Method class for executing ERPL- and ERCL commands. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_SIM_ERPL:

Static Public Member Functions
static ER_DllExport int	RunProgram (char *prgline=NULL, int confirm=1)
	Run complete program or single ERPL-/ERCL command If parameter `prgline` is NULL, the current loaded program (*.prg) is executed If `prgline` containes a valid ERPL- or ERCL command, this command is executed as a single step. If paramter `confirm` is set, a message box with an error message comes up. An Error occurs when. More...

static ER_DllExport int	StopContRunProgram (void)
	Stop/Pause or continue running simulation. More...

static ER_DllExport int	AbortRunProgram (void)
	Abort running simulation. More...

static ER_DllExport int	GetPrgId (void)
	Program interpreter ID for program interpreter The program interpreter ID is one of ERPL = 0, BM_T1 = 1, TRICEPT_NC = 3, NC_SIMULATION = 4. More...

static ER_DllExport int	SetPrgId (int PrgId)
	Set program interpreter ID The program interpreter ID is one of ERPL = 0, BM_T1 = 1, TRICEPT_NC = 3, NC_SIMULATION = 4. More...

static ER_DllExport char *	GetPrgfile (void)
	Returns program file for cRobot. More...

static ER_DllExport char *	GetPrgMimicfile (void)
	Returns mimic file for cRobot A mimic file is a machine specific file, mostly used when running G-Code. More...

static ER_DllExport int	ChkErcCmd (char *cmd)
	Check if the command `cmd` starts with the key 'ERC'. More...

static ER_DllExport void **	inq_pp_usr_ptr ()
	Access user pointer for post_processor in er_post.dll This allows the user to allocate individual memory. EASY-ROB administrates this pointer, related to the current device See example given for ER_CAPI_ROB_KIN::inq_kin_usr_ptr() More...

static ER_DllExport int	erc_onoff (int erc_on_off_idx, int enable)
	Dis- and enabling miscellaneous settings The `erc_on_off_idx` is one of ERC_TRACK to ERC_COI_RENDER The request parameter `enable` is 0-disable, 1-enable or 2- to ask for the current status. More...

static ER_DllExport void	prg_data_single_cmd_reset (void)
	Reset program data for single command execution such as program base, via point for circular movement, scalings, etc. See also related methods inq_single_cmd_base(), inq_single_cmd_base_prg(), inq_single_cmd_via_T(), inq_single_cmd_via_point_idx(), inq_single_cmd_interpolation(), inq_single_cmd_unit_scal_trans(), inq_single_cmd_unit_scal_rot(), inq_single_cmd_ext_Tcp_idx(), inq_single_cmd_c_device_idx() More...

static ER_DllExport frame *	inq_single_cmd_base (void)
	Base transformation to shift the target location Has efffect when running an ERPL motion command such as SLEW, PTP, LIN or CIRC with values ERPL command: BASE X Y Z A B C, see ERPL Manual EASY-ROB-ERPL-eng.pdf More...

static ER_DllExport frame *	inq_single_cmd_base_prg (void)
	Base Program transformation to shift the base frame Has efffect when running an ERPL motion command such as SLEW, PTP, LIN or CIRC with values ERPL command: BASE_PRG X Y Z A B C, see ERPL Manual EASY-ROB-ERPL-eng.pdf More...

static ER_DllExport frame *	inq_single_cmd_via_T (void)
	Via Point location for circular motion Has efffect when running an ERPL motion command such as CIRC with values ERPL command: VIA_POS X Y Z A B C, see ERPL Manual EASY-ROB-ERPL-eng.pdf More...

static ER_DllExport int *	inq_single_cmd_via_point_idx (void)
	Indicates that a Via Point location is available when running a CIRC command Has efffect when running an ERPL motion command such as CIRC with values ERPL command: CIRC X Y Z A B C, see ERPL Manual EASY-ROB-ERPL-eng.pdf More...

static ER_DllExport int *	inq_single_cmd_interpolation (void)
	Interpolation enabled or disabled If interpolation is disabled, the robot will jump to the target, same effect when using ERPL command JUMP_TO ERPL command: ERC INTERPOLATION ON or OFF, see ERPL Manual EASY-ROB-ERPL-eng.pdf More...

static ER_DllExport float *	inq_single_cmd_unit_scal_trans (void)
	Defines units and scaling for translational values Has efffect for all ERPL command using values ERPL command. More...

static ER_DllExport float *	inq_single_cmd_unit_scal_rot (void)
	Defines units and scaling for rotational values Has efffect for all ERPL command using values ERPL command. More...

static ER_DllExport int *	inq_single_cmd_ext_Tcp_idx (void)
	External Tcp is active or disabled ERPL command: ERC EXT_TCP ON or OFF, see ERPL Manual EASY-ROB-ERPL-eng.pdf More...

static ER_DllExport int *	inq_single_cmd_c_device_idx (void)
	Current device idx ERPL command: ERC CURRENT_DEVICE SET 'robotname�, see ERPL Manual EASY-ROB-ERPL-eng.pdf More...

Static Public Member Functions inherited from ER_CAPI_SIM
static ER_DllExport float *	inq_sim_time (void)
	Global simulation time [s]. More...

static ER_DllExport float *	inq_sim_step (void)
	Sample rate simulation step size [s]. More...

static ER_DllExport int	LoadToolFileRun (char *fln)
	Load a tool file '.tol' while program is running. More...

static ER_DllExport int	AuxUpdate (int idx, int sub_idx=0)
	Forces an AuxUpdate() call Parameter `idx` is one of AUX_UPDATE_IDX_SIMUPDATE to AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED Parameter `sub_idx` is an user defined individual index passed through all other API-UserDLL. More...

static ER_DllExport int	StartCondition_ResetSave (int start_condition=START_CONDITION_RESET_ALL_ROBOTS)
	Reset or Save the Start Conditions for the current or all robots Parameter `start_condition` is bitwise inclusive OR operator (\|) of START_CONDITION_RESET to START_CONDITION_ENVIRONMENT_BODIES. More...

Additional Inherited Members
Static Public Attributes inherited from ER_CAPI_SIM
static ER_CAPI_SIM_MONITORING	er_capi_sim_monitoring
	Method class for monitoring of travel ranges, speeds, etc. More...

static ER_CAPI_SIM_COLLISION	er_capi_sim_collision
	Method class for collision, tolerances, etc. More...

static ER_CAPI_SIM_CAMERA	er_capi_sim_camera
	Method class for camera settings. More...

static ER_CAPI_SIM_ERPL	er_capi_sim_erpl
	ethod class for executing ERPL- and ERCL commands More...

static ER_CAPI_SIM_TRACK	er_capi_sim_track
	Method class for TCP trace, reference and visualization. More...

Static Public Attributes inherited from ER_CAPI
static ER_CAPI_USER_IO	er_capi_user_io
	Method class for interaction with EASY-ROB. More...

static ER_CAPI_DEVICES	er_capi_devices
	Method class to create, attach, update devices, for kinematics calculations and for trajectory planning and -execution. More...

static ER_CAPI_SIM	er_capi_sim
	Method class for simulation settings. More...

static ER_CAPI_TARGETS	er_capi_targets
	Method class for paths and tags. More...

static ER_CAPI_CAD	er_capi_cad
	Method class for for 3D CAD Data import and -export, changing attributes and positions. More...

static ER_CAPI_SYS	er_capi_sys
	Method class for mathematical calculations, simulation status, units. More...

Detailed Description

Method class for executing ERPL- and ERCL commands.

Member Function Documentation

◆ AbortRunProgram()

static ER_DllExport int ER_CAPI_SIM_ERPL::AbortRunProgram ( void )

static

Abort running simulation.

Return values

0 - ER_OK

◆ ChkErcCmd()

static ER_DllExport int ER_CAPI_SIM_ERPL::ChkErcCmd ( char * cmd )

static

Check if the command cmd starts with the key 'ERC'.

Parameters

[in] cmd command

Return values

0	- Is no ERC-command
1	- Is ERC-command

◆ erc_onoff()

static ER_DllExport int ER_CAPI_SIM_ERPL::erc_onoff	(	int	erc_on_off_idx,
		int	enable
	)

static

Dis- and enabling miscellaneous settings
The erc_on_off_idx is one of ERC_TRACK to ERC_COI_RENDER
The request parameter enable is 0-disable, 1-enable or 2- to ask for the current status.

Parameters

[in]	erc_on_off_idx	item to dis- or enable
[in]	enable	0-Off, 1-On or 2-Status

Return values

0	- OFF
1	- ON
-1	- Error

◆ GetPrgfile()

static ER_DllExport char* ER_CAPI_SIM_ERPL::GetPrgfile ( void )

static

Returns program file for cRobot.

Return values

Program file for cRobot

◆ GetPrgId()

static ER_DllExport int ER_CAPI_SIM_ERPL::GetPrgId ( void )

static

Program interpreter ID for program interpreter
The program interpreter ID is one of ERPL = 0, BM_T1 = 1, TRICEPT_NC = 3, NC_SIMULATION = 4.

Return values

ID	for program interpreter

◆ GetPrgMimicfile()

static ER_DllExport char* ER_CAPI_SIM_ERPL::GetPrgMimicfile ( void )

static

Returns mimic file for cRobot
A mimic file is a machine specific file, mostly used when running G-Code.

Return values

Mimic file for cRobot

◆ inq_pp_usr_ptr()

static ER_DllExport void** ER_CAPI_SIM_ERPL::inq_pp_usr_ptr ( )

static

Access user pointer for post_processor in er_post.dll
This allows the user to allocate individual memory.
EASY-ROB administrates this pointer, related to the current device
See example given for ER_CAPI_ROB_KIN::inq_kin_usr_ptr()

Return values

pointer to user defined memory

◆ inq_single_cmd_base()

static ER_DllExport frame* ER_CAPI_SIM_ERPL::inq_single_cmd_base ( void )

static

Base transformation to shift the target location
Has efffect when running an ERPL motion command such as SLEW, PTP, LIN or CIRC with values
ERPL command: BASE X Y Z A B C, see ERPL Manual EASY-ROB-ERPL-eng.pdf

Return values

pointer to FRAME

◆ inq_single_cmd_base_prg()

static ER_DllExport frame* ER_CAPI_SIM_ERPL::inq_single_cmd_base_prg ( void )

static

Base Program transformation to shift the base frame
Has efffect when running an ERPL motion command such as SLEW, PTP, LIN or CIRC with values
ERPL command: BASE_PRG X Y Z A B C, see ERPL Manual EASY-ROB-ERPL-eng.pdf

Return values

pointer to FRAME

◆ inq_single_cmd_c_device_idx()

static ER_DllExport int* ER_CAPI_SIM_ERPL::inq_single_cmd_c_device_idx ( void )

static

Current device idx ERPL command: ERC CURRENT_DEVICE SET 'robotname�, see ERPL Manual EASY-ROB-ERPL-eng.pdf

Return values

Idx	for current device [1..]

◆ inq_single_cmd_ext_Tcp_idx()

static ER_DllExport int* ER_CAPI_SIM_ERPL::inq_single_cmd_ext_Tcp_idx ( void )

static

External Tcp is active or disabled
ERPL command: ERC EXT_TCP ON or OFF, see ERPL Manual EASY-ROB-ERPL-eng.pdf

Return values

Idx	external Tcp

◆ inq_single_cmd_interpolation()

static ER_DllExport int* ER_CAPI_SIM_ERPL::inq_single_cmd_interpolation ( void )

static

Interpolation enabled or disabled
If interpolation is disabled, the robot will jump to the target, same effect when using ERPL command JUMP_TO
ERPL command: ERC INTERPOLATION ON or OFF, see ERPL Manual EASY-ROB-ERPL-eng.pdf

Return values

Interpolation

◆ inq_single_cmd_unit_scal_rot()

static ER_DllExport float* ER_CAPI_SIM_ERPL::inq_single_cmd_unit_scal_rot ( void )

static

Defines units and scaling for rotational values
Has efffect for all ERPL command using values
ERPL command.

ERC UNIT DEG
LIN 1.0272 0.0310 1.3742 0.0000 115.0000 0.0000
ERC UNIT RAD
LIN 1.0272 0.0310 1.3742 0.0000 2.0071 0.0000
In this example the units changing from [deg] to [rad], see ERPL Manual EASY-ROB-ERPL-eng.pdf
Return values

pointer to scaling value for rotation

◆ inq_single_cmd_unit_scal_trans()

static ER_DllExport float* ER_CAPI_SIM_ERPL::inq_single_cmd_unit_scal_trans ( void )

static

Defines units and scaling for translational values
Has efffect for all ERPL command using values
ERPL command.

ERC UNIT M
LIN 1.0272 0.0310 1.3742 0.0000 115.0000 0.0000
ERC UNIT MM
LIN 1027.1985 31.0000 1374.2030 0.0000 115.0000 0.0000
In this example the units changing from [m] to [mm], see ERPL Manual EASY-ROB-ERPL-eng.pdf
Return values

pointer to scaling value for translation

◆ inq_single_cmd_via_point_idx()

static ER_DllExport int* ER_CAPI_SIM_ERPL::inq_single_cmd_via_point_idx ( void )

static

Indicates that a Via Point location is available when running a CIRC command
Has efffect when running an ERPL motion command such as CIRC with values
ERPL command: CIRC X Y Z A B C, see ERPL Manual EASY-ROB-ERPL-eng.pdf

Return values

idx	1-if Via Point exist, 0-does not

◆ inq_single_cmd_via_T()

static ER_DllExport frame* ER_CAPI_SIM_ERPL::inq_single_cmd_via_T ( void )

static

Via Point location for circular motion
Has efffect when running an ERPL motion command such as CIRC with values
ERPL command: VIA_POS X Y Z A B C, see ERPL Manual EASY-ROB-ERPL-eng.pdf

Return values

pointer to FRAME

◆ prg_data_single_cmd_reset()

static ER_DllExport void ER_CAPI_SIM_ERPL::prg_data_single_cmd_reset ( void )

static

Reset program data for single command execution
such as program base, via point for circular movement, scalings, etc.
See also related methods inq_single_cmd_base(), inq_single_cmd_base_prg(), inq_single_cmd_via_T(), inq_single_cmd_via_point_idx(), inq_single_cmd_interpolation(), inq_single_cmd_unit_scal_trans(), inq_single_cmd_unit_scal_rot(), inq_single_cmd_ext_Tcp_idx(), inq_single_cmd_c_device_idx()

Return values

void

◆ RunProgram()

static ER_DllExport int ER_CAPI_SIM_ERPL::RunProgram	(	char *	prgline = `NULL`,
		int	confirm = `1`
	)

static

Run complete program or single ERPL-/ERCL command
If parameter prgline is NULL, the current loaded program (*.prg) is executed
If prgline containes a valid ERPL- or ERCL command, this command is executed as a single step.
If paramter confirm is set, a message box with an error message comes up.
An Error occurs when.

no robot or cell is loaded
a program or a single command is currently running
no program loaded for any device, in case of prgline is NULL
the single command is not valid
not possible to start the program thread
Parameters

[in] prgline NULL or single ERPL-, ERCL command, maximum length HS_MAXSTR

[in] confirm 0 - suppress error message, 1-show error message in a dialog to be confirmed

Return values

0 - ER_OK

1 - ER_ERROR, no

◆ SetPrgId()

static ER_DllExport int ER_CAPI_SIM_ERPL::SetPrgId ( int PrgId )

static

Set program interpreter ID The program interpreter ID is one of ERPL = 0, BM_T1 = 1, TRICEPT_NC = 3, NC_SIMULATION = 4.

Parameters

[in] PrgId program interpreter

Return values

0 - ER_OK

◆ StopContRunProgram()

static ER_DllExport int ER_CAPI_SIM_ERPL::StopContRunProgram ( void )

static

Stop/Pause or continue running simulation.

Return values

0 - ER_OK

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

ER_CAPI.H

[in]	prgline	NULL or single ERPL-, ERCL command, maximum length HS_MAXSTR
[in]	confirm	0 - suppress error message, 1-show error message in a dialog to be confirmed

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ AbortRunProgram()

◆ ChkErcCmd()

◆ erc_onoff()

◆ GetPrgfile()

◆ GetPrgId()

◆ GetPrgMimicfile()

◆ inq_pp_usr_ptr()

◆ inq_single_cmd_base()

◆ inq_single_cmd_base_prg()

◆ inq_single_cmd_c_device_idx()

◆ inq_single_cmd_ext_Tcp_idx()

◆ inq_single_cmd_interpolation()

◆ inq_single_cmd_unit_scal_rot()

◆ inq_single_cmd_unit_scal_trans()

◆ inq_single_cmd_via_point_idx()

◆ inq_single_cmd_via_T()

◆ prg_data_single_cmd_reset()

◆ RunProgram()

◆ SetPrgId()

◆ StopContRunProgram()