EASY-ROB™ Kernel  v8.307
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ERK_CAPI_TOOLPATH Class Reference

Method class for tool path definition. More...

#include <erk_capi.h>

Inheritance diagram for ERK_CAPI_TOOLPATH:
ERK_CAPI_DEVICES ERK_CAPI ERK_CAPI_TOOLPATH_APIPP ERK_CAPI_TOOLPATH_ATTRIBUTES ERK_CAPI_TOOLPATH_ATTRIBUTES_AUX ERK_CAPI_TOOLPATH_CREATE ERK_CAPI_TOOLPATH_EXTAX_CONVEYOR ERK_CAPI_TOOLPATH_EXTAX_POSITIONER ERK_CAPI_TOOLPATH_EXTAX_TRACKMOTION ERK_CAPI_TOOLPATH_HEAD ERK_CAPI_TOOLPATH_INSTRUCTIONS ERK_CAPI_TOOLPATH_MOTION_EXEC ERK_CAPI_TOOLPATH_MOVE_CP ERK_CAPI_TOOLPATH_MOVE_JOINT ERK_CAPI_TOOLPATH_TARGETS ERK_CAPI_TOOLPATH_TOOLBOX

Static Public Member Functions

static DLLAPI int ER_STDCALL erInitToolPath (ER_HND er_hnd, ER_TOOLPATH_HND *er_tpth_hnd)
 Create a unique tool path handle for a kinematics. More...
 
static DLLAPI int ER_STDCALL erUnloadToolPath (ER_TOOLPATH_HND *er_tpth_hnd)
 Unload an instance of a kinematics tool path. More...
 
static DLLAPI int ER_STDCALL erInsertToolPath (ER_HND er_hnd, ER_TOOLPATH_HND *er_tpth_hnd, ER_TOOLPATH_HND er_tpth_hnd_ref)
 Create and insert a unique tool path handle.
The created tool path handle er_tpth_hnd is inserted before the tool path handle er_tpth_hnd_ref
Remarks
If parameter er_tpth_hnd_ref is NULL, the new tool path is appended. More...
 
static DLLAPI int ER_STDCALL erSwapToolPath (ER_TOOLPATH_HND er_tpth_hnd1, ER_TOOLPATH_HND er_tpth_hnd2)
 Swap two tool pathes.
Swaps the position of two tool path handles. More...
 
static DLLAPI int ER_STDCALL erToolPathGetTargetLocationNumber (ER_TOOLPATH_HND er_tpth_hnd)
 Get the number of target locations in tool path. More...
 
static DLLAPI char *ER_STDCALL erToolPathName (ER_TOOLPATH_HND er_tpth_hnd)
 Device Handle belonging to tool path. More...
 
static DLLAPI long ER_STDCALL erToolPathEnable (ER_TOOLPATH_HND er_tpth_hnd, long enable)
 Enable or disable tool path
Parameter enable is one of ER_ONOFF_DISABLE, ER_ONOFF_ENABLE, ER_ONOFF_STATUS. More...
 
static DLLAPI ER_HND ER_STDCALL erToolPathGetRobotHandle (ER_TOOLPATH_HND er_tpth_hnd)
 Get device robot handle belonging to tool path handle. More...
 
static DLLAPI ER_HND ER_STDCALL erToolPathGetTrackMotionHandle (ER_TOOLPATH_HND er_tpth_hnd)
 Get device track motion handle belonging to tool path handle. More...
 
static DLLAPI ER_HND ER_STDCALL erToolPathGetPositionerHandle (ER_TOOLPATH_HND er_tpth_hnd)
 Get device positioner handle belonging to tool path handle. More...
 
static DLLAPI ER_HND ER_STDCALL erToolPathGetConveyorHandle (ER_TOOLPATH_HND er_tpth_hnd)
 Get device conveyor handle belonging to tool path handle. More...
 
static DLLAPI long ER_STDCALL erToolPathSetTrackMotionHandle (ER_TOOLPATH_HND er_tpth_hnd, ER_HND hnd_TrackMotion=NULL)
 Set track motion handle belonging to tool path handle.
The tool path handles the track motion device as external axis, see erConnectTrackMotion()
hnd_TrackMotion=NULL will remove track motion handle from the tool path. More...
 
static DLLAPI long ER_STDCALL erToolPathSetPositionerHandle (ER_TOOLPATH_HND er_tpth_hnd, ER_HND hnd_Positioner=NULL)
 Set positioner handle belonging to tool path handle.
The tool path handles the positioner device as external axis, see erConnectPositioner()
hnd_Positioner=NULL will remove positioner handle from the tool path. More...
 
static DLLAPI long ER_STDCALL erToolPathSetConveyorHandle (ER_TOOLPATH_HND er_tpth_hnd, ER_HND hnd_Conveyor=NULL)
 Set conveyor handle belonging to tool path handle.
The tool path handles the conveyor device as external axis, see erConnectConveyor()
hnd_Conveyor=NULL will remove conveyor handle from the tool path. More...
 
static DLLAPI char *ER_STDCALL erToolPathLogFileName (ER_TOOLPATH_HND er_tpth_hnd)
 Name log file. More...
 
static DLLAPI char *ER_STDCALL erToolPathPrgFileName (ER_TOOLPATH_HND er_tpth_hnd)
 Name program file. More...
 
static DLLAPI
ER_TARGET_LOCATION_HND
ER_STDCALL 
erToolPathGetTargetLocationFirst (ER_TOOLPATH_HND er_tpth_hnd)
 Get the first 'target location handle' in the tool path. More...
 
static DLLAPI
ER_TARGET_LOCATION_HND
ER_STDCALL 
erToolPathGetTargetLocationLast (ER_TOOLPATH_HND er_tpth_hnd)
 Get the last 'target location handle' in the tool path. More...
 
static DLLAPI long ER_STDCALL CpyMotionAttributesTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_ATTRIBUTES_HND hnd)
 Copy attributes to template data.
The attributes defined with attribute handle hnd are copied to the attribute template belonging to the tool path handle er_tpth_hnd. More...
 
static DLLAPI
ER_TARGET_ATTRIBUTES_HND
ER_STDCALL 
GetMotionAttributesTemplateHnd (ER_TOOLPATH_HND er_tpth_hnd)
 Get attributes template data from tool path.
Get the attributes template data belonging to the tool path er_tpth_hnd. More...
 
static DLLAPI long ER_STDCALL CpyMoveJointTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_MOVE_JOINT_HND hnd)
 Copy move joint data to template data.
The move joint data defined with move joint handle hnd are copied to the move joint template belonging to the tool path handle er_tpth_hnd. More...
 
static DLLAPI
ER_TARGET_MOVE_JOINT_HND
ER_STDCALL 
GetMoveJointTemplate (ER_TOOLPATH_HND er_tpth_hnd)
 Get move joint template data from tool path.
Get the move joint template data belonging to the tool path er_tpth_hnd. More...
 
static DLLAPI long ER_STDCALL CpyMoveCPTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_MOVE_CP_HND hnd)
 Copy move cp data to template data.
The move cp data defined with move cp handle hnd are copied to the move cp template belonging to the tool path handle er_tpth_hnd. More...
 
static DLLAPI
ER_TARGET_MOVE_CP_HND
ER_STDCALL 
GetMoveCPTemplate (ER_TOOLPATH_HND er_tpth_hnd)
 Get move cp template data from tool path.
Get the move cp template data belonging to the tool path er_tpth_hnd. More...
 
static DLLAPI long ER_STDCALL CpyExtAxTrackMotionTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND hnd)
 Copy external axis track motion data to template data.
The external axis track motion data defined with external axis track motion handle hnd are copied to the external axis track motion template belonging to the tool path handle er_tpth_hnd. More...
 
static DLLAPI
ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND
ER_STDCALL 
GetExtAxTrackMotionTemplate (ER_TOOLPATH_HND er_tpth_hnd)
 Get external axis track motion template data from tool path.
Get the external axis track motion template data belonging to the tool path er_tpth_hnd. More...
 
static DLLAPI long ER_STDCALL CpyExtAxPositionerTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EXTAX_DEVICE_POSITIONER_HND hnd)
 Copy external axis positioner data to template data.
The external axis positioner data defined with external axis positioner handle hnd are copied to the external axis positioner template belonging to the tool path handle er_tpth_hnd. More...
 
static DLLAPI
ER_TARGET_EXTAX_DEVICE_POSITIONER_HND
ER_STDCALL 
GetExtAxPositionerTemplate (ER_TOOLPATH_HND er_tpth_hnd)
 Get external axis positioner template data from tool path.
Get the external axis positioner template data belonging to the tool path er_tpth_hnd. More...
 
static DLLAPI long ER_STDCALL CpyExtAxConveyorTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND hnd)
 Copy external axis conveyor data to template data.
The external axis conveyor data defined with external axis conveyor handle hnd are copied to the external axis conveyor template belonging to the tool path handle er_tpth_hnd. More...
 
static DLLAPI
ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND
ER_STDCALL 
GetExtAxConveyorTemplate (ER_TOOLPATH_HND er_tpth_hnd)
 Get external axis conveyor template data from tool path.
Get the external axis conveyor template data belonging to the tool path er_tpth_hnd. More...
 
static DLLAPI long ER_STDCALL erToolPathReset (ER_TOOLPATH_HND er_tpth_hnd)
 Reset all tool path target locations.
All target locations defined in tool path er_tpth_hnd are resetted to default values and set to invalid. More...
 
static DLLAPI int ER_STDCALL erToolPathResetInitRobot (ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL)
 Set initial joint start location for the robot.
Remarks
Read current joint data from loaded robot. This method must be called before the interpolation starts. More...
 
static DLLAPI int ER_STDCALL erToolPathResetInitTrackMotion (ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL)
 Set initial joint start location for the TrackMotion.
Remarks
Read current joint data from loaded TrackMotion. This method must be called before the interpolation starts. More...
 
static DLLAPI int ER_STDCALL erToolPathResetInitPositioner (ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL)
 Set initial joint start location for the Positioner.
Remarks
Read current joint data from loaded Positioner. This method must be called before the interpolation starts. More...
 
static DLLAPI int ER_STDCALL erToolPathResetInitConveyor (ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL)
 Set initial joint start location for the Conveyor.
Remarks
Read current joint data from loaded Conveyor. This method must be called before the interpolation starts. More...
 
static DLLAPI int ER_STDCALL erToolPathSetInitPos (ER_TOOLPATH_HND er_tpth_hnd, double InterpolationTime=0)
 Initializes the Trajectory Planner based on current settings.
Remarks
This method must be called before the interpolation starts, see erGET_NEXT_TOOLPATH_STEP() More...
 
static DLLAPI int ER_STDCALL erGET_NEXT_TOOLPATH_STEP_INIT (ER_TOOLPATH_HND er_tpth_hnd, long cntrl)
 Initializes the interpolation through a complete tool path
Parameter cntrl must be set to ER_MOP_GNTPS_CNTRL_INIT
and can be extended by an individual bitwise-inclusive-OR operator (|) of. More...
 
static DLLAPI int ER_STDCALL erGET_NEXT_TOOLPATH_STEP (ER_TOOLPATH_HND er_tpth_hnd, long cntrl, NEXT_STEP_DATA *p_next_step_data=NULL, double time=0)
 Interpolation through a complete tool path
Parameter cntrl is an individual bitwise-inclusive-OR operator (|) of ER_MOP_GNTPS_CNTRL_NEXT_STEP, ER_MOP_GNTPS_CNTRL_UPDATE_GEO, ER_MOP_GNTPS_CNTRL_STEPDATA_OUT
Remarks
Before using this method, call erGET_NEXT_TOOLPATH_STEP_INIT(), see also erGET_NEXT_STEP() More...
 
static DLLAPI
ER_TARGET_LOCATION_HND
ER_STDCALL 
erGET_NEXT_TOOLPATH_STEP_cTargetLocation (ER_TOOLPATH_HND er_tpth_hnd)
 Get the current 'target location handle' while interpolation through a complete tool path. More...
 
static DLLAPI int ER_STDCALL erGET_NEXT_TOOLPATH_STEP_TERMINATE (ER_TOOLPATH_HND er_tpth_hnd)
 Terminates interpolation
Remarks
This method must be called after the interpolation of a tool path, see erGET_NEXT_TOOLPATH_STEP() More...
 
- Static Public Member Functions inherited from ERK_CAPI_DEVICES
static DLLAPI int ER_STDCALL erInitKin (ER_HND *er_hnd, Host_HND host_hnd=NULL)
 Create a unique kinematics handle.
Opcode 101, Chapter 3.4.1, Page 3-26, same as erINITIALIZE()
Initializes one instance of a robot and creates an unique kinematics handle er_hnd belonging to a robot kinematics.
This handles is necessary to access individual data from the robot and to call other functions.
Use erLoadKin() to load an EASY-ROB rob file (*.rob) containing a kinematics. More...
 
static DLLAPI int ER_STDCALL erUnloadKin (ER_HND *er_hnd)
 Unload an instance of kinematics of the Kernel.
Unloads an instance of kinematics givin by the unique kinematics handle.
Unloading a kinematics will call callback function TerFreeGeometryProc for each geometry belonging to this kinematics.
The number of loaded kinematics will be decremented.
This kinematics handle er_hnd is set to NULL and is not valid after calling this function. More...
 
static DLLAPI int ER_STDCALL erConnectPositioner (ER_HND er_hnd, ER_HND er_hnd_connect)
 Connects a positioner kinematics with handle er_hnd_connect to the robot kinematics with handle er_hnd.
Remarks
Use erConnectPositionerSetSync() for synchronized motion with a positioner.
Use erConnectPositionerGetSync() to receive synchronization status between robot and the connected positioner. More...
 
static DLLAPI ER_HND ER_STDCALL erConnectPositionerGetHND (ER_HND er_hnd)
 Get robots connection handle between robot and positioner.
See also erConnectPositioner() More...
 
static DLLAPI int ER_STDCALL erConnectPositionerSetSync (ER_HND er_hnd, long connect_sync)
 Set robots synchronization flag for synchronization between robot and positioner.
The synchronization flag connect_sync can be one of the following values.
1: ER_SYNC_OFF, 2: ER_SYNC_ON
See also erConnectPositionerGetSync() More...
 
static DLLAPI int ER_STDCALL erConnectPositionerGetSync (ER_HND er_hnd)
 Get robots synchronization flag for synchronization between robot and positioner.
See also erConnectPositionerSetSync() More...
 
static DLLAPI int ER_STDCALL erConnectConveyor (ER_HND er_hnd, ER_HND er_hnd_connect)
 Connects a conveyor kinematics with handle er_hnd_connect to the robot kinematics with handle er_hnd.
Remarks
Use erConnectConveyorSetSync() for synchronized motion with a conveyor.
Use erConnectConveyorGetSync() to receive synchronization status between robot and the connected conveyor. More...
 
static DLLAPI ER_HND ER_STDCALL erConnectConveyorGetHND (ER_HND er_hnd)
 Get robots connection handle between robot and conveyor.
See also erConnectConveyor() More...
 
static DLLAPI int ER_STDCALL erConnectConveyorSetSync (ER_HND er_hnd, long connect_sync)
 Set robots synchronization flag for synchronization between robot and conveyor.
The synchronization flag connect_sync can be one of the following values.
1: ER_SYNC_OFF, 2: ER_SYNC_ON
See also erConnectConveyorGetSync() More...
 
static DLLAPI int ER_STDCALL erConnectConveyorGetSync (ER_HND er_hnd)
 Get robots synchronization flag for synchronization between robot and conveyor.
See also erConnectConveyorSetSync() More...
 
static DLLAPI int ER_STDCALL erConnectTrackMotion (ER_HND er_hnd, ER_HND er_hnd_connect)
 Connects a track motion kinematics with handle er_hnd_connect to the robot kinematics with handle er_hnd.
Remarks
Use erConnectTrackMotionSetSync() for synchronized motion with a track motion.
Use erConnectTrackMotionGetSync() to receive synchronization status between robot and the connected track motion. More...
 
static DLLAPI ER_HND ER_STDCALL erConnectTrackMotionGetHND (ER_HND er_hnd)
 Get robots connection handle between robot and track motion.
See also erConnectTrackMotion() More...
 
static DLLAPI int ER_STDCALL erConnectTrackMotionSetSync (ER_HND er_hnd, long connect_sync)
 Set robots synchronization flag for synchronization between robot and track motion.
The synchronization flag connect_sync can be one of the following values.
1: ER_SYNC_OFF, 2: ER_SYNC_ON, 4: ER_SYNC_CONVEYOR
See also erConnectTrackMotionGetSync() More...
 
static DLLAPI int ER_STDCALL erConnectTrackMotionGetSync (ER_HND er_hnd)
 Get robots synchronization flag for synchronization between robot and track motion.
See also erConnectTrackMotionSetSync() More...
 
static DLLAPI int ER_STDCALL erConnectRobot (ER_HND er_hnd, ER_HND er_hnd_connect)
 Connects a slave robot kinematics with handle er_hnd_connect to the robot kinematics with handle er_hnd.
Remarks
Use erConnectRobotSetSync() for synchronized motion with a slave robot.
Use erConnectRobotGetSync() to receive synchronization status between robot and the connected slave robot. More...
 
static DLLAPI ER_HND ER_STDCALL erConnectRobotGetHND (ER_HND er_hnd)
 Get robots connection handle between robot and slave robot.
See also erConnectRobot() More...
 
static DLLAPI int ER_STDCALL erConnectRobotSetSync (ER_HND er_hnd, long connect_sync)
 Set robots synchronization flag for synchronization between robot and slave robot.
The synchronization flag connect_sync can be one of the following values.
1: ER_SYNC_OFF, 2: ER_SYNC_ON
See also erConnectRobotGetSync() More...
 
static DLLAPI int ER_STDCALL erConnectRobotGetSync (ER_HND er_hnd)
 Get robots synchronization flag for synchronization between robot and slave robot.
See also erConnectRobotSetSync() More...
 
static DLLAPI int ER_STDCALL erUnloadTool (ER_HND er_hnd)
 Unload a kinematics tool.
Unloads a kinematics tool givin by the unique kinematics handle.
Unloading a kinematics tool will call callback function TerFreeGeometryProc for each geometry belonging to this kinematics tool.
Remarks
This kinematics handle er_hnd is still valid after calling this function. More...
 
static DLLAPI int ER_STDCALL erLoadKin (ER_HND er_hnd, char *fln_rob)
 Load an EASY-ROB rob file (*.rob) containing a kinematics.
Loading a robfile will call the callback function TerLoadGeometryProc() each time when a geometry-file-name is detected in the robfile.
In this case the host application has to read or import the geometry and store it inside their own structure.
Remarks
Get a valid unique kinematics handle with erInitKin()
In case the robfile cannot be loaded, the kinematics handle is not valid anymore. Get a new kinematics handle with erInitKin() More...
 
static DLLAPI int ER_STDCALL erLoadTool (ER_HND er_hnd, char *fln_tool)
 Load an EASY-ROB tool file (*.tol) containing tool (tcp) data.
Loading a toolfile will call the callback function TerLoadGeometryProc() each time when a geometry-file-name is detected in the toolfile.
. More...
 
static DLLAPI int ER_STDCALL erGet_n_Kin (ER_HND er_hnd)
 Get the number of loaded kinematics. More...
 
static DLLAPI int ER_STDCALL erGet_n_Kin_IR (ER_HND er_hnd)
 Get the number of loaded kinematics with more than 3 joints and inverse kinematics. More...
 
static DLLAPI int ER_STDCALL erGetName (ER_HND er_hnd, char *name)
 Get the name of the robot. More...
 

Static Public Attributes

static ERK_CAPI_TOOLPATH_TARGETS erk_toolpath_targets
 Method class to create, unload and specify target locations. More...
 
static ERK_CAPI_TOOLPATH_HEAD erk_toolpath_head
 Method class to set and get tool path motion header data for target locations. More...
 
static
ERK_CAPI_TOOLPATH_INSTRUCTIONS 
erk_toolpath_instructions
 Method class to set and get Instructions for target locations. More...
 
static
ERK_CAPI_TOOLPATH_ATTRIBUTES_AUX 
erk_toolpath_attributes_aux
 Method class to set and get tool path auxiliary motion attributes for target locations. More...
 
static ERK_CAPI_TOOLPATH_ATTRIBUTES erk_toolpath_attributes
 Method class to set and get tool path motion attributes for target locations. More...
 
static ERK_CAPI_TOOLPATH_MOVE_JOINT erk_toolpath_move_joint
 Method class to specify a joint motion for target location. More...
 
static ERK_CAPI_TOOLPATH_MOVE_CP erk_toolpath_move_cp
 Method class to specify a cp motion for target location. More...
 
static
ERK_CAPI_TOOLPATH_MOTION_EXEC 
erk_toolpath_motion_exec
 Method class to access motion execution data at target. More...
 
static
ERK_CAPI_TOOLPATH_EXTAX_TRACKMOTION 
erk_toolpath_extax_trackmotion
 Method class to specify external axis data for a track/slider-motion for target location. More...
 
static
ERK_CAPI_TOOLPATH_EXTAX_POSITIONER 
erk_toolpath_extax_positioner
 Method class to specify external axis data for a positioner for target location. More...
 
static
ERK_CAPI_TOOLPATH_EXTAX_CONVEYOR 
erk_toolpath_extax_conveyor
 Method class to specify external axis data for a conveyor for target location. More...
 
static ERK_CAPI_TOOLPATH_TOOLBOX erk_toolpath_toolbox
 Method class for miscellaneous tool path calculations. More...
 
static ERK_CAPI_TOOLPATH_APIPP erk_toolpath_apipp
 Method for post processing, creating a robot program for a tool path. More...
 
static ERK_CAPI_TOOLPATH_CREATE erk_toolpath_create
 Method class to create tool pathes. 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 tool path definition.

Member Function Documentation

static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH::CpyExtAxConveyorTemplate ( ER_TOOLPATH_HND  er_tpth_hnd,
ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND  hnd 
)
static

Copy external axis conveyor data to template data.
The external axis conveyor data defined with external axis conveyor handle hnd are copied to the external axis conveyor template belonging to the tool path handle er_tpth_hnd.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]hndexternal axis conveyor handle ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH::CpyExtAxPositionerTemplate ( ER_TOOLPATH_HND  er_tpth_hnd,
ER_TARGET_EXTAX_DEVICE_POSITIONER_HND  hnd 
)
static

Copy external axis positioner data to template data.
The external axis positioner data defined with external axis positioner handle hnd are copied to the external axis positioner template belonging to the tool path handle er_tpth_hnd.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]hndexternal axis positioner handle ER_TARGET_EXTAX_DEVICE_POSITIONER_HND
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH::CpyExtAxTrackMotionTemplate ( ER_TOOLPATH_HND  er_tpth_hnd,
ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND  hnd 
)
static

Copy external axis track motion data to template data.
The external axis track motion data defined with external axis track motion handle hnd are copied to the external axis track motion template belonging to the tool path handle er_tpth_hnd.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]hndexternal axis track motion handle ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH::CpyMotionAttributesTemplate ( ER_TOOLPATH_HND  er_tpth_hnd,
ER_TARGET_ATTRIBUTES_HND  hnd 
)
static

Copy attributes to template data.
The attributes defined with attribute handle hnd are copied to the attribute template belonging to the tool path handle er_tpth_hnd.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]hndattribute handle ER_TARGET_ATTRIBUTES_HND
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH::CpyMoveCPTemplate ( ER_TOOLPATH_HND  er_tpth_hnd,
ER_TARGET_MOVE_CP_HND  hnd 
)
static

Copy move cp data to template data.
The move cp data defined with move cp handle hnd are copied to the move cp template belonging to the tool path handle er_tpth_hnd.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]hndmove cp handle ER_TARGET_MOVE_CP_HND
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH::CpyMoveJointTemplate ( ER_TOOLPATH_HND  er_tpth_hnd,
ER_TARGET_MOVE_JOINT_HND  hnd 
)
static

Copy move joint data to template data.
The move joint data defined with move joint handle hnd are copied to the move joint template belonging to the tool path handle er_tpth_hnd.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]hndmove joint handle ER_TARGET_MOVE_JOINT_HND
Return values
0- Ok
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH::erGET_NEXT_TOOLPATH_STEP ( ER_TOOLPATH_HND  er_tpth_hnd,
long  cntrl,
NEXT_STEP_DATA p_next_step_data = NULL,
double  time = 0 
)
static

Interpolation through a complete tool path
Parameter cntrl is an individual bitwise-inclusive-OR operator (|) of ER_MOP_GNTPS_CNTRL_NEXT_STEP, ER_MOP_GNTPS_CNTRL_UPDATE_GEO, ER_MOP_GNTPS_CNTRL_STEPDATA_OUT
Remarks
Before using this method, call erGET_NEXT_TOOLPATH_STEP_INIT(), see also erGET_NEXT_STEP()

// Example:
int CErERK::ToolPath_erGET_NEXT_TOOLPATH_STEP(ER_TOOLPATH_HND my_tp_hnd, double InterpolationTime, char *folder, char *robfile)
// IN:
// my_tp_hnd - tool path handle
// InterpolationTime - sampling rate for interpolation in [ms]
// folder - folder, loacation of logfiles
// robfile - use for logfile names
//....
//----------------------------------
// Step 0
// 1. Initializes the MotionPlanner based on current settings
//----------------------------------
erk_toolpath.erToolPathSetInitPos(my_tp_hnd,InterpolationTime); // Initializes the Trajectory Planner, InterpolationTime [ms]
//----------------------------------
// Step I
// Initialize Interpolation -> ER_MOP_GNTPS_CNTRL_INIT
//----------------------------------
int res = erk_toolpath.erGET_NEXT_TOOLPATH_STEP_INIT(my_tp_hnd,cntrl);
if (res)
return res; // Error
//----------------------------------
// Step II
// Start Interpolation -> ER_MOP_GNTPS_CNTRL_NEXT_STEP
//----------------------------------
NEXT_STEP_DATA next_step_data;
double *TrajectoryTime = &next_step_data.TrajectoryTime; // resulted trajectory time
double gtime=0;
double dt_ipo = InterpolationTime*0.001; // dt_ipo in [sec]
// call erGET_NEXT_TOOLPATH_STEP() until the end of ToolPath
int gnts_status=ER_MOP_GNS_OK_SUCCESS;
while (gnts_status!=ER_MOP_GNS_ERROR && gnts_status!=ER_MOP_GNT_NO_TARGETS && gnts_status!=ER_MOP_GNS_TOOLPATH_REACHED)
{
gtime += dt_ipo; // time in [sec]
//
// erGET_NEXT_TOOLPATH_STEP returns at each interpolation step a current status 'gnts_status'
//
gnts_status = erk_toolpath.erGET_NEXT_TOOLPATH_STEP(my_tp_hnd,cntrl,&next_step_data,gtime);
switch (gnts_status) {
default:
break;
// Error
if (fp_er_dat) fprintf(fp_er_dat,"Host erGET_NEXT_TOOLPATH_STEP() Error MOP_GNS_ERROR gtime %.3lf TrajectoryTime %.3lf\n",gtime,*TrajectoryTime);
break;
// Error
if (fp_er_dat) fprintf(fp_er_dat,"Host erGET_NEXT_TOOLPATH_STEP() Error MOP_GNS_NO_TARGETS gtime %.3lf TrajectoryTime %.3lf\n",gtime,*TrajectoryTime);
break;
// Interpolates between two target locations
// Get Results ....
break;
// It is one step (<dt_ipo) before reaching the target location
// If Flyby is enabled, the next interpolation step moves to the next target, if exist
if (fp_er_dat) fprintf(fp_er_dat,"Host erGET_NEXT_TOOLPATH_STEP() NEED_MORE_DATA gtime %.3lf TrajectoryTime %.3lf\n",gtime,*TrajectoryTime);
// Get Results ....
break;
// The target location is exactly reached. Flyby disabled normally
if (fp_er_dat) fprintf(fp_er_dat,"Host erGET_NEXT_TOOLPATH_STEP() TARGET_REACHED gtime %.3lf TrajectoryTime %.3lf\n",gtime,*TrajectoryTime);
// Get Results ....
break;
// All target location are interpolated successfully
if (fp_er_dat) fprintf(fp_er_dat,"Host erGET_NEXT_TOOLPATH_STEP() TOOLPATH_REACHED gtime %.3lf TrajectoryTime %.3lf\n",gtime,*TrajectoryTime);
// Get Results ....
break;
}
}
//----------------------------------
// Step III
// Terminate Interpolation -> ER_MOP_GNTPS_CNTRL_TERMINATE
//----------------------------------
// ....
return res;
Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]cntrl
[out]p_next_step_datadata for next interpolation step NEXT_STEP_DATA
[in]timetime [s]
Return values
ER_MOP_GNS_OK_SUCCESS- OK, next step is calculated successful
ER_MOP_GNS_NEED_MORE_DATA- need more data, nothing to do
ER_MOP_GNS_TARGET_REACHED- final step, target reached or speed is zero
ER_MOP_GNS_TOOLPATH_REACHED- final step, last toolpath target reached
ER_MOP_GNS_ERROR- Error
ER_MOP_GNT_NO_TARGETS- Error, no targets available
static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL ERK_CAPI_TOOLPATH::erGET_NEXT_TOOLPATH_STEP_cTargetLocation ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get the current 'target location handle' while interpolation through a complete tool path.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
handlefor target location ER_TARGET_LOCATION_HND
NULL- Error
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH::erGET_NEXT_TOOLPATH_STEP_INIT ( ER_TOOLPATH_HND  er_tpth_hnd,
long  cntrl 
)
static

Initializes the interpolation through a complete tool path
Parameter cntrl must be set to ER_MOP_GNTPS_CNTRL_INIT
and can be extended by an individual bitwise-inclusive-OR operator (|) of.

Remarks
This method must be called before the interpolation starts, see erGET_NEXT_TOOLPATH_STEP()

// Example:
int CErERK::ToolPath_erGET_NEXT_TOOLPATH_STEP(ER_TOOLPATH_HND my_tp_hnd, double InterpolationTime, char *folder, char *robfile)
// IN:
// my_tp_hnd - tool path handle
// InterpolationTime - sampling rate for interpolation in [ms]
// folder - folder, loacation of logfiles
// robfile - use for logfile names
//....
//----------------------------------
// Step I
// Initialize Interpolation -> ER_MOP_GNTPS_CNTRL_INIT
//----------------------------------
// Optional, create output file names and streams
if (folder && robfile)
{
// Create output file names for log_file and prg_file
char *tp_log_fln = erk_toolpath.erToolPathLogFileName(my_tp_hnd);
char *tp_prg_fln = erk_toolpath.erToolPathPrgFileName(my_tp_hnd);
sprintf(tp_log_fln,"%s\\%s-%s",folder,"er_ERK-UDll-Shell-MOP-Positioner-GNS",robfile);
#ifdef _WIN64
sprintf(&tp_log_fln[strlen(tp_log_fln)-4],"x64.dat"); // new extension dat
#else
sprintf(&tp_log_fln[strlen(tp_log_fln)-4],".dat"); // new extension dat
#endif
strcpy(tp_prg_fln,tp_log_fln);
sprintf(&tp_prg_fln[strlen(tp_prg_fln)-4],".prg"); // change extension prg
}
int res = erk_toolpath.erGET_NEXT_TOOLPATH_STEP_INIT(my_tp_hnd,cntrl);
if (res)
return res; // Error
// ....
Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]cntrl
Return values
0- Ok
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH::erGET_NEXT_TOOLPATH_STEP_TERMINATE ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Terminates interpolation
Remarks
This method must be called after the interpolation of a tool path, see erGET_NEXT_TOOLPATH_STEP()

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
0- Ok
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH::erInitToolPath ( ER_HND  er_hnd,
ER_TOOLPATH_HND er_tpth_hnd 
)
static

Create a unique tool path handle for a kinematics.

// Example:
//---------------------------------------------
// 1.Create empty tool path handles
//---------------------------------------------
ER_TOOLPATH_HND er_toolpath_hnds[2]; // two ToolPath handle
int n_toolpath_hnd = sizeof(er_toolpath_hnds)/sizeof(er_toolpath_hnds[0]);
for (int i=0;i<n_toolpath_hnd;++i)
er_toolpath_hnds[i]=NULL;
//---------------------------------------------
// 2.Create a unique tool path handle for a kinematics, er_hnd_ unique kinematics handle
// Note that this tool path belongs to the dive specified by 'er_hnd_'
//---------------------------------------------
for (int i=0;i<n_toolpath_hnd;++i)
if (res=erk_toolpath.erInitToolPath(er_hnd_,&er_toolpath_hnds[i]))
return 1; // error
// ....
Parameters
[in]er_hndunique kinematics handle ER_HND
[out]er_tpth_hnda new unique tool path handle ER_TOOLPATH_HND
Return values
0- OK
1- Error, cannot create a valid handle
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH::erInsertToolPath ( ER_HND  er_hnd,
ER_TOOLPATH_HND er_tpth_hnd,
ER_TOOLPATH_HND  er_tpth_hnd_ref 
)
static

Create and insert a unique tool path handle.
The created tool path handle er_tpth_hnd is inserted before the tool path handle er_tpth_hnd_ref
Remarks
If parameter er_tpth_hnd_ref is NULL, the new tool path is appended.

Parameters
[in]er_hndunique kinematics handle ER_HND
[out]er_tpth_hnda new unique tool path handle ER_TOOLPATH_HND
[in]er_tpth_hnd_refunique tool path handle ER_TOOLPATH_HND
Return values
0- OK
1- Error, cannot create a valid handle
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH::erSwapToolPath ( ER_TOOLPATH_HND  er_tpth_hnd1,
ER_TOOLPATH_HND  er_tpth_hnd2 
)
static

Swap two tool pathes.
Swaps the position of two tool path handles.

Parameters
[in]er_tpth_hnd1unique tool path handle ER_TOOLPATH_HND
[in]er_tpth_hnd2unique tool path handle ER_TOOLPATH_HND
Return values
0- OK
1- Error, cannot swap, maybe invalid handles
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathEnable ( ER_TOOLPATH_HND  er_tpth_hnd,
long  enable 
)
static

Enable or disable tool path
Parameter enable is one of ER_ONOFF_DISABLE, ER_ONOFF_ENABLE, ER_ONOFF_STATUS.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]enable
Return values
currentenable status
static DLLAPI ER_HND ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathGetConveyorHandle ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get device conveyor handle belonging to tool path handle.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
NULL- Error, invalid handle, cannot find device conveyor handle
er_hnddevice conveyor handle
static DLLAPI ER_HND ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathGetPositionerHandle ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get device positioner handle belonging to tool path handle.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
NULL- Error, invalid handle, cannot find device positioner handle
er_hnddevice positioner handle
static DLLAPI ER_HND ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathGetRobotHandle ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get device robot handle belonging to tool path handle.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
NULL- Error, invalid handle, cannot find device robot handle
er_hnddevice robot handle
static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathGetTargetLocationFirst ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get the first 'target location handle' in the tool path.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
handlefor target location ER_TARGET_LOCATION_HND
static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathGetTargetLocationLast ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get the last 'target location handle' in the tool path.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
handlefor target location ER_TARGET_LOCATION_HND
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathGetTargetLocationNumber ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get the number of target locations in tool path.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
0- Error, no targets or invalid handle
number_of_targets
static DLLAPI ER_HND ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathGetTrackMotionHandle ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get device track motion handle belonging to tool path handle.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
NULL- Error, invalid handle, cannot find device track motion handle
er_hnddevice track motion handle
static DLLAPI char* ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathLogFileName ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Name log file.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
pointerto char for 'log file name', maximum lengths ER_HS_MAXSTR
static DLLAPI char* ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathName ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Device Handle belonging to tool path.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
0- Error, invalid handle, cannot find device handle
er_hnddevice handle Name of tool path
Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
pointerto char for 'tool path name', maximum lengths ER_MAXSTR
static DLLAPI char* ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathPrgFileName ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Name program file.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
pointerto char for 'log program name', maximum lengths ER_HS_MAXSTR
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathReset ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Reset all tool path target locations.
All target locations defined in tool path er_tpth_hnd are resetted to default values and set to invalid.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
0- Ok
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathResetInitConveyor ( ER_TOOLPATH_HND  er_tpth_hnd,
double *  q_start = NULL 
)
static

Set initial joint start location for the Conveyor.
Remarks
Read current joint data from loaded Conveyor. This method must be called before the interpolation starts.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]q_startinitial joint start location
Return values
0- Ok
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathResetInitPositioner ( ER_TOOLPATH_HND  er_tpth_hnd,
double *  q_start = NULL 
)
static

Set initial joint start location for the Positioner.
Remarks
Read current joint data from loaded Positioner. This method must be called before the interpolation starts.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]q_startinitial joint start location
Return values
0- Ok
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathResetInitRobot ( ER_TOOLPATH_HND  er_tpth_hnd,
double *  q_start = NULL 
)
static

Set initial joint start location for the robot.
Remarks
Read current joint data from loaded robot. This method must be called before the interpolation starts.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]q_startinitial joint start location
Return values
0- Ok
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathResetInitTrackMotion ( ER_TOOLPATH_HND  er_tpth_hnd,
double *  q_start = NULL 
)
static

Set initial joint start location for the TrackMotion.
Remarks
Read current joint data from loaded TrackMotion. This method must be called before the interpolation starts.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]q_startinitial joint start location
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathSetConveyorHandle ( ER_TOOLPATH_HND  er_tpth_hnd,
ER_HND  hnd_Conveyor = NULL 
)
static

Set conveyor handle belonging to tool path handle.
The tool path handles the conveyor device as external axis, see erConnectConveyor()
hnd_Conveyor=NULL will remove conveyor handle from the tool path.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]hnd_Conveyorunique device track handle ER_HND
Return values
-1- Error, invalid handle, cannot set device conveyor handle
0- Ok, Device conveyor handle set
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathSetInitPos ( ER_TOOLPATH_HND  er_tpth_hnd,
double  InterpolationTime = 0 
)
static

Initializes the Trajectory Planner based on current settings.
Remarks
This method must be called before the interpolation starts, see erGET_NEXT_TOOLPATH_STEP()

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]InterpolationTime- sampling rate for interpolation in [ms]
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathSetPositionerHandle ( ER_TOOLPATH_HND  er_tpth_hnd,
ER_HND  hnd_Positioner = NULL 
)
static

Set positioner handle belonging to tool path handle.
The tool path handles the positioner device as external axis, see erConnectPositioner()
hnd_Positioner=NULL will remove positioner handle from the tool path.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]hnd_Positionerunique device track handle ER_HND
Return values
-1- Error, invalid handle, cannot set device positioner handle
0- Ok, Device positioner handle set
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH::erToolPathSetTrackMotionHandle ( ER_TOOLPATH_HND  er_tpth_hnd,
ER_HND  hnd_TrackMotion = NULL 
)
static

Set track motion handle belonging to tool path handle.
The tool path handles the track motion device as external axis, see erConnectTrackMotion()
hnd_TrackMotion=NULL will remove track motion handle from the tool path.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[in]hnd_TrackMotionunique device track handle ER_HND
Return values
-1- Error, invalid handle, cannot set device track motion handle
0- Ok, Device track motion handle set
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH::erUnloadToolPath ( ER_TOOLPATH_HND er_tpth_hnd)
static

Unload an instance of a kinematics tool path.

Parameters
[in,out]er_tpth_hndunique tool path handle set to NULL after successful call ER_TOOLPATH_HND
Return values
0- OK
1- Error
static DLLAPI ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND ER_STDCALL ERK_CAPI_TOOLPATH::GetExtAxConveyorTemplate ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get external axis conveyor template data from tool path.
Get the external axis conveyor template data belonging to the tool path er_tpth_hnd.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
extax_conveyor_template_dataER_TARGET_EXTAX_DEVICE_CONVEYOR_HND
NULL- Error
static DLLAPI ER_TARGET_EXTAX_DEVICE_POSITIONER_HND ER_STDCALL ERK_CAPI_TOOLPATH::GetExtAxPositionerTemplate ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get external axis positioner template data from tool path.
Get the external axis positioner template data belonging to the tool path er_tpth_hnd.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
extax_positioner_template_dataER_TARGET_EXTAX_DEVICE_POSITIONER_HND
NULL- Error
static DLLAPI ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND ER_STDCALL ERK_CAPI_TOOLPATH::GetExtAxTrackMotionTemplate ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get external axis track motion template data from tool path.
Get the external axis track motion template data belonging to the tool path er_tpth_hnd.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
extax_track_motion_template_dataER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND
NULL- Error
static DLLAPI ER_TARGET_ATTRIBUTES_HND ER_STDCALL ERK_CAPI_TOOLPATH::GetMotionAttributesTemplateHnd ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get attributes template data from tool path.
Get the attributes template data belonging to the tool path er_tpth_hnd.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
attribute_template_dataER_TARGET_ATTRIBUTES_HND
NULL- Error
static DLLAPI ER_TARGET_MOVE_CP_HND ER_STDCALL ERK_CAPI_TOOLPATH::GetMoveCPTemplate ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get move cp template data from tool path.
Get the move cp template data belonging to the tool path er_tpth_hnd.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
move_cp_template_dataER_TARGET_MOVE_CP_HND
NULL- Error
static DLLAPI ER_TARGET_MOVE_JOINT_HND ER_STDCALL ERK_CAPI_TOOLPATH::GetMoveJointTemplate ( ER_TOOLPATH_HND  er_tpth_hnd)
static

Get move joint template data from tool path.
Get the move joint template data belonging to the tool path er_tpth_hnd.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
Return values
move_joint_template_dataER_TARGET_MOVE_JOINT_HND
NULL- Error

Member Data Documentation

ERK_CAPI_TOOLPATH_APIPP ERK_CAPI_TOOLPATH::erk_toolpath_apipp
static

Method for post processing, creating a robot program for a tool path.

ERK_CAPI_TOOLPATH_ATTRIBUTES ERK_CAPI_TOOLPATH::erk_toolpath_attributes
static

Method class to set and get tool path motion attributes for target locations.

ERK_CAPI_TOOLPATH_ATTRIBUTES_AUX ERK_CAPI_TOOLPATH::erk_toolpath_attributes_aux
static

Method class to set and get tool path auxiliary motion attributes for target locations.

ERK_CAPI_TOOLPATH_CREATE ERK_CAPI_TOOLPATH::erk_toolpath_create
static

Method class to create tool pathes.

ERK_CAPI_TOOLPATH_EXTAX_CONVEYOR ERK_CAPI_TOOLPATH::erk_toolpath_extax_conveyor
static

Method class to specify external axis data for a conveyor for target location.

ERK_CAPI_TOOLPATH_EXTAX_POSITIONER ERK_CAPI_TOOLPATH::erk_toolpath_extax_positioner
static

Method class to specify external axis data for a positioner for target location.

ERK_CAPI_TOOLPATH_EXTAX_TRACKMOTION ERK_CAPI_TOOLPATH::erk_toolpath_extax_trackmotion
static

Method class to specify external axis data for a track/slider-motion for target location.

ERK_CAPI_TOOLPATH_HEAD ERK_CAPI_TOOLPATH::erk_toolpath_head
static

Method class to set and get tool path motion header data for target locations.

ERK_CAPI_TOOLPATH_INSTRUCTIONS ERK_CAPI_TOOLPATH::erk_toolpath_instructions
static

Method class to set and get Instructions for target locations.

ERK_CAPI_TOOLPATH_MOTION_EXEC ERK_CAPI_TOOLPATH::erk_toolpath_motion_exec
static

Method class to access motion execution data at target.

ERK_CAPI_TOOLPATH_MOVE_CP ERK_CAPI_TOOLPATH::erk_toolpath_move_cp
static

Method class to specify a cp motion for target location.

ERK_CAPI_TOOLPATH_MOVE_JOINT ERK_CAPI_TOOLPATH::erk_toolpath_move_joint
static

Method class to specify a joint motion for target location.

ERK_CAPI_TOOLPATH_TARGETS ERK_CAPI_TOOLPATH::erk_toolpath_targets
static

Method class to create, unload and specify target locations.

ERK_CAPI_TOOLPATH_TOOLBOX ERK_CAPI_TOOLPATH::erk_toolpath_toolbox
static

Method class for miscellaneous tool path calculations.


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