EASY-ROB™ Application Programming Interface  v8.008
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ER_CAPI_SIM_ERPL Class Reference

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

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_SIM_ERPL:
ER_CAPI_SIM ER_CAPI

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 frameinq_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 frameinq_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 frameinq_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

static ER_DllExport int ER_CAPI_SIM_ERPL::AbortRunProgram ( void  )
static

Abort running simulation.

Return values
0- ER_OK
static ER_DllExport int ER_CAPI_SIM_ERPL::ChkErcCmd ( char *  cmd)
static

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

Parameters
[in]cmdcommand
Return values
0- Is no ERC-command
1- Is ERC-command
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_idxitem to dis- or enable
[in]enable0-Off, 1-On or 2-Status
Return values
0- OFF
1- ON
-1- Error
static ER_DllExport char* ER_CAPI_SIM_ERPL::GetPrgfile ( void  )
static

Returns program file for cRobot.

Return values
Programfile for cRobot
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
IDfor program interpreter
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
Mimicfile for cRobot
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
pointerto user defined memory
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
pointerto FRAME
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
pointerto FRAME
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
Idxfor current device [1..]
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
Idxexternal Tcp
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
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
    pointerto scaling value for rotation
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
    pointerto scaling value for translation
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
idx1-if Via Point exist, 0-does not
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
pointerto FRAME
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
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]prglineNULL or single ERPL-, ERCL command, maximum length HS_MAXSTR
    [in]confirm0 - suppress error message, 1-show error message in a dialog to be confirmed
    Return values
    0- ER_OK
    1- ER_ERROR, no
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]PrgIdprogram interpreter
Return values
0- ER_OK
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: