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

#include <erk_capi.h>

Inheritance diagram for ERK_CAPI_ROB_ATRIBUTES:
ERK_CAPI_ROB ERK_CAPI_DEVICES ERK_CAPI

Static Public Member Functions

static DLLAPI int ER_STDCALL erGetName (ER_HND er_hnd, char *name)
 Get the name of the robot. More...
 
static DLLAPI int ER_STDCALL erSetHomepos (ER_HND er_hnd, double *homepos)
 Set robot joint homeposition. The kinematics joint homepos are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs() More...
 
static DLLAPI int ER_STDCALL erGetHomepos (ER_HND er_hnd, double *homepos)
 Get robot joint homeposition. The kinematics joint homepos are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs() More...
 
static DLLAPI int ER_STDCALL erSetSweMin (ER_HND er_hnd, double *swe_min)
 Set fix minimum travel ranges. The kinematics travel ranges swe_min are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs() More...
 
static DLLAPI int ER_STDCALL erGetSweMin (ER_HND er_hnd, double *swe_min)
 Get fix minimum travel ranges. The kinematics travel ranges swe_min are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs() More...
 
static DLLAPI int ER_STDCALL erGetSweMinCalc (ER_HND er_hnd, double *swe_min_calc)
 Get calculated minimum travel ranges. The kinematics calculated travel ranges swe_min_calc are in units [m] for prismatic joint type
and [rad] for rotational joint type
Use erGetSweCalcMode() to find out if travel ranges are fix or depending on equations
Get the number of joints with erGet_num_dofs() More...
 
static DLLAPI int ER_STDCALL erSetSweMax (ER_HND er_hnd, double *swe_max)
 Set fix maximum travel ranges. The kinematics travel ranges swe_max are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs() More...
 
static DLLAPI int ER_STDCALL erGetSweMax (ER_HND er_hnd, double *swe_max)
 Get fix maximum travel ranges. The kinematics travel ranges swe_max are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs() More...
 
static DLLAPI int ER_STDCALL erGetSweMaxCalc (ER_HND er_hnd, double *swe_max_calc)
 Get calculated maximum travel ranges. The kinematics calculated travel ranges swe_max_calc are in units [m] for prismatic joint type
and [rad] for rotational joint type
Use erGetSweCalcMode() to find out if travel ranges are fix or depending on equations
Get the number of joints with erGet_num_dofs() More...
 
static DLLAPI int ER_STDCALL erGetSweMinMaxCalc (ER_HND er_hnd, double *swe_min_calc, double *swe_max_calc)
 Get calculated minimum and maximum travel ranges. The kinematics calculated travel ranges swe_min_calc and swe_max_calc are in units [m] for prismatic joint type
and [rad] for rotational joint type
Use erGetSweCalcMode() to find out if travel ranges are fix or depending on equations
Get the number of joints with erGet_num_dofs() More...
 
static DLLAPI int ER_STDCALL erGetSweCalcMode (ER_HND er_hnd, long *swe_calc_mode)
 Get calculation mode for travel ranges Travel ranges can be fixed or depending on joints by a formular for example. More...
 
static DLLAPI int ER_STDCALL erSetSweMin_passive (ER_HND er_hnd, double *swe_min_passive)
 Set fix minimum travel ranges for passive joints. The kinematics travel ranges swe_min_passive are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs_passive() More...
 
static DLLAPI int ER_STDCALL erGetSweMin_passive (ER_HND er_hnd, double *swe_min_passive)
 Get fix minimum travel ranges from passive joints. The kinematics travel ranges swe_min_passive are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of passive joints with erGet_num_dofs_passive() More...
 
static DLLAPI int ER_STDCALL erSetSweMax_passive (ER_HND er_hnd, double *swe_max_passive)
 Set fix maximum travel ranges for passive joints. The kinematics travel ranges swe_max_passive are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs_passive() More...
 
static DLLAPI int ER_STDCALL erGetSweMax_passive (ER_HND er_hnd, double *swe_max_passive)
 Get fix maximum travel ranges from passive joints. The kinematics travel ranges swe_max_passive are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of passive joints with erGet_num_dofs_passive() More...
 
static DLLAPI int ER_STDCALL erGetConfigName (ER_HND er_hnd, long config_idx, char *config_name)
 Get the name of robot configuration. Get the number of configurations with erGetNumConfigs()
. More...
 
static DLLAPI int ER_STDCALL erGetJointName (ER_HND er_hnd, long active_jnt_no, char *jnt_name)
 Get the name of active robot joint. More...
 
static DLLAPI int ER_STDCALL erGetJointName_passive (ER_HND er_hnd, long passive_jnt_no, char *jnt_name_passive)
 Get the name of passive robot joint. More...
 
static DLLAPI int ER_STDCALL erSetJointSign (ER_HND er_hnd, double *joint_sign)
 Set sign of robot joints. A robot joint sign can be positive +1 or negative -1. More...
 
static DLLAPI int ER_STDCALL erGetJointSign (ER_HND er_hnd, double *joint_sign)
 Get sign of robot joints.
A robot joint sign can be positive +1 or negative -1.
See also erGetJointTypes(), erGetJointDirections() More...
 
static DLLAPI int ER_STDCALL erSetJointOffset (ER_HND er_hnd, double *joint_offset)
 Set offset of robot joints.
Robot joint offsets joint_offset are in units [m] for prismatic joint type and [rad] for rotational joint type. More...
 
static DLLAPI int ER_STDCALL erGetJointOffset (ER_HND er_hnd, double *joint_offset)
 Get offset of robot joints.
Robot joint offsets joint_offset are in units [m] for prismatic joint type and [rad] for rotational joint type. More...
 
static DLLAPI int ER_STDCALL erSetVqMax (ER_HND er_hnd, double *vq_max)
 Set maximum of robot joint speeds.
Robot joint speeds vq_max are in units [m/s] for prismatic joint type and [rad/s] for rotational joint type. More...
 
static DLLAPI int ER_STDCALL erGetVqMax (ER_HND er_hnd, double *vq_max)
 Get maximum of robot joint speeds.
Robot joint speeds vq_max are in units [m/s] for prismatic joint type and [rad/s] for rotational joint type. More...
 
static DLLAPI int ER_STDCALL erSetAqMax (ER_HND er_hnd, double *aq_max)
 Set maximum of robot joint accelerations.
Robot joint accelerations aq_max are in units [m/s^2] for prismatic joint type and [rad/s^2] for rotational joint type. More...
 
static DLLAPI int ER_STDCALL erGetAqMax (ER_HND er_hnd, double *aq_max)
 Get maximum of robot joint accelerations.
Robot joint accelerations aq_max are in units [m/s^2] for prismatic joint type and [rad/s^2] for rotational joint type. More...
 
static DLLAPI int ER_STDCALL erSetVxMax (ER_HND er_hnd, double vx_max)
 Set maximum cartesian speed. More...
 
static DLLAPI int ER_STDCALL erGetVxMax (ER_HND er_hnd, double *vx_max)
 Get maximum cartesian speed. More...
 
static DLLAPI int ER_STDCALL erSetVxOriMax (ER_HND er_hnd, double vx_ori_max)
 Set maximum cartesian orientation speed. More...
 
static DLLAPI int ER_STDCALL erGetVxOriMax (ER_HND er_hnd, double *vx_ori_max)
 Get maximum cartesian orientation speed. More...
 
static DLLAPI int ER_STDCALL erSetAxMax (ER_HND er_hnd, double ax_max)
 Set maximum cartesian acceleration. More...
 
static DLLAPI int ER_STDCALL erGetAxMax (ER_HND er_hnd, double *ax_max)
 Get maximum cartesian acceleration. More...
 
static DLLAPI int ER_STDCALL erSetAxOriMax (ER_HND er_hnd, double ax_ori_max)
 Set maximum cartesian orientation acceleration. More...
 
static DLLAPI int ER_STDCALL erGetAxOriMax (ER_HND er_hnd, double *ax_ori_max)
 Get maximum cartesian orientation acceleration. More...
 
static DLLAPI int ER_STDCALL erGetBackLink (ER_HND er_hnd, long *backlink)
 Get robot back link status, obsolete function, use erGetBacklink() More...
 
static DLLAPI int ER_STDCALL erSetBacklink (ER_HND er_hnd, long backlink)
 Set robot back link status
The back link status can be one of the following values.
KIN_BACK_LINK_NO=0, KIN_BACK_LINK_YES =1 or KIN_BACK_LINK_UNKNOWN =2
see also erGetBacklink() More...
 
static DLLAPI int ER_STDCALL erGetBacklink (ER_HND er_hnd, long *backlink)
 Get robot back link status
The back link status can be one of the following values.
KIN_BACK_LINK_NO=0, KIN_BACK_LINK_YES =1 or KIN_BACK_LINK_UNKNOWN =2
see also erSetBacklink() More...
 
static DLLAPI int ER_STDCALL erSetAxis_couplingA2A3 (ER_HND er_hnd, long axis_couplingA2A3)
 Set robot axis coupling between axis 2 and 3
The axis coupling can be one of the following values.
KIN_A2A3_COUPLING_NO=0, KIN_A2A3_COUPLING_YES =1 or KIN_A2A3_COUPLING_UNKNOWN =2
see also erGetAxis_couplingA2A3() More...
 
static DLLAPI int ER_STDCALL erGetAxis_couplingA2A3 (ER_HND er_hnd, long *axis_couplingA2A3)
 Get robot axis coupling between axis 2 and 3
The axis coupling can be one of the following values.
KIN_A2A3_COUPLING_NO=0, KIN_A2A3_COUPLING_YES =1 or KIN_A2A3_COUPLING_UNKNOWN =2
see also erSetAxis_couplingA2A3() More...
 
static DLLAPI int ER_STDCALL erSetCounter_weight (ER_HND er_hnd, long counter_weight)
 Set robot counter weight
The robot counter weight can be one of the following values.
KIN_COUNTER_WEIGHT_NO=0, KIN_COUNTER_WEIGHT_YES =1 or KIN_COUNTER_WEIGHT_UNKNOWN =2
see also erGetCounter_weight() More...
 
static DLLAPI int ER_STDCALL erGetCounter_weight (ER_HND er_hnd, long *counter_weight)
 Get robot counter weight
The robot counter weight can be one of the following values.
KIN_COUNTER_WEIGHT_NO=0, KIN_COUNTER_WEIGHT_YES =1 or KIN_COUNTER_WEIGHT_UNKNOWN =2
see also erSetCounter_weight() More...
 
static DLLAPI int ER_STDCALL erSetTurn_interval (ER_HND er_hnd, double *turn_interval)
 Set the turn interval for each robot joints
The kinematics turn interval turn_interval are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()
See also erGetTurn_interval() More...
 
static DLLAPI int ER_STDCALL erGetTurn_interval (ER_HND er_hnd, double *turn_interval)
 Get the turn interval for each robot joints
The kinematics turn interval turn_interval are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()
See also erSetTurn_interval() More...
 
static DLLAPI int ER_STDCALL erSetTurn_offset (ER_HND er_hnd, double *turn_offset)
 Set the turn offset for each robot joints
The kinematics turn offset turn_offset are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()
See also erGetTurn_offset() More...
 
static DLLAPI int ER_STDCALL erGetTurn_offset (ER_HND er_hnd, double *turn_offset)
 Get the turn offset for each robot joints
The kinematics turn offset turn_offset are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()
See also erSetTurn_offset() More...
 
static DLLAPI int ER_STDCALL erSetTurn_value (ER_HND er_hnd, long *turn_value)
 Set the turn value for each robot joint
The turn value turn_value determine the desired Turn in the target for the inverse kinematics calculation and for the trajectory planning
It takes effect if ER_PTP_TARGET_CALC_MODE_TURNS is set. The givin turn value must be a valid value and depends on the turn interval erSetTurn_interval() and the turn offset erSetTurn_offset(),
and as well from the robot joint location and its configuration.
Get the number of joints with erGet_num_dofs()
See also erGetTurn_value() More...
 
static DLLAPI int ER_STDCALL erGetTurn_value (ER_HND er_hnd, long *turn_value)
 Get the turn value for each robot joints
The turn value turn_value determine the desired Turn in the target for the inverse kinematics calculation and for the motion planning
It takes effect if ER_PTP_TARGET_CALC_MODE_TURNS is set. Get the number of joints with erGet_num_dofs()
See also erSetTurn_value() 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_ROB
static ERK_CAPI_ROB_KIN erk_capi_rob_kin
 Method class forward-, Inverse kinematics, desired robot joints, tools, position w.r.t. world and reference system. More...
 
static ERK_CAPI_ROB_KIN_API erk_capi_rob_kin_api
 Method class API for forward- and Inverse kinematics. More...
 
static ERK_CAPI_ROB_ATRIBUTES erk_capi_rob_attributes
 Method class for robot/device attributes, travel ranges, home position, device name, ... 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...
 

Member Function Documentation

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetAqMax ( ER_HND  er_hnd,
double *  aq_max 
)
static

Get maximum of robot joint accelerations.
Robot joint accelerations aq_max are in units [m/s^2] for prismatic joint type and [rad/s^2] for rotational joint type.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]aq_maxmaximum of robot joint accelerations, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetAxis_couplingA2A3 ( ER_HND  er_hnd,
long *  axis_couplingA2A3 
)
static

Get robot axis coupling between axis 2 and 3
The axis coupling can be one of the following values.
KIN_A2A3_COUPLING_NO=0, KIN_A2A3_COUPLING_YES =1 or KIN_A2A3_COUPLING_UNKNOWN =2
see also erSetAxis_couplingA2A3()

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]axis_couplingA2A3axis coupling between axis 2 and 3
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetAxMax ( ER_HND  er_hnd,
double *  ax_max 
)
static

Get maximum cartesian acceleration.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]ax_maxmaximum cartesian acceleration [m/s^2]
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetAxOriMax ( ER_HND  er_hnd,
double *  ax_ori_max 
)
static

Get maximum cartesian orientation acceleration.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]ax_ori_maxmaximum cartesian orientation acceleration [rad/s^2]
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetBackLink ( ER_HND  er_hnd,
long *  backlink 
)
static

Get robot back link status, obsolete function, use erGetBacklink()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetBacklink ( ER_HND  er_hnd,
long *  backlink 
)
static

Get robot back link status
The back link status can be one of the following values.
KIN_BACK_LINK_NO=0, KIN_BACK_LINK_YES =1 or KIN_BACK_LINK_UNKNOWN =2
see also erSetBacklink()

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]backlinkrobot back link status
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetConfigName ( ER_HND  er_hnd,
long  config_idx,
char *  config_name 
)
static

Get the name of robot configuration. Get the number of configurations with erGetNumConfigs()
.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]config_idxconfiguration index [1..number of robot configurations]
[out]config_namename of robot configuration, maximum lengths ER_MAXSTR
Return values
NULLinvalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetCounter_weight ( ER_HND  er_hnd,
long *  counter_weight 
)
static

Get robot counter weight
The robot counter weight can be one of the following values.
KIN_COUNTER_WEIGHT_NO=0, KIN_COUNTER_WEIGHT_YES =1 or KIN_COUNTER_WEIGHT_UNKNOWN =2
see also erSetCounter_weight()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]counter_weightrobot counter weight
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetHomepos ( ER_HND  er_hnd,
double *  homepos 
)
static

Get robot joint homeposition. The kinematics joint homepos are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]homeposrobot joint homeposition, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetJointName ( ER_HND  er_hnd,
long  active_jnt_no,
char *  jnt_name 
)
static

Get the name of active robot joint.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]active_jnt_noactive joint number [1..ER_KIN_DOFS]
[out]jnt_namename of active robot joint, maximum lengths ER_MAXSTR
Return values
NULLinvalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetJointName_passive ( ER_HND  er_hnd,
long  passive_jnt_no,
char *  jnt_name_passive 
)
static

Get the name of passive robot joint.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]passive_jnt_nopassive joint number [1..ER_KIN_PASSIVE_JNTS]
[out]jnt_name_passivename of passive robot joint, maximum lengths ER_MAXSTR
Return values
NULLinvalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetJointOffset ( ER_HND  er_hnd,
double *  joint_offset 
)
static

Get offset of robot joints.
Robot joint offsets joint_offset are in units [m] for prismatic joint type and [rad] for rotational joint type.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]joint_offsetrobot joint offset, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetJointSign ( ER_HND  er_hnd,
double *  joint_sign 
)
static

Get sign of robot joints.
A robot joint sign can be positive +1 or negative -1.
See also erGetJointTypes(), erGetJointDirections()

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]joint_signsign of a robot joint, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetName ( ER_HND  er_hnd,
char *  name 
)
static

Get the name of the robot.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]namename of the robot, maximum lengths ER_MAXSTR
Return values
NULLinvalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetSweCalcMode ( ER_HND  er_hnd,
long *  swe_calc_mode 
)
static

Get calculation mode for travel ranges Travel ranges can be fixed or depending on joints by a formular for example.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]swe_calc_mode=0 use fix swe_min and swe_max, =1 use equations to calculate SWE Switches
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetSweMax ( ER_HND  er_hnd,
double *  swe_max 
)
static

Get fix maximum travel ranges. The kinematics travel ranges swe_max are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]swe_maxfix maximum travel ranges, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetSweMax_passive ( ER_HND  er_hnd,
double *  swe_max_passive 
)
static

Get fix maximum travel ranges from passive joints. The kinematics travel ranges swe_max_passive are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of passive joints with erGet_num_dofs_passive()

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]swe_max_passivefix maximum travel ranges, max size ER_KIN_PASSIVE_JNTS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetSweMaxCalc ( ER_HND  er_hnd,
double *  swe_max_calc 
)
static

Get calculated maximum travel ranges. The kinematics calculated travel ranges swe_max_calc are in units [m] for prismatic joint type
and [rad] for rotational joint type
Use erGetSweCalcMode() to find out if travel ranges are fix or depending on equations
Get the number of joints with erGet_num_dofs()

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]swe_max_calccalculated maximum travel ranges, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetSweMin ( ER_HND  er_hnd,
double *  swe_min 
)
static

Get fix minimum travel ranges. The kinematics travel ranges swe_min are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]swe_minfix minimum travel ranges, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetSweMin_passive ( ER_HND  er_hnd,
double *  swe_min_passive 
)
static

Get fix minimum travel ranges from passive joints. The kinematics travel ranges swe_min_passive are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of passive joints with erGet_num_dofs_passive()

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]swe_min_passivefix minimum travel ranges, max size ER_KIN_PASSIVE_JNTS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetSweMinCalc ( ER_HND  er_hnd,
double *  swe_min_calc 
)
static

Get calculated minimum travel ranges. The kinematics calculated travel ranges swe_min_calc are in units [m] for prismatic joint type
and [rad] for rotational joint type
Use erGetSweCalcMode() to find out if travel ranges are fix or depending on equations
Get the number of joints with erGet_num_dofs()

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]swe_min_calccalculated minimum travel ranges, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetSweMinMaxCalc ( ER_HND  er_hnd,
double *  swe_min_calc,
double *  swe_max_calc 
)
static

Get calculated minimum and maximum travel ranges. The kinematics calculated travel ranges swe_min_calc and swe_max_calc are in units [m] for prismatic joint type
and [rad] for rotational joint type
Use erGetSweCalcMode() to find out if travel ranges are fix or depending on equations
Get the number of joints with erGet_num_dofs()

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]swe_min_calccalculated minimum travel ranges, max size ER_KIN_DOFS
[out]swe_max_calccalculated maximum travel ranges, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetTurn_interval ( ER_HND  er_hnd,
double *  turn_interval 
)
static

Get the turn interval for each robot joints
The kinematics turn interval turn_interval are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()
See also erSetTurn_interval()

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]turn_intervalturn interval, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetTurn_offset ( ER_HND  er_hnd,
double *  turn_offset 
)
static

Get the turn offset for each robot joints
The kinematics turn offset turn_offset are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()
See also erSetTurn_offset()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]turn_offsetturn offset, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetTurn_value ( ER_HND  er_hnd,
long *  turn_value 
)
static

Get the turn value for each robot joints
The turn value turn_value determine the desired Turn in the target for the inverse kinematics calculation and for the motion planning
It takes effect if ER_PTP_TARGET_CALC_MODE_TURNS is set. Get the number of joints with erGet_num_dofs()
See also erSetTurn_value()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]turn_valueturn value, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetVqMax ( ER_HND  er_hnd,
double *  vq_max 
)
static

Get maximum of robot joint speeds.
Robot joint speeds vq_max are in units [m/s] for prismatic joint type and [rad/s] for rotational joint type.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]vq_maxmaximum of robot joint speeds, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetVxMax ( ER_HND  er_hnd,
double *  vx_max 
)
static

Get maximum cartesian speed.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]vx_maxmaximum cartesian speed [m/s]
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erGetVxOriMax ( ER_HND  er_hnd,
double *  vx_ori_max 
)
static

Get maximum cartesian orientation speed.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]vx_ori_maxmaximum cartesian orientation speed [rad/s]
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetAqMax ( ER_HND  er_hnd,
double *  aq_max 
)
static

Set maximum of robot joint accelerations.
Robot joint accelerations aq_max are in units [m/s^2] for prismatic joint type and [rad/s^2] for rotational joint type.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]aq_maxmaximum of robot joint accelerations, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetAxis_couplingA2A3 ( ER_HND  er_hnd,
long  axis_couplingA2A3 
)
static

Set robot axis coupling between axis 2 and 3
The axis coupling can be one of the following values.
KIN_A2A3_COUPLING_NO=0, KIN_A2A3_COUPLING_YES =1 or KIN_A2A3_COUPLING_UNKNOWN =2
see also erGetAxis_couplingA2A3()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]axis_couplingA2A3axis coupling between axis 2 and 3
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetAxMax ( ER_HND  er_hnd,
double  ax_max 
)
static

Set maximum cartesian acceleration.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]ax_maxmaximum cartesian acceleration [m/s^2]
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetAxOriMax ( ER_HND  er_hnd,
double  ax_ori_max 
)
static

Set maximum cartesian orientation acceleration.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]ax_ori_maxmaximum cartesian orientation acceleration [rad/s^2]
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetBacklink ( ER_HND  er_hnd,
long  backlink 
)
static

Set robot back link status
The back link status can be one of the following values.
KIN_BACK_LINK_NO=0, KIN_BACK_LINK_YES =1 or KIN_BACK_LINK_UNKNOWN =2
see also erGetBacklink()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]backlinkrobot back link status
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetCounter_weight ( ER_HND  er_hnd,
long  counter_weight 
)
static

Set robot counter weight
The robot counter weight can be one of the following values.
KIN_COUNTER_WEIGHT_NO=0, KIN_COUNTER_WEIGHT_YES =1 or KIN_COUNTER_WEIGHT_UNKNOWN =2
see also erGetCounter_weight()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]counter_weightrobot counter weight
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetHomepos ( ER_HND  er_hnd,
double *  homepos 
)
static

Set robot joint homeposition. The kinematics joint homepos are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]homeposrobot joint homeposition, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetJointOffset ( ER_HND  er_hnd,
double *  joint_offset 
)
static

Set offset of robot joints.
Robot joint offsets joint_offset are in units [m] for prismatic joint type and [rad] for rotational joint type.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]joint_offsetrobot joint offset, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetJointSign ( ER_HND  er_hnd,
double *  joint_sign 
)
static

Set sign of robot joints. A robot joint sign can be positive +1 or negative -1.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]joint_signsign of a robot joint, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetSweMax ( ER_HND  er_hnd,
double *  swe_max 
)
static

Set fix maximum travel ranges. The kinematics travel ranges swe_max are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]swe_maxfix maximum travel ranges, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetSweMax_passive ( ER_HND  er_hnd,
double *  swe_max_passive 
)
static

Set fix maximum travel ranges for passive joints. The kinematics travel ranges swe_max_passive are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs_passive()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]swe_max_passivefix maximum travel ranges, max size ER_KIN_PASSIVE_JNTS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetSweMin ( ER_HND  er_hnd,
double *  swe_min 
)
static

Set fix minimum travel ranges. The kinematics travel ranges swe_min are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]swe_minfix minimum travel ranges, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetSweMin_passive ( ER_HND  er_hnd,
double *  swe_min_passive 
)
static

Set fix minimum travel ranges for passive joints. The kinematics travel ranges swe_min_passive are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs_passive()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]swe_min_passivefix minimum travel ranges, max size ER_KIN_PASSIVE_JNTS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetTurn_interval ( ER_HND  er_hnd,
double *  turn_interval 
)
static

Set the turn interval for each robot joints
The kinematics turn interval turn_interval are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()
See also erGetTurn_interval()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]turn_intervalturn interval, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetTurn_offset ( ER_HND  er_hnd,
double *  turn_offset 
)
static

Set the turn offset for each robot joints
The kinematics turn offset turn_offset are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of joints with erGet_num_dofs()
See also erGetTurn_offset()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]turn_offsetturn offset, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetTurn_value ( ER_HND  er_hnd,
long *  turn_value 
)
static

Set the turn value for each robot joint
The turn value turn_value determine the desired Turn in the target for the inverse kinematics calculation and for the trajectory planning
It takes effect if ER_PTP_TARGET_CALC_MODE_TURNS is set. The givin turn value must be a valid value and depends on the turn interval erSetTurn_interval() and the turn offset erSetTurn_offset(),
and as well from the robot joint location and its configuration.
Get the number of joints with erGet_num_dofs()
See also erGetTurn_value()

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]turn_valueturn value, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetVqMax ( ER_HND  er_hnd,
double *  vq_max 
)
static

Set maximum of robot joint speeds.
Robot joint speeds vq_max are in units [m/s] for prismatic joint type and [rad/s] for rotational joint type.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]vq_maxmaximum of robot joint speeds, max size ER_KIN_DOFS
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetVxMax ( ER_HND  er_hnd,
double  vx_max 
)
static

Set maximum cartesian speed.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]vx_maxmaximum cartesian speed [m/s]
Return values
0- OK
1- Error, invalid handle
static DLLAPI int ER_STDCALL ERK_CAPI_ROB_ATRIBUTES::erSetVxOriMax ( ER_HND  er_hnd,
double  vx_ori_max 
)
static

Set maximum cartesian orientation speed.

Parameters
[in]er_hndunique kinematics handle ER_HND
[in]vx_ori_maxmaximum cartesian orientation speed [rad/s]
Return values
0- OK
1- Error, invalid handle

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