Method class for monitoring of travel ranges, speeds, etc. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_SIM_MONITORING:

Static Public Member Functions
static ER_DllExport int	chk_run (void)
	Checks the current running status. More...

static ER_DllExport int	chk_limits (int idx)
	Check if an Error occured The parameter `idx` can be one of the following values. AUX_UPDATE_IDX_SWE_EXCEEDED - Request if at least one axis exceeds its maximum allowed travel ranges AUX_UPDATE_IDX_SPEED_EXCEEDED - Request if at least one axis exceeds its maximum allowed axis speed AUX_UPDATE_IDX_ACCEL_EXCEEDED - Request if at least one axis exceeds its maximum allowed axis acceleration AUX_UPDATE_IDX_COLLISION - Request for workcell collision AUX_UPDATE_IDX_CART_SPACE_EXCEEDED - Request if Robot exceeds the cartesian space with its Tcp location or its bBox geometries AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED - Request if at least one passive axis exceeds its maximum allowed travel ranges. More...

static ER_DllExport int	chk_collision_workcell ()
	Check Workcell Collision Test all devices versus all other devices, including environemnt geometries Current settings, such as device visibility, "reference collision" or geometry collision tolerance, etc. are considered Use get_collision_workcell_msg() to retrieve information about colliding devices and objects, in case of collision. More...

static ER_DllExport int	chk_collision_devices_idx (int dev_idx_1, int dev_idx_2)
	Check for collision between two devices The device index `dev_idx_1` , `dev_idx_2` must be in [1..n_dev] and not equal If dev_idx_1 or dev_idx_2 are not valid, -1 is returned In case `dev_idx_1` and/or `dev_idx_2` are 0, the specified device will be tested versus all other devices See also chk_collision_workcell(), chk_collision_devices_uid(), chk_collision_devices_name() More...

static ER_DllExport int	chk_collision_devices_uid (ER_UID dev_uid_1, ER_UID dev_uid_2)
	Check for collision between two devices If dev_uid_1 or dev_uid_2 are not valid, -1 is returned In case `dev_uid_1` and/or `dev_uid_2` are 0, the specified device will be tested versus all other devices See also chk_collision_workcell(), chk_collision_devices_idx(), chk_collision_devices_name() More...

static ER_DllExport int	chk_collision_devices_name (char dev_name_1, char dev_name_2)
	Check for collision between two devices If dev_name_1 or dev_name_1 are not valid, -1 is returned In case `dev_name_1` and/or `dev_name_2` are NULL, the specified device will be tested versus all other devices See also chk_collision_workcell(), chk_collision_devices_uid(), chk_collision_devices_idx() More...

static ER_DllExport int	get_warning_msg (int aux_update_idx, char *msg)
	Warning message if one of the following error occurs AUX_UPDATE_IDX_SWE_EXCEEDED - At least one axis exceeds its maximum allowed travel ranges AUX_UPDATE_IDX_SPEED_EXCEEDED - At least one axis exceeds its maximum allowed axis speed AUX_UPDATE_IDX_ACCEL_EXCEEDED - At least one axis exceeds its maximum allowed axis acceleration AUX_UPDATE_IDX_COLLISION - workcell collision AUX_UPDATE_IDX_CART_SPACE_EXCEEDED - Robot exceeds the cartesian space with its Tcp location or its bBox geometries AUX_UPDATE_IDX_LOAD_GEO_ERROR - Geometry file (IGP, STL or 3DS) not found while loading .cel or .rob file load AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED - At least one passive axis exceeds its maximum allowed travel ranges. More...

static ER_DllExport int	get_collision_workcell_msg (char *msg)
	Collision message in case of detected collision Call chk_collision_workcell() first to detect workcell collision. More...

static ER_DllExport int	ChkAnimExec (int confirm=0)
	Check if animation is running. More...

static ER_DllExport int	ChkPrgRunning (int confirm=0)
	Check if animation is running. More...

static ER_DllExport int *	inq_stop_swe (void)
	Causes the robot to stop if travel ranges (joint limits) are exceeded. More...

static ER_DllExport int *	inq_stop_cart_space (void)
	Causes the robot to stop if the cartesian space is exceeded. More...

static ER_DllExport int *	inq_stop_speed (void)
	Causes the robot to stop if joint speeds are exceeded. More...

static ER_DllExport int *	inq_stop_accel (void)
	Causes the robot to stop if joint accels are exceeded. More...

static ER_DllExport int *	inq_stop_collision (void)
	Causes the robot to stop if collision detected. More...

static ER_DllExport int *	inq_stop_unreach (void)
	Causes the robot to stop if target position is not reachable. More...

static ER_DllExport int *	inq_swe_chk_always ()
	Causes an AuxUpdate() call if set and if active or passive travel ranges are exceeded AuxUpdate idx = AUX_UPDATE_IDX_SWE_EXCEEDED or AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED Remarks If not set, no AuxUpdate() call is performed This parameter can be predefined in the environment file `easy-rob.env`. More...

static ER_DllExport int *	inq_cart_space_chk_always ()
	Causes an AuxUpdate() call if set and if cartesian space is exceeded AuxUpdate idx = AUX_UPDATE_IDX_CART_SPACE_EXCEEDED Remarks If not set, no AuxUpdate() call is performed This parameter can be predefined in the environment file `easy-rob.env`. More...

static ER_DllExport int *	inq_speed_chk_always ()
	Causes an AuxUpdate() call if set and if joint speeds are exceeded AuxUpdate idx = AUX_UPDATE_IDX_SPEED_EXCEEDED Remarks If not set, no AuxUpdate() call is performed This parameter can be predefined in the environment file `easy-rob.env`. More...

static ER_DllExport int *	inq_accel_chk_always ()
	Causes an AuxUpdate() call if set and if joint accels are exceeded AuxUpdate idx = AUX_UPDATE_IDX_ACCEL_EXCEEDED Remarks If not set, no AuxUpdate() call is performed This parameter can be predefined in the environment file `easy-rob.env`. More...

static ER_DllExport int *	inq_collision_chk_always ()
	Causes an AuxUpdate() call if set and if a workcell collision occured AuxUpdate idx = AUX_UPDATE_IDX_COLLISION Remarks If not set, no AuxUpdate() call is performed This parameter can be predefined in the environment file `easy-rob.env`. More...

static ER_DllExport int *	inq_unreach_chk_always ()
	Causes an AuxUpdate() call if set and if unreachable target location AuxUpdate idx = AUX_UPDATE_IDX_UNREACH Remarks If not set, no AuxUpdate() call is performed This parameter can be predefined in the environment file `easy-rob.env`. More...

static ER_DllExport int *	inq_prgwindow_show_auto (void)
	Suppresses the automatic appearance of the program window, if unset (0) Remarks Per default automatic appearance is enabled. More...

static ER_DllExport int *	inq_msgwindow_show_auto (void)
	Suppresses the automatic appearance of the message window, if unset (0) Remarks Per default automatic appearance is enabled. More...

static ER_DllExport int *	inq_dialogs_error_enable (void)
	Suppresses the appearance of error dialogs, if unset (0) Remarks Per default appearance is enabled. More...

static ER_DllExport int *	inq_dialogs_warning_enable (void)
	Suppresses the appearance of warning dialogs, if unset (0) Remarks Per default appearance is enabled. 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 monitoring of travel ranges, speeds, etc.

Member Function Documentation

◆ chk_collision_devices_idx()

static ER_DllExport int ER_CAPI_SIM_MONITORING::chk_collision_devices_idx	(	int	dev_idx_1,
		int	dev_idx_2
	)

static

Check for collision between two devices
The device index dev_idx_1 , dev_idx_2 must be in [1..n_dev] and not equal
If dev_idx_1 or dev_idx_2 are not valid, -1 is returned
In case dev_idx_1 and/or dev_idx_2 are 0, the specified device will be tested versus all other devices
See also chk_collision_workcell(), chk_collision_devices_uid(), chk_collision_devices_name()

Parameters

[in]	dev_idx_1	idx 1st device [1..n_devices]
[in]	dev_idx_2	idx 2nd device [1..n_devices]

Return values

1	- collision occured
0	- no collision
-1	- error

◆ chk_collision_devices_name()

static ER_DllExport int ER_CAPI_SIM_MONITORING::chk_collision_devices_name	(	char *	dev_name_1,
		char *	dev_name_2
	)

static

Check for collision between two devices
If dev_name_1 or dev_name_1 are not valid, -1 is returned
In case dev_name_1 and/or dev_name_2 are NULL, the specified device will be tested versus all other devices
See also chk_collision_workcell(), chk_collision_devices_uid(), chk_collision_devices_idx()

Parameters

[in]	dev_name_1	device name 1st device
[in]	dev_name_2	device name 2nd device

Return values

1	- collision occured
0	- no collision
-1	- error

◆ chk_collision_devices_uid()

static ER_DllExport int ER_CAPI_SIM_MONITORING::chk_collision_devices_uid	(	ER_UID	dev_uid_1,
		ER_UID	dev_uid_2
	)

static

Check for collision between two devices
If dev_uid_1 or dev_uid_2 are not valid, -1 is returned
In case dev_uid_1 and/or dev_uid_2 are 0, the specified device will be tested versus all other devices
See also chk_collision_workcell(), chk_collision_devices_idx(), chk_collision_devices_name()

Parameters

[in]	dev_uid_1	unique id 1st device
[in]	dev_uid_2	unique id 2nd device

Return values

1	- collision occured
0	- no collision
-1	- error

◆ chk_collision_workcell()

static ER_DllExport int ER_CAPI_SIM_MONITORING::chk_collision_workcell ( )

static

Check Workcell Collision
Test all devices versus all other devices, including environemnt geometries
Current settings, such as device visibility, "reference collision" or geometry collision tolerance, etc. are considered
Use get_collision_workcell_msg() to retrieve information about colliding devices and objects, in case of collision.

Return values

0	- no collssion
1	- collision detected

◆ chk_limits()

static ER_DllExport int ER_CAPI_SIM_MONITORING::chk_limits ( int idx )

static

Check if an Error occured
The parameter idx can be one of the following values.
AUX_UPDATE_IDX_SWE_EXCEEDED - Request if at least one axis exceeds its maximum allowed travel ranges
AUX_UPDATE_IDX_SPEED_EXCEEDED - Request if at least one axis exceeds its maximum allowed axis speed
AUX_UPDATE_IDX_ACCEL_EXCEEDED - Request if at least one axis exceeds its maximum allowed axis acceleration
AUX_UPDATE_IDX_COLLISION - Request for workcell collision
AUX_UPDATE_IDX_CART_SPACE_EXCEEDED - Request if Robot exceeds the cartesian space with its Tcp location or its bBox geometries
AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED - Request if at least one passive axis exceeds its maximum allowed travel ranges.

Parameters

[in] idx request for occurence

Return values

0	- no occurence
1	- occurence

◆ chk_run()

static ER_DllExport int ER_CAPI_SIM_MONITORING::chk_run ( void )

static

Checks the current running status.

Return values

RUN_MODUS,STOP_MODUS or ABORT_MODUS

◆ ChkAnimExec()

static ER_DllExport int ER_CAPI_SIM_MONITORING::ChkAnimExec ( int confirm = 0 )

static

Check if animation is running.

Parameters

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

Return values

0	- Animation on hold
1	- Animation running

◆ ChkPrgRunning()

static ER_DllExport int ER_CAPI_SIM_MONITORING::ChkPrgRunning ( int confirm = 0 )

static

Check if animation is running.

Parameters

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

Return values

0	- Program on hold
1	- Program running

◆ get_collision_workcell_msg()

static ER_DllExport int ER_CAPI_SIM_MONITORING::get_collision_workcell_msg ( char * msg )

static

Collision message in case of detected collision
Call chk_collision_workcell() first to detect workcell collision.

Parameters

[out] msg collision message, size DMAXSTR

Return values

0	- valid message
1	- invalid

◆ get_warning_msg()

static ER_DllExport int ER_CAPI_SIM_MONITORING::get_warning_msg	(	int	aux_update_idx,
		char *	msg
	)

static

Warning message if one of the following error occurs
AUX_UPDATE_IDX_SWE_EXCEEDED - At least one axis exceeds its maximum allowed travel ranges
AUX_UPDATE_IDX_SPEED_EXCEEDED - At least one axis exceeds its maximum allowed axis speed
AUX_UPDATE_IDX_ACCEL_EXCEEDED - At least one axis exceeds its maximum allowed axis acceleration
AUX_UPDATE_IDX_COLLISION - workcell collision
AUX_UPDATE_IDX_CART_SPACE_EXCEEDED - Robot exceeds the cartesian space with its Tcp location or its bBox geometries
AUX_UPDATE_IDX_LOAD_GEO_ERROR - Geometry file (IGP, STL or 3DS) not found while loading .cel or .rob file load
AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED - At least one passive axis exceeds its maximum allowed travel ranges.

Parameters

[in]	aux_update_idx	one of AUX_UPDATE_IDX_SWE_EXCEEDED, AUX_UPDATE_IDX_SPEED_EXCEEDED, AUX_UPDATE_IDX_ACCEL_EXCEEDED, AUX_UPDATE_IDX_COLLISION, AUX_UPDATE_IDX_CART_SPACE_EXCEEDED, AUX_UPDATE_IDX_LOAD_GEO_ERROR, AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED
[out]	msg	Error message, size DMAXSTR

Return values

0	- valid message
1	- invalid aux_update_idx parameter

◆ inq_accel_chk_always()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_accel_chk_always ( )

static

Causes an AuxUpdate() call if set and if joint accels are exceeded
AuxUpdate idx = AUX_UPDATE_IDX_ACCEL_EXCEEDED
Remarks
If not set, no AuxUpdate() call is performed
This parameter can be predefined in the environment file easy-rob.env.

Return values

pointer to int

◆ inq_cart_space_chk_always()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_cart_space_chk_always ( )

static

Causes an AuxUpdate() call if set and if cartesian space is exceeded
AuxUpdate idx = AUX_UPDATE_IDX_CART_SPACE_EXCEEDED
Remarks
If not set, no AuxUpdate() call is performed
This parameter can be predefined in the environment file easy-rob.env.

Return values

pointer to int

◆ inq_collision_chk_always()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_collision_chk_always ( )

static

Causes an AuxUpdate() call if set and if a workcell collision occured
AuxUpdate idx = AUX_UPDATE_IDX_COLLISION
Remarks
If not set, no AuxUpdate() call is performed
This parameter can be predefined in the environment file easy-rob.env.

Return values

pointer to int

◆ inq_dialogs_error_enable()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_dialogs_error_enable ( void )

static

Suppresses the appearance of error dialogs, if unset (0)
Remarks
Per default appearance is enabled.

Return values

pointer to int

◆ inq_dialogs_warning_enable()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_dialogs_warning_enable ( void )

static

Suppresses the appearance of warning dialogs, if unset (0)
Remarks
Per default appearance is enabled.

Return values

pointer to int

◆ inq_msgwindow_show_auto()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_msgwindow_show_auto ( void )

static

Suppresses the automatic appearance of the message window, if unset (0)
Remarks
Per default automatic appearance is enabled.

Return values

pointer to int

◆ inq_prgwindow_show_auto()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_prgwindow_show_auto ( void )

static

Suppresses the automatic appearance of the program window, if unset (0)
Remarks
Per default automatic appearance is enabled.

Return values

pointer to int

◆ inq_speed_chk_always()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_speed_chk_always ( )

static

Causes an AuxUpdate() call if set and if joint speeds are exceeded
AuxUpdate idx = AUX_UPDATE_IDX_SPEED_EXCEEDED
Remarks
If not set, no AuxUpdate() call is performed
This parameter can be predefined in the environment file easy-rob.env.

Return values

pointer to int

◆ inq_stop_accel()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_stop_accel ( void )

static

Causes the robot to stop if joint accels are exceeded.

Return values

pointer to int

◆ inq_stop_cart_space()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_stop_cart_space ( void )

static

Causes the robot to stop if the cartesian space is exceeded.

Return values

pointer to int

◆ inq_stop_collision()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_stop_collision ( void )

static

Causes the robot to stop if collision detected.

Return values

pointer to int

◆ inq_stop_speed()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_stop_speed ( void )

static

Causes the robot to stop if joint speeds are exceeded.

Return values

pointer to int

◆ inq_stop_swe()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_stop_swe ( void )

static

Causes the robot to stop if travel ranges (joint limits) are exceeded.

Return values

pointer to int

◆ inq_stop_unreach()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_stop_unreach ( void )

static

Causes the robot to stop if target position is not reachable.

Return values

pointer to int

◆ inq_swe_chk_always()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_swe_chk_always ( )

static

Causes an AuxUpdate() call if set and if active or passive travel ranges are exceeded
AuxUpdate idx = AUX_UPDATE_IDX_SWE_EXCEEDED or AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED
Remarks
If not set, no AuxUpdate() call is performed
This parameter can be predefined in the environment file easy-rob.env.

Return values

pointer to int

◆ inq_unreach_chk_always()

static ER_DllExport int* ER_CAPI_SIM_MONITORING::inq_unreach_chk_always ( )

static

Causes an AuxUpdate() call if set and if unreachable target location
AuxUpdate idx = AUX_UPDATE_IDX_UNREACH
Remarks
If not set, no AuxUpdate() call is performed
This parameter can be predefined in the environment file easy-rob.env.

Return values

pointer to int

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

ER_CAPI.H

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ chk_collision_devices_idx()

◆ chk_collision_devices_name()

◆ chk_collision_devices_uid()

◆ chk_collision_workcell()

◆ chk_limits()

◆ chk_run()

◆ ChkAnimExec()

◆ ChkPrgRunning()

◆ get_collision_workcell_msg()

◆ get_warning_msg()

◆ inq_accel_chk_always()

◆ inq_cart_space_chk_always()

◆ inq_collision_chk_always()

◆ inq_dialogs_error_enable()

◆ inq_dialogs_warning_enable()

◆ inq_msgwindow_show_auto()

◆ inq_prgwindow_show_auto()

◆ inq_speed_chk_always()

◆ inq_stop_accel()

◆ inq_stop_cart_space()

◆ inq_stop_collision()

◆ inq_stop_speed()

◆ inq_stop_swe()

◆ inq_stop_unreach()

◆ inq_swe_chk_always()

◆ inq_unreach_chk_always()