EASY-ROB™ Kernel  v8.307
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ERK_CAPI_MOP_PATH Class Reference

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

#include <erk_capi.h>

Inheritance diagram for ERK_CAPI_MOP_PATH:
ERK_CAPI_MOP ERK_CAPI_DEVICES ERK_CAPI

Static Public Member Functions

static DLLAPI int ER_STDCALL erSetAutoAccel (ER_HND er_hnd, long autoaccel)
 Enables automatic calculation of acceleration depending on programmed speed.
Using AutoAccel is a proper way to come close to real cycle times.
The parameter autoaccel specifies the effect when planning a new motion and can be one of the following values.
0: ER_AUTOACCEL_MODE_OFF disables auto accel calculation for all motions
1: ER_AUTOACCEL_MODE_POS calculation for CP motions for position
2: ER_AUTOACCEL_MODE_ORI calculation for CP motions
4: ER_AUTOACCEL_MODE_AX Calculation for PTP motions
3: ER_AUTOACCEL_MODE_DEF calculation for CP motions for position and for orientation
7: ER_AUTOACCEL_MODE_ON enables calculation for all motions
Remarks
If auto accel is enabled, other acceleration functions such as erSET_JOINT_ACCELERATIONS(), erSET_CARTESIAN_POSITION_ACCELERATION() and erSET_CARTESIAN_ORIENTATION_ACCELERATION() will have no effect. More...
 
static DLLAPI int ER_STDCALL erGetAutoAccel (ER_HND er_hnd, long *autoaccel)
 Get status for automatic calculation of acceleration depending on programmed speed.
Using AutoAccel is a proper way to come close to real cycle times.
The parameter autoaccel specifies the effect when planning a new motion and can be one of the following values.
0: ER_AUTOACCEL_MODE_OFF disables auto accel calculation for all motions
1: ER_AUTOACCEL_MODE_POS calculation for CP motions for position
2: ER_AUTOACCEL_MODE_ORI calculation for CP motions
4: ER_AUTOACCEL_MODE_AX Calculation for PTP motions
3: ER_AUTOACCEL_MODE_DEF calculation for CP motions for position and for orientation
7: ER_AUTOACCEL_MODE_ON enables calculation for all motions
Remarks
If auto accel is enabled, other acceleration functions such as erSET_JOINT_ACCELERATIONS(), erSET_CARTESIAN_POSITION_ACCELERATION() and erSET_CARTESIAN_ORIENTATION_ACCELERATION() will have no effect. More...
 
static DLLAPI int ER_STDCALL erSetAccSet (ER_HND er_hnd, double acc, double ramp)
 Set lagging of accelerations.
Using AccSet is a proper way to come close to real cycle times when the robot carries high payloads for example.
The parameter acc and ramp are given in percentage values in the range from 20% to 100%.
acc: Acceleration and Deceleration as percentage value of normal values.
ramp: Change of Acceleration and Deceleration as percentage value of normal values. More...
 
static DLLAPI int ER_STDCALL erGetAccSet (ER_HND er_hnd, double *acc, double *ramp)
 Get lagging of accelerations.
Using AccSet is a proper way to come close to real cycle times when the robot carries high payloads for example.
The parameter acc and ramp are given in percentage values in the range from 20% to 100%.
acc: Acceleration and Deceleration as percentage value of normal values.
ramp: Change of Acceleration and Deceleration as percentage value of normal values. More...
 
static DLLAPI int ER_STDCALL erSET_INTERPOLATION_TIME (ER_HND er_hnd, double InterpolationTime)
 Sets the interpolation time.
Opcode 119, Chapter 3.4.3, Page 3-56 Set the interpolation time step. This has an effect when calling erGET_NEXT_STEP()
Per default the interpolation time is set to 50ms. More...
 
static DLLAPI int ER_STDCALL erSELECT_ORIENTATION_INTERPOLATION_MODE (ER_HND er_hnd, long interpolation_mode, long ori_const)
 Set orientation interpolation mode.
Opcode 123, Chapter 3.4.4, Page 3-63
The interpolation_mode is per default =1 one angle (QUATERNION)
The ori_const is 0: Orientation is variant or 1: Orientation is constant. More...
 
static DLLAPI int ER_STDCALL erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE (ER_HND er_hnd, long circ_orientation_interpolation_mode)
 Selects the circular orientation interpolation mode.
The parameter circ_orientation_interpolation_mode specifies how the orientation is interpolated during a circle motion and can be one of the following values.
0: ER_CIRC_ORI_INTERPOLATION_START_END, 1: ER_CIRC_ORI_INTERPOLATION_START_VIA_END, 2: ER_CIRC_ORI_INTERPOLATION_START_VIAORI_END
3: ER_CIRC_ORI_INTERPOLATION_TANGENTIAL, 4: ER_CIRC_ORI_INTERPOLATION_FIX. More...
 
static DLLAPI int ER_STDCALL erSELECT_DOMINANT_INTERPOLATION (ER_HND er_hnd, long dominant_int_type, long dominant_int_param=0)
 Sets the interplation space defining the movement.
Opcode 124, Chapter 3.4.4, Page 3-66
The parameter dominant_int_type specifies the dominant interpolation type and can be one of the following values.
ER_DOMINANT_INTERPOLATION_POS, ER_DOMINANT_INTERPOLATION_ORI, ER_DOMINANT_INTERPOLATION_AXIS, ER_DOMINANT_INTERPOLATION_AUTO
The parameter dominant_int_param ( not supported) specifies an extra parameter for certain interpolation types and can be one of the following values.
2: specifies which orientation component is master.
3: specifies which axis is master.
If dominant_int_param is 0 then the controller will select an axis. More...
 
static DLLAPI int ER_STDCALL erSET_JOINT_SPEEDS (ER_HND er_hnd, long all_joint_flags, long joint_flags, double speed_percent)
 sets the joint speed expressed as percentage of the maximal joint speed.
Opcode 131, Chapter 3.4.5, Page 3-74.
Remarks
If all_joint_flags is 1, the value in speed_percent is in [rad/s] for rotational joint type and in [m/s] for prismatic joint type.
It is recommended to set all_joint_flags =0 and use joint_flags, where speed_percent is a percentage value.
The maximum joint speeds can be changed with erSetVqMax() and erGetVqMax(). More...
 
static DLLAPI int ER_STDCALL erSET_CARTESIAN_POSITION_SPEED (ER_HND er_hnd, double speed_value)
 Sets the speed for Cartesian motion.
Opcode 133, Chapter 3.4.5, Page 3-75. More...
 
static DLLAPI int ER_STDCALL erSET_CARTESIAN_ORIENTATION_SPEED (ER_HND er_hnd, long rotation_no, double speed_ori_value)
 Sets the speed for the orientation during Cartesian motion.
Opcode 134, Chapter 3.4.5, Page 3-76.
The rotation_no should be 1. More...
 
static DLLAPI int ER_STDCALL erSET_JOINT_ACCELERATIONS (ER_HND er_hnd, long all_joint_flags, long joint_flags, double accel_percent, long accel_type)
 Sets the joint accelerations expressed as percentage of the maximal joint acceleration.
Opcode 135, Chapter 3.4.5, Page 3-77.
Remarks
If all_joint_flags is 1, the value in accel_percent is in [rad/s^2] for rotational joint type and in [m/s^2] for prismatic joint type.
It is recommended to set all_joint_flags =0 and use joint_flags, where accel_percent is a percentage value.
The maximum joint accelerations can be changed with erSetAqMax() and erGetAqMax().
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration. More...
 
static DLLAPI int ER_STDCALL erSET_CARTESIAN_POSITION_ACCELERATION (ER_HND er_hnd, double accel_value, long accel_type)
 Sets acceleration for cartesian motion [m/sec^2].
Opcode 137, Chapter 3.4.5, Page 3-78.
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration. More...
 
static DLLAPI int ER_STDCALL erSET_CARTESIAN_ORIENTATION_ACCELERATION (ER_HND er_hnd, long rotation_no, double accel_ori_value, long accel_type)
 Sets acceleration for the orientation during cartesian motion [m/sec^2].
Opcode 138, Chapter 3.4.5, Page 3-79.
The rotation_no should be 1.
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration. More...
 
static DLLAPI int ER_STDCALL erGET_CARTESIAN_POSITION_ACCELERATION (ER_HND er_hnd, double *accel_value, long accel_type)
 Gets acceleration for cartesian motion [m/sec^2].
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration. More...
 
static DLLAPI int ER_STDCALL erGET_CARTESIAN_ORIENTATION_ACCELERATION (ER_HND er_hnd, long rotation_no, double *accel_ori_value, long accel_type)
 Gets acceleration for the orientation during cartesian motion [m/sec^2].
The rotation_no should be 1.
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration. More...
 
static DLLAPI int ER_STDCALL erSET_JOINT_JERKS (ER_HND er_hnd, long all_joint_flags, long joint_flags, double jerk_percent, long jerk_type)
 Sets the joint jerk expressed as a percentage of the maximal joint jerk for each specified joint.
Opcode 162, Chapter 3.4.5, Page 3-80.
Remarks
If all_joint_flags is 1, the value in jerk_percent is in [rad/s^3] for rotational joint type and in [m/s^3] for prismatic joint type.
It is recommended to set all_joint_flags =0 and use joint_flags, where jerk_percent is a percentage value.
The jerk_type specifies the type of jerk and can be one of the following values.
1: Jerk during acceleration, 2: Jerk during deceleration, 3: Jerk during acceleration and deceleration. More...
 
static DLLAPI int ER_STDCALL erSET_MOTION_TIME (ER_HND er_hnd, double time_value)
 Specifies the motion time for the next motion.
Opcode 156, Chapter 3.4.5, Page 3-81. More...
 
static DLLAPI int ER_STDCALL erSELECT_FLYBY_MODE (ER_HND er_hnd, long flyby_on)
 Defines rounding / flyby condition.
Opcode 140, Chapter 3.4.6, Page 3-85
Per default Flyby is disabled
In case of flyby, the robot moves through a CP target with programmed speeds and will not decelerate. Disbable flyby, to reach the target with zero speed (fine position). More...
 
static DLLAPI int ER_STDCALL erSET_FLYBY_CRITERIA_PARAMETER (ER_HND er_hnd, long param_number, long joint_nr, double param_value)
 Sets the value of a flyby parameter.
Opcode 141, Chapter 3.4.6, Page 3-86
Function not supported More...
 
static DLLAPI int ER_STDCALL erSELECT_FLYBY_CRITERIA (ER_HND er_hnd, long param_number)
 Selects a flyby criterion (parameter).
Opcode 142, Chapter 3.4.6, Page 3-87
Function not supported More...
 
static DLLAPI int ER_STDCALL erCANCEL_FLYBY_CRITERIA (ER_HND er_hnd, long param_number)
 Cancels (unselects) a fly-by criterion.
Opcode 143, Chapter 3.4.6, Page 3-88
Function not supported More...
 
static DLLAPI int ER_STDCALL erSELECT_POINT_ACCURACY (ER_HND er_hnd, long accuracy_type)
 Selects a criterion for when a target is reached.
Opcode 144, Chapter 3.4.6, Page 3-89
Function not supported More...
 
static DLLAPI int ER_STDCALL erSET_POINT_ACCURACY_PARAMETER (ER_HND er_hnd, long accuracy_type, double accuracy_value)
 Sets the value of a parameter determining point accuracy.
Opcode 145, Chapter 3.4.6, Page 3-90
Function not supported 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 path specifications, motion type (PTP, LIN, CIRC), speeds, acceleration, waiting time, etc.

Member Function Documentation

static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erCANCEL_FLYBY_CRITERIA ( ER_HND  er_hnd,
long  param_number 
)
static

Cancels (unselects) a fly-by criterion.
Opcode 143, Chapter 3.4.6, Page 3-88
Function not supported

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]param_numberspecifies which parameter to cancel
Return values
0- OK
1- Error, invalid handle
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erGET_CARTESIAN_ORIENTATION_ACCELERATION ( ER_HND  er_hnd,
long  rotation_no,
double *  accel_ori_value,
long  accel_type 
)
static

Gets acceleration for the orientation during cartesian motion [m/sec^2].
The rotation_no should be 1.
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]rotation_noNumber of the rotation axis
[out]accel_ori_valueAcceleration for orientation [rad/^2]
[in]accel_typeType of acceleration.
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erGET_CARTESIAN_POSITION_ACCELERATION ( ER_HND  er_hnd,
double *  accel_value,
long  accel_type 
)
static

Gets acceleration for cartesian motion [m/sec^2].
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]accel_valueCartesian speed in [m/s]
[in]accel_typeType of acceleration.
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erGetAccSet ( ER_HND  er_hnd,
double *  acc,
double *  ramp 
)
static

Get lagging of accelerations.
Using AccSet is a proper way to come close to real cycle times when the robot carries high payloads for example.
The parameter acc and ramp are given in percentage values in the range from 20% to 100%.
acc: Acceleration and Deceleration as percentage value of normal values.
ramp: Change of Acceleration and Deceleration as percentage value of normal values.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]accacceleration and deceleration
[out]rampchange of acceleration and deceleration
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erGetAutoAccel ( ER_HND  er_hnd,
long *  autoaccel 
)
static

Get status for automatic calculation of acceleration depending on programmed speed.
Using AutoAccel is a proper way to come close to real cycle times.
The parameter autoaccel specifies the effect when planning a new motion and can be one of the following values.
0: ER_AUTOACCEL_MODE_OFF disables auto accel calculation for all motions
1: ER_AUTOACCEL_MODE_POS calculation for CP motions for position
2: ER_AUTOACCEL_MODE_ORI calculation for CP motions
4: ER_AUTOACCEL_MODE_AX Calculation for PTP motions
3: ER_AUTOACCEL_MODE_DEF calculation for CP motions for position and for orientation
7: ER_AUTOACCEL_MODE_ON enables calculation for all motions
Remarks
If auto accel is enabled, other acceleration functions such as erSET_JOINT_ACCELERATIONS(), erSET_CARTESIAN_POSITION_ACCELERATION() and erSET_CARTESIAN_ORIENTATION_ACCELERATION() will have no effect.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]autoacceldefines auto acceleration mode
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE ( ER_HND  er_hnd,
long  circ_orientation_interpolation_mode 
)
static

Selects the circular orientation interpolation mode.
The parameter circ_orientation_interpolation_mode specifies how the orientation is interpolated during a circle motion and can be one of the following values.
0: ER_CIRC_ORI_INTERPOLATION_START_END, 1: ER_CIRC_ORI_INTERPOLATION_START_VIA_END, 2: ER_CIRC_ORI_INTERPOLATION_START_VIAORI_END
3: ER_CIRC_ORI_INTERPOLATION_TANGENTIAL, 4: ER_CIRC_ORI_INTERPOLATION_FIX.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]circ_orientation_interpolation_modecircular orientation interpolation mode
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSELECT_DOMINANT_INTERPOLATION ( ER_HND  er_hnd,
long  dominant_int_type,
long  dominant_int_param = 0 
)
static

Sets the interplation space defining the movement.
Opcode 124, Chapter 3.4.4, Page 3-66
The parameter dominant_int_type specifies the dominant interpolation type and can be one of the following values.
ER_DOMINANT_INTERPOLATION_POS, ER_DOMINANT_INTERPOLATION_ORI, ER_DOMINANT_INTERPOLATION_AXIS, ER_DOMINANT_INTERPOLATION_AUTO
The parameter dominant_int_param ( not supported) specifies an extra parameter for certain interpolation types and can be one of the following values.
2: specifies which orientation component is master.
3: specifies which axis is master.
If dominant_int_param is 0 then the controller will select an axis.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]dominant_int_typedominant interpolation type
[in]dominant_int_param=0, not supported
Return values
0- OK
1- Error
-20- The specified dominant interpolation space is not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSELECT_FLYBY_CRITERIA ( ER_HND  er_hnd,
long  param_number 
)
static

Selects a flyby criterion (parameter).
Opcode 142, Chapter 3.4.6, Page 3-87
Function not supported

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]param_numberspecifies which parameter to select
Return values
0- OK
1- Error, invalid handle
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSELECT_FLYBY_MODE ( ER_HND  er_hnd,
long  flyby_on 
)
static

Defines rounding / flyby condition.
Opcode 140, Chapter 3.4.6, Page 3-85
Per default Flyby is disabled
In case of flyby, the robot moves through a CP target with programmed speeds and will not decelerate. Disbable flyby, to reach the target with zero speed (fine position).

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]flyby_on0=disabled, 1=enabled
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSELECT_ORIENTATION_INTERPOLATION_MODE ( ER_HND  er_hnd,
long  interpolation_mode,
long  ori_const 
)
static

Set orientation interpolation mode.
Opcode 123, Chapter 3.4.4, Page 3-63
The interpolation_mode is per default =1 one angle (QUATERNION)
The ori_const is 0: Orientation is variant or 1: Orientation is constant.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]interpolation_mode=1 one angle (QUATERNION), =2 two angle (QUATERNION), =3 three angle (VARIABLE)
[in]ori_constvariant or constant orientation
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSELECT_POINT_ACCURACY ( ER_HND  er_hnd,
long  accuracy_type 
)
static

Selects a criterion for when a target is reached.
Opcode 144, Chapter 3.4.6, Page 3-89
Function not supported

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]accuracy_typespecifies type of point accuracy to select
Return values
0- OK
1- Error, invalid handle
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSET_CARTESIAN_ORIENTATION_ACCELERATION ( ER_HND  er_hnd,
long  rotation_no,
double  accel_ori_value,
long  accel_type 
)
static

Sets acceleration for the orientation during cartesian motion [m/sec^2].
Opcode 138, Chapter 3.4.5, Page 3-79.
The rotation_no should be 1.
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]rotation_noNumber of the rotation axis
[in]accel_ori_valueAcceleration for orientation [rad/^2]
[in]accel_typeType of acceleration.
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSET_CARTESIAN_ORIENTATION_SPEED ( ER_HND  er_hnd,
long  rotation_no,
double  speed_ori_value 
)
static

Sets the speed for the orientation during Cartesian motion.
Opcode 134, Chapter 3.4.5, Page 3-76.
The rotation_no should be 1.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]rotation_noNumber of the rotation axis
[in]speed_ori_valueCartesian orientation speed in [rad/sec]
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSET_CARTESIAN_POSITION_ACCELERATION ( ER_HND  er_hnd,
double  accel_value,
long  accel_type 
)
static

Sets acceleration for cartesian motion [m/sec^2].
Opcode 137, Chapter 3.4.5, Page 3-78.
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]accel_valueAcceleration [m/^2]
[in]accel_typeType of acceleration.
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSET_CARTESIAN_POSITION_SPEED ( ER_HND  er_hnd,
double  speed_value 
)
static

Sets the speed for Cartesian motion.
Opcode 133, Chapter 3.4.5, Page 3-75.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]speed_valueCartesian speed in [m/s]
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSET_FLYBY_CRITERIA_PARAMETER ( ER_HND  er_hnd,
long  param_number,
long  joint_nr,
double  param_value 
)
static

Sets the value of a flyby parameter.
Opcode 141, Chapter 3.4.6, Page 3-86
Function not supported

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]param_numberspecifies which parameter to set
[in]joint_nrspecifies for which joint the parameter is set. It is zero if it is valid for the whole robot
[in]param_valuespecifies the value of the parameter
Return values
0- OK
1- Error, invalid handle
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSET_INTERPOLATION_TIME ( ER_HND  er_hnd,
double  InterpolationTime 
)
static

Sets the interpolation time.
Opcode 119, Chapter 3.4.3, Page 3-56 Set the interpolation time step. This has an effect when calling erGET_NEXT_STEP()
Per default the interpolation time is set to 50ms.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]InterpolationTimeInterpolation time [ms]
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSET_JOINT_ACCELERATIONS ( ER_HND  er_hnd,
long  all_joint_flags,
long  joint_flags,
double  accel_percent,
long  accel_type 
)
static

Sets the joint accelerations expressed as percentage of the maximal joint acceleration.
Opcode 135, Chapter 3.4.5, Page 3-77.
Remarks
If all_joint_flags is 1, the value in accel_percent is in [rad/s^2] for rotational joint type and in [m/s^2] for prismatic joint type.
It is recommended to set all_joint_flags =0 and use joint_flags, where accel_percent is a percentage value.
The maximum joint accelerations can be changed with erSetAqMax() and erGetAqMax().
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]all_joint_flagson 1 ignore JointFlags, use first real value for all joints, on 0 use JointFlags
[in]joint_flagsbitstring Specifies on which joints the acceleration is set
[in]accel_percentJoint acceleration percentage [1%..200%], or real value ([rad/s^2] or [m/s^2]) for all joints
[in]accel_typeType of acceleration.
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSET_JOINT_JERKS ( ER_HND  er_hnd,
long  all_joint_flags,
long  joint_flags,
double  jerk_percent,
long  jerk_type 
)
static

Sets the joint jerk expressed as a percentage of the maximal joint jerk for each specified joint.
Opcode 162, Chapter 3.4.5, Page 3-80.
Remarks
If all_joint_flags is 1, the value in jerk_percent is in [rad/s^3] for rotational joint type and in [m/s^3] for prismatic joint type.
It is recommended to set all_joint_flags =0 and use joint_flags, where jerk_percent is a percentage value.
The jerk_type specifies the type of jerk and can be one of the following values.
1: Jerk during acceleration, 2: Jerk during deceleration, 3: Jerk during acceleration and deceleration.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]all_joint_flagson 1 ignore JointFlags, use first real value for all joints, on 0 use JointFlags
[in]joint_flagsbitstring Specifies on which joints the jerk is set
[in]jerk_percentJoint jerk percentage [1%..200%], or real value ([rad/s^3] or [m/s^3]) for all joints
[in]jerk_typeType of jerk.
Return values
0- OK
1- Error
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSET_JOINT_SPEEDS ( ER_HND  er_hnd,
long  all_joint_flags,
long  joint_flags,
double  speed_percent 
)
static

sets the joint speed expressed as percentage of the maximal joint speed.
Opcode 131, Chapter 3.4.5, Page 3-74.
Remarks
If all_joint_flags is 1, the value in speed_percent is in [rad/s] for rotational joint type and in [m/s] for prismatic joint type.
It is recommended to set all_joint_flags =0 and use joint_flags, where speed_percent is a percentage value.
The maximum joint speeds can be changed with erSetVqMax() and erGetVqMax().

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]all_joint_flagson 1 ignore JointFlags, use first real value for all joints, on 0 use JointFlags
[in]joint_flagsbitstring Specifies on which joints the speed is set
[in]speed_percentJoint speed percentage [1%..200%], or real value ([rad/s] or [m/s]) for all joints
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSET_MOTION_TIME ( ER_HND  er_hnd,
double  time_value 
)
static

Specifies the motion time for the next motion.
Opcode 156, Chapter 3.4.5, Page 3-81.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]time_valuemotion time [ms].
Return values
0- OK
1- Error
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSET_POINT_ACCURACY_PARAMETER ( ER_HND  er_hnd,
long  accuracy_type,
double  accuracy_value 
)
static

Sets the value of a parameter determining point accuracy.
Opcode 145, Chapter 3.4.6, Page 3-90
Function not supported

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]accuracy_typespecifies the type of point accuracy to give a value
[in]accuracy_valueSpecifies the value of the point accuracy
Return values
0- OK
1- Error, invalid handle
-1- not supported
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSetAccSet ( ER_HND  er_hnd,
double  acc,
double  ramp 
)
static

Set lagging of accelerations.
Using AccSet is a proper way to come close to real cycle times when the robot carries high payloads for example.
The parameter acc and ramp are given in percentage values in the range from 20% to 100%.
acc: Acceleration and Deceleration as percentage value of normal values.
ramp: Change of Acceleration and Deceleration as percentage value of normal values.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]accacceleration and deceleration
[in]rampchange of acceleration and deceleration
Return values
0- OK
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_MOP_PATH::erSetAutoAccel ( ER_HND  er_hnd,
long  autoaccel 
)
static

Enables automatic calculation of acceleration depending on programmed speed.
Using AutoAccel is a proper way to come close to real cycle times.
The parameter autoaccel specifies the effect when planning a new motion and can be one of the following values.
0: ER_AUTOACCEL_MODE_OFF disables auto accel calculation for all motions
1: ER_AUTOACCEL_MODE_POS calculation for CP motions for position
2: ER_AUTOACCEL_MODE_ORI calculation for CP motions
4: ER_AUTOACCEL_MODE_AX Calculation for PTP motions
3: ER_AUTOACCEL_MODE_DEF calculation for CP motions for position and for orientation
7: ER_AUTOACCEL_MODE_ON enables calculation for all motions
Remarks
If auto accel is enabled, other acceleration functions such as erSET_JOINT_ACCELERATIONS(), erSET_CARTESIAN_POSITION_ACCELERATION() and erSET_CARTESIAN_ORIENTATION_ACCELERATION() will have no effect.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]autoacceldefines auto acceleration mode
Return values
0- OK
1- Error

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