EASY-ROB™ Kernel  v8.307
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ERK_CAPI_MOP_DATA Class Reference

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

#include <erk_capi.h>

Inheritance diagram for ERK_CAPI_MOP_DATA:
ERK_CAPI_MOP ERK_CAPI_DEVICES ERK_CAPI

Static Public Member Functions

static DLLAPI int ER_STDCALL erSetTrackingWindow (ER_HND er_hnd, long active, double up, double down, TErTrackingWindowID id_tw, char *name=NULL)
 Activates and deactivates the boundaries for a Tracking Window.
This function enables a tracking window (typical for a painting applications) and defines the boudary Up- and Down-Stream values.
This function works in conjunction with erConnectConveyor(), erConnectConveyorSetSync() and erSetconveyorStartCondition()
Remarks
Connect the robot first with a conveyor, using erConnectConveyor(), and set the synchronization to ER_SYNC_ON, using erConnectConveyorSetSync(), before activating the tracking window.
A tracking window can have one of the following status:
0: TRK_WND_NOT_ACTIVE, 1: TRK_WND_WAITING, 2: TRK_WND_INSIDE or 3: TRK_WND_OUT_OF_BOUNDARY
and will be obtained with the NEXT_STEP_DATA when calling erGET_NEXT_STEP()
Activating a tracking window sets the status to TRK_WND_WAITING.
Deactivating a tracking window sets the status to TRK_WND_NOT_ACTIVE. More...
 
static DLLAPI int ER_STDCALL erSetconveyorStartCondition (ER_HND er_hnd, double tx0)
 Sets the conveyor start condition.
This function set the conveyor start condition for the Tracking Window (typical for a painting applications).
The tx0 in units [m] is an offset position in X-direction and is defined w.r.t. to the flange of the conveyor device.
This function works in conjunction with erSetTrackingWindow() More...
 
static DLLAPI int ER_STDCALL erSetSpeedReductionEnable (ER_HND er_hnd, long speed_reduction_enable)
 Set speed reduction enable.
If speed reduction is enabled, the robots TCP speed gets reduced (while motion execution in erGET_NEXT_STEP()) if the desired nominal joint speeds exceeds the maximum allowed joint speed, defined with erSetVqMax().
Remarks
Per default, speed reduction is enabled.
Speed reduction causes the TrajectoryTime to increase, while the ElapsedTime represents the minimum time necessary to reach the target. More...
 
static DLLAPI int ER_STDCALL erGetSpeedReductionEnable (ER_HND er_hnd, long *speed_reduction_enable)
 Get speed reduction enable.
If speed reduction is enabled, the robots TCP speed gets reduced (while motion execution in erGET_NEXT_STEP()) if the desired nominal joint speeds exceeds the maximum allowed joint speed, defined with erSetVqMax().
Remarks
Per default, speed reduction is enabled.
Speed reduction causes the TrajectoryTime to increase, while the ElapsedTime represents the minimum time necessary to reach the target. More...
 
static DLLAPI int ER_STDCALL erSELECT_MOTION_TYPE (ER_HND er_hnd, long motion_type)
 Selects the motion type.
Opcode 120, Chapter 3.4.4, Page 3-58
The motion_type can be one of the following values
ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4. More...
 
static DLLAPI int ER_STDCALL erSELECT_TARGET_TYPE (ER_HND er_hnd, long target_type)
 selects one of different types for the specification of targets.
Opcode 121, Chapter 3.4.4, Page 3-59
The target_type can be one of the following values
ER_TARGET_TYPE_ABS = 0 absolute w.r.t. object frame
ER_TARGET_TYPE_ABSJOINT = 9 single axis motion More...
 
static DLLAPI int ER_STDCALL erSELECT_TRAJECTORY_MODE (ER_HND er_hnd, long trajectory_on)
 Selects on or off for the trajectory mode.
Opcode 122, Chapter 3.4.4, Page 3-62
The trajectory_on can be one of the following values
0: OFF or 1: ON. More...
 
static DLLAPI int ER_STDCALL erSET_ADVANCE_MOTION (ER_HND er_hnd, long Number_of_motion)
 Defines the number of motions, the motion planner may run in advance of the interpolator (look_ahead).
Opcode 127, Chapter 3.4.4, Page 3-67. More...
 
static DLLAPI int ER_STDCALL erSET_MOTION_FILTER (ER_HND er_hnd, long filter_factor)
 defines the filter factor for smoothing velocity profiles of motions.
Opcode 128, Chapter 3.4.4, Page 3-68
Per default ER_MOTION_FILTER_GEO is set More...
 
static DLLAPI int ER_STDCALL erREVERSE_MOTION (ER_HND er_hnd, double distance)
 Instructs to do a reverse motion.
Opcode 130, Chapter 3.4.4, Page 3-70
The robot moves backwards along the same path as it used to get to the current position. After calling this function, erGET_NEXT_STEP() should be called repeatedly in order to get the reverse motion steps. More...
 
static DLLAPI int ER_STDCALL erSET_PAYLOAD_PARAMETER (ER_HND er_hnd, long storage, char *frame_id, long param_number, double param_value)
 Allows specifying payloads at different locations on the robot.
It has to be supported when the payload influences the motion planning.
E.g. the load by a tool on the flange may be specified.
Opcode 160, Chapter 3.4.4, Page 3-71
The storage pecifies where to modify the data and can be one of the following values.
1: Modify in memory, 2: Modify on disk. More...
 
static DLLAPI int ER_STDCALL erSET_CONFIGURATION_CONTROL (ER_HND er_hnd, char *param_id, char *param_contents)
 Allows the setting of controller-specific data for the control of robot configurations.
Opcode 161, Chapter 3.4.4, Page 3-72
Function not supported
Use function erSetConfig(), erGetConfig() to change the robots configuration. More...
 
static DLLAPI int ER_STDCALL erSET_OVERRIDE_SPEED (ER_HND er_hnd, double correction_value, long correction_type)
 Sets correction values for scaling the programmed speed during program execution.
Opcode 139, Chapter 3.4.5, Page 3-82.
The parameter correction_type specifies when the correction is effective and can be one of the following values.
0: It becomes effective at the next call to erGET_NEXT_STEP()
1: It becomes effective for the next target supplied by erSET_NEXT_TARGET()
See also erSET_OVERRIDE_SPEED_EX() More...
 
static DLLAPI int ER_STDCALL erSET_OVERRIDE_ACCELERATION (ER_HND er_hnd, double correction_value, long accel_type, long correction_type)
 Sets correction values for scaling the robot acceleration.
Opcode 155, Chapter 3.4.5, Page 3-83.
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration.
The parameter correction_type specifies when the correction is effective and can be one of the following values.
0: It becomes effective at the next call to erGET_NEXT_STEP()
1: It becomes effective for the next target supplied by erSET_NEXT_TARGET()
See also erSET_OVERRIDE_ACCELERATION_EX() More...
 
static DLLAPI int ER_STDCALL erSET_OVERRIDE_SPEED_EX (ER_HND er_hnd, ER_HND er_hnd_slave, double speed_override, double tcp_speed_max=0)
 Sets override for scaling the programmed speed during program execution.
If er_hnd_slave is NULL, speed_override and tcp_speed_max set for the kinematics with handle er_hnd for the next call to erSET_NEXT_TARGET().
If er_hnd_slave is equal to er_hnd, speed_override and tcp_speed_max set for the kinematics with handle er_hnd and becomes effective immediatly, erGET_NEXT_STEP().
If er_hnd_slave is set and NOT equal to er_hnd, speed_override and tcp_speed_max set for the kinematics with handle er_hnd_slave and becomes effective immediatly, erGET_NEXT_STEP().
See also erSET_OVERRIDE_SPEED() More...
 
static DLLAPI int ER_STDCALL erSET_OVERRIDE_ACCELERATION_EX (ER_HND er_hnd, ER_HND er_hnd_slave, double accel_override, double tcp_accel_max=0)
 Sets override for scaling the programmed acceleration during program execution.
If er_hnd_slave is NULL, speed_override and tcp_speed_max set for the kinematics with handle er_hnd for the next call to erSET_NEXT_TARGET().
If er_hnd_slave is equal to er_hnd, accel_override and tcp_accel_max set for the kinematics with handle er_hnd and becomes effective immediatly, erGET_NEXT_STEP().
If er_hnd_slave is set and NOT equal to er_hnd, accel_override and tcp_accel_max set for the kinematics with handle er_hnd_slave and becomes effective immediatly, erGET_NEXT_STEP().
See also erSET_OVERRIDE_ACCELERATION() More...
 
- Static Public Member Functions inherited from ERK_CAPI_MOP
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...
 

Additional Inherited Members

- Static Public Attributes inherited from ERK_CAPI_MOP
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 start-, target data, motion time, etc.

Member Function Documentation

static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erGetSpeedReductionEnable ( ER_HND  er_hnd,
long *  speed_reduction_enable 
)
static

Get speed reduction enable.
If speed reduction is enabled, the robots TCP speed gets reduced (while motion execution in erGET_NEXT_STEP()) if the desired nominal joint speeds exceeds the maximum allowed joint speed, defined with erSetVqMax().
Remarks
Per default, speed reduction is enabled.
Speed reduction causes the TrajectoryTime to increase, while the ElapsedTime represents the minimum time necessary to reach the target.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]speed_reduction_enable1-enabled per default, 0-disabled
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erREVERSE_MOTION ( ER_HND  er_hnd,
double  distance 
)
static

Instructs to do a reverse motion.
Opcode 130, Chapter 3.4.4, Page 3-70
The robot moves backwards along the same path as it used to get to the current position. After calling this function, erGET_NEXT_STEP() should be called repeatedly in order to get the reverse motion steps.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]distanceSpecifies the length of the reverse motion in mm (i.e. how far the robot will move)
Return values
0- OK
1- Error
-1- not supported
-28- the specified distance is out of range
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSELECT_MOTION_TYPE ( ER_HND  er_hnd,
long  motion_type 
)
static

Selects the motion type.
Opcode 120, Chapter 3.4.4, Page 3-58
The motion_type can be one of the following values
ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]motion_typemotion type
Return values
0- OK
1- Error, invalid handle or not licensed option
-17- The specified motion type is not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSELECT_TARGET_TYPE ( ER_HND  er_hnd,
long  target_type 
)
static

selects one of different types for the specification of targets.
Opcode 121, Chapter 3.4.4, Page 3-59
The target_type can be one of the following values
ER_TARGET_TYPE_ABS = 0 absolute w.r.t. object frame
ER_TARGET_TYPE_ABSJOINT = 9 single axis motion

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]target_typetarget type
Return values
0- OK
1- Error, invalid handle
-18- Specified target_type is not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSELECT_TRAJECTORY_MODE ( ER_HND  er_hnd,
long  trajectory_on 
)
static

Selects on or off for the trajectory mode.
Opcode 122, Chapter 3.4.4, Page 3-62
The trajectory_on can be one of the following values
0: OFF or 1: ON.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]trajectory_ontrajectory enbaled or disabled
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSET_ADVANCE_MOTION ( ER_HND  er_hnd,
long  Number_of_motion 
)
static

Defines the number of motions, the motion planner may run in advance of the interpolator (look_ahead).
Opcode 127, Chapter 3.4.4, Page 3-67.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]Number_of_motion
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSET_CONFIGURATION_CONTROL ( ER_HND  er_hnd,
char *  param_id,
char *  param_contents 
)
static

Allows the setting of controller-specific data for the control of robot configurations.
Opcode 161, Chapter 3.4.4, Page 3-72
Function not supported
Use function erSetConfig(), erGetConfig() to change the robots configuration.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]param_ididentifier of the parameter to set
[in]param_contentscontents of the parameter to set
Return values
0- OK
1- Error
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSET_MOTION_FILTER ( ER_HND  er_hnd,
long  filter_factor 
)
static

defines the filter factor for smoothing velocity profiles of motions.
Opcode 128, Chapter 3.4.4, Page 3-68
Per default ER_MOTION_FILTER_GEO is set

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]filter_factorER_MOTION_FILTER_GEO or ER_MOTION_FILTER_C2
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSET_OVERRIDE_ACCELERATION ( ER_HND  er_hnd,
double  correction_value,
long  accel_type,
long  correction_type 
)
static

Sets correction values for scaling the robot acceleration.
Opcode 155, Chapter 3.4.5, Page 3-83.
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration.
The parameter correction_type specifies when the correction is effective and can be one of the following values.
0: It becomes effective at the next call to erGET_NEXT_STEP()
1: It becomes effective for the next target supplied by erSET_NEXT_TARGET()
See also erSET_OVERRIDE_ACCELERATION_EX()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]correction_valueacceleration correction in [%]
[in]accel_typeSpecifies when the correction is effective
[in]correction_typeSpecifies when the correction is effective
Return values
0- OK
1- Error
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSET_OVERRIDE_ACCELERATION_EX ( ER_HND  er_hnd,
ER_HND  er_hnd_slave,
double  accel_override,
double  tcp_accel_max = 0 
)
static

Sets override for scaling the programmed acceleration during program execution.
If er_hnd_slave is NULL, speed_override and tcp_speed_max set for the kinematics with handle er_hnd for the next call to erSET_NEXT_TARGET().
If er_hnd_slave is equal to er_hnd, accel_override and tcp_accel_max set for the kinematics with handle er_hnd and becomes effective immediatly, erGET_NEXT_STEP().
If er_hnd_slave is set and NOT equal to er_hnd, accel_override and tcp_accel_max set for the kinematics with handle er_hnd_slave and becomes effective immediatly, erGET_NEXT_STEP().
See also erSET_OVERRIDE_ACCELERATION()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]er_hnd_slaveunique slave kinematics handle ER_HND
[in]accel_overrideacceleration override in [%]
[in]tcp_accel_maxmaximum tcp acceleration [m/s^3]
Return values
0- OK
1- Error
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSET_OVERRIDE_SPEED ( ER_HND  er_hnd,
double  correction_value,
long  correction_type 
)
static

Sets correction values for scaling the programmed speed during program execution.
Opcode 139, Chapter 3.4.5, Page 3-82.
The parameter correction_type specifies when the correction is effective and can be one of the following values.
0: It becomes effective at the next call to erGET_NEXT_STEP()
1: It becomes effective for the next target supplied by erSET_NEXT_TARGET()
See also erSET_OVERRIDE_SPEED_EX()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]correction_valuespeed correction in [%]
[in]correction_typeSpecifies when the correction is effective
Return values
0- OK
1- Error
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSET_OVERRIDE_SPEED_EX ( ER_HND  er_hnd,
ER_HND  er_hnd_slave,
double  speed_override,
double  tcp_speed_max = 0 
)
static

Sets override for scaling the programmed speed during program execution.
If er_hnd_slave is NULL, speed_override and tcp_speed_max set for the kinematics with handle er_hnd for the next call to erSET_NEXT_TARGET().
If er_hnd_slave is equal to er_hnd, speed_override and tcp_speed_max set for the kinematics with handle er_hnd and becomes effective immediatly, erGET_NEXT_STEP().
If er_hnd_slave is set and NOT equal to er_hnd, speed_override and tcp_speed_max set for the kinematics with handle er_hnd_slave and becomes effective immediatly, erGET_NEXT_STEP().
See also erSET_OVERRIDE_SPEED()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]er_hnd_slaveunique slave kinematics handle ER_HND
[in]speed_overridespeed override in [%]
[in]tcp_speed_maxmaximum tcp speed [m/s]
Return values
0- OK
1- Error
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSET_PAYLOAD_PARAMETER ( ER_HND  er_hnd,
long  storage,
char *  frame_id,
long  param_number,
double  param_value 
)
static

Allows specifying payloads at different locations on the robot.
It has to be supported when the payload influences the motion planning.
E.g. the load by a tool on the flange may be specified.
Opcode 160, Chapter 3.4.4, Page 3-71
The storage pecifies where to modify the data and can be one of the following values.
1: Modify in memory, 2: Modify on disk.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]storagepecifies where to modify the data.
[in]frame_idframe to which the payload is attached, e.g. FLANGE
[in]param_numberspecifies which parameter to set
[in]param_valuespecifies the value of the parameter
Return values
0- OK
1- Error
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSetconveyorStartCondition ( ER_HND  er_hnd,
double  tx0 
)
static

Sets the conveyor start condition.
This function set the conveyor start condition for the Tracking Window (typical for a painting applications).
The tx0 in units [m] is an offset position in X-direction and is defined w.r.t. to the flange of the conveyor device.
This function works in conjunction with erSetTrackingWindow()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]tx0offset position in X-direction [m]
Return values
0- OK
1- Error, not licensed option, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSetSpeedReductionEnable ( ER_HND  er_hnd,
long  speed_reduction_enable 
)
static

Set speed reduction enable.
If speed reduction is enabled, the robots TCP speed gets reduced (while motion execution in erGET_NEXT_STEP()) if the desired nominal joint speeds exceeds the maximum allowed joint speed, defined with erSetVqMax().
Remarks
Per default, speed reduction is enabled.
Speed reduction causes the TrajectoryTime to increase, while the ElapsedTime represents the minimum time necessary to reach the target.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]speed_reduction_enable1-enable, 0-disable
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_DATA::erSetTrackingWindow ( ER_HND  er_hnd,
long  active,
double  up,
double  down,
TErTrackingWindowID  id_tw,
char *  name = NULL 
)
static

Activates and deactivates the boundaries for a Tracking Window.
This function enables a tracking window (typical for a painting applications) and defines the boudary Up- and Down-Stream values.
This function works in conjunction with erConnectConveyor(), erConnectConveyorSetSync() and erSetconveyorStartCondition()
Remarks
Connect the robot first with a conveyor, using erConnectConveyor(), and set the synchronization to ER_SYNC_ON, using erConnectConveyorSetSync(), before activating the tracking window.
A tracking window can have one of the following status:
0: TRK_WND_NOT_ACTIVE, 1: TRK_WND_WAITING, 2: TRK_WND_INSIDE or 3: TRK_WND_OUT_OF_BOUNDARY
and will be obtained with the NEXT_STEP_DATA when calling erGET_NEXT_STEP()
Activating a tracking window sets the status to TRK_WND_WAITING.
Deactivating a tracking window sets the status to TRK_WND_NOT_ACTIVE.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]active0: disable, 1: enable
[in]upboudary Up stream, where tracking window begins, [m]
[in]downboudary Down stream, where tracking window ends, [m]
[in]id_twunique tracking window identifier TErTrackingWindowID
[in]nameoptional name for the tracking window, per default = NULL
Return values
0- OK
1- Error, not licensed option, invalid handle

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