erColl_AddTri (ER_COLLISION_HND er_coll_hnd, double *p1, double *p2, double *p3, long id) |
Adds a triangle to a Model. call erColl_BeginModel() once to create a new unique model handle. More... | |
DLLAPI long ER_STDCALL | erColl_EndModel (ER_COLLISION_HND er_coll_hnd) |
Stop building a Model. More... | |
DLLAPI long ER_STDCALL | erColl_ChkCollision (ER_COLLISION_HND er_coll_hnd_1, DFRAME *iT_1, ER_COLLISION_HND er_coll_hnd_2, DFRAME *iT_2, long query_type=ER_COLL_QUERY_TYPE_COLLIDE, long contact_type=ER_COLL_FIRST_CONTACT, double rel_err=0, double abs_err=0, double tolerance=0) |
Perform the collision check of two Models. See also erColl_ChkCollision_res() to get the collision results immediately The query type query_type can be one of the following values.0: ER_COLL_QUERY_TYPE_UNDEF skip collision checks 1: ER_COLL_QUERY_TYPE_COLLIDE detects collision between two Models 2: ER_COLL_QUERY_TYPE_DISTANCE computes the distance between two Models 3: ER_COLL_QUERY_TYPE_TOLERANCE checks if distance between Models is <= tolerance The contact type contact_type is used for query type ER_COLL_QUERY_TYPE_COLLIDE and can be one of the following values.1: ER_COLL_ALL_CONTACTS , the erColl_GetResults_Collide() contains an array with all colliding triangle pairs ER_CollideResult. 2: ER_COLL_FIRST_CONTACT , the erColl_GetResults_Collide() array will only get the first colliding triangle pair found. Collide Detects collsion. This is the fastest method. Distance Computes minimum distance between two Models. This method takes the most time !!! Tolerances Specify tolerance for query type ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCEChecks if distance between Models is <= tolerance. Remarks If erColl_ChkCollision() returns with ER_COLL_DETECTED call, depending on the query type, one of the collision result functions erColl_GetResults_Collide(), erColl_GetResults_Distance() or erColl_GetResults_Tolerance() to receive more detailed information about the collision status. More... | |
DLLAPI long ER_STDCALL | erColl_ChkCollision_res (ER_COLLISION_HND er_coll_hnd_1, DFRAME *iT_1, ER_COLLISION_HND er_coll_hnd_2, DFRAME *iT_2, long query_type=ER_COLL_QUERY_TYPE_COLLIDE, long contact_type=ER_COLL_FIRST_CONTACT, double rel_err=0, double abs_err=0, double tolerance=0, void *pres=NULL) |
Perform the collision check of two Models. Collision results returned immediately by parameter pres compared to erColl_ChkCollision()The query type query_type can be one of the following values.0: ER_COLL_QUERY_TYPE_UNDEF skip collision checks 1: ER_COLL_QUERY_TYPE_COLLIDE detects collision between two Models 2: ER_COLL_QUERY_TYPE_DISTANCE computes the distance between two Models 3: ER_COLL_QUERY_TYPE_TOLERANCE checks if distance between Models is <= tolerance The contact type contact_type is used for query type ER_COLL_QUERY_TYPE_COLLIDE and can be one of the following values.1: ER_COLL_ALL_CONTACTS , the erColl_GetResults_Collide() contains an array with all colliding triangle pairs ER_CollideResult. 2: ER_COLL_FIRST_CONTACT , the erColl_GetResults_Collide() array will only get the first colliding triangle pair found. Collide Detects collsion. This is the fastest method. Distance Computes minimum distance between two Models. This method takes the most time !!! Tolerances Specify tolerance for query type ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCEChecks if distance between Models is <= tolerance. Remarks If erColl_ChkCollision_res() returns with ER_COLL_DETECTED, get more detailed information about the collision status by parameter pres . More... | |
DLLAPI long ER_STDCALL | erColl_ChkCollision_res_free (long query_type, void *pres) |
Frees allocated memory for Collision results for parameter pres The query type query_type can be one of the following values.0: ER_COLL_QUERY_TYPE_UNDEF skip operation 1: ER_COLL_QUERY_TYPE_COLLIDE frees allocated data in ER_CollideResult 2: ER_COLL_QUERY_TYPE_DISTANCE frees allocated data in ER_DistanceResult 3: ER_COLL_QUERY_TYPE_TOLERANCE frees allocated data in ER_ToleranceResult Remarks Note that the allocated memory in the Collision results structures must be administrated by the Kernel and not in the host application. More... | |
DLLAPI long ER_STDCALL | erColl_UnloadModel (ER_COLLISION_HND *er_coll_hnd) |
Unload a Model. Free all allocated memory. More... | |
DLLAPI long ER_STDCALL | erColl_GetResults_Collide (ER_CollideResult *er_cres) |
Get Collision result for query ER_COLL_QUERY_TYPE_COLLIDE. Remarks Call erColl_ChkCollision() first, before calling this function Call erColl_ChkCollision_res() to receive the collision result immediately. More... | |
DLLAPI long ER_STDCALL | erColl_GetResults_Distance (ER_DistanceResult *er_dres) |
Get Collision result for query ER_COLL_QUERY_TYPE_DISTANCE. Remarks Call erColl_ChkCollision() first, before calling this function Call erColl_ChkCollision_res() to receive the collision result immediately. More... | |
DLLAPI long ER_STDCALL | erColl_GetResults_Tolerance (ER_ToleranceResult *er_tres) |
Get Collision result for query ER_COLL_QUERY_TYPE_TOLERANCE. Remarks Call erColl_ChkCollision() first, before calling this function Call erColl_ChkCollision_res() to receive the collision result immediately. More... | |
DLLAPI char *ER_STDCALL | erk_AutoPathVer (void) |
AutoPath Version. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathSetMem (AutoPath_ConfigurationSpace *apcs) |
allocate memory for AutoPath_ConfigurationSpace data depending on nConfig see example AutoPathInit() More... | |
DLLAPI int ER_STDCALL | erk_AutoPathInit (AutoPath_ConfigurationSpace *apcs) |
Initialize AutoPath Call this functions to setup the autopath configuration space Parameter apcs defines the complete configuration for all used devices, such asnumber of configurations up to AUTOPATH_SDK_KIN_DOFS, device handle for each configuration, device axis index, etc. call AutoPathSetMem() first. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathFreeMem (AutoPath_ConfigurationSpace *apcs) |
free memory of AutoPath_ConfigurationSpace data see example AutoPathInit() More... | |
DLLAPI int ER_STDCALL | erk_AutoPathTerminate (AutoPath_ConfigurationSpace *apcs) |
Terminate AutoPath call AutoPathFreeMem() first, see example AutoPathInit() More... | |
DLLAPI int ER_STDCALL | erk_AutoPath_SetCallback_CheckConstraints (BOOL(*ptr_CheckConstraints)(int, void *)) |
Defines a callback function to check constraints during AutoPath calculation The callback function is called with two parameters Parameter action in Callback_API_CheckConstraints() is a bitwise inclusive OR operator (|) ofAUTOPATH_SDK_CHK_CONSTRAINT_UNDEF, AUTOPATH_SDK_CHK_CONSTRAINT_START, AUTOPATH_SDK_CHK_CONSTRAINT_DEST, AUTOPATH_SDK_CHK_CONSTRAINT_COLLISION, AUTOPATH_SDK_CHK_CONSTRAINT_SWE, AUTOPATH_SDK_CHK_CONSTRAINT_CART_SPACE, AUTOPATH_SDK_CHK_CONSTRAINT_ISCFREE Parameter vapcs in Callback_API_CheckConstraints() defines the autopath configuration space AutoPath_ConfigurationSpacesee example AutoPathInit() More... | |
DLLAPI int ER_STDCALL | erk_AutoPathSetPoseStart (double *pose_start) |
Set start configuration Remarks This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathSetPoseEnd (double *pose_end) |
Set end configuration Remarks This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathFindPath (void) |
Start motion planner, find a collision free path between start and end pose In each step, the callback function "ptr_CheckConstraints" is called, to check constraints If the target is reached, the callback function is called with action parameter AUTOPATH_SDK_STATUS_MP_SUCCESS. More... | |
DLLAPI double *ER_STDCALL | erk_AutoPathGetConfigurationPose (void) |
current configuration pose during FindPath Process return pointer, size nConfig More... | |
DLLAPI double *ER_STDCALL | erk_AutoPathGetStartPose (void) |
Get Start Pose return pointer, size nConfig. More... | |
DLLAPI double *ER_STDCALL | erk_AutoPathGetEndPose (void) |
Get End Pose return pointer, size nConfig. More... | |
DLLAPI double *ER_STDCALL | erk_AutoPathGetAxisConstraintsMin (void) |
Get minimum axis constraints return pointer, size nConfig. More... | |
DLLAPI double *ER_STDCALL | erk_AutoPathGetAxisConstraintsMax (void) |
Get maximum axis constraints return pointer, size nConfig. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathAbortPlanning (void) |
Abort path planning use GetPlanningStatus() More... | |
DLLAPI int ER_STDCALL | erk_AutoPathGetPlanningStatus (void) |
Get path planning status The planning status is one of AUTOPATH_SDK_STATUS_MP_IDLE AUTOPATH_SDK_STATUS_MP_RUNNING. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathGetNumberOfWayPoints (void) |
Get number of calculated way points, including start and end pose call this method after FindPath() succeeded. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathGetWayPointDof (void) |
Get dof of calculated way points. More... | |
DLLAPI double *ER_STDCALL | erk_AutoPathGetWayPoint (int idx) |
Get way point. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathClearAllWayPoints (void) |
Clear all way points. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathSetAccuracy (UINT accuracy) |
Set accuracy. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathSetAxisConstraints (int axisBit=AUTOPATH_SDK_AXIS_BIT_DOF6, int setting=0, double qConstraintMin=0, double qConstraintMax=0) |
Set axis constraints Parameter setting is a bitwise inclusive OR operator (|) of AUTOPATH_SDK_CONSTRAINT_RESET, AUTOPATH_SDK_CONSTRAINT_MIN, AUTOPATH_SDK_CONSTRAINT_MAX. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathSetAxisPriority (int axisBit, int priority) |
Set axis priority. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathSetAxisEnable (int axisBit, int enable) |
Set axis enable. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathSetParameter (int ap_option, int ap_value) |
Set parameter Paramter ap_option is one ofAUTOPATH_SDK_PARAMETER_DYNADJUST AUTOPATH_SDK_PARAMETER_ALGORITHM AUTOPATH_SDK_PARAMETER_NTREES AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION AUTOPATH_SDK_PARAMETER_SEED_VALUE. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathGetParameter (int ap_option) |
Get parameter Paramter ap_option is one of AUTOPATH_SDK_PARAMETER_DYNADJUST AUTOPATH_SDK_PARAMETER_ALGORITHM AUTOPATH_SDK_PARAMETER_NTREES AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION AUTOPATH_SDK_PARAMETER_SEED_VALUE. More... | |
DLLAPI int ER_STDCALL | erk_AutoPathGetResults (int ap_result) |
Get results Paramter ap_result is one of AUTOPATH_SDK_RESULT_CHECKS AUTOPATH_SDK_RESULT_SECONDS AUTOPATH_SDK_RESULT_CPS AUTOPATH_SDK_RESULT_CFREE AUTOPATH_SDK_RESULT_COBSTACLE AUTOPATH_SDK_RESULT_CDENSITY AUTOPATH_SDK_RESULT_DSECONDS AUTOPATH_SDK_RESULT_SEED_VALUE AUTOPATH_SDK_RESULT_QUALITY_INDEX AUTOPATH_SDK_RESULT_QUALITY_INDEX_STD_DEV. More... | |
DLLAPI long ER_STDCALL | erUpdateGeo (ER_HND er_hnd) |
Updates all geometry location for each robot joint. This function causes the call of callback function TerUpdateGeometryProc(). The resulted geometry location w.r.t. robot base is the product of KinMat and GeoMat. More... | |
DLLAPI int ER_STDCALL | erGeoMngr_GetVersion () |
GeoMngr Version. More... | |
DLLAPI TErGeoHandle ER_STDCALL | erGeoMngr_LoadGeometry (ER_HND er_hnd, LOAD_GEOMETRY_DATA *p_load_geometry_data) |
Load a geometry. More... | |
DLLAPI int ER_STDCALL | erGeoMngr_FreeGeometry (ER_HND er_hnd, TErGeoHandle GeoHandle) |
Free or delete a geometry. More... | |
DLLAPI int ER_STDCALL | erGeoMngr_GetNumGeometries (ER_HND er_hnd) |
Get number of loaded geometries for specified device. More... | |
DLLAPI int ER_STDCALL | erGeoMngr_GetGeometry (ER_HND er_hnd, int geometryIndex, LOAD_GEOMETRY_DATA *p_load_geometry_data, DFRAME *kinMat) |
DLLAPI int ER_STDCALL | erGeoMngr_GetNumAxisGeometries (ER_HND er_hnd, int axis_nr) |
DLLAPI int ER_STDCALL | erGeoMngr_GetAxisGeometry (ER_HND er_hnd, int axis_nr, int geometryIndex, LOAD_GEOMETRY_DATA *p_load_geometry_data, DFRAME *kinMat) |
DLLAPI const double *ER_STDCALL | erGeoMngr_GetGeometryBBox (TErGeoHandle geometryHandle) |
DLLAPI const double *ER_STDCALL | erGeoMngr_GetAxisBBox (ER_HND er_hnd, int axis_id) |
DLLAPI const double *ER_STDCALL | erGeoMngr_GetDeviceBBox (ER_HND er_hnd) |
DLLAPI int ER_STDCALL | erGeoMngr_GetGeometryNumObjs (TErGeoHandle geometryHandle) |
DLLAPI int ER_STDCALL | erGeoMngr_GetGeometryObjNumPoints (TErGeoHandle geometryHandle, int objidx) |
DLLAPI double *ER_STDCALL | erGeoMngr_GetGeometryObjPoint (TErGeoHandle geometryHandle, int objidx, int index) |
DLLAPI int ER_STDCALL | erGeoMngr_GetGeometryObjNumPointNormals (TErGeoHandle geometryHandle, int objidx) |
DLLAPI double *ER_STDCALL | erGeoMngr_GetGeometryObjPointNormal (TErGeoHandle geometryHandle, int objidx, int index) |
DLLAPI int ER_STDCALL | erGeoMngr_GetGeometryObjNumLines (TErGeoHandle geometryHandle, int objidx) |
DLLAPI size_t *ER_STDCALL | erGeoMngr_GetGeometryObjLine (TErGeoHandle geometryHandle, int objidx, int index) |
DLLAPI int ER_STDCALL | erGeoMngr_GetGeometryObjNumPolygons (TErGeoHandle geometryHandle, int objidx) |
DLLAPI size_t *ER_STDCALL | erGeoMngr_GetGeometryObjPolygon (TErGeoHandle geometryHandle, int objidx, int index) |
DLLAPI double *ER_STDCALL | erGeoMngr_GetGeometryObjColor (TErGeoHandle geometryHandle, int objidx) |
DLLAPI long ER_STDCALL | erGeoMngr_GetGeometryObjColorCode (TErGeoHandle geometryHandle, int objidx) |
DLLAPI int ER_STDCALL | erGeoMngr_GetGeometryCloneCount (TErGeoHandle geometryHandle) |
DLLAPI TErGeoHandle ER_STDCALL | erGeoMngr_GetGeometryCloneHandle (TErGeoHandle geometryHandle) |
DLLAPI int ER_STDCALL | erGeoMngr_SetGeometryCollisionHandle (TErGeoHandle geometryHandle, ER_COLLISION_HND collisionHandle) |
DLLAPI ER_COLLISION_HND *ER_STDCALL | erGeoMngr_GetGeometryCollisionHandle (TErGeoHandle geometryHandle) |
DLLAPI int ER_STDCALL | erGeoMngr_SetGeometryIsCollided (TErGeoHandle geometryHandle, int isCollided) |
DLLAPI int *ER_STDCALL | erGeoMngr_GetGeometryIsCollided (TErGeoHandle geometryHandle) |
DLLAPI int ER_STDCALL | erGeoMngr_CheckBoundingBoxCollision (DFRAME *T1, const double *bbox1, DFRAME *T2, const double *bbox2, double tolerance) |
DLLAPI long ER_STDCALL | erMath_FrameToVecIdx (DFRAME *T, double *vec, long rotation_idx=ER_ROT_XYZ) |
Converts a frame into an euler vector or quaternion. Frame T is converted into a vector vec A frame DFRAME is a homogeneous 4x4 transformation matrix. Depending on the rotation index rotation_idx , which is one ofER_ROT_XYZ = RotX * RotY' * RotZ'' default, ER_ROT_XYZ, ER_ROT_ZYX, ER_ROT_YXZ, ER_ROT_ZYZ,ER_ROT_XYX, ER_ROT_RPY, ER_ROT_QUAT, ER_ROT_CA, ER_ROT_ZYpZ, ER_ROT_Y9XZ, ER_ROT_Z9XY, ER_ROT_Z9XZ, ER_ROT_Z9YX, ER_ROT_IJK, ER_ROT_ANGLE_1 See also erMath_VecToFrameIdx() More... | |
DLLAPI long ER_STDCALL | erMath_VecToFrameIdx (double *vec, DFRAME *T, long rotation_idx=ER_ROT_XYZ) |
Converts an euler vector or quaternion into a frame. Vector vec is converted into a frame T A frame DFRAME is a homogeneous 4x4 transformation matrix. Depending on the rotation index rotation_idx , which is one ofER_ROT_XYZ = RotX * RotY' * RotZ'' default, ER_ROT_XYZ, ER_ROT_ZYX, ER_ROT_YXZ, ER_ROT_ZYZ,ER_ROT_XYX, ER_ROT_RPY, ER_ROT_QUAT, ER_ROT_CA, ER_ROT_ZYpZ, ER_ROT_Y9XZ, ER_ROT_Z9XY, ER_ROT_Z9XZ, ER_ROT_Z9YX, ER_ROT_IJK, ER_ROT_ANGLE_1 See also erMath_FrameToVecIdx() More... | |
DLLAPI long ER_STDCALL | erMath_PxyzRxyzToFrame (double x, double y, double z, double Rx, double Ry, double Rz, DFRAME *T) |
Converts an euler represented location with rotation index ER_ROT_XYZ into a frame. Location x , y , z , Rx , Ry , Rz are converted into a frame T A frame DFRAME is a homogeneous 4x4 transformation matrix. See also erMath_VecToFrameIdx(), erMath_FrameToVecIdx() More... | |
DLLAPI long ER_STDCALL | erMath_Frame_Ident (DFRAME *T) |
Set the homogeneous 4x4 transformation matrix T to identity.T = Ident A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_Frame_Trans (DFRAME *T, double x, double y, double z) |
Set position of homogeneous 4x4 transformation matrix. T.p[] = [x,y,z] A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_Frame_Rot (DFRAME *T, double q, long rotation_idx=ER_ROT_IDENT) |
Set orientation of homogeneous 4x4 transformation matrix. T = f(q,rotation_idx) The rotation index rotation_idx , is one ofER_ROT_IDENT=default, ER_ROT_X, ER_ROT_Y or ER_ROT_Z A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_AngleBetween (DFRAME *Ts, DFRAME *Te, double *angle, double *k=NULL) |
Calculates the angle and the equivalent angle axis between two homogeneous 4x4 transformation matrices. Rotation from start frame Ts into end frame Te by angle of rotation angle about the equivalent angle axis k A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_DistBetween (DFRAME *Ts, DFRAME *Te, double *dist, double *dv=NULL) |
Calculates the distance and direction between two homogeneous 4x4 transformation matrices. Translation from start frame Ts into end frame Te by the distance dist in direction vd A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_CircCenterPoint (double *ps, double *pv, double *pe, DFRAME *pTc, double *radius, double *phi, double *phi_via=NULL) |
Circle calculation from three points ps over pv to pe . Calculates center of circle, radius and angle. More... | |
DLLAPI long ER_STDCALL | erMath_invT (DFRAME *To, DFRAME *Ti) |
Builds the inverse of a homogeneous 4x4 transformation matrix T .To = inv(Ti) = ( Ri' , -Ri'*pi ), Ri' is transpose of Ri A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_invR (DFRAME *Ro, DFRAME *Ri) |
Builds the inverse of the 3x3 orientation matrix from a homogeneous 4x4 transformation matrix T .Ro = inv(Ri) = transpose(Ri) = Ri', with Ti = ( Ri , pi ) A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_R_R (DFRAME *Ro, DFRAME *Ri1, DFRAME *Ri2) |
Orientation multiplication of two homogeneous 4x4 transformation matrices. Ro = Ri1 * Ri2 A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_T_T (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2) |
Multiplication of two homogeneous 4x4 transformation matrices. To = Ti1 * Ti2 A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_T_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2) |
Multiplication of two homogeneous 4x4 transformation matrices. To = Ti1 * inv(Ti2) Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_invT_T (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2) |
Multiplication of two homogeneous 4x4 transformation matrices. To = inv(Ti1) * Ti2 Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_invT_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2) |
Multiplication of two homogeneous 4x4 transformation matrices. To = inv(Ti1) * inv(Ti2) Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_T_pos (double *po, DFRAME *T, double *pi) |
Multiplication of a 3x1 position with a homogeneous 4x4 transformation matrices. po = T * pi, pi is vector of size ER_DIM po = R*pi + p, with T = ( R , p) A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_invT_pos (double *po, DFRAME *T, double *pi) |
Multiplication of a 3x1 position with the inverse of a homogeneous 4x4 transformation matrices. po = inv(T) * pi, pi is vector of size ER_DIM Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_R_pos (double *po, DFRAME *R, double *pi) |
Multiplication of a 3x1 position with the 3x3 orientation of a homogeneous 4x4 transformation matrices. po = R * pi, pi is vector of size ER_DIM A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_invR_pos (double *po, DFRAME *R, double *pi) |
Multiplication of a 3x1 position with the transpose of a 3x3 orientation of a homogeneous 4x4 transformation matrices. po = R' * pi, pi is vector of size ER_DIM Remarks R' = inv(R) is the transpose of R, see erMath_invR() A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_T_T_T (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3) |
Tripple multiplication of homogeneous 4x4 transformation matrices. To = Ti1 * Ti2 * Ti3 A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_T_T_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3) |
Tripple multiplication of homogeneous 4x4 transformation matrices. To = Ti1 * Ti2 * inv(Ti3) Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_T_invT_T (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3) |
Tripple multiplication of homogeneous 4x4 transformation matrices. To = Ti1 * inv(Ti2) * Ti3 Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_T_invT_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3) |
Tripple multiplication of homogeneous 4x4 transformation matrices. To = Ti1 * inv(Ti2) * inv(Ti3) Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_invT_T_T (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3) |
Tripple multiplication of homogeneous 4x4 transformation matrices. To = inv(Ti1) * Ti2 * Ti3 Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_invT_T_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3) |
Tripple multiplication of homogeneous 4x4 transformation matrices. To = inv(Ti1) * Ti2 * inv(Ti3) Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_invT_invT_T (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3) |
Tripple multiplication of homogeneous 4x4 transformation matrices. To = inv(Ti1) * inv(Ti2) * Ti3 Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI long ER_STDCALL | erMath_mul_invT_invT_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3) |
Tripple multiplication of homogeneous 4x4 transformation matrices. To = inv(Ti1) * inv(Ti2) * inv(Ti3) Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More... | |
DLLAPI double *ER_STDCALL | erMath_SetVec6 (double *vec, double q1, double q2, double q3, double q4, double q5, double q6) |
Cpy six values to a vector. More... | |
DLLAPI double *ER_STDCALL | erMath_SetVec6PosOri (double *vec, double x, double y, double z, double Rx, double Ry, double Rz) |
Cpy and convert a target location (position+orientation) to a vector position x,y,z in [mm] converted to [m] by ER_mm2m orientation Rx,Ry,Rz in [deg] converted to [rad] by ER_RAD . More... | |
DLLAPI DFRAME *ER_STDCALL | erMath_SetFramePosOri (DFRAME *To, double x, double y, double z, double Rx, double Ry, double Rz) |
Cpy and convert a target location (position+orientation) to a DFRAME position x,y,z in [mm] converted to [m] by ER_mm2m orientation Rx,Ry,Rz in [deg] converted to [rad] by ER_RAD . More... | |
DLLAPI double *ER_STDCALL | erMath_SetVec_n (double *vec, int n, double q1, double q2, double q3, double q4, double q5, double q6) |
Cpy n values to a vector. More... | |
DLLAPI double *ER_STDCALL | erMath_CpyVec (double *dst, double *src, int n) |
Cpy vector dst = src. More... | |
DLLAPI double *ER_STDCALL | erMath_ResetVec (double *dst, int n) |
Reset vector dst = 0. More... | |
DLLAPI long ER_STDCALL CpyEventsTemplate | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
ER_TARGET_EVENTS_HND | hnd | ||
) |
Copy events to template data.
The events defined with events handle hnd
are copied to the events template belonging to the tool path handle er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | hnd | target location events handle ER_TARGET_EVENTS_HND |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL CpyExtAxConveyorTemplate | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND | hnd | ||
) |
Copy external axis conveyor data to template data.
The external axis conveyor data defined with external axis conveyor handle hnd
are copied to the external axis conveyor template belonging to the tool path handle er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | hnd | external axis conveyor handle ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL CpyExtAxPositionerTemplate | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
ER_TARGET_EXTAX_DEVICE_POSITIONER_HND | hnd | ||
) |
Copy external axis positioner data to template data.
The external axis positioner data defined with external axis positioner handle hnd
are copied to the external axis positioner template belonging to the tool path handle er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | hnd | external axis positioner handle ER_TARGET_EXTAX_DEVICE_POSITIONER_HND |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL CpyExtAxTrackMotionTemplate | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND | hnd | ||
) |
Copy external axis track motion data to template data.
The external axis track motion data defined with external axis track motion handle hnd
are copied to the external axis track motion template belonging to the tool path handle er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | hnd | external axis track motion handle ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL CpyMotionAttributesTemplate | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
ER_TARGET_ATTRIBUTES_HND | hnd | ||
) |
Copy attributes to template data.
The attributes defined with attribute handle hnd
are copied to the attribute template belonging to the tool path handle er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | hnd | attribute handle ER_TARGET_ATTRIBUTES_HND |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL CpyMoveCPTemplate | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
ER_TARGET_MOVE_CP_HND | hnd | ||
) |
Copy move cp data to template data.
The move cp data defined with move cp handle hnd
are copied to the move cp template belonging to the tool path handle er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | hnd | move cp handle ER_TARGET_MOVE_CP_HND |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL CpyMoveJointTemplate | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
ER_TARGET_MOVE_JOINT_HND | hnd | ||
) |
Copy move joint data to template data.
The move joint data defined with move joint handle hnd
are copied to the move joint template belonging to the tool path handle er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | hnd | move joint handle ER_TARGET_MOVE_JOINT_HND |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erAddTargetLocation | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
ER_TARGET_LOCATION_HND * | er_tarloc_hnd | ||
) |
Add a new target location to a tool path
Remarks
The new target location is reset to default values and marked as invalid, use erGetTargetLocationNumber() to receive the number of target locations in the tool path.
See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[out] | er_tarloc_hnd | a new unique target location handle ER_TARGET_LOCATION_HND |
0 | - Ok |
1 | - Error |
DLLAPI long 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
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | event_id |
0 | - OK |
1 | - Error, invalid handle |
-1 | - not supported |
DLLAPI long ER_STDCALL erCANCEL_FLYBY_CRITERIA | ( | ER_HND | er_hnd, |
long | param_number | ||
) |
Cancels (unselects) a fly-by criterion.
Opcode 143, Chapter 3.4.6, Page 3-88
Function not supported
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | param_number | specifies which parameter to cancel |
0 | - OK |
1 | - Error, invalid handle |
-1 | - not supported |
DLLAPI long ER_STDCALL erCANCEL_MOTION | ( | ER_HND | er_hnd | ) |
Cancel a motion that was stopped with erSTOP_MOTION() function.
Opcode 153, Chapter 3.4.8, Page 3-103
See also erSTOP_MOTION(), erCONTINUE_MOTION()
Remarks
This function clears any remaining target positions in the Kernel.
[in] | er_hnd | unique kinematics handle ER_HND |
0 | - OK |
1 | - Error, invalid handle |
-55 | - the function is not performed. Motion in progress |
DLLAPI long ER_STDCALL erColl_AddTri | ( | ER_COLLISION_HND | er_coll_hnd, |
double * | p1, | ||
double * | p2, | ||
double * | p3, | ||
long | id | ||
) |
Adds a triangle to a Model.
call erColl_BeginModel() once to create a new unique model handle.
[in] | er_coll_hnd | a valid unique Collision handle ER_COLLISION_HND |
[in] | p1 | 1st point of triangle |
[in] | p2 | 2nd point of triangle |
[in] | p3 | 3rd point of triangle |
[in] | id | unique identifier for this triangle |
0 | - ER_COLL_OK - OK |
1 | - ER_COLL_ERROR - Error, kernel not initialized |
2 | - ER_COLL_HND_INVALID - Collision handle invalid |
DLLAPI long ER_STDCALL erColl_BeginModel | ( | ER_COLLISION_HND * | er_coll_hnd, |
long | n_tris | ||
) |
Creates a collision handle for one Model and preallocate memory for n_tris
triangles.
[out] | er_coll_hnd | unique Collision handle ER_COLLISION_HND |
[in] | n_tris | number of model triangles |
0 | - ER_COLL_OK - OK |
1 | - ER_COLL_ERROR - Error, kernel not initialized |
2 | - ER_COLL_HND_INVALID - Collision handle invalid |
-1 | - ER_COLL_ERR_MODEL_OUT_OF_MEMORY - not enough memory |
DLLAPI long ER_STDCALL erColl_ChkCollision | ( | ER_COLLISION_HND | er_coll_hnd_1, |
DFRAME * | iT_1, | ||
ER_COLLISION_HND | er_coll_hnd_2, | ||
DFRAME * | iT_2, | ||
long | query_type = ER_COLL_QUERY_TYPE_COLLIDE , |
||
long | contact_type = ER_COLL_FIRST_CONTACT , |
||
double | rel_err = 0 , |
||
double | abs_err = 0 , |
||
double | tolerance = 0 |
||
) |
Perform the collision check of two Models.
See also erColl_ChkCollision_res() to get the collision results immediately
The query type query_type
can be one of the following values.
0: ER_COLL_QUERY_TYPE_UNDEF skip collision checks
1: ER_COLL_QUERY_TYPE_COLLIDE detects collision between two Models
2: ER_COLL_QUERY_TYPE_DISTANCE computes the distance between two Models
3: ER_COLL_QUERY_TYPE_TOLERANCE checks if distance between Models is <= tolerance
The contact type contact_type
is used for query type ER_COLL_QUERY_TYPE_COLLIDE and can be one of the following values.
1: ER_COLL_ALL_CONTACTS , the erColl_GetResults_Collide() contains an array with all colliding triangle pairs ER_CollideResult.
2: ER_COLL_FIRST_CONTACT , the erColl_GetResults_Collide() array will only get the first colliding triangle pair found.
Collide
Detects collsion. This is the fastest method.
Distance
Computes minimum distance between two Models. This method takes the most time !!!
Tolerances
Specify tolerance
for query type ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCE
Checks if distance between Models is <= tolerance.
Remarks
If erColl_ChkCollision() returns with ER_COLL_DETECTED call, depending on the query type, one of the collision result functions erColl_GetResults_Collide(), erColl_GetResults_Distance() or erColl_GetResults_Tolerance() to receive more detailed information about the collision status.
[in] | er_coll_hnd_1 | unique Collision handle for the 1st Model ER_COLLISION_HND |
[in] | iT_1 | a location of the 1st Model w.r.t. inertia DFRAME |
[in] | er_coll_hnd_2 | unique Collision handle for the 2nd Model ER_COLLISION_HND |
[in] | iT_2 | a location of the 2nd Model w.r.t. inertia DFRAME |
[in] | query_type | collision query type |
[in] | contact_type | collision contact type |
[in] | rel_err | relative error margin from actual distance |
[in] | abs_err | absolute error margin from actual distance |
[in] | tolerance | Tolerance value |
3 | - ER_COLL_DETECTED - Collision detected |
1 | - ER_COLL_ERROR - Error, kernel not initialized |
2 | - ER_COLL_HND_INVALID - Collision handle invalid |
DLLAPI long ER_STDCALL erColl_ChkCollision_res | ( | ER_COLLISION_HND | er_coll_hnd_1, |
DFRAME * | iT_1, | ||
ER_COLLISION_HND | er_coll_hnd_2, | ||
DFRAME * | iT_2, | ||
long | query_type = ER_COLL_QUERY_TYPE_COLLIDE , |
||
long | contact_type = ER_COLL_FIRST_CONTACT , |
||
double | rel_err = 0 , |
||
double | abs_err = 0 , |
||
double | tolerance = 0 , |
||
void * | pres = NULL |
||
) |
Perform the collision check of two Models.
Collision results returned immediately by parameter pres
compared to erColl_ChkCollision()
The query type query_type
can be one of the following values.
0: ER_COLL_QUERY_TYPE_UNDEF skip collision checks
1: ER_COLL_QUERY_TYPE_COLLIDE detects collision between two Models
2: ER_COLL_QUERY_TYPE_DISTANCE computes the distance between two Models
3: ER_COLL_QUERY_TYPE_TOLERANCE checks if distance between Models is <= tolerance
The contact type contact_type
is used for query type ER_COLL_QUERY_TYPE_COLLIDE and can be one of the following values.
1: ER_COLL_ALL_CONTACTS , the erColl_GetResults_Collide() contains an array with all colliding triangle pairs ER_CollideResult.
2: ER_COLL_FIRST_CONTACT , the erColl_GetResults_Collide() array will only get the first colliding triangle pair found.
Collide
Detects collsion. This is the fastest method.
Distance
Computes minimum distance between two Models. This method takes the most time !!!
Tolerances
Specify tolerance
for query type ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCE
Checks if distance between Models is <= tolerance.
Remarks
If erColl_ChkCollision_res() returns with ER_COLL_DETECTED, get more detailed information about the collision status by parameter pres
.
[in] | er_coll_hnd_1 | unique Collision handle for the 1st Model ER_COLLISION_HND |
[in] | iT_1 | a location of the 1st Model w.r.t. inertia DFRAME |
[in] | er_coll_hnd_2 | unique Collision handle for the 2nd Model ER_COLLISION_HND |
[in] | iT_2 | a location of the 2nd Model w.r.t. inertia DFRAME |
[in] | query_type | collision query type |
[in] | contact_type | collision contact type |
[in] | rel_err | relative error margin from actual distance |
[in] | abs_err | absolute error margin from actual distance |
[in] | tolerance | Tolerance value query_type |
[out] | pres | pointer to collision result structure ER_CollideResult, ER_DistanceResult or ER_ToleranceResult, depending on query type |
3 | - ER_COLL_DETECTED - Collision detected |
1 | - ER_COLL_ERROR - Error, kernel not initialized |
2 | - ER_COLL_HND_INVALID - Collision handle invalid |
DLLAPI long ER_STDCALL erColl_ChkCollision_res_free | ( | long | query_type, |
void * | pres | ||
) |
Frees allocated memory for Collision results for parameter pres
The query type query_type
can be one of the following values.
0: ER_COLL_QUERY_TYPE_UNDEF skip operation
1: ER_COLL_QUERY_TYPE_COLLIDE frees allocated data in ER_CollideResult
2: ER_COLL_QUERY_TYPE_DISTANCE frees allocated data in ER_DistanceResult
3: ER_COLL_QUERY_TYPE_TOLERANCE frees allocated data in ER_ToleranceResult
Remarks
Note that the allocated memory in the Collision results structures must be administrated by the Kernel and not in the host application.
[in] | query_type | collision query type |
[out] | pres | pointer to collision result structure ER_CollideResult, ER_DistanceResult or ER_ToleranceResult, depending on query type |
0 | - ER_COLL_OK - Ok, free memory done |
1 | - ER_COLL_ERROR - Error, kernel not initialized |
DLLAPI long ER_STDCALL erColl_EndModel | ( | ER_COLLISION_HND | er_coll_hnd | ) |
Stop building a Model.
[in] | er_coll_hnd | a valid unique Collision handle ER_COLLISION_HND |
0 | - ER_COLL_OK - OK |
1 | - ER_COLL_ERROR - Error, kernel not initialized |
2 | - ER_COLL_HND_INVALID - Collision handle invalid |
DLLAPI long ER_STDCALL erColl_GetResults_Collide | ( | ER_CollideResult * | er_cres | ) |
Get Collision result for query ER_COLL_QUERY_TYPE_COLLIDE. Remarks
Call erColl_ChkCollision() first, before calling this function
Call erColl_ChkCollision_res() to receive the collision result immediately.
[out] | er_cres | collide results ER_CollideResult |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erColl_GetResults_Distance | ( | ER_DistanceResult * | er_dres | ) |
Get Collision result for query ER_COLL_QUERY_TYPE_DISTANCE. Remarks
Call erColl_ChkCollision() first, before calling this function
Call erColl_ChkCollision_res() to receive the collision result immediately.
[out] | er_dres | distance results ER_DistanceResult |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erColl_GetResults_Tolerance | ( | ER_ToleranceResult * | er_tres | ) |
Get Collision result for query ER_COLL_QUERY_TYPE_TOLERANCE. Remarks
Call erColl_ChkCollision() first, before calling this function
Call erColl_ChkCollision_res() to receive the collision result immediately.
[out] | er_tres | tolerance results ER_ToleranceResult |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erColl_UnloadModel | ( | ER_COLLISION_HND * | er_coll_hnd | ) |
Unload a Model. Free all allocated memory.
[in] | er_coll_hnd | a valid unique Collision handle ER_COLLISION_HND |
0 | - ER_COLL_OK - OK |
1 | - ER_COLL_ERROR - Error, kernel not initialized |
2 | - ER_COLL_HND_INVALID - Collision handle invalid |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
[in] | er_hnd_connect | unique kinematics handle for the conveyor ER_HND |
0 | - OK |
1 | - Error, not licensed option, invalid handle |
DLLAPI ER_HND ER_STDCALL erConnectConveyorGetHND | ( | ER_HND | er_hnd | ) |
Get robots connection handle between robot and conveyor.
See also erConnectConveyor()
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
NULL | - not connected or error |
not | NULL - valid handle for connected device |
DLLAPI long ER_STDCALL erConnectConveyorGetSync | ( | ER_HND | er_hnd | ) |
Get robots synchronization flag for synchronization between robot and conveyor.
See also erConnectConveyorSetSync()
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
0 | - ER_SYNC_UNDEF - Error, synchronization not defined, robot is maybe not connected to conveyor |
1 | - ER_SYNC_OFF - synchronization is OFF |
2 | - ER_SYNC_ON - synchronization is ON |
-1 | - Error, not licensed option, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
[in] | connect_sync | synchronization flag |
0 | - OK |
1 | - Error, not licensed option, invalid handle |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
[in] | er_hnd_connect | unique kinematics handle for the positioner ER_HND |
0 | - OK |
1 | - Error, not licensed option, invalid handle |
DLLAPI ER_HND ER_STDCALL erConnectPositionerGetHND | ( | ER_HND | er_hnd | ) |
Get robots connection handle between robot and positioner.
See also erConnectPositioner()
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
NULL | - not connected or error |
not | NULL - valid handle for connected device |
DLLAPI long ER_STDCALL erConnectPositionerGetSync | ( | ER_HND | er_hnd | ) |
Get robots synchronization flag for synchronization between robot and positioner.
See also erConnectPositionerSetSync()
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
0 | - ER_SYNC_UNDEF - Error, synchronization not defined, robot is maybe not connected to positioner |
1 | - ER_SYNC_OFF - synchronization is OFF |
2 | - ER_SYNC_ON - synchronization is ON |
-1 | - Error, not licensed option, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
[in] | connect_sync | synchronization flag |
0 | - OK |
1 | - Error, not licensed option, invalid handle |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
[in] | er_hnd_connect | unique kinematics handle for the slave robot ER_HND |
0 | - OK |
1 | - Error, not licensed option, invalid handle |
DLLAPI ER_HND ER_STDCALL erConnectRobotGetHND | ( | ER_HND | er_hnd | ) |
Get robots connection handle between robot and slave robot.
See also erConnectRobot()
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
NULL | - not connected or error |
not | NULL - valid handle for connected device |
DLLAPI long ER_STDCALL erConnectRobotGetSync | ( | ER_HND | er_hnd | ) |
Get robots synchronization flag for synchronization between robot and slave robot.
See also erConnectRobotSetSync()
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
0 | - ER_SYNC_UNDEF - Error, synchronization not defined, robot is maybe not connected to slave robot |
1 | - ER_SYNC_OFF - synchronization is OFF |
2 | - ER_SYNC_ON - synchronization is ON |
-1 | - Error, not licensed option, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
[in] | connect_sync | synchronization flag |
0 | - OK |
1 | - Error, not licensed option, invalid handle |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
[in] | er_hnd_connect | unique kinematics handle for the track motion ER_HND |
0 | - OK |
1 | - Error, not licensed option, invalid handle |
DLLAPI ER_HND ER_STDCALL erConnectTrackMotionGetHND | ( | ER_HND | er_hnd | ) |
Get robots connection handle between robot and track motion.
See also erConnectTrackMotion()
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
NULL | - not connected or error |
not | NULL - valid handle for connected device |
DLLAPI long ER_STDCALL erConnectTrackMotionGetSync | ( | ER_HND | er_hnd | ) |
Get robots synchronization flag for synchronization between robot and track motion.
See also erConnectTrackMotionSetSync()
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
0 | - ER_SYNC_UNDEF - Error, synchronization not defined, robot is maybe not connected to track motion |
1 | - ER_SYNC_OFF - synchronization is OFF |
2 | - ER_SYNC_ON - synchronization is ON |
4 | - ER_SYNC_CONVEYOR - additional synchronization with Conveyor |
-1 | - Error, not licensed option, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle for the robot ER_HND |
[in] | connect_sync | synchronization flag |
0 | - OK |
1 | - Error, not licensed option, invalid handle |
DLLAPI long ER_STDCALL erCONTINUE_MOTION | ( | ER_HND | er_hnd | ) |
Continues a motion that was stopped with the erSTOP_MOTION() function.
Opcode 152, Chapter 3.4.8, Page 3-102
See also erSTOP_MOTION(), erCANCEL_MOTION()
Remarks
After calling this function, the erGET_NEXT_STEP() should be called repeatedly in order to get the acceleration steps.
[in] | er_hnd | unique kinematics handle ER_HND |
0 | - OK |
1 | - Error, invalid handle |
-55 | - the function is not performed. Motion in progress |
DLLAPI long 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
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | event_id | |
[in] | target_id | |
[in] | resolution | |
[in] | type_of_event | |
[in] | event_spec |
0 | - OK |
1 | - Error, invalid handle |
-1 | - not supported |
DLLAPI void ER_STDCALL erEnableCallBack_LogProc | ( | long | onoff | ) |
Enable/Disable Log messages.
This function enables or disables Log Messages used with callback function TerLogProc This function can be called before kernel initialization erKernelInitialize()
[in] | onoff | =1 enable, =0 disable |
void |
DLLAPI long ER_STDCALL erFindConfig | ( | ER_HND | er_hnd, |
long * | config | ||
) |
Find current robot configuration
Finds current robot configuration, depending on current robot joint location.
The config
is valid for 1 to number of possible configurations, see erGetNumConfigs()
Remarks
If the robot configuration cannot be found, a notify message ER_NOTIFY_CODE_FIND_CONFIG_FAILED will be generated.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | config | robot configuration number [1..number of robot configurations] |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI int ER_STDCALL erGeoMngr_CheckBoundingBoxCollision | ( | DFRAME * | T1, |
const double * | bbox1, | ||
DFRAME * | T2, | ||
const double * | bbox2, | ||
double | tolerance | ||
) |
DLLAPI int ER_STDCALL erGeoMngr_FreeGeometry | ( | ER_HND | er_hnd, |
TErGeoHandle | GeoHandle | ||
) |
Free or delete a geometry.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | GeoHandle | unique geometry handle TErGeoHandle |
0 | - OK |
1 | - Error |
DLLAPI const double* ER_STDCALL erGeoMngr_GetAxisBBox | ( | ER_HND | er_hnd, |
int | axis_id | ||
) |
DLLAPI int ER_STDCALL erGeoMngr_GetAxisGeometry | ( | ER_HND | er_hnd, |
int | axis_nr, | ||
int | geometryIndex, | ||
LOAD_GEOMETRY_DATA * | p_load_geometry_data, | ||
DFRAME * | kinMat | ||
) |
DLLAPI const double* ER_STDCALL erGeoMngr_GetDeviceBBox | ( | ER_HND | er_hnd | ) |
DLLAPI int ER_STDCALL erGeoMngr_GetGeometry | ( | ER_HND | er_hnd, |
int | geometryIndex, | ||
LOAD_GEOMETRY_DATA * | p_load_geometry_data, | ||
DFRAME * | kinMat | ||
) |
DLLAPI const double* ER_STDCALL erGeoMngr_GetGeometryBBox | ( | TErGeoHandle | geometryHandle | ) |
DLLAPI int ER_STDCALL erGeoMngr_GetGeometryCloneCount | ( | TErGeoHandle | geometryHandle | ) |
DLLAPI TErGeoHandle ER_STDCALL erGeoMngr_GetGeometryCloneHandle | ( | TErGeoHandle | geometryHandle | ) |
DLLAPI ER_COLLISION_HND* ER_STDCALL erGeoMngr_GetGeometryCollisionHandle | ( | TErGeoHandle | geometryHandle | ) |
DLLAPI int* ER_STDCALL erGeoMngr_GetGeometryIsCollided | ( | TErGeoHandle | geometryHandle | ) |
DLLAPI int ER_STDCALL erGeoMngr_GetGeometryNumObjs | ( | TErGeoHandle | geometryHandle | ) |
DLLAPI double* ER_STDCALL erGeoMngr_GetGeometryObjColor | ( | TErGeoHandle | geometryHandle, |
int | objidx | ||
) |
DLLAPI long ER_STDCALL erGeoMngr_GetGeometryObjColorCode | ( | TErGeoHandle | geometryHandle, |
int | objidx | ||
) |
DLLAPI size_t* ER_STDCALL erGeoMngr_GetGeometryObjLine | ( | TErGeoHandle | geometryHandle, |
int | objidx, | ||
int | index | ||
) |
DLLAPI int ER_STDCALL erGeoMngr_GetGeometryObjNumLines | ( | TErGeoHandle | geometryHandle, |
int | objidx | ||
) |
DLLAPI int ER_STDCALL erGeoMngr_GetGeometryObjNumPointNormals | ( | TErGeoHandle | geometryHandle, |
int | objidx | ||
) |
DLLAPI int ER_STDCALL erGeoMngr_GetGeometryObjNumPoints | ( | TErGeoHandle | geometryHandle, |
int | objidx | ||
) |
DLLAPI int ER_STDCALL erGeoMngr_GetGeometryObjNumPolygons | ( | TErGeoHandle | geometryHandle, |
int | objidx | ||
) |
DLLAPI double* ER_STDCALL erGeoMngr_GetGeometryObjPoint | ( | TErGeoHandle | geometryHandle, |
int | objidx, | ||
int | index | ||
) |
DLLAPI double* ER_STDCALL erGeoMngr_GetGeometryObjPointNormal | ( | TErGeoHandle | geometryHandle, |
int | objidx, | ||
int | index | ||
) |
DLLAPI size_t* ER_STDCALL erGeoMngr_GetGeometryObjPolygon | ( | TErGeoHandle | geometryHandle, |
int | objidx, | ||
int | index | ||
) |
DLLAPI int ER_STDCALL erGeoMngr_GetNumAxisGeometries | ( | ER_HND | er_hnd, |
int | axis_nr | ||
) |
DLLAPI int ER_STDCALL erGeoMngr_GetNumGeometries | ( | ER_HND | er_hnd | ) |
Get number of loaded geometries for specified device.
[in] | er_hnd | unique kinematics handle ER_HND |
0 | - no geometries loaded or invalid handle |
>0 | - number of loaded geometries |
DLLAPI int ER_STDCALL erGeoMngr_GetVersion | ( | ) |
GeoMngr Version.
version | GeoMngr version number |
DLLAPI TErGeoHandle ER_STDCALL erGeoMngr_LoadGeometry | ( | ER_HND | er_hnd, |
LOAD_GEOMETRY_DATA * | p_load_geometry_data | ||
) |
Load a geometry.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | p_load_geometry_data | LOAD_GEOMETRY_DATA |
TErGeoHandle | unique geometry handle created by GeoMngr |
DLLAPI int ER_STDCALL erGeoMngr_SetGeometryCollisionHandle | ( | TErGeoHandle | geometryHandle, |
ER_COLLISION_HND | collisionHandle | ||
) |
DLLAPI int ER_STDCALL erGeoMngr_SetGeometryIsCollided | ( | TErGeoHandle | geometryHandle, |
int | isCollided | ||
) |
DLLAPI long ER_STDCALL erGET_CARTESIAN_ORIENTATION_ACCELERATION | ( | ER_HND | er_hnd, |
long | rotation_no, | ||
double * | accel_ori_value, | ||
long | accel_type | ||
) |
Gets acceleration for the orientation during cartesian motion [m/sec^2].
The rotation_no
should be 1.
The accel_type
specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | rotation_no | Number of the rotation axis |
[out] | accel_ori_value | Acceleration for orientation [rad/^2] |
[in] | accel_type | Type of acceleration. |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erGET_CARTESIAN_POSITION_ACCELERATION | ( | ER_HND | er_hnd, |
double * | accel_value, | ||
long | accel_type | ||
) |
Gets acceleration for cartesian motion [m/sec^2].
The accel_type
specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | accel_value | Cartesian speed in [m/s] |
[in] | accel_type | Type of acceleration. |
0 | - OK |
1 | - Error |
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.
[in] | er_hnd | unique kinematics handle ER_HND |
0 | - OK |
1 | - Error, invalid handle |
TErTargetID | - target identifier that was passed with erSET NEXT TARGET(), TErTargetID |
DLLAPI void** ER_STDCALL erGet_erk_kin_usr_ptr | ( | ER_HND | er_hnd | ) |
DLLAPI long 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
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | event_nr | specifies which of the occurred events to get |
0 | - OK |
1 | - Error, invalid handle |
-1 | - not supported |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | message_number | specifies which of the reported message to get |
0 | - OK |
1 | - Error, invalid handle |
-1 | - not supported |
DLLAPI long ER_STDCALL erGet_n_Kin | ( | ER_HND | er_hnd | ) |
Get the number of loaded kinematics.
[in] | er_hnd | unique kinematics handle ER_HND |
0 | - Error, invalid handle |
number_of_robots |
DLLAPI long ER_STDCALL erGet_n_Kin_IR | ( | ER_HND | er_hnd | ) |
Get the number of loaded kinematics with more than 3 joints and inverse kinematics.
[in] | er_hnd | unique kinematics handle ER_HND |
0 | - Error, invalid handle |
number_of_robots_ir |
DLLAPI long 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.
[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] |
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 |
DLLAPI long ER_STDCALL erGET_NEXT_TOOLPATH_STEP | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
long | cntrl, | ||
NEXT_STEP_DATA * | p_next_step_data = NULL , |
||
double | time = 0 |
||
) |
Interpolation through a complete tool path
Parameter cntrl
is an individual bitwise-inclusive-OR operator (|) of ER_MOP_GNTPS_CNTRL_NEXT_STEP, ER_MOP_GNTPS_CNTRL_UPDATE_GEO, ER_MOP_GNTPS_CNTRL_STEPDATA_OUT
Remarks
Before using this method, call erGET_NEXT_TOOLPATH_STEP_INIT(), see also erGET_NEXT_STEP()
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | cntrl | |
[out] | p_next_step_data | data for next interpolation step NEXT_STEP_DATA |
[in] | time | time [s] |
ER_MOP_GNS_OK_SUCCESS | - OK, next step is calculated successful |
ER_MOP_GNS_NEED_MORE_DATA | - need more data, nothing to do |
ER_MOP_GNS_TARGET_REACHED | - final step, target reached or speed is zero |
ER_MOP_GNS_TOOLPATH_REACHED | - final step, last toolpath target reached |
ER_MOP_GNS_ERROR | - Error |
ER_MOP_GNT_NO_TARGETS | - Error, no targets available |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erGET_NEXT_TOOLPATH_STEP_cTargetLocation | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get the current 'target location handle' while interpolation through a complete tool path.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
handle | for target location ER_TARGET_LOCATION_HND |
NULL | - Error |
DLLAPI long ER_STDCALL erGET_NEXT_TOOLPATH_STEP_INIT | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
long | cntrl = ER_MOP_GNTPS_CNTRL_INIT |
||
) |
Initializes the interpolation through a complete tool path
Parameter cntrl
must be set to ER_MOP_GNTPS_CNTRL_INIT
and can be extended by an individual bitwise-inclusive-OR operator (|) of.
Remarks
This method must be called before the interpolation starts, see erGET_NEXT_TOOLPATH_STEP()
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | cntrl |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erGET_NEXT_TOOLPATH_STEP_TERMINATE | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Terminates interpolation
Remarks
This method must be called after the interpolation of a tool path, see erGET_NEXT_TOOLPATH_STEP()
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erGet_num_dofs | ( | ER_HND | er_hnd | ) |
Get number of active robot joints.
[in] | er_hnd | unique kinematics handle ER_HND |
n_dof_active | number of active robot joints |
0 | Error, invalid handle |
DLLAPI long ER_STDCALL erGet_num_dofs_passive | ( | ER_HND | er_hnd | ) |
Get number of passive robot joints.
[in] | er_hnd | unique kinematics handle ER_HND |
n_dof_passive | number of passive robot joints |
0 | Error, invalid handle |
DLLAPI long ER_STDCALL erGetAccSet | ( | ER_HND | er_hnd, |
double * | acc, | ||
double * | ramp | ||
) |
Get lagging of accelerations.
Using AccSet is a proper way to come close to real cycle times when the robot carries high payloads for example.
The parameter acc
and ramp
are given in percentage values in the range from 20% to 100%.
acc:
Acceleration and Deceleration as percentage value of normal values.
ramp:
Change of Acceleration and Deceleration as percentage value of normal values.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | acc | acceleration and deceleration |
[out] | ramp | change of acceleration and deceleration |
0 | - OK |
1 | - Error |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | aq_max | maximum of robot joint accelerations, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetAutoAccel | ( | ER_HND | er_hnd, |
long * | autoaccel | ||
) |
Get status for automatic calculation of acceleration depending on programmed speed.
Using AutoAccel is a proper way to come close to real cycle times.
The parameter autoaccel
specifies the effect when planning a new motion and can be one of the following values.
0: ER_AUTOACCEL_MODE_OFF disables auto accel calculation for all motions
1: ER_AUTOACCEL_MODE_POS calculation for CP motions for position
2: ER_AUTOACCEL_MODE_ORI calculation for CP motions
4: ER_AUTOACCEL_MODE_AX Calculation for PTP motions
3: ER_AUTOACCEL_MODE_DEF calculation for CP motions for position and for orientation
7: ER_AUTOACCEL_MODE_ON enables calculation for all motions
Remarks
If auto accel is enabled, other acceleration functions such as erSET_JOINT_ACCELERATIONS(), erSET_CARTESIAN_POSITION_ACCELERATION() and erSET_CARTESIAN_ORIENTATION_ACCELERATION() will have no effect.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | autoaccel | defines auto acceleration mode |
0 | - OK |
1 | - Error |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | axis_couplingA2A3 | axis coupling between axis 2 and 3 |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetAxMax | ( | ER_HND | er_hnd, |
double * | ax_max | ||
) |
Get maximum cartesian acceleration.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | ax_max | maximum cartesian acceleration [m/s^2] |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetAxOriMax | ( | ER_HND | er_hnd, |
double * | ax_ori_max | ||
) |
Get maximum cartesian orientation acceleration.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | ax_ori_max | maximum cartesian orientation acceleration [rad/s^2] |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetBackLink | ( | ER_HND | er_hnd, |
long * | backlink | ||
) |
Get robot back link status, obsolete function, use erGetBacklink()
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | backlink | robot back link status |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetBaseRobotBase | ( | ER_HND | er_hnd, |
DFRAME * | bTbase | ||
) |
Get $BASE (wobj) w.r.t robot base.
The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode()
All targets are defined w.r.t to this BASE frame (program shifting)
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | bTbase | BASE frame w.r.t. to robot base 'b' DFRAME |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetBaseWorld | ( | ER_HND | er_hnd, |
DFRAME * | iTbase | ||
) |
Get $BASE (wobj) w.r.t inertia (world). The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode()
All targets are defined w.r.t to this BASE frame (program shifting)
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | iTbase | BASE frame w.r.t. to inertia 'i' DFRAME |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetConfig | ( | ER_HND | er_hnd, |
long * | config | ||
) |
Get current robot configuration
Gets current robot configuration. See also erSetConfig().
The config
is valid for 1 to number of possible configurations, see erGetNumConfigs().
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | config | robot configuration number [1..number of robot configurations] |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | config_idx | configuration index [1..number of robot configurations] |
[out] | config_name | name of robot configuration, maximum lengths ER_MAXSTR |
NULL | invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | counter_weight | robot counter weight |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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, ...
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | p_current_step_data | data for current interpolation step CURRENT_STEP_DATA |
0 | - OK, next step is calculated successful |
1 | - Error, no interpolation data available |
DLLAPI long ER_STDCALL erGetEvents_EventDOUT | ( | ER_TARGET_EVENTS_HND | hnd, |
int | idx, | ||
long * | io_value, | ||
char * | io_name, | ||
long * | strig_type, | ||
double * | strig_time, | ||
double * | strig_dist, | ||
long * | ttrig_type, | ||
double * | ttrig_time, | ||
double * | ttrig_dist | ||
) |
Get an event for a boolean output for target location
A boolean event for binary outputs is controlled by trigger data, when the movement starts and when the movement reaches the target location.
see detailed information in Set_EventDOUT() or erSetEvents_EventDOUT()
[in] | hnd | - unique target location events handle ER_TARGET_EVENTS_HND |
[in] | idx | - number of event [1..ER_EVENT_BOOL_N] |
[out] | io_value | - one of ER_EVENT_BOOL_UNDEF, ER_EVENT_BOOL_OFF, ER_EVENT_BOOL_ON |
[out] | io_name | - name of event, =0 keep template name, maximum lengths ER_MAXSTR |
[out] | strig_type | - Start Trigger type to control binary output, one of ER_EVENT_TRIGGER_OFF, ER_EVENT_TRIGGER_DWN, ER_EVENT_TRIGGER_UP |
[out] | strig_time | - Trigger time [s] from start location when the signal trigger occurs |
[out] | strig_dist | - Trigger distance [m] from start location when the signal trigger occurs, only effect when > 0 |
[out] | ttrig_type | - Target trigger type to control binary output, one of ER_EVENT_TRIGGER_OFF, ER_EVENT_TRIGGER_DWN, ER_EVENT_TRIGGER_UP |
[out] | ttrig_time | - Trigger time [s] to target location when the signal trigger occurs |
[out] | ttrig_dist | - Trigger distance [m] to target location when the signal trigger occurs, only effect when > 0 |
0 | - OK, event data set successfully |
1 | - Error |
DLLAPI ER_EXTAX_KIN_DATA* ER_STDCALL erGetExtAxConveyor_extax_data | ( | ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND | hnd, |
long | extax_idx | ||
) |
External axis values for Conveyor
Values ER_EXTAX_KIN_DATA are:
.
see example GetExtAxConveyorHnd()
[in] | hnd | unique handle for external axis data definition for Conveyor ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND |
[in] | extax_idx | - axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1] |
pointer | to ER_EXTAX_KIN_DATA - external axis values |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetExtAxConveyor_number_extax_used | ( | ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND | hnd | ) |
Number of external axis used for Conveyor
see example GetExtAxConveyorHnd()
[in] | hnd | unique handle for external axis data definition for Conveyor ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND |
pointer | to long - number of external axis used |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetExtAxConveyor_sync_type | ( | ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND | hnd | ) |
Synchonization for Conveyor
For a Conveyor motion, the synchonization can be one of ER_SYNC_ON, ER_SYNC_OFF
see example GetExtAxConveyorHnd()
[in] | hnd | unique handle for external axis data definition for Conveyor ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND |
pointer | to long - synchonization |
NULL | - Error |
DLLAPI ER_EXTAX_KIN_DATA* ER_STDCALL erGetExtAxPositioner_extax_data | ( | ER_TARGET_EXTAX_DEVICE_POSITIONER_HND | hnd, |
long | extax_idx | ||
) |
External axis values for Positioner/TurnTable
Values ER_EXTAX_KIN_DATA are:
.
see example GetExtAxPositionerHnd()
[in] | hnd | unique handle for external axis data definition for Positioner/TurnTable ER_TARGET_EXTAX_DEVICE_POSITIONER_HND |
[in] | extax_idx | - axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1] |
pointer | to ER_EXTAX_KIN_DATA - external axis values |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetExtAxPositioner_number_extax_used | ( | ER_TARGET_EXTAX_DEVICE_POSITIONER_HND | hnd | ) |
Number of external axis used for Positioner/TurnTable
see example GetExtAxPositionerHnd()
[in] | hnd | unique handle for external axis data definition for Positioner/TurnTable ER_TARGET_EXTAX_DEVICE_POSITIONER_HND |
pointer | to long - number of external axis used |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetExtAxPositioner_sync_type | ( | ER_TARGET_EXTAX_DEVICE_POSITIONER_HND | hnd | ) |
Synchonization for Positioner/TurnTable
For a Positioner/TurnTable motion, the synchonization can be one of ER_SYNC_ON, ER_SYNC_OFF
see example GetExtAxPositionerHnd()
[in] | hnd | unique handle for external axis data definition for Positioner/TurnTable ER_TARGET_EXTAX_DEVICE_POSITIONER_HND |
pointer | to long - synchonization |
NULL | - Error |
DLLAPI ER_EXTAX_KIN_DATA* ER_STDCALL erGetExtAxTrack_extax_data | ( | ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND | hnd, |
long | extax_idx | ||
) |
External axis values for Track/Slider
Values ER_EXTAX_KIN_DATA are:
.
see example GetExtAxTrackMotionHnd()
[in] | hnd | unique handle for external axis data definition for Track/Slider ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND |
[in] | extax_idx | - axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1] |
pointer | to ER_EXTAX_KIN_DATA - external axis values |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetExtAxTrack_number_extax_used | ( | ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND | hnd | ) |
Number of external axis used for Track/Slider
see example GetExtAxTrackMotionHnd()
[in] | hnd | unique handle for external axis data definition for Track/Slider ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND |
pointer | to long - number of external axis used |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetExtAxTrack_sync_type | ( | ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND | hnd | ) |
Synchonization for Track/Slider
For a Track/Slider motion, the synchonization should be always ER_SYNC_ON
see example GetExtAxTrackMotionHnd()
[in] | hnd | unique handle for external axis data definition for Track/Slider ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND |
pointer | to long - synchonization |
NULL | - Error |
DLLAPI long ER_STDCALL erGetExtTcpMode | ( | ER_HND | er_hnd, |
long * | ext_tcp_mode | ||
) |
Get external TCP mode.
The external TCP can be IPO_MODE_BASE (tool guided) or IPO_MODE_TOOL (work object guided)
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | ext_tcp_mode | external TCP mode IPO_MODE_BASE, IPO_MODE_TOOL |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetExtTcpRobotBase | ( | ER_HND | er_hnd, |
DFRAME * | bText | ||
) |
DLLAPI long ER_STDCALL erGetExtTcpWorld | ( | ER_HND | er_hnd, |
DFRAME * | iText | ||
) |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | homepos | robot joint homeposition, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetIDs | ( | ER_HND | er_hnd, |
long * | kin_id, | ||
long * | inv_id, | ||
long * | inv_sub_id | ||
) |
Get Kinematics ID of the robot.
kin_id
represents the kinematics ID. It can be one of the following values.
ER_RRRRRR_ID =1, ER_TTTRRR_ID =2, ER_RRRRRR_BL_ID =3, ER_UNIV_ROB_ID =10, ER_DH_ID =11
Remarks
Most robots are modelled with universal coordinates ER_UNIV_ROB_ID.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | kin_id | kinematics ID |
[out] | inv_id | kinematics ID for inverse calculation |
[out] | inv_sub_id | kinematics Sub-ID for inverse calculation |
0 | - OK |
1 | - Error |
DLLAPI char* ER_STDCALL erGetInstructions_information | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Get information target instruction data for target location.
For further explanations see GetInstructionsHnd(), erSetInstructions().
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
pointer | to char for target instruction information, maximum lengths ER_HS_MAXSTR |
NULL | - Error |
DLLAPI char* ER_STDCALL erGetInstructions_LagInstructions | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Get LagInstructions target instruction data for target location.
For further explanations see GetInstructionsHnd(), erSetInstructions().
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
pointer | to char for target instruction LagInstructions, maximum lengths ER_HS_MAXSTR |
NULL | - Error |
DLLAPI char* ER_STDCALL erGetInstructions_LeadInstructions | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Get LeadInstructions target instruction data for target location.
For further explanations see GetInstructionsHnd(), erSetInstructions().
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
pointer | to char for target instruction LeadInstructions, maximum lengths ER_HS_MAXSTR |
NULL | - Error |
DLLAPI long ER_STDCALL erGetInvKinID | ( | ER_HND | er_hnd, |
long * | invkin_id | ||
) |
Inverse kinematics ID for cRobot.
.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | invkin_id | inverse kinematics ID |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetInvKinSubID | ( | ER_HND | er_hnd, |
long * | invkinsub_id | ||
) |
Inverse kinematics Sub-ID for cRobot.
.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | invkinsub_id | inverse kinematics Sub-ID |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointAccels | ( | ER_HND | er_hnd, |
double * | a_solut | ||
) |
Get robot joint accelerations. The kinematics joint accelerations a_solut
are in units [m/s^2] for prismatic joint type
and [rad/s^2] for rotational joint type
Get the number of active joints with erGet_num_dofs()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | a_solut | robot joint accelerations, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointAttachDof_active | ( | ER_HND | er_hnd, |
long * | jnt_attach_dof_active | ||
) |
Get Attach-Dof of active robot joints. An active joint with chain type JNT_CHAIN_TYPE_CHAIN is attached to an active or passive joint.
A valid Attach-Dof number for such an active joint is [0..num_dof], whereby num_dof
represents the number of active joints
A negative Attach-Dof value of -99 means that the active joint has a chain type of JNT_CHAIN_TYPE_NO_CHAIN or JNT_CHAIN_TYPE_SEP_NO_CHAIN.
[in] | er_hnd | unique kinematics handle::ER_HND |
[out] | jnt_attach_dof_active | Attach-Dof of active robot joints, max size::ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointAttachDof_passive | ( | ER_HND | er_hnd, |
long * | jnt_attach_dof_passive | ||
) |
Get Attach-Dof of passive robot joints. A passive joint is attached to an active joint. A valid Attach-Dof number number is [0..num_dof], whereby num_dof
represents the number of active joints
A negative Attach-Dof represents an error.
[in] | er_hnd | unique kinematics handle::ER_HND |
[out] | jnt_attach_dof_passive | Attach-Dof of passive robot joints, max size::ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointChainTypes | ( | ER_HND | er_hnd, |
long * | jnt_chain_type_active | ||
) |
Get chain type of active robot joints. A robot chain type can be JNT_CHAIN_TYPE_CHAIN, JNT_CHAIN_TYPE_NO_CHAIN or JNT_CHAIN_TYPE_SEP_NO_CHAIN
.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | jnt_chain_type_active | chain type of active robot joints, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointChainTypes_passive | ( | ER_HND | er_hnd, |
long * | jnt_chain_type_passive | ||
) |
Get chain type of passive robot joints. A robot chain type can be JNT_CHAIN_TYPE_CHAIN, JNT_CHAIN_TYPE_NO_CHAIN or JNT_CHAIN_TYPE_SEP_NO_CHAIN
.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | jnt_chain_type_passive | chain type of passive robot joints, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointDirections | ( | ER_HND | er_hnd, |
long * | jnt_direction_active | ||
) |
Get direction of active robot joints. A robot joint direction can be JNT_DIRECTION_X, JNT_DIRECTION_Y or JNT_DIRECTION_Z
See also erGetJointSign(), erGetJointTypes()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | jnt_direction_active | direction of active robot joints, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointDirections_passive | ( | ER_HND | er_hnd, |
long * | jnt_direction_passive | ||
) |
Get direction of passive robot joints. A robot joint direction can be JNT_DIRECTION_X, JNT_DIRECTION_Y or JNT_DIRECTION_Z
See also erGetJointTypes_passive()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | jnt_direction_passive | direction of passive robot joints, max size ER_KIN_PASSIVE_JNTS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointFrameActiveLast | ( | ER_HND | er_hnd, |
long | active_jnt_no, | ||
DFRAME * | T | ||
) |
DLLAPI long ER_STDCALL erGetJointFrameActiveNext | ( | ER_HND | er_hnd, |
long | active_jnt_no, | ||
DFRAME * | T | ||
) |
DLLAPI long ER_STDCALL erGetJointFramePassiveLast | ( | ER_HND | er_hnd, |
long | passive_jnt_no, | ||
DFRAME * | T | ||
) |
DLLAPI long ER_STDCALL erGetJointFramePassiveNext | ( | ER_HND | er_hnd, |
long | passive_jnt_no, | ||
DFRAME * | T | ||
) |
DLLAPI long ER_STDCALL erGetJointFrameRobotBase | ( | ER_HND | er_hnd, |
long | active_jnt_no, | ||
DFRAME * | bTax | ||
) |
Get location of active joint coorsys w.r.t robot base.
Get the number of active joints with erGet_num_dofs()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | active_jnt_no | active joint number [1..number of active joints], max active_jnt_no is ER_KIN_DOFS |
[out] | bTax | location of active joint coorsys w.r.t robot base DFRAME |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointFrameRobotBase_passive | ( | ER_HND | er_hnd, |
long | passive_jnt_no, | ||
DFRAME * | bTax | ||
) |
Get location of passive joint coorsys w.r.t robot base.
Get the number of passive joints with erGet_num_dofs_passive()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | passive_jnt_no | passive joint number [1..number of passive joints], max passive_jnt_no is ER_KIN_PASSIVE_JNTS |
[out] | bTax | location of passive joint coorsys w.r.t robot base DFRAME |
0 | - OK |
1 | - Error, invalid handle, invalid passive_jnt_no |
DLLAPI long ER_STDCALL erGetJointFrameWorld | ( | ER_HND | er_hnd, |
long | active_jnt_no, | ||
DFRAME * | iTax | ||
) |
Get location of active joint coorsys w.r.t innertia (world).
Get the number of active joints with erGet_num_dofs()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | active_jnt_no | active joint number [1..number of active joints], max active_jnt_no is ER_KIN_DOFS |
[out] | iTax | location of active joint coorsys w.r.t innertia DFRAME |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointFrameWorld_passive | ( | ER_HND | er_hnd, |
long | passive_jnt_no, | ||
DFRAME * | iTax | ||
) |
Get location of passive joint coorsys w.r.t innertia (world).
Get the number of passive joints with erGet_num_dofs_passive()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | passive_jnt_no | passive joint number [1..number of passive joints], max passive_jnt_no is ER_KIN_PASSIVE_JNTS |
[out] | iTax | location of passive joint coorsys w.r.t innertia DFRAME |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointName | ( | ER_HND | er_hnd, |
long | active_jnt_no, | ||
char * | jnt_name | ||
) |
DLLAPI long ER_STDCALL erGetJointName_passive | ( | ER_HND | er_hnd, |
long | passive_jnt_no, | ||
char * | jnt_name_passive | ||
) |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | joint_offset | robot joint offset, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJoints | ( | ER_HND | er_hnd, |
double * | q_solut | ||
) |
Get robot joint data. The kinematics joint data q_solut
are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of active joints with erGet_num_dofs()
Remarks
Call this function after calling the inverse kinematics transformation, erInvKinRobotBaseTip(), erInvKinWorldTip(), erInvKinRobotBaseTcp(), erInvKinWorldTcp()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | q_solut | robot joint data, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJoints_passive | ( | ER_HND | er_hnd, |
double * | q_passive | ||
) |
Get passive robot joint data. The kinematics passive joint data q_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()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | q_passive | passive robot joint data, max size ER_KIN_PASSIVE_JNTS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | joint_sign | sign of a robot joint, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointSolutions | ( | ER_HND | er_hnd, |
double * | q_solutions, | ||
long * | q_warnings | ||
) |
Get all robot joint solutions. The kinematics joint data q_solutions
are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of active joints with erGet_num_dofs()
Get the number of configurations with erGetNumConfigs()
Remarks
Call this function after calling the inverse kinematics transformation, erInvKinRobotBaseTip(), erInvKinWorldTip(), erInvKinRobotBaseTcp(), erInvKinWorldTcp()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | q_solutions | robot joint data, max size ER_KIN_CONFIGS * ER_KIN_DOFS |
[out] | q_warnings | warning for each solution, max size ER_KIN_CONFIGS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointSpeeds | ( | ER_HND | er_hnd, |
double * | v_solut | ||
) |
Get robot joint speeds. The kinematics joint speeds v_solut
are in units [m/s] for prismatic joint type
and [rad/s] for rotational joint type
Get the number of active joints with erGet_num_dofs()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | v_solut | robot joint speeds, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointTypes | ( | ER_HND | er_hnd, |
long * | jnt_type_active | ||
) |
Get active robot joint types. An active robot joint type can be rotational JNT_TYPE_ROT or prismatic JNT_TYPE_TRANS
See also erGetJointSign(), erGetJointDirections()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | jnt_type_active | active robot joint type, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetJointTypes_passive | ( | ER_HND | er_hnd, |
long * | jnt_type_passive | ||
) |
Get passive robot joint types. A passive robot joint type can be rotational JNT_TYPE_ROT or prismatic JNT_TYPE_TRANS
See also erGetJointDirections_passive()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | jnt_type_passive | passive robot joint type, max size ER_KIN_PASSIVE_JNTS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI double* ER_STDCALL erGetMotionAttributes_acc | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Acceleration and deceleration as percentage value in the range from 20% to 100% of normal values for a target location
Remarks
Default value: 100%
Smaller values results in a smoother acceleration and deceleratio nwhen the robot carries high payloads for example.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - acc |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMotionAttributes_advance_motion | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Number of motions, the motion planner may run in advance of the interpolator (look_ahead) for a target location
Remarks
Default value: 1.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - advance_motion |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMotionAttributes_autoaccel | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Automatic calculation of acceleration depending on programmed speed for a target location
Using AutoAccel is a proper way to come close to real cycle times.
Autoaccel can be one of the following values.
0: ER_AUTOACCEL_MODE_OFF disables auto accel calculation for all motions
1: ER_AUTOACCEL_MODE_POS calculation for CP motions for position
2: ER_AUTOACCEL_MODE_ORI calculation for CP motions
4: ER_AUTOACCEL_MODE_AX Calculation for PTP motions
3: ER_AUTOACCEL_MODE_DEF calculation for CP motions for position and for orientation
7: ER_AUTOACCEL_MODE_ON enables calculation for all motions
Remarks
Default value: ER_AUTOACCEL_MODE_OFF.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - autoaccel |
NULL | - Error |
DLLAPI DFRAME* ER_STDCALL erGetMotionAttributes_BaseFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | BaseFrame | ||
) |
Program shift Base for a target location
Base '$BASE, $UFrame' has only if IPO_MODE_BASE is set and external TCP disabled
All targets are defined w.r.t to this BASE frame (program shifting)
see inq_BaseIdx(), inq_BaseName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | BaseFrame | location DFRAME |
DLLAPI long* ER_STDCALL erGetMotionAttributes_BaseIdx | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Idx for program shift Base for a target location
see inq_BaseVec(), inq_BaseName()
This BaseIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - Base idx |
NULL | - Error |
DLLAPI char* ER_STDCALL erGetMotionAttributes_BaseName | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Name for program shift Base for a target location
see inq_BaseVec(), inq_BaseIdx()
This BaseName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to char - Base name, maximum lengths ER_MAXSTR |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMotionAttributes_BaseVec | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Program shift Base for a target location
Base '$BASE, $UFrame' has only if IPO_MODE_BASE is set and external TCP disabled
All targets are defined w.r.t to this BASE frame (program shifting)
see inq_BaseIdx(), inq_BaseName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - Base vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMotionAttributes_dom_type | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Dominant interpolation type for a target location
The dominant interpolation type can be one of the following values.
ER_DOMINANT_INTERPOLATION_POS, ER_DOMINANT_INTERPOLATION_ORI, ER_DOMINANT_INTERPOLATION_AXIS, ER_DOMINANT_INTERPOLATION_AUTO
Remarks
Default setting is ER_DOMINANT_INTERPOLATION_AUTO.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - dominant interpolation type |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMotionAttributes_enabled | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Enables/disables a target location
If the target location is disabled, the trajectory interpolator will skip this target.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - to enable and disable the target location |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMotionAttributes_ext_tcp_mode | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Enables/disables external TCP for a target location
IPO_MODE_BASE (tool guided) or IPO_MODE_TOOL (work object guided)
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - to enable and disable external TCP |
NULL | - Error |
DLLAPI DFRAME* ER_STDCALL erGetMotionAttributes_extTcpBaseFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | extTcpBaseFrame | ||
) |
external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location
Transformation from RobotBase or from flange of positioner to external TCP
see inq_extTcpBaseIdx(), inq_extTcpBaseName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | extTcpBaseFrame | location DFRAME |
DLLAPI long* ER_STDCALL erGetMotionAttributes_extTcpBaseIdx | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Idx for external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location
see inq_extTcpBaseVec(), inq_extTcpBaseName()
This extTcpBaseIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - extTcpBase idx |
NULL | - Error |
DLLAPI char* ER_STDCALL erGetMotionAttributes_extTcpBaseName | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Name for external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location
see inq_extTcpBaseVec(), inq_extTcpBaseIdx()
This extTcpBaseName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to char - extTcpBase name, maximum lengths ER_MAXSTR |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMotionAttributes_extTcpBaseVec | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location
Transformation from RobotBase or from flange of positioner to external TCP
see inq_extTcpBaseIdx(), inq_extTcpBaseName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - extTcpBase vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
DLLAPI DFRAME* ER_STDCALL erGetMotionAttributes_extTcpOffsetFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | extTcpOffsetFrame | ||
) |
external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
Transformation from extTcpBase or extTcpWorld
see inq_extTcpOffsetIdx(), inq_extTcpOffsetName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | extTcpOffsetFrame | location DFRAME |
DLLAPI long* ER_STDCALL erGetMotionAttributes_extTcpOffsetIdx | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Idx for external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
see inq_extTcpOffsetVec(), inq_extTcpOffsetName()
This extTcpOffsetIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - extTcpOffset idx |
NULL | - Error |
DLLAPI char* ER_STDCALL erGetMotionAttributes_extTcpOffsetName | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Name for external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
see inq_extTcpOffsetVec(), inq_extTcpOffsetIdx()
This extTcpOffsetName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to char - extTcpOffset name, maximum lengths ER_MAXSTR |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMotionAttributes_extTcpOffsetVec | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
Transformation from extTcpBase or extTcpWorld
see inq_extTcpOffsetIdx(), inq_extTcpOffsetName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - extTcpOffset vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
DLLAPI DFRAME* ER_STDCALL erGetMotionAttributes_extTcpWorldFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | extTcpWorldFrame | ||
) |
external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location
Transformation from RobotWorld or from flange of positioner to external TCP
see inq_extTcpWorldIdx(), inq_extTcpWorldName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | extTcpWorldFrame | location DFRAME |
DLLAPI long* ER_STDCALL erGetMotionAttributes_extTcpWorldIdx | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Idx for external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location
see inq_extTcpWorldVec(), inq_extTcpWorldName()
This extTcpWorldIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - extTcpWorld idx |
NULL | - Error |
DLLAPI char* ER_STDCALL erGetMotionAttributes_extTcpWorldName | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Name for external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location
see inq_extTcpWorldVec(), inq_extTcpWorldIdx()
This extTcpWorldName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to char - extTcpWorld name, maximum lengths ER_MAXSTR |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMotionAttributes_extTcpWorldVec | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location
Transformation from RobotWorld or from flange of positioner to external TCP
see inq_extTcpWorldIdx(), inq_extTcpWorldName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - extTcpWorld vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMotionAttributes_filter_factor | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Filter factor for smoothing velocity profiles of motions
The filter_factor is one of ER_MOTION_FILTER_GEO or ER_MOTION_FILTER_C2
Remarks
Per default ER_MOTION_FILTER_C2 is set
It makes sense to keep one filter_factor for the complete tool path.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - filter_factor |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMotionAttributes_flyby_dist | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
flyby by distance [m] for a target location
In case of flyby by distance, the robot starts moving into the next segment when the distance to the target is less then the flyby_dist value.
flyby_dist has only an effect if flyby is enabled and if set > 0 [m], see inq_flyby_on(), inq_flyby_speed_percent()
Remarks
Default value: 0 [m]
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - flyby_dist |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMotionAttributes_flyby_on | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Rounding / flyby condition for a target location
In case of flyby enabled, the robot moves through a target location with programmed speeds and will not decelerate
flyby_on is one of ER_FLYBY_OFF, ER_FLYBY_ON
Remarks
Default value: ER_FLYBY_OFF.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - flyby_on |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMotionAttributes_flyby_speed_percent | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
flyby by speed [%] for a target location
In case of flyby by speed, the robot starts moving into the next segment when the current speed is less then the flyby_speed_percent value.
flyby_speed_percent has only an effect if flyby is enabled and if set > 0%, see inq_flyby_on(), inq_flyby_dist()
Remarks
Default value: 0%
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - flyby_speed_percent |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMotionAttributes_LagWaitTime | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Lagging time [s] after robot reaches its target location
Remarks
Default value: 0
Has only an effect when flyby is disabled, see inq_LeadWaitTime()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - LagWaitTime |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMotionAttributes_LeadWaitTime | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Leading time [s] before robot will start moving to target location
Remarks
Default value: 0
Has only an effect when flyby is disabled, see inq_LagWaitTime()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - LeadWaitTime |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMotionAttributes_motype | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Motion Type for a target location
The motion type can be one of the following values
ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4
Remarks
Methods such as.
sets the motion type automatically
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - motion type |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMotionAttributes_override_speed | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Correction values as percentage value for scaling the programmed speed for a target location
Remarks
Default value: 100%.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - override_speed |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMotionAttributes_ramp | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Change of acceleration and deceleration as percentage value in the range from 20% to 100% of normal values for a target location
Remarks
Default value: 100%
Smaller values results in a smoother acceleration and deceleration when the robot carries high payloads for example.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - ramp |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMotionAttributes_speed_reduction_enable | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Speed reduction enable for a target location
The speed reduction enable can be one of the following values
ER_SPEED_REDUCTION_ENABLE = 1, ER_SPEED_REDUCTION_DISABLE = 0
If speed reduction is enabled, the robots TCP speed gets reduced (while motion execution in erGET_NEXT_STEP()) if the desired nominal joint speeds exceeds the maximum allowed joint speed, defined with erSetVqMax().
Remarks
Per default, speed reduction is enabled.
Speed reduction causes the TrajectoryTime to increase, while the RemainingTime represents the minimum time necessary to reach the target.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - speed_reduction_enable |
NULL | - Error |
DLLAPI TErTargetID* ER_STDCALL erGetMotionAttributes_target_id | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
unique target ID of a target location
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to TErTargetID - unique target ID |
NULL | - Error |
DLLAPI DFRAME* ER_STDCALL erGetMotionAttributes_ToolFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | ToolFrame | ||
) |
Tool (TCP) for a target location
Transformation from Tip to TCP
see inq_ToolIdx(), inq_ToolName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | ToolFrame | location DFRAME |
DLLAPI long* ER_STDCALL erGetMotionAttributes_ToolIdx | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Idx for Tool for a target location
see inq_ToolVec(), inq_ToolName()
This ToolIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - Tool idx |
NULL | - Error |
DLLAPI char* ER_STDCALL erGetMotionAttributes_ToolName | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Name for Tool for a target location
see inq_ToolVec(), inq_ToolIdx()
This ToolName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to char - Tool name, maximum lengths ER_MAXSTR |
NULL | - Error |
DLLAPI DFRAME* ER_STDCALL erGetMotionAttributes_ToolOffsetFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | ToolOffsetFrame | ||
) |
ToolOffset (TCP) for a target location
Offset Transformation from TCP
see inq_ToolOffsetIdx(), inq_ToolOffsetName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | ToolOffsetFrame | location DFRAME |
DLLAPI long* ER_STDCALL erGetMotionAttributes_ToolOffsetIdx | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Idx for ToolOffset for a target location
see inq_ToolOffsetVec(), inq_ToolOffsetName()
This ToolOffsetIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - Tool offset idx |
NULL | - Error |
DLLAPI char* ER_STDCALL erGetMotionAttributes_ToolOffsetName | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Name for ToolOffset for a target location
see inq_ToolOffsetVec(), inq_ToolOffsetIdx()
This ToolOffsetName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to char - Tool offset name, maximum lengths ER_MAXSTR |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMotionAttributes_ToolOffsetVec | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
ToolOffset (TCP) for a target location
Offset Transformation from TCP
see inq_ToolOffsetIdx(), inq_ToolOffsetName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - Tool offset vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMotionAttributes_ToolVec | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
Tool (TCP) for a target location
Transformation from Tip to TCP
see inq_ToolIdx(), inq_ToolName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - Tool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
DLLAPI DFRAME* ER_STDCALL erGetMotionAttributes_WobjCartPosFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | WobjCartPosFrame | ||
) |
Get WorkObject valid for all cartesian target locations such as CartPosVec, CartPosVecVia
Using this transformation, all cartesian targets 'T' are modified to T' = WorkObj * T
see e.g. ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | WobjCartPosFrame | work object location DFRAME |
DLLAPI double* ER_STDCALL erGetMotionAttributes_WobjCartPosVec | ( | ER_TARGET_ATTRIBUTES_HND | hnd | ) |
WorkObject valid for all cartesian target locations such as CartPosVec, CartPosVecVia
Using this transformation, all cartesian targets 'T' are modified to T' = WorkObj * T
see e.g. ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - WorkObejct vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
DLLAPI long ER_STDCALL erGetMotionExec_configuration | ( | ER_TARGET_MOTION_EXEC_HND | hnd | ) |
Robot configuration, when reaching the target, while interpolation through the complete tool path
Remarks
Normally a robot configuration will
NOT change during a CP (ER_LIN, ER_CIRC) move
Valid robot configurations are between 1 and number of possible configurations depending on robot, maximum ER_KIN_CONFIGS
A valid robot configuration can be specified with.
[in] | hnd | unique target execution handle ER_TARGET_MOTION_EXEC_HND |
configuration | - robot configuration [1..ER_KIN_CONFIGS], 0-robot configuration can not be calculated |
DLLAPI double* ER_STDCALL erGetMotionExec_ExtAxValues | ( | ER_TARGET_MOTION_EXEC_HND | hnd | ) |
External axis values at target location, while interpolation through the complete tool path.
[in] | hnd | unique target execution handle ER_TARGET_MOTION_EXEC_HND |
pointer | to double - ExtAxValues vector, maximum size ER_KIN_DOFS |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMotionExec_JointPos | ( | ER_TARGET_MOTION_EXEC_HND | hnd | ) |
Joint position at target location, while interpolation through the complete tool path.
[in] | hnd | unique target execution handle ER_TARGET_MOTION_EXEC_HND |
pointer | to double - JointPos vector, maximum size ER_KIN_DOFS |
NULL | - Error |
DLLAPI long ER_STDCALL erGetMotionExec_motion_success | ( | ER_TARGET_MOTION_EXEC_HND | hnd | ) |
Motion success is true when the robot has reached the target location successfully
Remarks
ERK_CAPI_TOOLPATH::erGET_NEXT_TOOLPATH_STEP_INIT() at the beginning of interpolation will reset motion_success for each targat location.
[in] | hnd | unique target execution handle ER_TARGET_MOTION_EXEC_HND |
motion_success | - 1-success, 0-Error reaching the target |
DLLAPI double ER_STDCALL erGetMotionExec_time_stamp | ( | ER_TARGET_MOTION_EXEC_HND | hnd | ) |
Time stamp - total execution time [s] at the target location, while interpolation through the complete tool path
Remarks
ERK_CAPI_TOOLPATH::erGET_NEXT_TOOLPATH_STEP_INIT() sets the time_stamp = 0.
[in] | hnd | unique target execution handle ER_TARGET_MOTION_EXEC_HND |
time_stamp | - total execution time [s] |
DLLAPI double ER_STDCALL erGetMotionExec_trajectory_time | ( | ER_TARGET_MOTION_EXEC_HND | hnd | ) |
Trajectory time [s], time to reach the target location, while interpolation through the complete tool path.
[in] | hnd | unique target execution handle ER_TARGET_MOTION_EXEC_HND |
trajectory_time | - elapsed time in [s] |
DLLAPI long ER_STDCALL erGetMoveBaseMode | ( | ER_HND | er_hnd, |
long * | move_base_mode | ||
) |
Gets moveable base mode.
A kinematics base can be fixed or moveable.
0: Robot base is fix (default)
1: Robot base is moveable.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | move_base_mode | moveable base mode |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetMoveBasepJointIdx | ( | ER_HND | er_hnd, |
long * | move_base_pjointidx | ||
) |
Gets passive joint idx representing the moveable base.
If a kinematics base is moveable, the move_base_pjointidx
gives the index [1..number of passive joints] of the passive joints representing the moveable base.
Otherwise it is 0, see erGetMoveBaseMode(), erGetpJointMoveBase()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | move_base_pjointidx | passive joint index [0,1..number of passive joints] |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI double* ER_STDCALL erGetMoveCP_accel_cp | ( | ER_TARGET_MOVE_CP_HND | hnd | ) |
Cartesian acceleration [m/s^2], for CP move for target location.
[in] | hnd | unique target location move CP handle ER_TARGET_MOVE_CP_HND |
pointer | to double - accel_cp |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMoveCP_accel_ori | ( | ER_TARGET_MOVE_CP_HND | hnd | ) |
Cartesian orientation acceleration [rad/s^2], for CP move for target location.
[in] | hnd | unique target location move CP handle ER_TARGET_MOVE_CP_HND |
pointer | to double - accel_ori |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMoveCP_CartPosVec | ( | ER_TARGET_MOVE_CP_HND | hnd | ) |
Cartesian position w.r.t. Base for CP move for target location
Remarks
Use for.
[in] | hnd | unique target location move CP handle ER_TARGET_MOVE_CP_HND |
pointer | to double - CartPosVec vector, maximum size ER_DOF6 |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMoveCP_CartPosVecVia | ( | ER_TARGET_MOVE_CP_HND | hnd | ) |
Cartesian position at VIA location w.r.t. Base for CP move for target location
Remarks
Use for.
[in] | hnd | unique target location move CP handle ER_TARGET_MOVE_CP_HND |
pointer | to double - CartPosVec vector, maximum size ER_DOF6 |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMoveCP_circ_orientation_interpolation_mode | ( | ER_TARGET_MOVE_CP_HND | hnd | ) |
Circular orientation interpolation mode for CP move for target location
The circular orientation interpolation_mode is one of.
per default = ER_CIRC_ORI_INTERPOLATION_START_END
[in] | hnd | unique target location move CP handle ER_TARGET_MOVE_CP_HND |
pointer | to long - orientation_interpolation_mode |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMoveCP_interpolation_mode | ( | ER_TARGET_MOVE_CP_HND | hnd | ) |
Orientation interpolation mode for CP move for target location
The interpolation_mode is one of =1 one angle (QUATERNION), =2 two angle (QUATERNION), =3 three angle (VARIABLE)
per default =1 one angle (QUATERNION)
[in] | hnd | unique target location move CP handle ER_TARGET_MOVE_CP_HND |
pointer | to long - interpolation_mode |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMoveCP_speed_cp | ( | ER_TARGET_MOVE_CP_HND | hnd | ) |
Cartesian speed [m/s], for CP move for target location.
hnd | - target location move CP handle ER_TARGET_MOVE_CP_HND |
pointer | to double - speed_cp |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMoveCP_speed_ori | ( | ER_TARGET_MOVE_CP_HND | hnd | ) |
Cartesian orientation speed [rad/s], for CP move for target location.
[in] | hnd | unique target location move CP handle ER_TARGET_MOVE_CP_HND |
pointer | to double - speed_ori |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMoveCP_target_type | ( | ER_TARGET_MOVE_CP_HND | hnd | ) |
Target type for CP move for target location
is always.
[in] | hnd | unique target location move CP handle ER_TARGET_MOVE_CP_HND |
pointer | to long - target_type |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMoveJoint_accel_percent | ( | ER_TARGET_MOVE_JOINT_HND | hnd | ) |
Accel_percent percentage acceleration definition [>0-1000%] for joint move for target location.
[in] | hnd | unique target move joint handle ER_TARGET_MOVE_JOINT_HND |
pointer | to double - accel_percent |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMoveJoint_CartPosVec | ( | ER_TARGET_MOVE_JOINT_HND | hnd | ) |
Cartesian position w.r.t. Base for joint move for target location
Remarks
Use for.
[in] | hnd | unique target move joint handle ER_TARGET_MOVE_JOINT_HND |
pointer | to double - CartPosVec vector, maximum size ER_DOF6 |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMoveJoint_configuration | ( | ER_TARGET_MOVE_JOINT_HND | hnd | ) |
configuration Robot configuration [1-ER_KIN_CONFIGS] for target location
[in] | hnd | unique target move joint handle ER_TARGET_MOVE_JOINT_HND |
pointer | to long - configuration |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMoveJoint_JointPos | ( | ER_TARGET_MOVE_JOINT_HND | hnd | ) |
Joint position for joint move for target location
Remarks
Use for.
[in] | hnd | unique target move joint handle ER_TARGET_MOVE_JOINT_HND |
pointer | to double - JointPos vector, maximum size ER_KIN_DOFS |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMoveJoint_ptp_target_calculation_mode | ( | ER_TARGET_MOVE_JOINT_HND | hnd | ) |
Ptp_target_calculation_mode for target location
is one of
ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG.
[in] | hnd | unique target move joint handle ER_TARGET_MOVE_JOINT_HND |
pointer | to long - ptp_target_calculation_mode |
NULL | - Error |
DLLAPI double* ER_STDCALL erGetMoveJoint_speed_percent | ( | ER_TARGET_MOVE_JOINT_HND | hnd | ) |
Speed_percent percentage speed definition [>0-1000%] for joint move for target location.
[in] | hnd | unique target move joint handle ER_TARGET_MOVE_JOINT_HND |
pointer | to double - speed_percent |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMoveJoint_target_type | ( | ER_TARGET_MOVE_JOINT_HND | hnd | ) |
Target type for joint move for target location
is one of.
[in] | hnd | unique target move joint handle ER_TARGET_MOVE_JOINT_HND |
pointer | to long - target_type |
NULL | - Error |
DLLAPI long* ER_STDCALL erGetMoveJoint_turn_value | ( | ER_TARGET_MOVE_JOINT_HND | hnd | ) |
Turn value for each robot joint for joint move for target location
The 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, see inq_ptp_target_calculation_mode()
[in] | hnd | unique target move joint handle ER_TARGET_MOVE_JOINT_HND |
pointer | to long - turn_value vector, maximum size ER_KIN_DOFS |
NULL | - Error |
DLLAPI long ER_STDCALL erGetName | ( | ER_HND | er_hnd, |
char * | name | ||
) |
DLLAPI long ER_STDCALL erGetNumConfigs | ( | ER_HND | er_hnd, |
long * | num_configs | ||
) |
Get number of possible robot configurations.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | num_configs | number of possible robot configurations |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetpJointMoveBase | ( | ER_HND | er_hnd, |
DFRAME * | pjntTmb | ||
) |
Get transformation from passive joint 'pjnt' to the moveable base 'mb'.
If a kinematics base is moveable, the pjntTmb
contains the transformation from passive joint 'pjnt' to the moveable base 'mb' frame.
Otherwise pjntTmb
is identity, see erGetMoveBasepJointIdx(), erGetRobotBaseToMoveBase()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | pjntTmb | transformation 'pjnt' to 'mb' DFRAME |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetRobotBase | ( | ER_HND | er_hnd, |
DFRAME * | iTb | ||
) |
Get robot base location w.r.t. world.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | iTb | location if the robots base w.r.t. world ('i' - inertia). DFRAME |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetRobotBaseTcp | ( | ER_HND | er_hnd, |
DFRAME * | bTw | ||
) |
DLLAPI long ER_STDCALL erGetRobotBaseTip | ( | ER_HND | er_hnd, |
DFRAME * | bTt | ||
) |
DLLAPI long ER_STDCALL erGetRobotBasetoFirstJoint | ( | ER_HND | er_hnd, |
DFRAME * | T | ||
) |
DLLAPI long ER_STDCALL erGetRobotBaseToMoveBase | ( | ER_HND | er_hnd, |
DFRAME * | bTmb | ||
) |
Get transformation from robot base 'b' to the moveable base 'mb'.
If a kinematics base is moveable, the bTmb
contains the transformation from robot base 'b' to the moveable base 'mb' frame.
Otherwise bTmb
is identity, see erGetMoveBasepJointIdx(), erGetpJointMoveBase()
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetSpeedReductionEnable | ( | ER_HND | er_hnd, |
long * | speed_reduction_enable | ||
) |
Get speed reduction enable.
If speed reduction is enabled, the robots TCP speed gets reduced (while motion execution in erGET_NEXT_STEP()) if the desired nominal joint speeds exceeds the maximum allowed joint speed, defined with erSetVqMax().
Remarks
Per default, speed reduction is enabled.
Speed reduction causes the TrajectoryTime to increase, while the RemainingTime represents the minimum time necessary to reach the target.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | speed_reduction_enable | 1-enabled per default, 0-disabled |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | swe_calc_mode | =0 use fix swe_min and swe_max, =1 use equations to calculate SWE Switches |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | swe_max | fix maximum travel ranges, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | swe_max_passive | fix maximum travel ranges, max size ER_KIN_PASSIVE_JNTS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | swe_max_calc | calculated maximum travel ranges, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | swe_min | fix minimum travel ranges, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | swe_min_passive | fix minimum travel ranges, max size ER_KIN_PASSIVE_JNTS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | swe_min_calc | calculated minimum travel ranges, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | swe_min_calc | calculated minimum travel ranges, max size ER_KIN_DOFS |
[out] | swe_max_calc | calculated maximum travel ranges, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI ER_TARGET_EVENTS_HND ER_STDCALL erGetTargetLocationEventsHnd | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Handle for target events data.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
hnd | - target location events handle ER_TARGET_EVENTS_HND |
NULL | - Error, invalid target locations |
DLLAPI ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND ER_STDCALL erGetTargetLocationExtAxConveyorHnd | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Handle for external axis of a Conveyor-Motion
Typical data belonging to external axis data are:
number of external axis used, synchonization type, external axis data
Remarks
External axis data should be specified after the move definition of a target location The returned handle ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND is used to access external axis data for Conveyor-Motion
see example erGetExtAxConveyor_sync_type()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
hnd | - handle for external axis data definition for Conveyor ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND |
NULL | - Error, invalid target locations |
DLLAPI ER_TARGET_EXTAX_DEVICE_POSITIONER_HND ER_STDCALL erGetTargetLocationExtAxPositionerHnd | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Handle for external axis of a Positioner/TurnTable-Motion
Typical data belonging to external axis data are:
number of external axis used, synchonization type, external axis data
Remarks
External axis data should be specified after the move definition of a target location The returned handle ER_TARGET_EXTAX_DEVICE_POSITIONER_HND is used to access external axis data for Positioner/TurnTable-Motion
see example SetExtAxPositionerIdx()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
hnd | - handle for external axis data definition for Positioner/TurnTable ER_TARGET_EXTAX_DEVICE_POSITIONER_HND |
NULL | - Error, invalid target locations |
DLLAPI ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND ER_STDCALL erGetTargetLocationExtAxTrackHnd | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Handle for external axis of a Track/Slider-Motion
Typical data belonging to external axis data are:
number of external axis used, synchonization type, external axis data
Remarks
External axis data should be specified after the move definition of a target location The returned handle ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND is used to access external axis data for Track/Slider-Motion
see example SetExtAxTrackMotionIdx()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
hnd | - handle for external axis data definition for Track/Slider ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND |
NULL | - Error, invalid target locations |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erGetTargetLocationFirst | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Get first target location in a tool path.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
target | location handle - first target location in a tool path ER_TARGET_LOCATION_HND |
NULL | - Error, tool path has no target locations |
DLLAPI ER_TARGET_HEAD_HND ER_STDCALL erGetTargetLocationHeaderDataHnd | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Handle for target header data.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
hnd | - target location header handle ER_TARGET_HEAD_HND |
NULL | - Error, invalid target locations |
DLLAPI long ER_STDCALL erGetTargetLocationIdx | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Index of target location.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
>0 | - Idx of target location |
0 | - Error |
DLLAPI ER_TARGET_INSTRUCTIONS_HND ER_STDCALL erGetTargetLocationInstructionsHnd | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Handle for target instruction data
Remarks
Instructions are individual command or information attached to a target location. They don't influence in the calculated trajectory.
Instructions are very useful when creating a robot program using the API post processing function ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc().
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
hnd | - target location instruction handle ER_TARGET_INSTRUCTIONS_HND |
NULL | - Error, invalid target locations |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erGetTargetLocationLast | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Get last target location in a tool path.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
target | location handle - last target location in a tool path ER_TARGET_LOCATION_HND |
NULL | - Error, tool path has no target locations |
DLLAPI ER_TARGET_ATTRIBUTES_AUX_HND ER_STDCALL erGetTargetLocationMotionAttributesAuxHnd | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Handle for target attributes auxiliary data.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
hnd | - target location attributes auxiliary handle ER_TARGET_ATTRIBUTES_AUX_HND |
NULL | - Error, invalid target locations |
DLLAPI ER_TARGET_ATTRIBUTES_HND ER_STDCALL erGetTargetLocationMotionAttributesHnd | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Handle for target attributes data
Typical attributes belonging to a target location are:
e.g. target_id, external TCP, Base data, Tool data , motion type, override speed, velocity profile, flyby, autoaccel, lead- and lag time, etc.
Remarks
The returned handle ER_TARGET_ATTRIBUTES_HND is used to access target attributes data.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
hnd | - target location attributes handle ER_TARGET_ATTRIBUTES_HND |
NULL | - Error, invalid target locations |
DLLAPI ER_TARGET_MOTION_EXEC_HND ER_STDCALL erGetTargetLocationMotionExecHnd | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Handle for target execution data
Target execution data are calculated while interpolation through the complete tool path, if the robot has reached the target
see also.
Typical data belonging to a target execution data are:
motion_success, time_stamp, trajectory_time, robot configuration, JointPos, external axis values
Remarks
The returned handle ER_TARGET_MOTION_EXEC_HND is used to access target execution data
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
hnd | - target execution handle ER_TARGET_MOTION_EXEC_HND |
NULL | - Error, invalid target locations |
DLLAPI ER_TARGET_MOVE_CP_HND ER_STDCALL erGetTargetLocationMoveCPHnd | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Handle for target move CP data
Typical data belonging to a move CP target location are:
target_type, speed_cp, speed_ori, accel_cp, accel_ori, CartPosVec, CartPosVecVia, interpolation_mode, orientation_interpolation_mode
Remarks
The returned handle ER_TARGET_MOVE_CP_HND is used to access target move CP data.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
hnd | - target location move CP handle ER_TARGET_MOVE_CP_HND |
NULL | - Error, invalid target locations |
DLLAPI ER_TARGET_MOVE_JOINT_HND ER_STDCALL erGetTargetLocationMoveJointHnd | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Handle for target move joint data
Typical data belonging to a move joint target location are:
target_type, speed_percent, accel_percent, JointPos , CartPosVec, configuration, ptp_target_calculation_mode, turn_value
Remarks
The returned handle ER_TARGET_MOVE_JOINT_HND is used to access target move joint data.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
hnd | - target location move joint handle ER_TARGET_MOVE_JOINT_HND |
NULL | - Error, invalid target locations |
DLLAPI char* ER_STDCALL erGetTargetLocationName | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Name of target location.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
pointer | to char for 'target location name', maximum lengths ER_MAXSTR |
NULL | - Error |
DLLAPI char* ER_STDCALL erGetTargetLocationNameVia | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Name of target Via location, in case of circular motion.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
pointer | to char for 'target location name', maximum lengths ER_MAXSTR |
NULL | - Error |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erGetTargetLocationNext | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Get next target location in a tool path.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
target | location handle - next target location in a tool path ER_TARGET_LOCATION_HND |
NULL | - target location er_tarloc_hnd is the last one, or tool path has no target locations |
DLLAPI long ER_STDCALL erGetTargetLocationNumber | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Number of target locations in a tool path.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
n | - number of target locations in a tool path |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erGetTargetLocationPrev | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Get previous target location in a tool path.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
target | location handle - previous target location in a tool path ER_TARGET_LOCATION_HND |
NULL | - target location er_tarloc_hnd is the first one, or tool path has no target locations |
DLLAPI ER_TOOLPATH_HND ER_STDCALL erGetTargetLocationToolPathHnd | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Tool path handle belonging to target location handle.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
hnd | - tool path handle ER_TOOLPATH_HND |
NULL | - Error, invalid target locations |
DLLAPI long ER_STDCALL erGetTool | ( | ER_HND | er_hnd, |
DFRAME * | tTw | ||
) |
Get robot tool (TCP) data w.r.t. robots flange.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | tTw | tool data w.r.t. the robots flange ('t' - tip, 'w' - wrist). DFRAME |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetToolFix | ( | ER_HND | er_hnd, |
DFRAME * | tTwfix | ||
) |
Get robot tool fix (TCP) data w.r.t. robots flange, without Tool Offset.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | tTwfix | tool data w.r.t. the robots flange ('t' - tip, 'wf' - wrist). DFRAME |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetToolOffset | ( | ER_HND | er_hnd, |
DFRAME * | wTwo | ||
) |
Get robot tool offset (TCP) data w.r.t. robots fix Tcp.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | wTwo | tool data w.r.t. the robots flange ('w' - wrist, 'wo' - wrist offset). DFRAME |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | turn_interval | turn interval, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | turn_offset | turn offset, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | turn_value | turn value, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | vq_max | maximum of robot joint speeds, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetVxMax | ( | ER_HND | er_hnd, |
double * | vx_max | ||
) |
Get maximum cartesian speed.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | vx_max | maximum cartesian speed [m/s] |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetVxOriMax | ( | ER_HND | er_hnd, |
double * | vx_ori_max | ||
) |
Get maximum cartesian orientation speed.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | vx_ori_max | maximum cartesian orientation speed [rad/s] |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erGetWorldTcp | ( | ER_HND | er_hnd, |
DFRAME * | iTw | ||
) |
DLLAPI long ER_STDCALL erGetWorldTip | ( | ER_HND | er_hnd, |
DFRAME * | iTt | ||
) |
DLLAPI ER_HND ER_STDCALL erhGetTargetLocationER_HND | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Device handle belonging to target location.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
er_hnd | - device robot handle |
DLLAPI long 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.
0 | - OK |
1 | - Error, cannot create a valid handle |
DLLAPI long 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.
0 | - OK |
1 | - Error, cannot create a valid handle, Option MultiKIN not licensed |
DLLAPI long ER_STDCALL erInitToolPath | ( | ER_HND | er_hnd, |
ER_TOOLPATH_HND * | er_tpth_hnd | ||
) |
Create a unique tool path handle for a kinematics.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | er_tpth_hnd | a new unique tool path handle ER_TOOLPATH_HND |
0 | - OK |
1 | - Error, cannot create a valid handle |
DLLAPI long ER_STDCALL erInsertTargetLocation | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
ER_TARGET_LOCATION_HND * | er_tarloc_hnd, | ||
ER_TARGET_LOCATION_HND | er_tarloc_hnd_ref = NULL |
||
) |
Insert a new target location to a tool path before an existing target location
Remarks
The new target location is inserted before the target location with handle er_tarloc_hnd_ref
.
If parameter er_tarloc_hnd_ref
is NULL, the new target location is appended, see erAddTargetLocation().
The new target location is reset to default values and marked as invalid, use erGetTargetLocationNumber() to receive the number of target locations in the tool path.
See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[out] | er_tarloc_hnd | a new unique target location handle ER_TARGET_LOCATION_HND |
[in] | er_tarloc_hnd_ref | existing target location handle ER_TARGET_LOCATION_HND |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erInsertToolPath | ( | ER_HND | er_hnd, |
ER_TOOLPATH_HND * | er_tpth_hnd, | ||
ER_TOOLPATH_HND | er_tpth_hnd_ref | ||
) |
Create and insert a unique tool path handle.
The created tool path handle er_tpth_hnd
is inserted before the tool path handle er_tpth_hnd_ref
Remarks
If parameter er_tpth_hnd_ref
is NULL, the new tool path is appended.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | er_tpth_hnd | a new unique tool path handle ER_TOOLPATH_HND |
[in] | er_tpth_hnd_ref | unique tool path handle ER_TOOLPATH_HND |
0 | - OK |
1 | - Error, cannot create a valid handle |
DLLAPI long ER_STDCALL erInvKinRobotBaseTcp | ( | ER_HND | er_hnd, |
DFRAME * | bTw | ||
) |
Calculating the inverse kinematics transformation.
The bTw
is the location of the tcp w.r.t. robots base.
Get the calculated robot joint data with erGetJoints().
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | bTw | robots tcp ('w' - wrist) w.r.t. robots base 'b'. DFRAME |
0 | - INV_WARN_OK "OK", target location is reachable |
1 | - INV_WARN_SINGULAR Warning, target location is reachable, but location is in singularity |
2 | - INV_WARN_UNREACH, failed, target location is unreachable |
3 | - INV_WARN_CNFG, ERROR calulating inverse solution for current robot configuration |
4 | - INV_WARN_NO_INVKIN, ERROR kinematics has no inverse kinematics defned |
5 | - INV_WARN_SWE_EXCEED, Warning: inverse kinematics calculation successful, target location is reachable, but travel ranges are exceeded |
-1 | - INV_WARN_ERROR, invalid handle |
DLLAPI long ER_STDCALL erInvKinRobotBaseTip | ( | ER_HND | er_hnd, |
DFRAME * | bTt | ||
) |
Calculating the inverse kinematics transformation.
The bTt
is the location of the flange w.r.t. robots base.
Get the calculated robot joint data with erGetJoints().
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | bTt | robots flange ('t' - tip) w.r.t. robots base 'b'. DFRAME |
0 | - INV_WARN_OK "OK", target location is reachable |
1 | - INV_WARN_SINGULAR Warning, target location is reachable, but location is in singularity |
2 | - INV_WARN_UNREACH, failed, target location is unreachable |
3 | - INV_WARN_CNFG, ERROR calulating inverse solution for current robot configuration |
4 | - INV_WARN_NO_INVKIN, ERROR kinematics has no inverse kinematics defned |
5 | - INV_WARN_SWE_EXCEED, Warning: inverse kinematics calculation successful, target location is reachable, but travel ranges are exceeded |
-1 | - INV_WARN_ERROR, invalid handle |
DLLAPI long ER_STDCALL erInvKinWorldTcp | ( | ER_HND | er_hnd, |
DFRAME * | iTw | ||
) |
Calculating the inverse kinematics transformation.
The iTw
is the location of the tcp w.r.t. inertia (world).
Get the calculated robot joint data with erGetJoints().
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | iTw | robots tcp ('w' - wrist) w.r.t. inertia 'i'. DFRAME |
0 | - INV_WARN_OK "OK", target location is reachable |
1 | - INV_WARN_SINGULAR Warning, target location is reachable, but location is in singularity |
2 | - INV_WARN_UNREACH, failed, target location is unreachable |
3 | - INV_WARN_CNFG, ERROR calulating inverse solution for current robot configuration |
4 | - INV_WARN_NO_INVKIN, ERROR kinematics has no inverse kinematics defned |
5 | - INV_WARN_SWE_EXCEED, Warning: inverse kinematics calculation successful, target location is reachable, but travel ranges are exceeded |
-1 | - INV_WARN_ERROR, invalid handle |
DLLAPI long ER_STDCALL erInvKinWorldTip | ( | ER_HND | er_hnd, |
DFRAME * | iTt | ||
) |
Calculating the inverse kinematics transformation.
The iTt
is the location of the flange w.r.t. inertia (world).
Get the calculated robot joint data with erGetJoints().
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | iTt | robots flange ('t' - tip) w.r.t. inertia 'i'. DFRAME |
0 | - INV_WARN_OK "OK", target location is reachable |
1 | - INV_WARN_SINGULAR Warning, target location is reachable, but location is in singularity |
2 | - INV_WARN_UNREACH, failed, target location is unreachable |
3 | - INV_WARN_CNFG, ERROR calulating inverse solution for current robot configuration |
4 | - INV_WARN_NO_INVKIN, ERROR kinematics has no inverse kinematics defned |
5 | - INV_WARN_SWE_EXCEED, Warning: inverse kinematics calculation successful, target location is reachable, but travel ranges are exceeded |
-1 | - INV_WARN_ERROR, invalid handle |
DLLAPI int ER_STDCALL erk_AutoPath_SetCallback_CheckConstraints | ( | BOOL(*)(int, void *) | ptr_CheckConstraints | ) |
Defines a callback function to check constraints during AutoPath calculation
The callback function is called with two parameters
Parameter action
in Callback_API_CheckConstraints() is a bitwise inclusive OR operator (|) of
AUTOPATH_SDK_CHK_CONSTRAINT_UNDEF, AUTOPATH_SDK_CHK_CONSTRAINT_START, AUTOPATH_SDK_CHK_CONSTRAINT_DEST, AUTOPATH_SDK_CHK_CONSTRAINT_COLLISION, AUTOPATH_SDK_CHK_CONSTRAINT_SWE, AUTOPATH_SDK_CHK_CONSTRAINT_CART_SPACE, AUTOPATH_SDK_CHK_CONSTRAINT_ISCFREE
Parameter vapcs
in Callback_API_CheckConstraints() defines the autopath configuration space AutoPath_ConfigurationSpace
see example AutoPathInit()
[in] | ptr_CheckConstraints | (int) callback function pointer |
0 | - Ok |
1 | - Error |
DLLAPI int ER_STDCALL erk_AutoPathAbortPlanning | ( | void | ) |
Abort path planning
use GetPlanningStatus()
0 | - AUTOPATH_SDK_OK |
1 | - AUTOPATH_SDK_ERROR |
DLLAPI int ER_STDCALL erk_AutoPathClearAllWayPoints | ( | void | ) |
Clear all way points.
0 | - AUTOPATH_SDK_OK |
1 | - AUTOPATH_SDK_ERROR |
DLLAPI int ER_STDCALL erk_AutoPathFindPath | ( | void | ) |
Start motion planner, find a collision free path between start and end pose
In each step, the callback function "ptr_CheckConstraints" is called, to check constraints If the target is reached, the callback function is called with action parameter AUTOPATH_SDK_STATUS_MP_SUCCESS.
0 | - AUTOPATH_SDK_OK |
1 | - AUTOPATH_SDK_ERROR |
DLLAPI int ER_STDCALL erk_AutoPathFreeMem | ( | AutoPath_ConfigurationSpace * | apcs | ) |
free memory of AutoPath_ConfigurationSpace data
see example AutoPathInit()
[in] | apcs | autopath configuration space AutoPath_ConfigurationSpace |
0 | - AUTOPATH_SDK_OK - OK |
1 | - AUTOPATH_SDK_ERROR - Error, AutoPath initialization failed |
DLLAPI double* ER_STDCALL erk_AutoPathGetAxisConstraintsMax | ( | void | ) |
Get maximum axis constraints return pointer, size nConfig.
DLLAPI double* ER_STDCALL erk_AutoPathGetAxisConstraintsMin | ( | void | ) |
Get minimum axis constraints return pointer, size nConfig.
DLLAPI double* ER_STDCALL erk_AutoPathGetConfigurationPose | ( | void | ) |
current configuration pose during FindPath Process return pointer, size nConfig
DLLAPI double* ER_STDCALL erk_AutoPathGetEndPose | ( | void | ) |
Get End Pose return pointer, size nConfig.
DLLAPI int ER_STDCALL erk_AutoPathGetNumberOfWayPoints | ( | void | ) |
Get number of calculated way points, including start and end pose
call this method after FindPath() succeeded.
number | of way points |
DLLAPI int ER_STDCALL erk_AutoPathGetParameter | ( | int | ap_option | ) |
Get parameter Paramter ap_option
is one of
AUTOPATH_SDK_PARAMETER_DYNADJUST
AUTOPATH_SDK_PARAMETER_ALGORITHM
AUTOPATH_SDK_PARAMETER_NTREES
AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS
AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR
AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE
AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY
AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION
AUTOPATH_SDK_PARAMETER_SEED_VALUE.
[in] | ap_option | - autopath option |
0 | - AUTOPATH_SDK_OK |
1 | - AUTOPATH_SDK_ERROR |
DLLAPI int ER_STDCALL erk_AutoPathGetPlanningStatus | ( | void | ) |
Get path planning status
The planning status is one of
AUTOPATH_SDK_STATUS_MP_IDLE
AUTOPATH_SDK_STATUS_MP_RUNNING.
planning | status |
DLLAPI int ER_STDCALL erk_AutoPathGetResults | ( | int | ap_result | ) |
Get results Paramter ap_result
is one of
AUTOPATH_SDK_RESULT_CHECKS
AUTOPATH_SDK_RESULT_SECONDS
AUTOPATH_SDK_RESULT_CPS
AUTOPATH_SDK_RESULT_CFREE
AUTOPATH_SDK_RESULT_COBSTACLE
AUTOPATH_SDK_RESULT_CDENSITY
AUTOPATH_SDK_RESULT_DSECONDS
AUTOPATH_SDK_RESULT_SEED_VALUE
AUTOPATH_SDK_RESULT_QUALITY_INDEX
AUTOPATH_SDK_RESULT_QUALITY_INDEX_STD_DEV.
[in] | ap_result | - autopath result |
0 | - AUTOPATH_SDK_OK |
1 | - AUTOPATH_SDK_ERROR |
DLLAPI double* ER_STDCALL erk_AutoPathGetStartPose | ( | void | ) |
Get Start Pose return pointer, size nConfig.
DLLAPI double* ER_STDCALL erk_AutoPathGetWayPoint | ( | int | idx | ) |
Get way point.
[in] | idx | [0.. number of way points-1] |
pointer |
DLLAPI int ER_STDCALL erk_AutoPathGetWayPointDof | ( | void | ) |
Get dof of calculated way points.
dof | of way points |
DLLAPI int ER_STDCALL erk_AutoPathInit | ( | AutoPath_ConfigurationSpace * | apcs | ) |
Initialize AutoPath
Call this functions to setup the autopath configuration space
Parameter apcs
defines the complete configuration for all used devices, such as
number of configurations up to AUTOPATH_SDK_KIN_DOFS, device handle for each configuration, device axis index, etc.
call AutoPathSetMem() first.
[in] | apcs | autopath configuration space AutoPath_ConfigurationSpace |
0 | - AUTOPATH_SDK_OK - OK |
1 | - AUTOPATH_SDK_ERROR - Error, AutoPath initialization failed |
2 | - AUTOPATH_SDK_INVALID_LICENSE - Error, AutoPath not licensed |
DLLAPI int ER_STDCALL erk_AutoPathSetAccuracy | ( | UINT | accuracy | ) |
Set accuracy.
[in] | accuracy | [1..100] |
0 | - AUTOPATH_SDK_OK |
1 | - AUTOPATH_SDK_ERROR |
DLLAPI int ER_STDCALL erk_AutoPathSetAxisConstraints | ( | int | axisBit = AUTOPATH_SDK_AXIS_BIT_DOF6 , |
int | setting = 0 , |
||
double | qConstraintMin = 0 , |
||
double | qConstraintMax = 0 |
||
) |
Set axis constraints
Parameter setting
is a bitwise inclusive OR operator (|) of AUTOPATH_SDK_CONSTRAINT_RESET, AUTOPATH_SDK_CONSTRAINT_MIN, AUTOPATH_SDK_CONSTRAINT_MAX.
[in] | axisBit | - a bitwise inclusive OR operator (|) of AUTOPATH_SDK_AXIS_BIT_1 ... AUTOPATH_SDK_AXIS_BIT_24 |
[in] | setting | |
[in] | qConstraintMin | - size of nConfig |
[in] | qConstraintMax | - size of nConfig |
0 | - AUTOPATH_SDK_OK |
1 | - AUTOPATH_SDK_ERROR |
DLLAPI int ER_STDCALL erk_AutoPathSetAxisEnable | ( | int | axisBit, |
int | enable | ||
) |
Set axis enable.
0 | - AUTOPATH_SDK_OK |
1 | - AUTOPATH_SDK_ERROR |
DLLAPI int ER_STDCALL erk_AutoPathSetAxisPriority | ( | int | axisBit, |
int | priority | ||
) |
Set axis priority.
[in] | axisBit | |
[in] | priority | [1..50..100] |
0 | - AUTOPATH_SDK_OK |
1 | - AUTOPATH_SDK_ERROR |
DLLAPI int ER_STDCALL erk_AutoPathSetMem | ( | AutoPath_ConfigurationSpace * | apcs | ) |
allocate memory for AutoPath_ConfigurationSpace data depending on nConfig
see example AutoPathInit()
[in] | apcs | autopath configuration space AutoPath_ConfigurationSpace |
0 | - AUTOPATH_SDK_OK - OK |
1 | - AUTOPATH_SDK_ERROR - Error, AutoPath initialization failed |
DLLAPI int ER_STDCALL erk_AutoPathSetParameter | ( | int | ap_option, |
int | ap_value | ||
) |
Set parameter Paramter ap_option
is one of
AUTOPATH_SDK_PARAMETER_DYNADJUST
AUTOPATH_SDK_PARAMETER_ALGORITHM
AUTOPATH_SDK_PARAMETER_NTREES
AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS
AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR
AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE
AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY
AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION
AUTOPATH_SDK_PARAMETER_SEED_VALUE.
[in] | ap_option | - autopath option |
[in] | ap_value | - autopath value |
0 | - AUTOPATH_SDK_OK |
1 | - AUTOPATH_SDK_ERROR |
DLLAPI int ER_STDCALL erk_AutoPathSetPoseEnd | ( | double * | pose_end | ) |
Set end configuration
Remarks
This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints.
[in] | pose_end | pointer to start pose, maximum size AUTOPATH_SDK_KIN_DOFS |
0 | - AUTOPATH_SDK_OK |
1 | - AUTOPATH_SDK_ERROR |
DLLAPI int ER_STDCALL erk_AutoPathSetPoseStart | ( | double * | pose_start | ) |
Set start configuration
Remarks
This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints.
[in] | pose_start | pointer to start pose, maximum size AUTOPATH_SDK_KIN_DOFS |
0 | - AUTOPATH_SDK_OK |
1 | - AUTOPATH_SDK_ERROR |
DLLAPI int ER_STDCALL erk_AutoPathTerminate | ( | AutoPath_ConfigurationSpace * | apcs | ) |
Terminate AutoPath
call AutoPathFreeMem() first, see example AutoPathInit()
[in] | apcs | autopath configuration space AutoPath_ConfigurationSpace |
0 | - AUTOPATH_SDK_OK - OK |
1 | - AUTOPATH_SDK_ERROR - Error, AutoPath initialization failed |
DLLAPI char* ER_STDCALL erk_AutoPathVer | ( | void | ) |
AutoPath Version.
version | AutoPath version number |
DLLAPI long ER_STDCALL erKernelAddLicenseFile | ( | char * | license_file | ) |
Set an additional location and name of license file.
Call this function before initializing the Kernel erKernelInitialize()
If license_file
is not set, it is supposed that the license file resides in the current folder, see erKernelGetLicenseFile(), erKernelSetLicenseFile()
[in] | license_file | string, maximum lengths ER_HS_MAXSTR |
0 | - OK |
1 | - Error file not found or Kernal already initialized |
DLLAPI void ER_STDCALL erKernelFree | ( | void | ) |
Free all internal Kernel data.
Calling this function will delete all internal Kernel data
After calling this functions not any kernel functions is available
Even callback functions are not available.
DLLAPI long ER_STDCALL erKernelGetHardwareID | ( | char * | hw_id | ) |
Supplies unique HardwareID or DongleID.
[out] | hw_id | string, maximum lengths ER_MAXSTR |
0 | - OK |
1 | - Error no Hardware ID or Dongle ID available |
DLLAPI long ER_STDCALL erKernelGetLicense | ( | char * | hw_id | ) |
Check license and supplies unique HardwareID or DongleID.
[out] | hw_id | string, maximum lengths ER_MAXSTR |
0 | - Ok, valid license with valid Hardware- or Dongle ID |
1 | - Invalid license, Hardware- or Dongle ID not availabe |
DLLAPI long ER_STDCALL erKernelGetLicenseFile | ( | char * | license_file | ) |
Get location and name of license file.
If license_file
is not set the string is empty, see erKernelSetLicenseFile(), erKernelAddLicenseFile()
[out] | license_file | string, maximum lengths ER_HS_MAXSTR |
0 | - OK |
1 | - Error file not found or not set |
DLLAPI long ER_STDCALL erKernelGetLicensePriority | ( | int * | license_priority | ) |
Get license priority.
Parameter license_priority
is one of ER_LICENSE_PRIORITY_LMNGR, ER_LICENSE_PRIORITY_LOCAL
If license_priority
is not set, ER_LICENSE_PRIORITY_LMNGR is default setting, see erKernelSetLicensePriority()
[out] | license_priority | license priority |
0 | - OK |
1 | - Error, invalid license priority or Kernal already initialized |
DLLAPI long ER_STDCALL erKernelGetOptions | ( | char * | opt | ) |
Supplies option string containing all enabled options.
[out] | opt | Option string, maximum lengths ER_LS_MAXSTR |
0 | - OK |
1 | - Error NOT licensed |
DLLAPI long ER_STDCALL erKernelGetOptionsDisabled | ( | char * | nopt | ) |
Supplies option string containing all disabled options.
[out] | nopt | Option string, maximum lengths ER_LS_MAXSTR |
0 | - OK |
1 | - Error NOT licensed |
DLLAPI long ER_STDCALL erKernelGetVersion | ( | void | ) |
Returns the Kernels Version.
version | Kernel version number |
DLLAPI long ER_STDCALL erKernelInitialize | ( | char * | HostApplicationPath, |
char * | Sold_To_ID, | ||
long | mode = 0 |
||
) |
Initializes the Kernel.
After calling this initial functions all other kernel functions are available.
Before calling this initial functions all callback functions should be defined and initialized, thus they can be used when calling this function.
The HostApplicationPath
must contain the path where the host application is running. The maximum string lenght is ER_HS_MAXSTR
The Sold_To_ID
contains an individual customer identifier, per default = NULL
The mode
is not implemented yet, per default = 0.
[in] | HostApplicationPath | host application path |
[in] | Sold_To_ID | individual customer identifier |
[in] | mode | =0, tbd |
0 | - OK |
1 | - Error, cannot initialize kernel, no valid license for example |
DLLAPI long ER_STDCALL erKernelSetLicenseFile | ( | char * | license_file | ) |
Set location and name of license file.
Call this function before initializing the Kernel erKernelInitialize()
If license_file
is not set, it is supposed that the license file resides in the current folder, see erKernelGetLicenseFile(), erKernelAddLicenseFile()
[in] | license_file | string, maximum lengths ER_HS_MAXSTR |
0 | - OK |
1 | - Error file not found or Kernal already initialized |
DLLAPI long ER_STDCALL erKernelSetLicensePriority | ( | int | license_priority | ) |
Set license priority.
Call this function before initializing the Kernel erKernelInitialize()
Parameter license_priority
is one of ER_LICENSE_PRIORITY_LMNGR, ER_LICENSE_PRIORITY_LOCAL
If license_priority
is not set, ER_LICENSE_PRIORITY_LMNGR is default setting, see erKernelGetLicensePriority()
[in] | license_priority | license priority |
0 | - OK |
1 | - Error, invalid license priority or Kernal already initialized |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | fln_rob | robot file name (*.rob) |
0 | - OK |
1 | - Error, cannot load file |
DLLAPI long 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.
.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | fln_tool | tool file name (*.tol) |
0 | - OK |
1 | - Error, cannot load file |
DLLAPI long ER_STDCALL erMath_AngleBetween | ( | DFRAME * | Ts, |
DFRAME * | Te, | ||
double * | angle, | ||
double * | k = NULL |
||
) |
Calculates the angle and the equivalent angle axis between two homogeneous 4x4 transformation matrices.
Rotation from start frame Ts
into end frame Te
by angle of rotation angle
about the equivalent angle axis k
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[in] | Ts | start frame DFRAME |
[in] | Te | end frame DFRAME |
[out] | angle | angle of rotation [rad] |
[out] | k | normalized equivalent angle axis |
0 | - OK |
1 | - Error, invalid rotation idx, kernel not initialized |
DLLAPI long ER_STDCALL erMath_CircCenterPoint | ( | double * | ps, |
double * | pv, | ||
double * | pe, | ||
DFRAME * | pTc, | ||
double * | radius, | ||
double * | phi, | ||
double * | phi_via = NULL |
||
) |
Circle calculation from three points ps
over pv
to pe
.
Calculates center of circle, radius and angle.
[in] | ps | 1st start point, ER_DIM |
[in] | pv | 2nd via point, ER_DIM |
[in] | pe | 3rd end point, ER_DIM |
[out] | pTc | center of circle, DFRAME |
[out] | radius | of circle |
[out] | phi | angle of complete circle segment from ps over pv to pe |
[out] | phi_via | angle of circle segment from ps to pv |
0 | - OK |
1 | - Error, cannot calculate circle, maybe ps, pv and pe are on a line |
DLLAPI double* ER_STDCALL erMath_CpyVec | ( | double * | dst, |
double * | src, | ||
int | n | ||
) |
Cpy vector dst = src.
[out] | dst | - destination |
[in] | src | - source |
[in] | n | - number of values to cpy |
pointer | to double of dst |
DLLAPI long ER_STDCALL erMath_DistBetween | ( | DFRAME * | Ts, |
DFRAME * | Te, | ||
double * | dist, | ||
double * | dv = NULL |
||
) |
Calculates the distance and direction between two homogeneous 4x4 transformation matrices.
Translation from start frame Ts
into end frame Te
by the distance dist
in direction vd
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[in] | Ts | start frame DFRAME |
[in] | Te | end frame DFRAME |
[out] | dist | distance |
[out] | dv | normalized direction |
0 | - OK |
1 | - Error, invalid rotation idx, kernel not initialized |
DLLAPI long ER_STDCALL erMath_Frame_Ident | ( | DFRAME * | T | ) |
DLLAPI long ER_STDCALL erMath_Frame_Rot | ( | DFRAME * | T, |
double | q, | ||
long | rotation_idx = ER_ROT_IDENT |
||
) |
Set orientation of homogeneous 4x4 transformation matrix.
T = f(q,rotation_idx)
The rotation index rotation_idx
, is one of
ER_ROT_IDENT=default, ER_ROT_X, ER_ROT_Y or ER_ROT_Z
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | T | frame DFRAME |
[in] | q | rotation angle [rad] |
[in] | rotation_idx | rotation index |
0 | - OK |
1 | - Error, invalid rotation idx, kernel not initialized |
DLLAPI long ER_STDCALL erMath_Frame_Trans | ( | DFRAME * | T, |
double | x, | ||
double | y, | ||
double | z | ||
) |
DLLAPI long ER_STDCALL erMath_FrameToVecIdx | ( | DFRAME * | T, |
double * | vec, | ||
long | rotation_idx = ER_ROT_XYZ |
||
) |
Converts a frame into an euler vector or quaternion. Frame T
is converted into a vector vec
A frame DFRAME is a homogeneous 4x4 transformation matrix.
Depending on the rotation index rotation_idx
, which is one of
ER_ROT_XYZ = RotX * RotY' * RotZ'' default,
ER_ROT_XYZ, ER_ROT_ZYX, ER_ROT_YXZ, ER_ROT_ZYZ,ER_ROT_XYX, ER_ROT_RPY, ER_ROT_QUAT, ER_ROT_CA, ER_ROT_ZYpZ,
ER_ROT_Y9XZ, ER_ROT_Z9XY, ER_ROT_Z9XZ, ER_ROT_Z9YX, ER_ROT_IJK, ER_ROT_ANGLE_1
See also erMath_VecToFrameIdx()
[in] | T | homegeneous matrix DFRAME |
[out] | vec | vector (euler, quaternion in [rad]), max size is ER_DOF6 or ER_DOF_QUAT for ER_ROT_QUAT |
[in] | rotation_idx | rotation index |
0 | - Error, invalid rotation_idx, no results calculated in vector vec |
>=5 | - number of valid calculated values in vector vec , depending on the rotation index rotation_idx |
DLLAPI long ER_STDCALL erMath_invR | ( | DFRAME * | Ro, |
DFRAME * | Ri | ||
) |
Builds the inverse of the 3x3 orientation matrix from a homogeneous 4x4 transformation matrix T
.
Ro = inv(Ri) = transpose(Ri) = Ri', with Ti = ( Ri , pi )
A frame DFRAME is a homogeneous 4x4 transformation matrix.
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_invT | ( | DFRAME * | To, |
DFRAME * | Ti | ||
) |
DLLAPI long ER_STDCALL erMath_mul_invR_pos | ( | double * | po, |
DFRAME * | R, | ||
double * | pi | ||
) |
Multiplication of a 3x1 position with the transpose of a 3x3 orientation of a homogeneous 4x4 transformation matrices.
po = R' * pi, pi is vector of size ER_DIM
Remarks
R' = inv(R) is the transpose of R, see erMath_invR()
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | po | position product of inv(R) and pi ER_DIM |
[in] | R | 3x3 orientation frame DFRAME |
[in] | pi | position ER_DIM |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_mul_invT_invT | ( | DFRAME * | To, |
DFRAME * | Ti1, | ||
DFRAME * | Ti2 | ||
) |
Multiplication of two homogeneous 4x4 transformation matrices.
To = inv(Ti1) * inv(Ti2)
Remarks
inv(T) is the inverse of T, see erMath_invT()
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | To | product of Ti1 and inv(Ti2) DFRAME |
[in] | Ti1 | 1st frame DFRAME |
[in] | Ti2 | 2nd frame DFRAME |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_mul_invT_invT_invT | ( | DFRAME * | To, |
DFRAME * | Ti1, | ||
DFRAME * | Ti2, | ||
DFRAME * | Ti3 | ||
) |
Tripple multiplication of homogeneous 4x4 transformation matrices.
To = inv(Ti1) * inv(Ti2) * inv(Ti3)
Remarks
inv(T) is the inverse of T, see erMath_invT()
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | To | product of inv(Ti1) and inv(Ti2) and inv(Ti3) DFRAME |
[in] | Ti1 | 1st frame DFRAME |
[in] | Ti2 | 2nd frame DFRAME |
[in] | Ti3 | 3rd frame DFRAME |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_mul_invT_invT_T | ( | DFRAME * | To, |
DFRAME * | Ti1, | ||
DFRAME * | Ti2, | ||
DFRAME * | Ti3 | ||
) |
Tripple multiplication of homogeneous 4x4 transformation matrices.
To = inv(Ti1) * inv(Ti2) * Ti3
Remarks
inv(T) is the inverse of T, see erMath_invT()
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | To | product of inv(Ti1) and inv(Ti2) and Ti3 DFRAME |
[in] | Ti1 | 1st frame DFRAME |
[in] | Ti2 | 2nd frame DFRAME |
[in] | Ti3 | 3rd frame DFRAME |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_mul_invT_pos | ( | double * | po, |
DFRAME * | T, | ||
double * | pi | ||
) |
Multiplication of a 3x1 position with the inverse of a homogeneous 4x4 transformation matrices.
po = inv(T) * pi, pi is vector of size ER_DIM
Remarks
inv(T) is the inverse of T, see erMath_invT()
A frame DFRAME is a homogeneous 4x4 transformation matrix.
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_mul_invT_T | ( | DFRAME * | To, |
DFRAME * | Ti1, | ||
DFRAME * | Ti2 | ||
) |
Multiplication of two homogeneous 4x4 transformation matrices.
To = inv(Ti1) * Ti2
Remarks
inv(T) is the inverse of T, see erMath_invT()
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | To | product of Ti1 and inv(Ti2) DFRAME |
[in] | Ti1 | 1st frame DFRAME |
[in] | Ti2 | 2nd frame DFRAME |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_mul_invT_T_invT | ( | DFRAME * | To, |
DFRAME * | Ti1, | ||
DFRAME * | Ti2, | ||
DFRAME * | Ti3 | ||
) |
Tripple multiplication of homogeneous 4x4 transformation matrices.
To = inv(Ti1) * Ti2 * inv(Ti3)
Remarks
inv(T) is the inverse of T, see erMath_invT()
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | To | product of inv(Ti1) and Ti2 and inv(Ti3) DFRAME |
[in] | Ti1 | 1st frame DFRAME |
[in] | Ti2 | 2nd frame DFRAME |
[in] | Ti3 | 3rd frame DFRAME |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_mul_invT_T_T | ( | DFRAME * | To, |
DFRAME * | Ti1, | ||
DFRAME * | Ti2, | ||
DFRAME * | Ti3 | ||
) |
Tripple multiplication of homogeneous 4x4 transformation matrices.
To = inv(Ti1) * Ti2 * Ti3
Remarks
inv(T) is the inverse of T, see erMath_invT()
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | To | product of inv(Ti1) and Ti2 and Ti3 DFRAME |
[in] | Ti1 | 1st frame DFRAME |
[in] | Ti2 | 2nd frame DFRAME |
[in] | Ti3 | 3rd frame DFRAME |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_mul_R_pos | ( | double * | po, |
DFRAME * | R, | ||
double * | pi | ||
) |
Multiplication of a 3x1 position with the 3x3 orientation of a homogeneous 4x4 transformation matrices.
po = R * pi, pi is vector of size ER_DIM
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | po | position product of R and pi ER_DIM |
[in] | R | 3x3 orientation frame DFRAME |
[in] | pi | position ER_DIM |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_mul_R_R | ( | DFRAME * | Ro, |
DFRAME * | Ri1, | ||
DFRAME * | Ri2 | ||
) |
Orientation multiplication of two homogeneous 4x4 transformation matrices.
Ro = Ri1 * Ri2
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | Ro | product of Ri1 and Ri2 DFRAME |
[in] | Ri1 | 1st frame orientation DFRAME |
[in] | Ri2 | 2nd frame orientation DFRAME |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_mul_T_invT | ( | DFRAME * | To, |
DFRAME * | Ti1, | ||
DFRAME * | Ti2 | ||
) |
Multiplication of two homogeneous 4x4 transformation matrices.
To = Ti1 * inv(Ti2)
Remarks
inv(T) is the inverse of T, see erMath_invT()
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | To | product of Ti1 and inv(Ti2) DFRAME |
[in] | Ti1 | 1st frame DFRAME |
[in] | Ti2 | 2nd frame DFRAME |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_mul_T_invT_invT | ( | DFRAME * | To, |
DFRAME * | Ti1, | ||
DFRAME * | Ti2, | ||
DFRAME * | Ti3 | ||
) |
Tripple multiplication of homogeneous 4x4 transformation matrices.
To = Ti1 * inv(Ti2) * inv(Ti3)
Remarks
inv(T) is the inverse of T, see erMath_invT()
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | To | product of Ti1 and inv(Ti2) and inv(Ti3) DFRAME |
[in] | Ti1 | 1st frame DFRAME |
[in] | Ti2 | 2nd frame DFRAME |
[in] | Ti3 | 3rd frame DFRAME |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_mul_T_invT_T | ( | DFRAME * | To, |
DFRAME * | Ti1, | ||
DFRAME * | Ti2, | ||
DFRAME * | Ti3 | ||
) |
Tripple multiplication of homogeneous 4x4 transformation matrices.
To = Ti1 * inv(Ti2) * Ti3
Remarks
inv(T) is the inverse of T, see erMath_invT()
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | To | product of Ti1 and inv(Ti2) and Ti3 DFRAME |
[in] | Ti1 | 1st frame DFRAME |
[in] | Ti2 | 2nd frame DFRAME |
[in] | Ti3 | 3rd frame DFRAME |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_mul_T_pos | ( | double * | po, |
DFRAME * | T, | ||
double * | pi | ||
) |
DLLAPI long ER_STDCALL erMath_mul_T_T | ( | DFRAME * | To, |
DFRAME * | Ti1, | ||
DFRAME * | Ti2 | ||
) |
DLLAPI long ER_STDCALL erMath_mul_T_T_invT | ( | DFRAME * | To, |
DFRAME * | Ti1, | ||
DFRAME * | Ti2, | ||
DFRAME * | Ti3 | ||
) |
Tripple multiplication of homogeneous 4x4 transformation matrices.
To = Ti1 * Ti2 * inv(Ti3)
Remarks
inv(T) is the inverse of T, see erMath_invT()
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | To | product of Ti1 and Ti2 and inv(Ti3) DFRAME |
[in] | Ti1 | 1st frame DFRAME |
[in] | Ti2 | 2nd frame DFRAME |
[in] | Ti3 | 3rd frame DFRAME |
0 | - OK |
1 | - Error, kernel not initialized |
Tripple multiplication of homogeneous 4x4 transformation matrices.
To = Ti1 * Ti2 * Ti3
A frame DFRAME is a homogeneous 4x4 transformation matrix.
[out] | To | product of Ti1 and Ti2 and Ti3 DFRAME |
[in] | Ti1 | 1st frame DFRAME |
[in] | Ti2 | 2nd frame DFRAME |
[in] | Ti3 | 3rd frame DFRAME |
0 | - OK |
1 | - Error, kernel not initialized |
DLLAPI long ER_STDCALL erMath_PxyzRxyzToFrame | ( | double | x, |
double | y, | ||
double | z, | ||
double | Rx, | ||
double | Ry, | ||
double | Rz, | ||
DFRAME * | T | ||
) |
Converts an euler represented location with rotation index ER_ROT_XYZ into a frame.
Location x
, y
, z
, Rx
, Ry
, Rz
are converted into a frame T
A frame DFRAME is a homogeneous 4x4 transformation matrix.
See also erMath_VecToFrameIdx(), erMath_FrameToVecIdx()
[in] | x | X position |
[in] | y | Y position |
[in] | z | Z position |
[in] | Rx | rotation angle about X axis in [rad] |
[in] | Ry | rotation angle about Y axis in [rad] |
[in] | Rz | rotation angle about Z axis in [rad] |
[out] | T | homegeneous matrix DFRAME |
0 | - OK |
1 | - Error, invalid rotation idx, kernel not initialized |
DLLAPI double* ER_STDCALL erMath_ResetVec | ( | double * | dst, |
int | n | ||
) |
Reset vector dst = 0.
[out] | dst | - destination |
[in] | n | - number of values to reset to 0 |
pointer | to double of dst |
DLLAPI DFRAME* ER_STDCALL erMath_SetFramePosOri | ( | DFRAME * | To, |
double | x, | ||
double | y, | ||
double | z, | ||
double | Rx, | ||
double | Ry, | ||
double | Rz | ||
) |
Cpy and convert a target location (position+orientation) to a DFRAME
position x,y,z in [mm] converted to [m] by ER_mm2m
orientation Rx,Ry,Rz in [deg] converted to [rad] by ER_RAD
.
[in,out] | To | - DFRAME |
[in] | x | - x position |
[in] | y | - y position |
[in] | z | - z position |
[in] | Rx | - x rotation |
[in] | Ry | - y rotation |
[in] | Rz | - z rotation |
pointer | to DFRAME of To |
DLLAPI double* ER_STDCALL erMath_SetVec6 | ( | double * | vec, |
double | q1, | ||
double | q2, | ||
double | q3, | ||
double | q4, | ||
double | q5, | ||
double | q6 | ||
) |
Cpy six values to a vector.
[in,out] | vec | - [q1,q2,q3, q4,q5,q6] |
[in] | q1 | - 1st value |
[in] | q2 | - 2nd value |
[in] | q3 | - 3rd value |
[in] | q4 | - 4th value |
[in] | q5 | - 5th value |
[in] | q6 | - 6th value |
pointer | to double of vec |
DLLAPI double* ER_STDCALL erMath_SetVec6PosOri | ( | double * | vec, |
double | x, | ||
double | y, | ||
double | z, | ||
double | Rx, | ||
double | Ry, | ||
double | Rz | ||
) |
Cpy and convert a target location (position+orientation) to a vector
position x,y,z in [mm] converted to [m] by ER_mm2m
orientation Rx,Ry,Rz in [deg] converted to [rad] by ER_RAD
.
[in,out] | vec | - [x,y,z, Rx,Ry,Rz] |
[in] | x | - x position |
[in] | y | - y position |
[in] | z | - z position |
[in] | Rx | - x rotation |
[in] | Ry | - y rotation |
[in] | Rz | - z rotation |
pointer | to double of vec |
DLLAPI double* ER_STDCALL erMath_SetVec_n | ( | double * | vec, |
int | n, | ||
double | q1, | ||
double | q2, | ||
double | q3, | ||
double | q4, | ||
double | q5, | ||
double | q6 | ||
) |
Cpy n values to a vector.
[in,out] | vec | - [q1,q2,q3, q4,q5,q6] |
[in] | n | - number of values to cpy, maximum is 6 |
[in] | q1 | - 1st value |
[in] | q2 | - 2nd value |
[in] | q3 | - 3rd value |
[in] | q4 | - 4th value |
[in] | q5 | - 5th value |
[in] | q6 | - 6th value |
pointer | to double of vec |
DLLAPI long ER_STDCALL erMath_VecToFrameIdx | ( | double * | vec, |
DFRAME * | T, | ||
long | rotation_idx = ER_ROT_XYZ |
||
) |
Converts an euler vector or quaternion into a frame. Vector vec
is converted into a frame T
A frame DFRAME is a homogeneous 4x4 transformation matrix.
Depending on the rotation index rotation_idx
, which is one of
ER_ROT_XYZ = RotX * RotY' * RotZ'' default,
ER_ROT_XYZ, ER_ROT_ZYX, ER_ROT_YXZ, ER_ROT_ZYZ,ER_ROT_XYX, ER_ROT_RPY, ER_ROT_QUAT, ER_ROT_CA, ER_ROT_ZYpZ,
ER_ROT_Y9XZ, ER_ROT_Z9XY, ER_ROT_Z9XZ, ER_ROT_Z9YX, ER_ROT_IJK, ER_ROT_ANGLE_1
See also erMath_FrameToVecIdx()
[in] | vec | vector (euler, quaternion in [rad]), max size is ER_DOF6 or ER_DOF_QUAT for ER_ROT_QUAT |
[out] | T | homegeneous matrix DFRAME |
[in] | rotation_idx | rotation index |
0 | - OK |
1 | - Error, invalid rotation idx, kernel not initialized |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erREVERSE_MOTION | ( | ER_HND | er_hnd, |
double | distance | ||
) |
Instructs to do a reverse motion.
Opcode 130, Chapter 3.4.4, Page 3-70
The robot moves backwards along the same path as it used to get to the current position. After calling this function, erGET_NEXT_STEP() should be called repeatedly in order to get the reverse motion steps.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | distance | Specifies the length of the reverse motion in mm (i.e. how far the robot will move) |
0 | - OK |
1 | - Error |
-1 | - not supported |
-28 | - the specified distance is out of range |
DLLAPI long ER_STDCALL erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE | ( | ER_HND | er_hnd, |
long | circ_orientation_interpolation_mode | ||
) |
Selects the circular orientation interpolation mode.
The parameter circ_orientation_interpolation_mode
specifies how the orientation is interpolated during a circle motion and can be one of the following values.
0: ER_CIRC_ORI_INTERPOLATION_START_END, 1: ER_CIRC_ORI_INTERPOLATION_START_VIA_END, 2: ER_CIRC_ORI_INTERPOLATION_START_VIAORI_END
3: ER_CIRC_ORI_INTERPOLATION_TANGENTIAL, 4: ER_CIRC_ORI_INTERPOLATION_FIX.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | circ_orientation_interpolation_mode | circular orientation interpolation mode |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erSELECT_DOMINANT_INTERPOLATION | ( | ER_HND | er_hnd, |
long | dominant_int_type, | ||
long | dominant_int_param = 0 |
||
) |
Sets the interplation space defining the movement.
Opcode 124, Chapter 3.4.4, Page 3-66
The parameter dominant_int_type
specifies the dominant interpolation type and can be one of the following values.
ER_DOMINANT_INTERPOLATION_POS, ER_DOMINANT_INTERPOLATION_ORI, ER_DOMINANT_INTERPOLATION_AXIS, ER_DOMINANT_INTERPOLATION_AUTO
The parameter dominant_int_param
( not supported) specifies an extra parameter for certain interpolation types and can be one of the following values.
2: specifies which orientation component is master.
3: specifies which axis is master.
If dominant_int_param
is 0 then the controller will select an axis.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | dominant_int_type | dominant interpolation type |
[in] | dominant_int_param | =0, not supported |
0 | - OK |
1 | - Error |
-20 | - The specified dominant interpolation space is not supported |
DLLAPI long ER_STDCALL erSELECT_FLYBY_CRITERIA | ( | ER_HND | er_hnd, |
long | param_number | ||
) |
Selects a flyby criterion (parameter).
Opcode 142, Chapter 3.4.6, Page 3-87
Function not supported
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | param_number | specifies which parameter to select |
0 | - OK |
1 | - Error, invalid handle |
-1 | - not supported |
DLLAPI long ER_STDCALL erSELECT_FLYBY_MODE | ( | ER_HND | er_hnd, |
long | flyby_on | ||
) |
Defines rounding / flyby condition.
Opcode 140, Chapter 3.4.6, Page 3-85
Per default Flyby is disabled
In case of flyby, the robot moves through a CP target with programmed speeds and will not decelerate. Disbable flyby, to reach the target with zero speed (fine position).
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | flyby_on | 0=disabled, 1=enabled |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erSELECT_MOTION_TYPE | ( | ER_HND | er_hnd, |
long | motion_type | ||
) |
Selects the motion type.
Opcode 120, Chapter 3.4.4, Page 3-58
The motion_type
can be one of the following values
ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | motion_type | motion type |
0 | - OK |
1 | - Error, invalid handle or not licensed option |
-17 | - The specified motion type is not supported |
DLLAPI long ER_STDCALL erSELECT_ORIENTATION_INTERPOLATION_MODE | ( | ER_HND | er_hnd, |
long | interpolation_mode, | ||
long | ori_const | ||
) |
Set orientation interpolation mode.
Opcode 123, Chapter 3.4.4, Page 3-63
The interpolation_mode
is per default =1 one angle (QUATERNION)
The ori_const
is 0: Orientation is variant or 1: Orientation is constant.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | interpolation_mode | =1 one angle (QUATERNION), =2 two angle (QUATERNION), =3 three angle (VARIABLE) |
[in] | ori_const | variant or constant orientation |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erSELECT_POINT_ACCURACY | ( | ER_HND | er_hnd, |
long | accuracy_type | ||
) |
Selects a criterion for when a target is reached.
Opcode 144, Chapter 3.4.6, Page 3-89
Function not supported
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | accuracy_type | specifies type of point accuracy to select |
0 | - OK |
1 | - Error, invalid handle |
-1 | - not supported |
DLLAPI long ER_STDCALL erSELECT_TARGET_TYPE | ( | ER_HND | er_hnd, |
long | target_type | ||
) |
selects one of different types for the specification of targets.
Opcode 121, Chapter 3.4.4, Page 3-59
The target_type
can be one of the following values
ER_TARGET_TYPE_ABS = 0 absolute w.r.t. object frame
ER_TARGET_TYPE_ABSJOINT = 9 single axis motion
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | target_type | target type |
0 | - OK |
1 | - Error, invalid handle |
-18 | - Specified target_type is not supported |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | conveyor_flags |
0 | - OK |
1 | - Error, invalid handle |
-1 | - not supported |
DLLAPI long ER_STDCALL erSELECT_TRAJECTORY_MODE | ( | ER_HND | er_hnd, |
long | trajectory_on | ||
) |
Selects on or off for the trajectory mode.
Opcode 122, Chapter 3.4.4, Page 3-62
The trajectory_on
can be one of the following values
0: OFF or 1: ON.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | trajectory_on | trajectory enbaled or disabled |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSET_ADVANCE_MOTION | ( | ER_HND | er_hnd, |
long | Number_of_motion | ||
) |
Defines the number of motions, the motion planner may run in advance of the interpolator (look_ahead).
Opcode 127, Chapter 3.4.4, Page 3-67.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | Number_of_motion |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erSET_CARTESIAN_ORIENTATION_ACCELERATION | ( | ER_HND | er_hnd, |
long | rotation_no, | ||
double | accel_ori_value, | ||
long | accel_type | ||
) |
Sets acceleration for the orientation during cartesian motion [m/sec^2].
Opcode 138, Chapter 3.4.5, Page 3-79.
The rotation_no
should be 1.
The accel_type
specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | rotation_no | Number of the rotation axis |
[in] | accel_ori_value | Acceleration for orientation [rad/^2] |
[in] | accel_type | Type of acceleration. |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erSET_CARTESIAN_ORIENTATION_SPEED | ( | ER_HND | er_hnd, |
long | rotation_no, | ||
double | speed_ori_value | ||
) |
Sets the speed for the orientation during Cartesian motion.
Opcode 134, Chapter 3.4.5, Page 3-76.
The rotation_no
should be 1.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | rotation_no | Number of the rotation axis |
[in] | speed_ori_value | Cartesian orientation speed in [rad/sec] |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erSET_CARTESIAN_POSITION_ACCELERATION | ( | ER_HND | er_hnd, |
double | accel_value, | ||
long | accel_type | ||
) |
Sets acceleration for cartesian motion [m/sec^2].
Opcode 137, Chapter 3.4.5, Page 3-78.
The accel_type
specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | accel_value | Acceleration [m/^2] |
[in] | accel_type | Type of acceleration. |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erSET_CARTESIAN_POSITION_SPEED | ( | ER_HND | er_hnd, |
double | speed_value | ||
) |
Sets the speed for Cartesian motion.
Opcode 133, Chapter 3.4.5, Page 3-75.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | speed_value | Cartesian speed in [m/s] |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erSET_CONFIGURATION_CONTROL | ( | ER_HND | er_hnd, |
char * | param_id, | ||
char * | param_contents | ||
) |
Allows the setting of controller-specific data for the control of robot configurations.
Opcode 161, Chapter 3.4.4, Page 3-72
Function not supported
Use function erSetConfig(), erGetConfig() to change the robots configuration.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | param_id | identifier of the parameter to set |
[in] | param_contents | contents of the parameter to set |
0 | - OK |
1 | - Error |
-1 | - not supported |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | input_format | input format |
[in] | conveyor_flags | specifies which of the 32 conveyor positions are valid |
[in] | conveyor_pos | specifies the position values of up to 32 conveyors |
0 | - OK |
1 | - Error, invalid handle |
-1 | - not supported |
DLLAPI long ER_STDCALL erSET_FLYBY_CRITERIA_PARAMETER | ( | ER_HND | er_hnd, |
long | param_number, | ||
long | joint_nr, | ||
double | param_value | ||
) |
Sets the value of a flyby parameter.
Opcode 141, Chapter 3.4.6, Page 3-86
Function not supported
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | param_number | specifies which parameter to set |
[in] | joint_nr | specifies for which joint the parameter is set. It is zero if it is valid for the whole robot |
[in] | param_value | specifies the value of the parameter |
0 | - OK |
1 | - Error, invalid handle |
-1 | - not supported |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
[out] | p_initial_position_data | initial position INITIAL_POSITION_DATA |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erSET_INTERPOLATION_TIME | ( | ER_HND | er_hnd, |
double | InterpolationTime | ||
) |
Sets the interpolation time.
Opcode 119, Chapter 3.4.3, Page 3-56 Set the interpolation time step. This has an effect when calling erGET_NEXT_STEP()
Per default the interpolation time is set to 50ms.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | InterpolationTime | Interpolation time [ms] |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erSET_JOINT_ACCELERATIONS | ( | ER_HND | er_hnd, |
long | all_joint_flags, | ||
long | joint_flags, | ||
double | accel_percent, | ||
long | accel_type | ||
) |
Sets the joint accelerations expressed as percentage of the maximal joint acceleration.
Opcode 135, Chapter 3.4.5, Page 3-77.
Remarks
If all_joint_flags
is 1, the value in accel_percent
is in [rad/s^2] for rotational joint type and in [m/s^2] for prismatic joint type.
It is recommended to set all_joint_flags
=0 and use joint_flags
, where accel_percent
is a percentage value.
The maximum joint accelerations can be changed with erSetAqMax() and erGetAqMax().
The accel_type
specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | all_joint_flags | on 1 ignore JointFlags, use first real value for all joints, on 0 use JointFlags |
[in] | joint_flags | bitstring Specifies on which joints the acceleration is set |
[in] | accel_percent | Joint acceleration percentage [1%..200%], or real value ([rad/s^2] or [m/s^2]) for all joints |
[in] | accel_type | Type of acceleration. |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erSET_JOINT_JERKS | ( | ER_HND | er_hnd, |
long | all_joint_flags, | ||
long | joint_flags, | ||
double | jerk_percent, | ||
long | jerk_type | ||
) |
Sets the joint jerk expressed as a percentage of the maximal joint jerk for each specified joint.
Opcode 162, Chapter 3.4.5, Page 3-80.
Remarks
If all_joint_flags
is 1, the value in jerk_percent
is in [rad/s^3] for rotational joint type and in [m/s^3] for prismatic joint type.
It is recommended to set all_joint_flags
=0 and use joint_flags
, where jerk_percent
is a percentage value.
The jerk_type
specifies the type of jerk and can be one of the following values.
1: Jerk during acceleration, 2: Jerk during deceleration, 3: Jerk during acceleration and deceleration.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | all_joint_flags | on 1 ignore JointFlags, use first real value for all joints, on 0 use JointFlags |
[in] | joint_flags | bitstring Specifies on which joints the jerk is set |
[in] | jerk_percent | Joint jerk percentage [1%..200%], or real value ([rad/s^3] or [m/s^3]) for all joints |
[in] | jerk_type | Type of jerk. |
0 | - OK |
1 | - Error |
-1 | - not supported |
DLLAPI long ER_STDCALL erSET_JOINT_SPEEDS | ( | ER_HND | er_hnd, |
long | all_joint_flags, | ||
long | joint_flags, | ||
double | speed_percent | ||
) |
sets the joint speed expressed as percentage of the maximal joint speed.
Opcode 131, Chapter 3.4.5, Page 3-74.
Remarks
If all_joint_flags
is 1, the value in speed_percent
is in [rad/s] for rotational joint type and in [m/s] for prismatic joint type.
It is recommended to set all_joint_flags
=0 and use joint_flags
, where speed_percent
is a percentage value.
The maximum joint speeds can be changed with erSetVqMax() and erGetVqMax().
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | all_joint_flags | on 1 ignore JointFlags, use first real value for all joints, on 0 use JointFlags |
[in] | joint_flags | bitstring Specifies on which joints the speed is set |
[in] | speed_percent | Joint speed percentage [1%..200%], or real value ([rad/s] or [m/s]) for all joints |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erSET_MOTION_FILTER | ( | ER_HND | er_hnd, |
long | filter_factor | ||
) |
defines the filter factor for smoothing velocity profiles of motions.
Opcode 128, Chapter 3.4.4, Page 3-68
Per default ER_MOTION_FILTER_GEO is set
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | filter_factor | ER_MOTION_FILTER_GEO or ER_MOTION_FILTER_C2 |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erSET_MOTION_TIME | ( | ER_HND | er_hnd, |
double | time_value | ||
) |
Specifies the motion time for the next motion.
Opcode 156, Chapter 3.4.5, Page 3-81.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | time_value | motion time [ms]. |
0 | - OK |
1 | - Error |
-1 | - not supported |
DLLAPI long ER_STDCALL erSET_NEXT_TARGET | ( | ER_HND | er_hnd, |
NEXT_TARGET_DATA * | p_next_target_data | ||
) |
Sends the next target position. This may include intermediate position, radius and angle for circular motion.
Opcode 117, Chapter 3.4.3, Page 3-52
This function prepares the next motion based on givin target data in NEXT_TARGET_DATA.
If the return is OK, the TrajectoryTime in [sec] is calculated
Remarks
The function may pass a position and a further TargetParamValue at the same time. For some motion types the Kernel may require more than one call of erSET_NEXT_TARGET() before it can start the motion (e.g. ER_CIRC). Function erGET_NEXT_STEP() reports this as normal, returning Status = 1 (need more data) and ElapsedTime = 0. Use erSET_NEXT_TARGET_ADVANCE() to define data for the about next target.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | p_next_target_data | next target data NEXT_TARGET_DATA |
1 | - need more data, nothing to do |
0 | - OK, next step is calculated successful |
-17 | - specified motion type is not supported |
-34 | - Error in matrix. Incomplete matrix |
-35 | - Cartesian position expected |
-36 | - Joint position expected |
-43 | - Initial position not set |
-51 | - no solution is found. One joint is out of range |
-52 | - Cartesian position is out of work range |
-59 | - specified position is singular |
-68 | - fatal error, stopped calculating |
-71 | - Position not stored, target buffer is full |
-78 | - The specified position is not acceptable |
-79 | - Not ready to receive targets |
DLLAPI long ER_STDCALL erSET_NEXT_TARGET_ADVANCE | ( | ER_HND | er_hnd, |
NEXT_TARGET_DATA_ADVANCE * | p_next_target_data_advance | ||
) |
Sends about next target data
The function gives information about the next target, stored in NEXT_TARGET_DATA_ADVANCE
Remarks
This function should be called once, just before calling erSET_NEXT_TARGET()
Parameter AdvanceParam=2
sets all data in NEXT_TARGET_DATA_ADVANCE to default values.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | p_next_target_data_advance | about next target data NEXT_TARGET_DATA_ADVANCE |
0 | - OK, valid about next target data |
1 | - Error, in validabout next target data |
DLLAPI long ER_STDCALL erSET_OVERRIDE_ACCELERATION | ( | ER_HND | er_hnd, |
double | correction_value, | ||
long | accel_type, | ||
long | correction_type | ||
) |
Sets correction values for scaling the robot acceleration.
Opcode 155, Chapter 3.4.5, Page 3-83.
The accel_type
specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration.
The parameter correction_type
specifies when the correction is effective and can be one of the following values.
0: It becomes effective at the next call to erGET_NEXT_STEP()
1: It becomes effective for the next target supplied by erSET_NEXT_TARGET()
See also erSET_OVERRIDE_ACCELERATION_EX()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | correction_value | acceleration correction in [%] |
[in] | accel_type | Specifies when the correction is effective |
[in] | correction_type | Specifies when the correction is effective |
0 | - OK |
1 | - Error |
-1 | - not supported |
DLLAPI long ER_STDCALL erSET_OVERRIDE_ACCELERATION_EX | ( | ER_HND | er_hnd, |
ER_HND | er_hnd_slave, | ||
double | accel_override, | ||
double | tcp_accel_max = 0 |
||
) |
Sets override for scaling the programmed acceleration during program execution.
If er_hnd_slave
is NULL, speed_override
and tcp_speed_max
set for the kinematics with handle er_hnd
for the next call to erSET_NEXT_TARGET().
If er_hnd_slave
is equal to er_hnd
, accel_override
and tcp_accel_max
set for the kinematics with handle er_hnd
and becomes effective immediatly, erGET_NEXT_STEP().
If er_hnd_slave
is set and NOT equal to er_hnd, accel_override
and tcp_accel_max
set for the kinematics with handle er_hnd_slave
and becomes effective immediatly, erGET_NEXT_STEP().
See also erSET_OVERRIDE_ACCELERATION()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | er_hnd_slave | unique slave kinematics handle ER_HND |
[in] | accel_override | acceleration override in [%] |
[in] | tcp_accel_max | maximum tcp acceleration [m/s^3] |
0 | - OK |
1 | - Error |
-1 | - not supported |
DLLAPI long 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.
0 | - OK |
1 | - Error |
-1 | - not supported |
DLLAPI long ER_STDCALL erSET_OVERRIDE_SPEED | ( | ER_HND | er_hnd, |
double | correction_value, | ||
long | correction_type | ||
) |
Sets correction values for scaling the programmed speed during program execution.
Opcode 139, Chapter 3.4.5, Page 3-82.
The parameter correction_type
specifies when the correction is effective and can be one of the following values.
0: It becomes effective at the next call to erGET_NEXT_STEP()
1: It becomes effective for the next target supplied by erSET_NEXT_TARGET()
See also erSET_OVERRIDE_SPEED_EX()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | correction_value | speed correction in [%] |
[in] | correction_type | Specifies when the correction is effective |
0 | - OK |
1 | - Error |
-1 | - not supported |
DLLAPI long ER_STDCALL erSET_OVERRIDE_SPEED_EX | ( | ER_HND | er_hnd, |
ER_HND | er_hnd_slave, | ||
double | speed_override, | ||
double | tcp_speed_max = 0 |
||
) |
Sets override for scaling the programmed speed during program execution.
If er_hnd_slave
is NULL, speed_override
and tcp_speed_max
set for the kinematics with handle er_hnd
for the next call to erSET_NEXT_TARGET().
If er_hnd_slave
is equal to er_hnd
, speed_override
and tcp_speed_max
set for the kinematics with handle er_hnd
and becomes effective immediatly, erGET_NEXT_STEP().
If er_hnd_slave
is set and NOT equal to er_hnd, speed_override
and tcp_speed_max
set for the kinematics with handle er_hnd_slave
and becomes effective immediatly, erGET_NEXT_STEP().
See also erSET_OVERRIDE_SPEED()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | er_hnd_slave | unique slave kinematics handle ER_HND |
[in] | speed_override | speed override in [%] |
[in] | tcp_speed_max | maximum tcp speed [m/s] |
0 | - OK |
1 | - Error |
-1 | - not supported |
DLLAPI long ER_STDCALL erSET_PAYLOAD_PARAMETER | ( | ER_HND | er_hnd, |
long | storage, | ||
char * | frame_id, | ||
long | param_number, | ||
double | param_value | ||
) |
Allows specifying payloads at different locations on the robot.
It has to be supported when the payload influences the motion planning.
E.g. the load by a tool on the flange may be specified.
Opcode 160, Chapter 3.4.4, Page 3-71
The storage
pecifies where to modify the data and can be one of the following values.
1: Modify in memory, 2: Modify on disk.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | storage | pecifies where to modify the data. |
[in] | frame_id | frame to which the payload is attached, e.g. FLANGE |
[in] | param_number | specifies which parameter to set |
[in] | param_value | specifies the value of the parameter |
0 | - OK |
1 | - Error |
-1 | - not supported |
DLLAPI long ER_STDCALL erSET_POINT_ACCURACY_PARAMETER | ( | ER_HND | er_hnd, |
long | accuracy_type, | ||
double | accuracy_value | ||
) |
Sets the value of a parameter determining point accuracy.
Opcode 145, Chapter 3.4.6, Page 3-90
Function not supported
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | accuracy_type | specifies the type of point accuracy to give a value |
[in] | accuracy_value | Specifies the value of the point accuracy |
0 | - OK |
1 | - Error, invalid handle |
-1 | - not supported |
DLLAPI long ER_STDCALL erSetAccSet | ( | ER_HND | er_hnd, |
double | acc, | ||
double | ramp | ||
) |
Set lagging of accelerations.
Using AccSet is a proper way to come close to real cycle times when the robot carries high payloads for example.
The parameter acc
and ramp
are given in percentage values in the range from 20% to 100%.
acc:
Acceleration and Deceleration as percentage value of normal values.
ramp:
Change of Acceleration and Deceleration as percentage value of normal values.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | acc | acceleration and deceleration |
[in] | ramp | change of acceleration and deceleration |
0 | - OK |
1 | - Error |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | aq_max | maximum of robot joint accelerations, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetAutoAccel | ( | ER_HND | er_hnd, |
long | autoaccel | ||
) |
Enables automatic calculation of acceleration depending on programmed speed.
Using AutoAccel is a proper way to come close to real cycle times.
The parameter autoaccel
specifies the effect when planning a new motion and can be one of the following values.
0: ER_AUTOACCEL_MODE_OFF disables auto accel calculation for all motions
1: ER_AUTOACCEL_MODE_POS calculation for CP motions for position
2: ER_AUTOACCEL_MODE_ORI calculation for CP motions
4: ER_AUTOACCEL_MODE_AX Calculation for PTP motions
3: ER_AUTOACCEL_MODE_DEF calculation for CP motions for position and for orientation
7: ER_AUTOACCEL_MODE_ON enables calculation for all motions
Remarks
If auto accel is enabled, other acceleration functions such as erSET_JOINT_ACCELERATIONS(), erSET_CARTESIAN_POSITION_ACCELERATION() and erSET_CARTESIAN_ORIENTATION_ACCELERATION() will have no effect.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | autoaccel | defines auto acceleration mode |
0 | - OK |
1 | - Error |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | axis_couplingA2A3 | axis coupling between axis 2 and 3 |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetAxMax | ( | ER_HND | er_hnd, |
double | ax_max | ||
) |
Set maximum cartesian acceleration.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | ax_max | maximum cartesian acceleration [m/s^2] |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetAxOriMax | ( | ER_HND | er_hnd, |
double | ax_ori_max | ||
) |
Set maximum cartesian orientation acceleration.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | ax_ori_max | maximum cartesian orientation acceleration [rad/s^2] |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | backlink | robot back link status |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetBaseRobotBase | ( | ER_HND | er_hnd, |
DFRAME * | bTbase | ||
) |
Set $BASE (wobj) w.r.t robot base.
The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode()
All targets are defined w.r.t to this BASE frame (program shifting)
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | bTbase | BASE frame w.r.t. to robot base 'b' DFRAME |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetBaseWorld | ( | ER_HND | er_hnd, |
DFRAME * | iTbase | ||
) |
Set $BASE (wobj) w.r.t inertia (world). The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode()
All targets are defined w.r.t to this BASE frame (program shifting)
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | iTbase | BASE frame w.r.t. to inertia 'i' DFRAME |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI void ER_STDCALL erSetCallBack_FreeGeometryProc | ( | TerFreeGeometryProc | Handler | ) |
Define Callback function to free Geometry The Host application is prompted to free a geometry.
[in] | Handler | TerFreeGeometryProc function pointer |
void |
DLLAPI void ER_STDCALL erSetCallBack_GetActualTravelRangesProc | ( | TerGetActualTravelRangesProc | Handler | ) |
Define Callback function to calculate travel ranges by host application The Host application takes care to calculate the travel ranges.
[in] | Handler | TerGetActualTravelRangesProc function pointer |
void |
DLLAPI void ER_STDCALL erSetCallBack_GrpSyncProc | ( | TerGrpSyncProc | Handler | ) |
Define Callback function for group synchonization.
[in] | Handler | TerGrpSyncProc function pointer |
void |
DLLAPI void ER_STDCALL erSetCallBack_LoadGeometryProc | ( | TerLoadGeometryProc | Handler | ) |
Define Callback function to load a geometry The Host application is prompted to load a geometry.
[in] | Handler | TerLoadGeometryProc function pointer |
void |
DLLAPI void ER_STDCALL erSetCallBack_LogProc | ( | TerLogProc | Handler | ) |
Define Callback function for Log Messages.
[in] | Handler | TerLogProc function pointer |
void |
DLLAPI void ER_STDCALL erSetCallBack_NotifyProc | ( | TerNotifyProc | Handler | ) |
Define Callback function for notify messages The Kernel informs the host application about internel status messages.
[in] | Handler | TerNotifyProc function pointer |
void |
DLLAPI void ER_STDCALL erSetCallBack_UpdateGeometryProc | ( | TerUpdateGeometryProc | Handler | ) |
Define Callback function to updat a geometries The Host application is prompted to update a geometry.
[in] | Handler | TerUpdateGeometryProc function pointer |
void |
DLLAPI long ER_STDCALL erSetConfig | ( | ER_HND | er_hnd, |
long | config | ||
) |
Set robot configuration
A new robot configuration takes effect when calling the inverse kinematics transformation.
See The config
is valid for 1 to number of possible configurations, see erGetNumConfigs()
Remarks
The motion planner can change the configuration only for the motion types ER_JOINT (ER_PTP) or ER_SLEW.
In case of CP (continuous path, i.e. ER_LIN or ER_CIRC), a givin configuration will be ignored.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | config | robot configuration number [1..number of robot configurations] |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetconveyorStartCondition | ( | ER_HND | er_hnd, |
double | tx0 | ||
) |
Sets the conveyor start condition.
This function set the conveyor start condition for the Tracking Window (typical for a painting applications).
The tx0
in units [m] is an offset position in X-direction and is defined w.r.t. to the flange of the conveyor device.
This function works in conjunction with erSetTrackingWindow()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | tx0 | offset position in X-direction [m] |
0 | - OK |
1 | - Error, not licensed option, invalid handle |
DLLAPI long ER_STDCALL erSetConveyorStartOffsetCondition | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
double | tx0 | ||
) |
Sets the conveyor start offset condition.
This function set the conveyor start condition for the Tracking Window (typical for a painting applications).
The tx0
in units [m] is an offset position in X-direction and is defined w.r.t. to the flange of the conveyor device.
This function works in conjunction with erSetTrackingWindow()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | tx0 | offset position in X-direction [m] |
0 | - OK |
1 | - Error, not licensed option, invalid handle |
DLLAPI long ER_STDCALL erSetConveyorTrackingWindow | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
long | active, | ||
double | up, | ||
double | down, | ||
TErTrackingWindowID | id_tw, | ||
char * | name = NULL |
||
) |
Activates and deactivates the boundaries for a Tracking Window.
This function enables a tracking window (typical for a painting applications) and defines the boudary Up- and Down-Stream values.
This function works in conjunction with erConnectConveyor(), erConnectConveyorSetSync() and erSetconveyorStartCondition()
Remarks
Connect the robot first with a conveyor, using erConnectConveyor(), and set the synchronization to ER_SYNC_ON, using erConnectConveyorSetSync(), before activating the tracking window.
A tracking window can have one of the following status:
0: TRK_WND_NOT_ACTIVE, 1: TRK_WND_WAITING, 2: TRK_WND_INSIDE or 3: TRK_WND_OUT_OF_BOUNDARY
and will be obtained with the NEXT_STEP_DATA when calling erGET_NEXT_STEP()
Activating a tracking window sets the status to TRK_WND_WAITING.
Deactivating a tracking window sets the status to TRK_WND_NOT_ACTIVE.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | active | 0: disable, 1: enable |
[in] | up | boudary Up stream, where tracking window begins, [m] |
[in] | down | boudary Down stream, where tracking window ends, [m] |
[in] | id_tw | unique tracking window identifier TErTrackingWindowID |
[in] | name | optional name for the tracking window, per default = NULL |
0 | - OK |
1 | - Error, not licensed option, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | counter_weight | robot counter weight |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetEvents_DIN | ( | ER_HND | er_hnd, |
int | idx = 1 , |
||
long | io_value = ER_EVENT_BOOL_UNDEF , |
||
char * | io_name = 0 , |
||
long | leadcond_type = ER_EVENT_CONDITION_UNDEF , |
||
double | leadcond_value = 0 , |
||
long | lagcond_type = ER_EVENT_CONDITION_UNDEF , |
||
double | lagcond_value = 0 |
||
) |
Set event conditions for a binary input for target location
An input is checked before a movement starts (leading) and/or when the movement reaches the target (lagging).
In the case of flyby, the checks are made closed to the start and the target location.
Each check depends on the specified condition type combined with a condition value.
A condition type can be one of the following values.
Remarks
Suppose you want to check input #3:
Before the movement starts the input must be 'set' and after the target is reached the input must be >=2.
Arguments are: idx
= 3, io_value
= ER_EVENT_BOOL_UNDEF, io_name
= 0 (keep name),
leadcond_type
= ER_EVENT_CONDITION_WAIT_DIN_SET, leadcond_value
= 0 (has no effect)
lagcond_type
= ER_EVENT_CONDITION_WAIT_DIN_GE, lagcond_value
= 2
[in] | er_hnd | - unique kinematics handle ER_HND |
[in] | idx | - number of event [1..ER_EVENT_BOOL_N] |
[in] | io_value | - one of ER_EVENT_BOOL_UNDEF, ER_EVENT_BOOL_OFF, ER_EVENT_BOOL_ON |
[in] | io_name | - name of event, =0 keep template name, maximum lengths ER_MAXSTR |
[in] | leadcond_type | - leading condition type |
[in] | leadcond_value | - leading condition value >=0 |
[in] | lagcond_type | - lagging condition type |
[in] | lagcond_value | - lagging condition value >=0 |
0 | - OK, event data set successfully |
1 | - Error |
DLLAPI long ER_STDCALL erSetEvents_DOUT | ( | ER_HND | er_hnd, |
int | idx = 1 , |
||
long | io_value = ER_EVENT_BOOL_UNDEF , |
||
char * | io_name = 0 , |
||
long | strig_type = ER_EVENT_TRIGGER_OFF , |
||
double | strig_time = 0 , |
||
double | strig_dist = 0 , |
||
long | ttrig_type = ER_EVENT_TRIGGER_OFF , |
||
double | ttrig_time = 0 , |
||
double | ttrig_dist = 0 |
||
) |
Set an event for a boolean output
A boolean event for binary outputs is controlled by trigger data, when the movement starts and when the movement reaches the target location.
When a trigger condition is met, the binary output is set to ER_EVENT_BOOL_OFF or ER_EVENT_BOOL_ON.
Trigger data can be set when the movement starts and when the movement reaches the target.
Each trigger consist of three parameters: type ,time and distance.
Trigger signal type can be one of the following values.
Trigger time and distance
Remarks
Suppose you want to set binary output #3 200ms after the start of the movement and deactivate it again either 500ms or 250mm before reaching the target.
Arguments are: idx
= 3, io_value
= ER_EVENT_BOOL_UNDEF, io_name
= 0 (keep name),
strig_type
= ER_EVENT_TRIGGER_UP, strig_time
= 0.2, strig_dist
= 0 (only effect when > 0)
ttrig_type
= ER_EVENT_TRIGGER_DWN, ttrig_time
= 0.5, ttrig_dist
= 0.25
[in] | er_hnd | - unique kinematics handle ER_HND |
[in] | idx | - number of event [1..ER_EVENT_BOOL_N] |
[in] | io_value | - one of ER_EVENT_BOOL_UNDEF, ER_EVENT_BOOL_OFF, ER_EVENT_BOOL_ON |
[in] | io_name | - name of event, =0 keep template name, maximum lengths ER_MAXSTR |
[in] | strig_type | - Start Trigger type to control binary output, one of ER_EVENT_TRIGGER_OFF, ER_EVENT_TRIGGER_DWN, ER_EVENT_TRIGGER_UP |
[in] | strig_time | - Trigger time [s] from start location when the signal trigger occurs |
[in] | strig_dist | - Trigger distance [m] from start location when the signal trigger occurs, only effect when > 0 |
[in] | ttrig_type | - Target trigger type to control binary output, one of ER_EVENT_TRIGGER_OFF, ER_EVENT_TRIGGER_DWN, ER_EVENT_TRIGGER_UP |
[in] | ttrig_time | - Trigger time [s] to target location when the signal trigger occurs |
[in] | ttrig_dist | - Trigger distance [m] to target location when the signal trigger occurs, only effect when > 0 |
0 | - OK, event data set successfully |
1 | - Error |
DLLAPI long ER_STDCALL erSetEvents_EventDIN | ( | ER_TARGET_EVENTS_HND | hnd, |
int | idx = 1 , |
||
long | io_value = ER_EVENT_BOOL_UNDEF , |
||
char * | io_name = 0 , |
||
long | leadcond_type = ER_EVENT_CONDITION_UNDEF , |
||
double | leadcond_value = 0 , |
||
long | lagcond_type = ER_EVENT_CONDITION_UNDEF , |
||
double | lagcond_value = 0 |
||
) |
Set event conditions for a binary input for target location
An input is checked before a movement starts (leading) and/or when the movement reaches the target (lagging).
In the case of flyby, the checks are made closed to the start and the target location.
Each check depends on the specified condition type combined with a condition value.
A condition type can be one of the following values.
Remarks
Suppose you want to check input #3:
Before the movement starts the input must be 'set' and after the target is reached the input must be >=2.
Arguments are: idx
= 3, io_value
= ER_EVENT_BOOL_UNDEF, io_name
= 0 (keep name),
leadcond_type
= ER_EVENT_CONDITION_WAIT_DIN_SET, leadcond_value
= 0 (has no effect)
lagcond_type
= ER_EVENT_CONDITION_WAIT_DIN_GE, lagcond_value
= 2
[in] | hnd | - unique target location events handle ER_TARGET_EVENTS_HND |
[in] | idx | - number of event [1..ER_EVENT_BOOL_N] |
[in] | io_value | - one of ER_EVENT_BOOL_UNDEF, ER_EVENT_BOOL_OFF, ER_EVENT_BOOL_ON |
[in] | io_name | - name of event, =0 keep template name, maximum lengths ER_MAXSTR |
[in] | leadcond_type | - leading condition type |
[in] | leadcond_value | - leading condition value >=0 |
[in] | lagcond_type | - lagging condition type |
[in] | lagcond_value | - lagging condition value >=0 |
0 | - OK, event data set successfully |
1 | - Error |
DLLAPI long ER_STDCALL erSetEvents_EventDOUT | ( | ER_TARGET_EVENTS_HND | hnd, |
int | idx = 1 , |
||
long | io_value = ER_EVENT_BOOL_UNDEF , |
||
char * | io_name = 0 , |
||
long | strig_type = ER_EVENT_TRIGGER_OFF , |
||
double | strig_time = 0 , |
||
double | strig_dist = 0 , |
||
long | ttrig_type = ER_EVENT_TRIGGER_OFF , |
||
double | ttrig_time = 0 , |
||
double | ttrig_dist = 0 |
||
) |
Set an event for a boolean output for target location
A boolean event for binary outputs is controlled by trigger data, when the movement starts and when the movement reaches the target location.
When a trigger condition is met, the binary output is set to ER_EVENT_BOOL_OFF or ER_EVENT_BOOL_ON.
Trigger data can be set when the movement starts and when the movement reaches the target.
Each trigger consist of three parameters: type ,time and distance.
Trigger signal type can be one of the following values.
Trigger time and distance
see Get_EventDOUT() or erGetEvents_EventDOUT()
Remarks
Suppose you want to set binary output #3 200ms after the start of the movement and deactivate it again either 500ms or 250mm before reaching the target.
Arguments are: idx
= 3, io_value
= ER_EVENT_BOOL_UNDEF, io_name
= 0 (keep name),
strig_type
= ER_EVENT_TRIGGER_UP, strig_time
= 0.2, strig_dist
= 0 (only effect when > 0)
ttrig_type
= ER_EVENT_TRIGGER_DWN, ttrig_time
= 0.5, ttrig_dist
= 0.25
[in] | hnd | - unique target location events handle ER_TARGET_EVENTS_HND |
[in] | idx | - number of event [1..ER_EVENT_BOOL_N] |
[in] | io_value | - one of ER_EVENT_BOOL_UNDEF, ER_EVENT_BOOL_OFF, ER_EVENT_BOOL_ON |
[in] | io_name | - name of event, =0 keep template name, maximum lengths ER_MAXSTR |
[in] | strig_type | - Start Trigger type to control binary output, one of ER_EVENT_TRIGGER_OFF, ER_EVENT_TRIGGER_DWN, ER_EVENT_TRIGGER_UP |
[in] | strig_time | - Trigger time [s] from start location when the signal trigger occurs |
[in] | strig_dist | - Trigger distance [m] from start location when the signal trigger occurs, only effect when > 0 |
[in] | ttrig_type | - Target trigger type to control binary output, one of ER_EVENT_TRIGGER_OFF, ER_EVENT_TRIGGER_DWN, ER_EVENT_TRIGGER_UP |
[in] | ttrig_time | - Trigger time [s] to target location when the signal trigger occurs |
[in] | ttrig_dist | - Trigger distance [m] to target location when the signal trigger occurs, only effect when > 0 |
0 | - OK, event data set successfully |
1 | - Error |
DLLAPI long ER_STDCALL erSetExtAxConveyorIdx | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
long | extax_idx, | ||
double | axis_value, | ||
double | speed_value = 0 , |
||
long | sync_type = ER_SYNC_UNDEF , |
||
ER_HND | er_hnd_connect = 0 |
||
) |
Set external axis values for Conveyor for target location
see example GetExtAxConveyorHnd()
Remarks
Use ERK_CAPI_TOOLPATH::erToolPathSetConveyorHandle() to set the Conveyor device, belonging to this tool path.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | extax_idx | - axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1] |
[in] | axis_value | - target value [m,rad] |
[in] | speed_value | - target speed [m/s,rad/s] |
[in] | sync_type | - synchonization type ER_SYNC_ON, ER_SYNC_OFF |
[in] | er_hnd_connect | - handle of Conveyor device, belonging to this tool path, if not here, previous settings are valid |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetExtAxPositionerIdx | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
long | extax_idx, | ||
double | axis_value, | ||
double | speed_value = 0 , |
||
long | sync_type = ER_SYNC_UNDEF , |
||
ER_HND | er_hnd_connect = 0 |
||
) |
Set external axis values for Positioner/TurnTable for target location
see example GetExtAxPositionerHnd()
Remarks
Use ERK_CAPI_TOOLPATH::erToolPathSetPositionerHandle() to set the Positioner/TurnTable device, belonging to this tool path.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | extax_idx | - axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1] |
[in] | axis_value | - target value [m,rad] |
[in] | speed_value | - target speed [m/s,rad/s] |
[in] | sync_type | - synchonization type ER_SYNC_ON, ER_SYNC_OFF |
[in] | er_hnd_connect | - handle of Positioner/TurnTable device, belonging to this tool path, if not here, previous settings are valid |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetExtAxTrackIdx | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
long | extax_idx, | ||
double | axis_value, | ||
double | speed_value = 0 , |
||
long | sync_type = ER_SYNC_UNDEF , |
||
ER_HND | er_hnd_connect = 0 |
||
) |
Set external axis values for Track/Slider for target location
see example GetExtAxTrackMotionHnd()
Remarks
Use ERK_CAPI_TOOLPATH::erToolPathSetTrackMotionHandle() to set the Track/Slider device, belonging to this tool path.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | extax_idx | - axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1] |
[in] | axis_value | - target value [m,rad] |
[in] | speed_value | - target speed [m/s,rad/s] |
[in] | sync_type | - synchonization type ER_SYNC_ON, ER_SYNC_OFF |
[in] | er_hnd_connect | - handle of Track/Slider device, belonging to this tool path, if not here, previous settings are valid |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetExtTcpMode | ( | ER_HND | er_hnd, |
long | ext_tcp_mode | ||
) |
Set external TCP mode.
The external TCP can be IPO_MODE_BASE (tool guided) or IPO_MODE_TOOL (work object guided)
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | ext_tcp_mode | external TCP mode IPO_MODE_BASE, IPO_MODE_TOOL |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetExtTcpRobotBase | ( | ER_HND | er_hnd, |
DFRAME * | bText, | ||
long | use_ext_flange | ||
) |
Set location of external TCP w.r.t robot base.
Exeption: If use_ext_flange
is set, the external TCP w.r.t is defined w.r.t. the (tip) flange of a positioner for example.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | bText | location of external TCP w.r.t robot base 'b' DFRAME |
[in] | use_ext_flange | =1 if external TCP w.r.t positioner, else w.r.t to robot base |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetExtTcpWorld | ( | ER_HND | er_hnd, |
DFRAME * | iText | ||
) |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | homepos | robot joint homeposition, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI int ER_STDCALL erSetInstructions | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
char * | InfoTxt = NULL , |
||
char * | LeadInst = NULL , |
||
char * | LagInst = NULL |
||
) |
Set target instruction data for information, leading- and lagging instruction.
For further explanations see GetInstructionsHnd().
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | InfoTxt | just any information text, maximum lengths ER_HS_MAXSTR |
[in] | LeadInst | an instruction text should be valid or executed before the robot starts the move to the target, maximum lengths ER_HS_MAXSTR |
[in] | LagInst | an instruction text should be valid or executed when the robot has reached its target, maximum lengths ER_HS_MAXSTR |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetJoint | ( | ER_HND | er_hnd, |
double | q_solut, | ||
long | jnt_no | ||
) |
Set a single robot joint data. The kinematics joint data q_solut
are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of active joints with erGet_num_dofs()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | q_solut | robot joint data, max size ER_KIN_DOFS |
[in] | jnt_no | joint number [1..number of active joints], max jnt_no is ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetJointDyn | ( | ER_HND | er_hnd, |
double | q_dyn, | ||
long | jnt_no | ||
) |
Set a single actual robot joint data. The kinematics joint data q_dyn
are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of active joints with erGet_num_dofs()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | q_dyn | robot joint data, max size ER_KIN_DOFS |
[in] | jnt_no | joint number [1..number of active joints], max jnt_no is ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetJointFrameActiveLast | ( | ER_HND | er_hnd, |
long | active_jnt_no, | ||
DFRAME * | T | ||
) |
DLLAPI long ER_STDCALL erSetJointFrameActiveNext | ( | ER_HND | er_hnd, |
long | active_jnt_no, | ||
DFRAME * | T | ||
) |
DLLAPI long ER_STDCALL erSetJointFramePassiveLast | ( | ER_HND | er_hnd, |
long | passive_jnt_no, | ||
DFRAME * | T | ||
) |
DLLAPI long ER_STDCALL erSetJointFramePassiveNext | ( | ER_HND | er_hnd, |
long | passive_jnt_no, | ||
DFRAME * | T | ||
) |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | joint_offset | robot joint offset, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetJoints | ( | ER_HND | er_hnd, |
double * | q_solut | ||
) |
Set robot joint data. The kinematics joint data q_solut
are in units [m] for prismatic joint type
and [rad] for rotational joint type.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | q_solut | robot joint data, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | joint_sign | sign of a robot joint, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetJointSolutions | ( | ER_HND | er_hnd, |
double * | q_solutions, | ||
long * | q_warnings | ||
) |
Set all robot joint solutions. The kinematics joint data q_solutions
are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of active joints with erGet_num_dofs()
Get the number of configurations with erGetNumConfigs()
Remarks
Call this function after calling the inverse kinematics transformation, erInvKinRobotBaseTip(), erInvKinWorldTip(), erInvKinRobotBaseTcp(), erInvKinWorldTcp()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | q_solutions | robot joint data, max size ER_KIN_CONFIGS * ER_KIN_DOFS |
[in] | q_warnings | warning for each solution, max size ER_KIN_CONFIGS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI DFRAME* ER_STDCALL erSetMotionAttributes_BaseFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | BaseFrame | ||
) |
Program shift Base for a target location
Base '$BASE, $UFrame' has only if IPO_MODE_BASE is set and external TCP disabled
All targets are defined w.r.t to this BASE frame (program shifting)
see inq_BaseIdx(), inq_BaseName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | BaseFrame | location DFRAME |
DLLAPI DFRAME* ER_STDCALL erSetMotionAttributes_extTcpBaseFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | extTcpBaseFrame | ||
) |
external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location
Transformation from RobotBase or from flange of positioner to external TCP
see inq_extTcpBaseIdx(), inq_extTcpBaseName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | extTcpBaseFrame | location DFRAME |
DLLAPI DFRAME* ER_STDCALL erSetMotionAttributes_extTcpOffsetFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | extTcpOffsetFrame | ||
) |
external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
Transformation from extTcpBase or extTcpWorld
see inq_extTcpOffsetIdx(), inq_extTcpOffsetName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | extTcpOffsetFrame | location DFRAME |
DLLAPI DFRAME* ER_STDCALL erSetMotionAttributes_extTcpWorldFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | extTcpWorldFrame | ||
) |
external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location
Transformation from RobotWorld or from flange of positioner to external TCP
see inq_extTcpWorldIdx(), inq_extTcpWorldName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | extTcpWorldFrame | location DFRAME |
DLLAPI DFRAME* ER_STDCALL erSetMotionAttributes_ToolFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | ToolFrame | ||
) |
Tool (TCP) for a target location
Transformation from Tip to TCP
see inq_ToolIdx(), inq_ToolName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | ToolFrame | location DFRAME |
DLLAPI DFRAME* ER_STDCALL erSetMotionAttributes_ToolOffsetFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | ToolOffsetFrame | ||
) |
ToolOffset (TCP) for a target location
Offset Transformation from TCP
see inq_ToolOffsetIdx(), inq_ToolOffsetName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | ToolOffsetFrame | location DFRAME |
DLLAPI DFRAME* ER_STDCALL erSetMotionAttributes_WobjCartPosFrame | ( | ER_TARGET_ATTRIBUTES_HND | hnd, |
DFRAME * | WobjCartPosFrame | ||
) |
Set WorkObject valid for all cartesian target locations such as CartPosVec, CartPosVecVia
Using this transformation, all cartesian targets 'T' are modified to T' = WorkObj * T
see e.g. ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | WobjCartPosFrame | work object location DFRAME |
DLLAPI long ER_STDCALL erSetRobotBase | ( | ER_HND | er_hnd, |
DFRAME * | iTb | ||
) |
DLLAPI long ER_STDCALL erSetSpeedReductionEnable | ( | ER_HND | er_hnd, |
long | speed_reduction_enable | ||
) |
Set speed reduction enable.
If speed reduction is enabled, the robots TCP speed gets reduced (while motion execution in erGET_NEXT_STEP()) if the desired nominal joint speeds exceeds the maximum allowed joint speed, defined with erSetVqMax().
Remarks
Per default, speed reduction is enabled.
Speed reduction causes the TrajectoryTime to increase, while the RemainingTime represents the minimum time necessary to reach the target.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | speed_reduction_enable | 1-enable, 0-disable |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | swe_max | fix maximum travel ranges, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | swe_max_passive | fix maximum travel ranges, max size ER_KIN_PASSIVE_JNTS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | swe_min | fix minimum travel ranges, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | swe_min_passive | fix minimum travel ranges, max size ER_KIN_PASSIVE_JNTS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetTargetLocation_Move_CIRC | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
double * | CartPosVecVia, | ||
double * | CartPosVec, | ||
double | speed_cp = 0 , |
||
double | speed_ori = 0 , |
||
double | override_speed = 0 , |
||
long | flyby_on = -1 , |
||
double * | Tool = 0 , |
||
double * | Base = 0 |
||
) |
Move_CIRC, continious path motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | CartPosVecVia | Target Position at VIA location, vector definition Pxyz [m] Rxyz [rad] ER_DOF6 |
[in] | CartPosVec | Target Position vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
[in] | speed_cp | cartesian speed [m/s], 0 will use template definitions |
[in] | speed_ori | cartesian orientation speed [rad/s], 0 will use template definitions |
[in] | override_speed | percentage override_speed definition [>0-1000%], 0 will use template definitions |
[in] | flyby_on | one of ER_FLYBY_OFF or ER_FLYBY_ON, -1 will use template definitions |
[in] | Tool | Tool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions |
[in] | Base | Base vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetTargetLocation_Move_CIRC_Frame | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
DFRAME * | CartPosFrameVia, | ||
DFRAME * | CartPosFrame, | ||
double | speed_cp = 0 , |
||
double | speed_ori = 0 , |
||
double | override_speed = 0 , |
||
long | flyby_on = -1 , |
||
DFRAME * | ToolFrame = 0 , |
||
DFRAME * | BaseFrame = 0 |
||
) |
Move_CIRC, continious path motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | CartPosFrameVia | Target Frame at VIA location, DFRAME |
[in] | CartPosFrame | Target Frame, DFRAME |
[in] | speed_cp | cartesian speed [m/s], 0 will use template definitions |
[in] | speed_ori | cartesian orientation speed [rad/s], 0 will use template definitions |
[in] | override_speed | percentage override_speed definition [>0-1000%], 0 will use template definitions |
[in] | flyby_on | one of ER_FLYBY_OFF or ER_FLYBY_ON, -1 will use template definitions |
[in] | ToolFrame | DFRAME, 0 will use template definitions |
[in] | BaseFrame | DFRAME, 0 will use template definitions |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetTargetLocation_Move_Joint | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
double * | CartPosVec, | ||
long | configuration = 0 , |
||
long | ptp_target_calculation_mode = ER_PTP_TARGET_CALC_MODE_UNDEF , |
||
double | speed_percent = 0 , |
||
double | override_speed = 0 , |
||
double * | Tool = 0 , |
||
double * | Base = 0 |
||
) |
Move_Joint, full synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | CartPosVec | Target Position vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
[in] | configuration | Robot configuration [1-ER_KIN_CONFIGS], 0 will use template definitions |
[in] | ptp_target_calculation_mode | is one of ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG, 0=ER_PTP_TARGET_CALC_MODE_UNDEF will use template definitions |
[in] | speed_percent | percentage speed definition [>0-1000%], 0 will use template definitions |
[in] | override_speed | percentage override_speed definition [>0-1000%], 0 will use template definitions |
[in] | Tool | Tool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions |
[in] | Base | Base vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetTargetLocation_Move_Joint_Frame | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
DFRAME * | CartPosFrame, | ||
long | configuration = 0 , |
||
long | ptp_target_calculation_mode = ER_PTP_TARGET_CALC_MODE_UNDEF , |
||
double | speed_percent = 0 , |
||
double | override_speed = 0 , |
||
DFRAME * | ToolFrame = 0 , |
||
DFRAME * | BaseFrame = 0 |
||
) |
Move_Joint, full synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | CartPosFrame | Target Frame, DFRAME |
[in] | configuration | Robot configuration [1-ER_KIN_CONFIGS], 0 will use template definitions |
[in] | ptp_target_calculation_mode | is one of ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG, 0=ER_PTP_TARGET_CALC_MODE_UNDEF will use template definitions |
[in] | speed_percent | percentage speed definition [>0-1000%], 0 will use template definitions |
[in] | override_speed | percentage override_speed definition [>0-1000%], 0 will use template definitions |
[in] | ToolFrame | DFRAME, 0 will use template definitions |
[in] | BaseFrame | DFRAME, 0 will use template definitions |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetTargetLocation_Move_JointAbs | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
double * | JointPos, | ||
double | speed_percent = 0 , |
||
double | override_speed = 0 , |
||
double * | Tool = 0 |
||
) |
Move_JointAbs, full synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | JointPos | target joint location [m,rad], maximum size ER_KIN_DOFS |
[in] | speed_percent | percentage speed definition [>0-1000%], 0 will use template definitions |
[in] | override_speed | percentage override_speed definition [>0-1000%], 0 will use template definitions |
[in] | Tool | Tool vector definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetTargetLocation_Move_LIN | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
double * | CartPosVec, | ||
double | speed_cp = 0 , |
||
double | speed_ori = 0 , |
||
double | override_speed = 0 , |
||
long | flyby_on = -1 , |
||
double * | Tool = 0 , |
||
double * | Base = 0 |
||
) |
Move_LIN, continious path motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | CartPosVec | Target Position vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
[in] | speed_cp | cartesian speed [m/s], 0 will use template definitions |
[in] | speed_ori | cartesian orientation speed [rad/s], 0 will use template definitions |
[in] | override_speed | percentage override_speed definition [>0-1000%], 0 will use template definitions |
[in] | flyby_on | one of ER_FLYBY_OFF or ER_FLYBY_ON, -1 will use template definitions |
[in] | Tool | Tool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions |
[in] | Base | Base vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetTargetLocation_Move_LIN_Frame | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
DFRAME * | CartPosFrame, | ||
double | speed_cp = 0 , |
||
double | speed_ori = 0 , |
||
double | override_speed = 0 , |
||
long | flyby_on = -1 , |
||
DFRAME * | ToolFrame = 0 , |
||
DFRAME * | BaseFrame = 0 |
||
) |
Move_LIN, continious path motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | CartPosFrame | Target Frame, DFRAME |
[in] | speed_cp | cartesian speed [m/s], 0 will use template definitions |
[in] | speed_ori | cartesian orientation speed [rad/s], 0 will use template definitions |
[in] | override_speed | percentage override_speed definition [>0-1000%], 0 will use template definitions |
[in] | flyby_on | one of ER_FLYBY_OFF or ER_FLYBY_ON, -1 will use template definitions |
[in] | ToolFrame | DFRAME, 0 will use template definitions |
[in] | BaseFrame | DFRAME, 0 will use template definitions |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetTargetLocation_Move_Slew | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
double * | CartPosVec, | ||
long | configuration = 0 , |
||
long | ptp_target_calculation_mode = ER_PTP_TARGET_CALC_MODE_UNDEF , |
||
double | speed_percent = 0 , |
||
double | override_speed = 0 , |
||
double * | Tool = 0 , |
||
double * | Base = 0 |
||
) |
Move_Slew, not synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | CartPosVec | Target Position vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
[in] | configuration | Robot configuration [1-ER_KIN_CONFIGS], 0 will use template definitions |
[in] | ptp_target_calculation_mode | is one of ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG, 0=ER_PTP_TARGET_CALC_MODE_UNDEF will use template definitions |
[in] | speed_percent | percentage speed definition [>0-1000%], 0 will use template definitions |
[in] | override_speed | percentage override_speed definition [>0-1000%], 0 will use template definitions |
[in] | Tool | Tool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions |
[in] | Base | Base vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetTargetLocation_Move_Slew_Frame | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
DFRAME * | CartPosFrame, | ||
long | configuration = 0 , |
||
long | ptp_target_calculation_mode = ER_PTP_TARGET_CALC_MODE_UNDEF , |
||
double | speed_percent = 0 , |
||
double | override_speed = 0 , |
||
DFRAME * | ToolFrame = 0 , |
||
DFRAME * | BaseFrame = 0 |
||
) |
Move_Slew, not synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | CartPosFrame | Target Frame, DFRAME |
[in] | configuration | Robot configuration [1-ER_KIN_CONFIGS], 0 will use template definitions |
[in] | ptp_target_calculation_mode | is one of ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG, 0=ER_PTP_TARGET_CALC_MODE_UNDEF will use template definitions |
[in] | speed_percent | percentage speed definition [>0-1000%], 0 will use template definitions |
[in] | override_speed | percentage override_speed definition [>0-1000%], 0 will use template definitions |
[in] | ToolFrame | DFRAME, 0 will use template definitions |
[in] | BaseFrame | DFRAME, 0 will use template definitions |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetTargetLocation_Move_SlewAbs | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
double * | JointPos, | ||
double | speed_percent = 0 , |
||
double | override_speed = 0 , |
||
double * | Tool = 0 |
||
) |
Move_SlewAbs, not synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | JointPos | target joint location [m,rad], maximum size ER_KIN_DOFS |
[in] | speed_percent | percentage speed definition [>0-1000%], 0 will use template definitions |
[in] | override_speed | percentage override_speed definition [>0-1000%], 0 will use template definitions |
[in] | Tool | Tool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSetTool | ( | ER_HND | er_hnd, |
DFRAME * | tTw | ||
) |
DLLAPI long ER_STDCALL erSetToolOffset | ( | ER_HND | er_hnd, |
DFRAME * | wTwo | ||
) |
DLLAPI long ER_STDCALL erSetTrackingWindow | ( | ER_HND | er_hnd, |
long | active, | ||
double | up, | ||
double | down, | ||
TErTrackingWindowID | id_tw, | ||
char * | name = NULL |
||
) |
Activates and deactivates the boundaries for a Tracking Window.
This function enables a tracking window (typical for a painting applications) and defines the boudary Up- and Down-Stream values.
This function works in conjunction with erConnectConveyor(), erConnectConveyorSetSync() and erSetconveyorStartCondition()
Remarks
Connect the robot first with a conveyor, using erConnectConveyor(), and set the synchronization to ER_SYNC_ON, using erConnectConveyorSetSync(), before activating the tracking window.
A tracking window can have one of the following status:
0: TRK_WND_NOT_ACTIVE, 1: TRK_WND_WAITING, 2: TRK_WND_INSIDE or 3: TRK_WND_OUT_OF_BOUNDARY
and will be obtained with the NEXT_STEP_DATA when calling erGET_NEXT_STEP()
Activating a tracking window sets the status to TRK_WND_WAITING.
Deactivating a tracking window sets the status to TRK_WND_NOT_ACTIVE.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | active | 0: disable, 1: enable |
[in] | up | boudary Up stream, where tracking window begins, [m] |
[in] | down | boudary Down stream, where tracking window ends, [m] |
[in] | id_tw | unique tracking window identifier TErTrackingWindowID |
[in] | name | optional name for the tracking window, per default = NULL |
0 | - OK |
1 | - Error, not licensed option, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | turn_interval | turn interval, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | turn_offset | turn offset, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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()
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | turn_value | turn value, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | vq_max | maximum of robot joint speeds, max size ER_KIN_DOFS |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetVxMax | ( | ER_HND | er_hnd, |
double | vx_max | ||
) |
Set maximum cartesian speed.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | vx_max | maximum cartesian speed [m/s] |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSetVxOriMax | ( | ER_HND | er_hnd, |
double | vx_ori_max | ||
) |
Set maximum cartesian orientation speed.
[in] | er_hnd | unique kinematics handle ER_HND |
[in] | vx_ori_max | maximum cartesian orientation speed [rad/s] |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erSTOP_MOTION | ( | ER_HND | er_hnd | ) |
Stops the on-going motion toward the target.
Opcode 151, Chapter 3.4.8, Page 3-101
See also erCONTINUE_MOTION(), erCANCEL_MOTION()
Remarks
After calling this function, the erGET_NEXT_STEP() should be called repeatedly until its Status is 2 (speed is zero) in order to get the deceleration steps.
[in] | er_hnd | unique kinematics handle ER_HND |
0 | - OK |
1 | - Error, invalid handle |
-54 | - STOP_MOTION is unsuccessful. No motion in progress |
DLLAPI long ER_STDCALL erSwapTargetLocation | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd1, |
ER_TARGET_LOCATION_HND | er_tarloc_hnd2 | ||
) |
Swap the order of two target location in a tool path
Remarks
Both target location handle must be in the same tool path.
Use erGetTargetLocationIdx() to get the belonging index for each target location.
[in] | er_tarloc_hnd1 | 1st unique target location handle ER_TARGET_LOCATION_HND |
[in] | er_tarloc_hnd2 | 2nd unique target location handle ER_TARGET_LOCATION_HND |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erSwapToolPath | ( | ER_TOOLPATH_HND | er_tpth_hnd1, |
ER_TOOLPATH_HND | er_tpth_hnd2 | ||
) |
Swap two tool pathes.
Swaps the position of two tool path handles.
[in] | er_tpth_hnd1 | unique tool path handle ER_TOOLPATH_HND |
[in] | er_tpth_hnd2 | unique tool path handle ER_TOOLPATH_HND |
0 | - OK |
1 | - Error, cannot swap, maybe invalid handles |
DLLAPI long ER_STDCALL erTargetLocationReset | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd | ) |
Reset Target location to default values
Remarks
The target location is marked as invalid.
See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status.
[in] | er_tarloc_hnd | unique handle for target location ER_TARGET_LOCATION_HND |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erTargetLocationValid | ( | ER_TARGET_LOCATION_HND | er_tarloc_hnd, |
long | valid | ||
) |
Validity of a target location
A target location is per default invalid when created e.g. ERK_CAPI_TOOLPATH_TARGETS::erAddTargetLocation() and set to valid when a motion e.g. ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN() is defined.
This method allows to ask the validity of this target location valid=2
,
to set the validity of this target location valid=1
,
or to unset the validity of this target location valid=0
.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
[in] | valid | Validity parameter |
pointer | to char for 'target location name', maximum lengths ER_MAXSTR |
NULL | - Error |
DLLAPI long 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()
[in,out] | er_hnd | unique kinematics handle, set to NULL after successful call ER_HND |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erToolPathEnable | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
long | enable | ||
) |
Enable or disable tool path
Parameter enable
is one of ER_ONOFF_DISABLE, ER_ONOFF_ENABLE, ER_ONOFF_STATUS.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | enable |
current | enable status |
DLLAPI ER_HND ER_STDCALL erToolPathGetConveyorHandle | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get device conveyor handle belonging to tool path handle.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
NULL | - Error, invalid handle, cannot find device conveyor handle |
er_hnd | device conveyor handle |
DLLAPI ER_HND ER_STDCALL erToolPathGetER_HND | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Device Handle belonging to tool path.
This method is obsolete -> use erToolPathGetRobotHandle()
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
NULL | - Error, invalid handle, cannot find device handle |
er_hnd | device handle |
DLLAPI ER_HND ER_STDCALL erToolPathGetPositionerHandle | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get device positioner handle belonging to tool path handle.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
NULL | - Error, invalid handle, cannot find device positioner handle |
er_hnd | device positioner handle |
DLLAPI ER_HND ER_STDCALL erToolPathGetRobotHandle | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get device robot handle belonging to tool path handle.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
NULL | - Error, invalid handle, cannot find device robot handle |
er_hnd | device robot handle |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erToolPathGetTargetLocationFirst | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get the first 'target location handle' in the tool path.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
handle | for target location ER_TARGET_LOCATION_HND |
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erToolPathGetTargetLocationLast | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get the last 'target location handle' in the tool path.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
handle | for target location ER_TARGET_LOCATION_HND |
DLLAPI long ER_STDCALL erToolPathGetTargetLocationNumber | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get the number of target locations in tool path.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
0 | - Error, no targets or invalid handle |
number_of_targets |
DLLAPI ER_HND ER_STDCALL erToolPathGetTrackMotionHandle | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get device track motion handle belonging to tool path handle.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
NULL | - Error, invalid handle, cannot find device track motion handle |
er_hnd | device track motion handle |
DLLAPI char* ER_STDCALL erToolPathLogFileName | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Name log file.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
pointer | to char for 'log file name' |
DLLAPI char* ER_STDCALL erToolPathName | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Name of tool path.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
pointer | to char for 'tool path name', maximum lengths ER_MAXSTR |
DLLAPI char* ER_STDCALL erToolPathPrgFileName | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Name program file.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
pointer | to char for 'log program name' |
DLLAPI long ER_STDCALL erToolPathReset | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Reset all tool path target locations.
All target locations defined in tool path er_tpth_hnd
are resetted to default values and set to invalid.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erToolPathResetInitConveyor | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
double * | q_start = NULL |
||
) |
Set initial joint start location for the Conveyor.
Remarks
Read current joint data from loaded Conveyor. This method must be called before the interpolation starts.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | q_start | initial joint start location |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erToolPathResetInitPositioner | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
double * | q_start = NULL |
||
) |
Set initial joint start location for the Positioner.
Remarks
Read current joint data from loaded Positioner. This method must be called before the interpolation starts.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | q_start | initial joint start location |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erToolPathResetInitRobot | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
double * | q_start = NULL |
||
) |
Set initial joint start location for the robot.
Remarks
Read current joint data from loaded robot. This method must be called before the interpolation starts.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | q_start | initial joint start location |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erToolPathResetInitTrackMotion | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
double * | q_start = NULL |
||
) |
Set initial joint start location for the TrackMotion.
Remarks
Read current joint data from loaded TrackMotion. This method must be called before the interpolation starts.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | q_start | initial joint start location |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erToolPathSetConveyorHandle | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
ER_HND | hnd_Conveyor = NULL |
||
) |
Set conveyor handle belonging to tool path handle.
The tool path handles the conveyor device as external axis, see erConnectConveyor()
hnd_Conveyor=NULL will remove conveyor handle from the tool path.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | hnd_Conveyor | unique device track handle ER_HND |
-1 | - Error, invalid handle, cannot set device conveyor handle |
0 | - Ok, Device conveyor handle set |
DLLAPI long ER_STDCALL erToolPathSetInitPos | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
double | InterpolationTime = 0 |
||
) |
Initializes the Trajectory Planner based on current settings.
Remarks
This method must be called before the interpolation starts, see erGET_NEXT_TOOLPATH_STEP()
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | InterpolationTime | - sampling rate for interpolation in [ms] |
0 | - Ok |
1 | - Error |
DLLAPI long ER_STDCALL erToolPathSetPositionerHandle | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
ER_HND | hnd_Positioner = NULL |
||
) |
Set positioner handle belonging to tool path handle.
The tool path handles the positioner device as external axis, see erConnectPositioner()
hnd_Positioner=NULL will remove positioner handle from the tool path.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | hnd_Positioner | unique device track handle ER_HND |
-1 | - Error, invalid handle, cannot set device positioner handle |
0 | - Ok, Device positioner handle set |
DLLAPI long ER_STDCALL erToolPathSetTrackMotionHandle | ( | ER_TOOLPATH_HND | er_tpth_hnd, |
ER_HND | hnd_TrackMotion = NULL |
||
) |
Set track motion handle belonging to tool path handle.
The tool path handles the track motion device as external axis, see erConnectTrackMotion()
hnd_TrackMotion=NULL will remove track motion handle from the tool path.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | hnd_TrackMotion | unique device track handle ER_HND |
-1 | - Error, invalid handle, cannot set device track motion handle |
0 | - Ok, Device track motion handle set |
DLLAPI long ER_STDCALL erTPth_Fct | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Do Fct. ... tbd.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
0 | - OK |
1 | - Error, cannot Do Fct |
DLLAPI long ER_STDCALL erTPth_PostProc | ( | char * | ApiPP_Dll_Name, |
int | FctIdx, | ||
int | FctSubIdx, | ||
ER_TOOLPATH_HND | er_tpth_hnd, | ||
char * | program_name, | ||
char * | target_path = NULL , |
||
int | pp_param = 0 , |
||
char * | svalues = NULL |
||
) |
Method for post processing, creating a robot program for a tool path
An example Visual Studio Project is available, creating a robot program for KUKA Controller.
The name of the DLL is user defined, e.g. 'EasySimKernel_apippx64.dll'
Remarks
The DLL is loaded and linked will calling this method. Thus, the DLL can be generated again without restarting the Host application.
This allows quick changes and adjustments in the shop floor.
[in] | ApiPP_Dll_Name | Name of ERK_APIPP DLL |
[in] | FctIdx | main function idx = [1..] |
[in] | FctSubIdx | sub function idx = [1..] corresponding to main function idx |
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | program_name | Robot program name without extension |
[in] | target_path | target path of created robot program |
[in] | pp_param | individual input value |
[in] | svalues | string value containing individual input values corresponding to pp_param |
0 | - OK |
1 | - Error, cannot performe task |
DLLAPI long ER_STDCALL erTPth_TBox_Fct | ( | int | FctIdx, |
int | FctSubIdx, | ||
ER_TOOLPATH_HND | er_tpth_hnd, | ||
int | constraint_param, | ||
char * | svalues = NULL |
||
) |
Method for miscellaneous tool path calculations Requires DLL EasySimKernel_tboxx64.dll.
[in] | FctIdx | main function idx = [1..] |
[in] | FctSubIdx | sub function idx = [1..] corresponding to main function idx |
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
[in] | constraint_param | constraint parameter is an individual bitwise-inclusive-OR operator (|) |
[in] | svalues | string value containing individual input values corresponding to constraint_param |
0 | - OK |
1 | - Error, cannot performe task |
DLLAPI long 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.
[in,out] | er_hnd | unique kinematics handle set to NULL after successful call ER_HND |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erUnloadTargetLocation | ( | ER_TARGET_LOCATION_HND * | er_tarloc_hnd | ) |
Unload/delete a target location from a tool path
Remarks
Use erGetTargetLocationNumber() to receive the number of remaining target locations in the tool path.
[in,out] | er_tarloc_hnd | unique target location handle set to NULL after successful call ER_TARGET_LOCATION_HND |
0 | - Ok |
1 | - Error |
DLLAPI long 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.
[in] | er_hnd | unique kinematics handle ER_HND |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erUnloadToolPath | ( | ER_TOOLPATH_HND * | er_tpth_hnd | ) |
Unload an instance of a kinematics tool path.
[in,out] | er_tpth_hnd | unique tool path handle set to NULL after successful call ER_TOOLPATH_HND |
0 | - OK |
1 | - Error |
DLLAPI long ER_STDCALL erUpdateGeo | ( | ER_HND | er_hnd | ) |
Updates all geometry location for each robot joint. This function causes the call of callback function TerUpdateGeometryProc().
The resulted geometry location w.r.t. robot base is the product of
KinMat and GeoMat.
[in] | er_hnd | unique kinematics handle ER_HND |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI long ER_STDCALL erUpdateKin | ( | ER_HND | er_hnd | ) |
Updates the complete kinematics. This function calculates the location of all axis coorsys, the robots tip and tcp w.r.t. robot base.
In most cases the forward kinematics calculation is executed.
Call this function first, before retrieving the location of axis coorsys.
[in] | er_hnd | unique kinematics handle ER_HND |
0 | - OK |
1 | - Error, invalid handle |
DLLAPI ER_TARGET_EVENTS_HND ER_STDCALL GetEventsTemplateHnd | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get events template data from tool path.
Get the events template data belonging to the tool path er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
events_template_data | ER_TARGET_EVENTS_HND |
NULL | - Error |
DLLAPI ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND ER_STDCALL GetExtAxConveyorTemplate | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get external axis conveyor template data from tool path.
Get the external axis conveyor template data belonging to the tool path er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
extax_conveyor_template_data | ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND |
NULL | - Error |
DLLAPI ER_TARGET_EXTAX_DEVICE_POSITIONER_HND ER_STDCALL GetExtAxPositionerTemplate | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get external axis positioner template data from tool path.
Get the external axis positioner template data belonging to the tool path er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
extax_positioner_template_data | ER_TARGET_EXTAX_DEVICE_POSITIONER_HND |
NULL | - Error |
DLLAPI ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND ER_STDCALL GetExtAxTrackMotionTemplate | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get external axis track motion template data from tool path.
Get the external axis track motion template data belonging to the tool path er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
extax_track_motion_template_data | ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND |
NULL | - Error |
DLLAPI ER_TARGET_ATTRIBUTES_HND ER_STDCALL GetMotionAttributesTemplateHnd | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get attributes template data from tool path.
Get the attributes template data belonging to the tool path er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
attributes_template_data | ER_TARGET_ATTRIBUTES_HND |
NULL | - Error |
DLLAPI ER_TARGET_MOVE_CP_HND ER_STDCALL GetMoveCPTemplate | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get move cp template data from tool path.
Get the move cp template data belonging to the tool path er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
move_cp_template_data | ER_TARGET_MOVE_CP_HND |
NULL | - Error |
DLLAPI ER_TARGET_MOVE_JOINT_HND ER_STDCALL GetMoveJointTemplate | ( | ER_TOOLPATH_HND | er_tpth_hnd | ) |
Get move joint template data from tool path.
Get the move joint template data belonging to the tool path er_tpth_hnd
.
[in] | er_tpth_hnd | unique tool path handle ER_TOOLPATH_HND |
move_joint_template_data | ER_TARGET_MOVE_JOINT_HND |
NULL | - Error |