EASY-ROB™ Kernel  v8.307
 All Classes Files Functions Variables Typedefs Macros Pages
Static Public Member Functions | Static Public Attributes | List of all members
ERK_CAPI_MOP Class Reference

Method class for motion planning and -execution. More...

#include <erk_capi.h>

Inheritance diagram for ERK_CAPI_MOP:
ERK_CAPI_DEVICES ERK_CAPI ERK_CAPI_MOP_DATA ERK_CAPI_MOP_EXEC ERK_CAPI_MOP_PATH ERK_CAPI_MOP_PREP

Static Public Member Functions

static DLLAPI int 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...
 
static DLLAPI int 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...
 
static DLLAPI int 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...
 
static DLLAPI int 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...
 
static DLLAPI int 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...
 
static DLLAPI int 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...
 
static DLLAPI int 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...
 
static DLLAPI int 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...
 
static DLLAPI int 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...
 
static DLLAPI int 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...
 
- Static Public Member Functions inherited from ERK_CAPI_DEVICES
static DLLAPI int 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...
 
static DLLAPI int 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...
 
static DLLAPI int 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...
 
static DLLAPI ER_HND ER_STDCALL erConnectPositionerGetHND (ER_HND er_hnd)
 Get robots connection handle between robot and positioner.
See also erConnectPositioner() More...
 
static DLLAPI int 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...
 
static DLLAPI int ER_STDCALL erConnectPositionerGetSync (ER_HND er_hnd)
 Get robots synchronization flag for synchronization between robot and positioner.
See also erConnectPositionerSetSync() More...
 
static DLLAPI int 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...
 
static DLLAPI ER_HND ER_STDCALL erConnectConveyorGetHND (ER_HND er_hnd)
 Get robots connection handle between robot and conveyor.
See also erConnectConveyor() More...
 
static DLLAPI int 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...
 
static DLLAPI int ER_STDCALL erConnectConveyorGetSync (ER_HND er_hnd)
 Get robots synchronization flag for synchronization between robot and conveyor.
See also erConnectConveyorSetSync() More...
 
static DLLAPI int 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...
 
static DLLAPI ER_HND ER_STDCALL erConnectTrackMotionGetHND (ER_HND er_hnd)
 Get robots connection handle between robot and track motion.
See also erConnectTrackMotion() More...
 
static DLLAPI int 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...
 
static DLLAPI int ER_STDCALL erConnectTrackMotionGetSync (ER_HND er_hnd)
 Get robots synchronization flag for synchronization between robot and track motion.
See also erConnectTrackMotionSetSync() More...
 
static DLLAPI int 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...
 
static DLLAPI ER_HND ER_STDCALL erConnectRobotGetHND (ER_HND er_hnd)
 Get robots connection handle between robot and slave robot.
See also erConnectRobot() More...
 
static DLLAPI int 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...
 
static DLLAPI int ER_STDCALL erConnectRobotGetSync (ER_HND er_hnd)
 Get robots synchronization flag for synchronization between robot and slave robot.
See also erConnectRobotSetSync() More...
 
static DLLAPI int 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...
 
static DLLAPI int 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...
 
static DLLAPI int 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...
 
static DLLAPI int ER_STDCALL erGet_n_Kin (ER_HND er_hnd)
 Get the number of loaded kinematics. More...
 
static DLLAPI int 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...
 
static DLLAPI int ER_STDCALL erGetName (ER_HND er_hnd, char *name)
 Get the name of the robot. More...
 

Static Public Attributes

static ERK_CAPI_MOP_DATA erk_capi_mop_data
 Method class for start-, target data, motion time, etc. More...
 
static ERK_CAPI_MOP_PATH erk_capi_mop_path
 Method class for path specifications, motion type (PTP, LIN, CIRC), speeds, acceleration, waiting time, etc. More...
 
static ERK_CAPI_MOP_PREP erk_capi_mop_prep
 Method class for motion planning (preparation) More...
 
static ERK_CAPI_MOP_EXEC erk_capi_mop_exec
 Method class for motion execution. More...
 
- Static Public Attributes inherited from ERK_CAPI_DEVICES
static ERK_CAPI_ROB erk_capi_rob
 Method class kinematics and transformations. More...
 
static ERK_CAPI_MOP erk_capi_mop
 Method class for motion planning and -execution. More...
 
static ERK_CAPI_TOOLPATH erk_capi_toolpath
 Method class for tool path definition. More...
 
- Static Public Attributes inherited from ERK_CAPI
static ERK_CAPI_ADMIN erk_capi_admin
 Method class to administrate this Robotics Simulation Kernel. More...
 
static ERK_CAPI_DEVICES erk_capi_devices
 Method class to create, attach, update devices, for kinematics calculations and for motion planning and -execution. More...
 
static ERK_CAPI_SIM erk_capi_sim
 Method class for simulation settings. More...
 
static ERK_CAPI_AUTOPATH erk_capi_autopath
 Method class for collision free path planning. More...
 
static ERK_CAPI_TARGETS erk_capi_targets
 Method class for paths and tags. More...
 
static ERK_CAPI_GEO erk_capi_geo
 Method class to handle 3D Geometry Data. More...
 
static ERK_CAPI_SYS erk_capi_sys
 Method class for mathematical calculations, simulation status, units. More...
 

Detailed Description

Method class for motion planning and -execution.

Member Function Documentation

static DLLAPI int ER_STDCALL ERK_CAPI_MOP::erCANCEL_EVENT ( ER_HND  er_hnd,
long  event_id 
)
static

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

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]event_id
Return values
0- OK
1- Error, invalid handle
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP::erDEFINE_EVENT ( ER_HND  er_hnd,
long  event_id,
long  target_id,
double  resolution,
long  type_of_event,
double  event_spec 
)
static

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

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]event_id
[in]target_id
[in]resolution
[in]type_of_event
[in]event_spec
Return values
0- OK
1- Error, invalid handle
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP::erGET_EVENT ( ER_HND  er_hnd,
long  event_nr 
)
static

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

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]event_nrspecifies which of the occurred events to get
Return values
0- OK
1- Error, invalid handle
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP::erGET_MESSAGE ( ER_HND  er_hnd,
long  message_number 
)
static

Gives information about controller messages that occurred.
Opcode 154, Chapter 3.4.9, Page 3-104
Function not supported Use notify messages instead TErNotifyData.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]message_numberspecifies which of the reported message to get
Return values
0- OK
1- Error, invalid handle
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP::erINITIALIZE ( ER_HND er_hnd,
Host_HND  host_hnd = NULL 
)
static

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.

Parameters
[out]er_hnda new unique kinematics handle ER_HND
[in]host_hndunique host handle Host_HND
Return values
0- OK
1- Error, cannot create a valid handle
static DLLAPI int ER_STDCALL ERK_CAPI_MOP::erRESET ( ER_HND  er_hnd)
static

Resets an instance of a robot to an initial state.
Opcode 102, Chapter 3.4.1, Page 3-29
Settings are.

  • Set kinematics to its current joint location
  • Set kinematics to its current tcp location
  • IPO_MODE_BASE (external TCP disabled)
  • $BASE (wobj) equals to robot base frame
  • Interpolation time = 50ms
  • ER_TARGET_TYPE_ABS
  • ER_MOTION_FILTER_GEO
  • ER_AUTOACCEL_MODE_OFF
  • motion type ER_JOINT (ER_PTP)
  • Orientation interpolation mode = one angle (QUATERNION) for motion type ER_LIN, ER_CIRC
  • AccSet 100%
  • Reset Tracking Windows
  • Reset external axis data
  • Reset group synchronization data
    Parameters
    [in]er_hndunique kinematics handle ER_HND
    Return values
    0- OK
    1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_MOP::erSELECT_TRACKING ( ER_HND  er_hnd,
long  conveyor_flags 
)
static

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.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]conveyor_flags
Return values
0- OK
1- Error, invalid handle
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP::erSET_CONVEYOR_POSITION ( ER_HND  er_hnd,
long  input_format,
long  conveyor_flags,
double  conveyor_pos 
)
static

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.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]input_formatinput format
[in]conveyor_flagsspecifies which of the 32 conveyor positions are valid
[in]conveyor_posspecifies the position values of up to 32 conveyors
Return values
0- OK
1- Error, invalid handle
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP::erSET_INITIAL_POSITION ( ER_HND  er_hnd,
INITIAL_POSITION_DATA p_initial_position_data 
)
static

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.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]p_initial_position_datainitial position INITIAL_POSITION_DATA
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP::erTERMINATE ( ER_HND er_hnd)
static

Terminates an instance of a robot of the Kernel
Opcode 103, Chapter 3.4.1, Page 3-30
See erUnloadKin()

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]er_hndset to NULL after successful call ER_HND
Return values
0- OK
1- Error

Member Data Documentation

ERK_CAPI_MOP_DATA ERK_CAPI_MOP::erk_capi_mop_data
static

Method class for start-, target data, motion time, etc.

ERK_CAPI_MOP_EXEC ERK_CAPI_MOP::erk_capi_mop_exec
static

Method class for motion execution.

ERK_CAPI_MOP_PATH ERK_CAPI_MOP::erk_capi_mop_path
static

Method class for path specifications, motion type (PTP, LIN, CIRC), speeds, acceleration, waiting time, etc.

ERK_CAPI_MOP_PREP ERK_CAPI_MOP::erk_capi_mop_prep
static

Method class for motion planning (preparation)


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