Introduction
EASY-ROB™ Open Software Architecture EROSA provides the method class ER_CAPI to control EASY-ROB™ from an own host application (Executable) or an user defined dialog, represented by a Window DLL. The API allows the development of individual product customizations and special solutions.
The API is available for EASY-ROB™ x64 solutions.
Application Programming Interface (API)
The method class ER_CAPI acts as an interface for the EASY-ROB™ Robotics Simulator Professional Version and EASY-ROB™ Robotics Framework Version as well as for the extensions API-INV, API-IPO, API-DYN, API-UserDLL, API-PostProc and API-Sensors.
The exported class ER_CAPI structures every EASY-ROB™ API-method and simplifies the use. The class ER_CAPI is a pure method-class, which is defined in the header-files.
All methods are standard ANSI C compatible functions. We recommend to use Microsoft® Visual Studio C++ 2017. Other compilers are possible as well.
class ER_CAPI
A Method class containing all other ER_CAPI_* classes
The main class ER_CAPI is sub-divided in following classes
- ER_CAPI_USER_IO Method class for interaction with EASY-ROB
- ER_CAPI_DEVICES Method class to create, attach and update devices, for kinematics calculations and for trajectory planning and -execution
- ER_CAPI_SIM Method class for simulation settings
- ER_CAPI_TARGETS Method class for paths and tags
- ER_CAPI_CAD Method class for for 3D CAD Data import and -export, changing attributes and positions
- ER_CAPI_SYS Method class for mathematical calculations, simulation status, units
class ER_CAPI_USER_IO
Method class for interaction with EASY-ROB
Method class, supplies dialogs, i.e. to enter and show values
Method class to "pick" objects such as devices, tags, polygon, vertices, measure distances, ...
class ER_CAPI_DEVICES
A Method class to create, attach and update devices, for kinematics calculations and for trajectory planning and -execution
- ER_CAPI_ROB Method class kinematics calculations and transformations
- ER_CAPI_MOP Method class for trajectory planning and -execution
class ER_CAPI_ROB
A Method class kinematics calculations and transformations
- ER_CAPI_ROB_KIN Method class forward-, Inverse kinematics, desired robot joints, tools, position w.r.t. world and reference system
- ER_CAPI_ROB_ATRIBUTES Method class for robot/device attributes, travel ranges, home position, device name, ...
- ER_CAPI_ROB_DYN Method class for dynamics, controller parameter, sampling rates
class ER_CAPI_MOP
A Method class for trajectory planning and -execution
- ER_CAPI_MOP_DATA Method class for start-, target data, motion time, etc
- ER_CAPI_MOP_PATH Method class for path specifications, motion type (PTP, LIN, CIRC), speeds, acceleration, waiting time, etc.
- ER_CAPI_MOP_PREP Method class for trajectory planning (preparation)
- ER_CAPI_MOP_EXEC Method class for trajectory execution
- ER_CAPI_MOP_AUTOPATH Method class for collision free path and motion planning
class ER_CAPI_SIM
A Method class for simulation settings
class ER_CAPI_TARGETS
A Method class for paths and tags
class ER_CAPI_CAD
A Method class for for 3D CAD Data import and -export, changing attributes and positions
- ER_CAPI_CAD_IO Method class for access to geometry parameter: Location, polygons, vertices, attributes, etc.
- ER_CAPI_CAD_CREATE Method class for creating primitive geometries such as cubes, cylinder, spheres, etc.
- ER_CAPI_CAD_IMPORT Method class for importing existing 3D geometries (IGP, STL, 3DS)
- ER_CAPI_CAD_CONVERT Method class for converting external neutral and native CAD formats (STEP, IGES, JT-Open, CATIA, Pro/E, and so on) into the internal IGP Part File Format.
class ER_CAPI_SYS
A Method class for mathematical calculations, simulation status, units
- ER_CAPI_SYS_UTILITIES Method class for helping functions, color conversion, etc.
- ER_CAPI_SYS_MATHEMATICS Method class for mathematical calculations, multiplications of homogeneous matrices, conversion Euler angle, triangle calculations, formula parser, etc.
- ER_CAPI_SYS_VIEW Method class for graphical update of the 3D scene, refreshing dialogs, etc.
- ER_CAPI_SYS_PREVIEW Method class for the CAD-Preview
- ER_CAPI_SYS_STATUS Method class for unloading objects (work cells, robots, tools, programs, etc.) simulation status
- ER_CAPI_SYS_UNITS Method class for setting and calculating units
- ER_CAPI_SYS_USERDLL Method class to access API UserDll
Information and Support
Web: API's / Additional Options and Modules
Email: support@easy-rob.com
OEM Products & Partner
Get more information about OEM Partner and Products based on EASY-ROB™ Open Software Architecture EROSA
Contact
EASY-ROB Software GmbH
Hauptstr. 42
65719 Hofheim am Taunus, Germany
Tel.: +49 (0) 6192 921 70-77
sales.nosp@m.@eas.nosp@m.y-rob.nosp@m..com
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