EASY-ROB™ Kernel  v8.307
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ERK_CAPI_TOOLPATH_ATTRIBUTES Class Reference

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

#include <erk_capi.h>

Inheritance diagram for ERK_CAPI_TOOLPATH_ATTRIBUTES:
ERK_CAPI_TOOLPATH ERK_CAPI_DEVICES ERK_CAPI

Public Member Functions

DLLAPI double *ER_STDCALL inq_extTcpBaseVec (ER_TARGET_ATTRIBUTES_HND hnd)
 external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location
Transformation from RobotBase or from flange of positioner to external TCP
see inq_extTcpBaseIdx(), inq_extTcpBaseName() More...
 
DLLAPI long *ER_STDCALL inq_extTcpBaseIdx (ER_TARGET_ATTRIBUTES_HND hnd)
 Idx for external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location
see inq_extTcpBaseVec(), inq_extTcpBaseName()
This extTcpBaseIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
 
DLLAPI char *ER_STDCALL inq_extTcpBaseName (ER_TARGET_ATTRIBUTES_HND hnd)
 Name for external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location
see inq_extTcpBaseVec(), inq_extTcpBaseIdx()
This extTcpBaseName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
 
DLLAPI double *ER_STDCALL inq_extTcpWorldVec (ER_TARGET_ATTRIBUTES_HND hnd)
 external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location
Transformation from RobotWorld or from flange of positioner to external TCP
see inq_extTcpWorldIdx(), inq_extTcpWorldName() More...
 
DLLAPI long *ER_STDCALL inq_extTcpWorldIdx (ER_TARGET_ATTRIBUTES_HND hnd)
 Idx for external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location
see inq_extTcpWorldVec(), inq_extTcpWorldName()
This extTcpWorldIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
 
DLLAPI char *ER_STDCALL inq_extTcpWorldName (ER_TARGET_ATTRIBUTES_HND hnd)
 Name for external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location
see inq_extTcpWorldVec(), inq_extTcpWorldIdx()
This extTcpWorldName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
 
DLLAPI double *ER_STDCALL inq_extTcpOffsetVec (ER_TARGET_ATTRIBUTES_HND hnd)
 external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
Transformation from extTcpBase or extTcpWorld
see inq_extTcpOffsetIdx(), inq_extTcpOffsetName() More...
 
DLLAPI long *ER_STDCALL inq_extTcpOffsetIdx (ER_TARGET_ATTRIBUTES_HND hnd)
 Idx for external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
see inq_extTcpOffsetVec(), inq_extTcpOffsetName()
This extTcpOffsetIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
 
DLLAPI char *ER_STDCALL inq_extTcpOffsetName (ER_TARGET_ATTRIBUTES_HND hnd)
 Name for external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
see inq_extTcpOffsetVec(), inq_extTcpOffsetIdx()
This extTcpOffsetName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
 
DLLAPI double *ER_STDCALL inq_ToolOffsetVec (ER_TARGET_ATTRIBUTES_HND hnd)
 ToolOffset (TCP) for a target location
Offset Transformation from TCP
see inq_ToolOffsetIdx(), inq_ToolOffsetName() More...
 
DLLAPI long *ER_STDCALL inq_ToolOffsetIdx (ER_TARGET_ATTRIBUTES_HND hnd)
 Idx for ToolOffset for a target location
see inq_ToolOffsetVec(), inq_ToolOffsetName()
This ToolOffsetIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
 
DLLAPI char *ER_STDCALL inq_ToolOffsetName (ER_TARGET_ATTRIBUTES_HND hnd)
 Name for ToolOffset for a target location
see inq_ToolOffsetVec(), inq_ToolOffsetIdx()
This ToolOffsetName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
 

Static Public Member Functions

static DLLAPI
ER_TARGET_ATTRIBUTES_HND
ER_STDCALL 
GetMotionAttributesHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd)
 Handle for target attributes data
Typical attributes belonging to a target location are:
e.g. target_id, external TCP, Base data, Tool data , motion type, override speed, velocity profile, flyby, autoaccel, lead- and lag time, etc.
Remarks
The returned handle ER_TARGET_ATTRIBUTES_HND is used to access target attributes data. More...
 
static DLLAPI long *ER_STDCALL inq_enabled (ER_TARGET_ATTRIBUTES_HND hnd)
 Enables/disables a target location
If the target location is disabled, the trajectory interpolator will skip this target. More...
 
static DLLAPI TErTargetID
*ER_STDCALL 
inq_target_id (ER_TARGET_ATTRIBUTES_HND hnd)
 unique target ID of a target location More...
 
static DLLAPI double *ER_STDCALL inq_WobjCartPosVec (ER_TARGET_ATTRIBUTES_HND hnd)
 WorkObject valid for all cartesian target locations such as CartPosVec, CartPosVecVia
Using this transformation, all cartesian targets 'T' are modified to T' = WorkObj * T
see e.g. ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN() More...
 
static DLLAPI long *ER_STDCALL inq_ext_tcp_mode (ER_TARGET_ATTRIBUTES_HND hnd)
 Enables/disables external TCP for a target location
IPO_MODE_BASE (tool guided) or IPO_MODE_TOOL (work object guided) More...
 
static DLLAPI double *ER_STDCALL inq_BaseVec (ER_TARGET_ATTRIBUTES_HND hnd)
 Program shift Base for a target location
Base '$BASE, $UFrame' has only if IPO_MODE_BASE is set and external TCP disabled
All targets are defined w.r.t to this BASE frame (program shifting)
see inq_BaseIdx(), inq_BaseName() More...
 
static DLLAPI long *ER_STDCALL inq_BaseIdx (ER_TARGET_ATTRIBUTES_HND hnd)
 Idx for program shift Base for a target location
see inq_BaseVec(), inq_BaseName()
This BaseIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
 
static DLLAPI char *ER_STDCALL inq_BaseName (ER_TARGET_ATTRIBUTES_HND hnd)
 Name for program shift Base for a target location
see inq_BaseVec(), inq_BaseIdx()
This BaseName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
 
static DLLAPI double *ER_STDCALL inq_ToolVec (ER_TARGET_ATTRIBUTES_HND hnd)
 Tool (TCP) for a target location
Transformation from Tip to TCP
see inq_ToolIdx(), inq_ToolName() More...
 
static DLLAPI long *ER_STDCALL inq_ToolIdx (ER_TARGET_ATTRIBUTES_HND hnd)
 Idx for Tool for a target location
see inq_ToolVec(), inq_ToolName()
This ToolIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
 
static DLLAPI char *ER_STDCALL inq_ToolName (ER_TARGET_ATTRIBUTES_HND hnd)
 Name for Tool for a target location
see inq_ToolVec(), inq_ToolIdx()
This ToolName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
 
static DLLAPI long *ER_STDCALL inq_motype (ER_TARGET_ATTRIBUTES_HND hnd)
 Motion Type for a target location
The motion type can be one of the following values
ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4
Remarks
Methods such as. More...
 
static DLLAPI long *ER_STDCALL inq_dom_type (ER_TARGET_ATTRIBUTES_HND hnd)
 Dominant interpolation type for a target location
The dominant interpolation type can be one of the following values.
ER_DOMINANT_INTERPOLATION_POS, ER_DOMINANT_INTERPOLATION_ORI, ER_DOMINANT_INTERPOLATION_AXIS, ER_DOMINANT_INTERPOLATION_AUTO
Remarks
Default setting is ER_DOMINANT_INTERPOLATION_AUTO. More...
 
static DLLAPI long *ER_STDCALL inq_advance_motion (ER_TARGET_ATTRIBUTES_HND hnd)
 Number of motions, the motion planner may run in advance of the interpolator (look_ahead) for a target location
Remarks
Default value: 1. More...
 
static DLLAPI double *ER_STDCALL inq_override_speed (ER_TARGET_ATTRIBUTES_HND hnd)
 Correction values as percentage value for scaling the programmed speed for a target location
Remarks
Default value: 100%. More...
 
static DLLAPI double *ER_STDCALL inq_acc (ER_TARGET_ATTRIBUTES_HND hnd)
 Acceleration and deceleration as percentage value in the range from 20% to 100% of normal values for a target location
Remarks
Default value: 100%
Smaller values results in a smoother acceleration and deceleratio nwhen the robot carries high payloads for example. More...
 
static DLLAPI double *ER_STDCALL inq_ramp (ER_TARGET_ATTRIBUTES_HND hnd)
 Change of acceleration and deceleration as percentage value in the range from 20% to 100% of normal values for a target location
Remarks
Default value: 100%
Smaller values results in a smoother acceleration and deceleration when the robot carries high payloads for example. More...
 
static DLLAPI long *ER_STDCALL inq_filter_factor (ER_TARGET_ATTRIBUTES_HND hnd)
 Filter factor for smoothing velocity profiles of motions
The filter_factor is one of ER_MOTION_FILTER_GEO or ER_MOTION_FILTER_C2
Remarks
Per default ER_MOTION_FILTER_C2 is set
It makes sense to keep one filter_factor for the complete tool path. More...
 
static DLLAPI long *ER_STDCALL inq_flyby_on (ER_TARGET_ATTRIBUTES_HND hnd)
 Rounding / flyby condition for a target location
In case of flyby enabled, the robot moves through a target location with programmed speeds and will not decelerate
flyby_on is one of ER_FLYBY_OFF, ER_FLYBY_ON
Remarks
Default value: ER_FLYBY_OFF. More...
 
static DLLAPI double *ER_STDCALL inq_flyby_speed_percent (ER_TARGET_ATTRIBUTES_HND hnd)
 flyby by speed [%] for a target location
In case of flyby by speed, the robot starts moving into the next segment when the current speed is less then the flyby_speed_percent value.
flyby_speed_percent has only an effect if flyby is enabled and if set > 0%, see inq_flyby_on(), inq_flyby_dist()
Remarks
Default value: 0% More...
 
static DLLAPI double *ER_STDCALL inq_flyby_dist (ER_TARGET_ATTRIBUTES_HND hnd)
 flyby by distance [m] for a target location
In case of flyby by distance, the robot starts moving into the next segment when the distance to the target is less then the flyby_dist value.
flyby_dist has only an effect if flyby is enabled and if set > 0 [m], see inq_flyby_on(), inq_flyby_speed_percent()
Remarks
Default value: 0 [m] More...
 
static DLLAPI long *ER_STDCALL inq_autoaccel (ER_TARGET_ATTRIBUTES_HND hnd)
 Automatic calculation of acceleration depending on programmed speed for a target location
Using AutoAccel is a proper way to come close to real cycle times.
Autoaccel 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
Default value: ER_AUTOACCEL_MODE_OFF. More...
 
static DLLAPI double *ER_STDCALL inq_LeadWaitTime (ER_TARGET_ATTRIBUTES_HND hnd)
 Leading time [s] before robot will start moving to target location
Remarks
Default value: 0
Has only an effect when flyby is disabled, see inq_LagWaitTime() More...
 
static DLLAPI double *ER_STDCALL inq_LagWaitTime (ER_TARGET_ATTRIBUTES_HND hnd)
 Lagging time [s] after robot reaches its target location
Remarks
Default value: 0
Has only an effect when flyby is disabled, see inq_LeadWaitTime() More...
 
- Static Public Member Functions inherited from ERK_CAPI_TOOLPATH
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...
 

Additional Inherited Members

- Static Public Attributes inherited from ERK_CAPI_TOOLPATH
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 to set and get tool path motion attributes for target locations.

Member Function Documentation

static DLLAPI ER_TARGET_ATTRIBUTES_HND ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::GetMotionAttributesHnd ( ER_TARGET_LOCATION_HND  er_tarloc_hnd)
static

Handle for target attributes data
Typical attributes belonging to a target location are:
e.g. target_id, external TCP, Base data, Tool data , motion type, override speed, velocity profile, flyby, autoaccel, lead- and lag time, etc.
Remarks
The returned handle ER_TARGET_ATTRIBUTES_HND is used to access target attributes data.

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
Return values
hnd- target location attributes handle ER_TARGET_ATTRIBUTES_HND
NULL- Error, invalid target locations
static DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_acc ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Acceleration and deceleration as percentage value in the range from 20% to 100% of normal values for a target location
Remarks
Default value: 100%
Smaller values results in a smoother acceleration and deceleratio nwhen the robot carries high payloads for example.

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - acc
NULL- Error
static DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_advance_motion ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Number of motions, the motion planner may run in advance of the interpolator (look_ahead) for a target location
Remarks
Default value: 1.

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto long - advance_motion
NULL- Error
static DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_autoaccel ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Automatic calculation of acceleration depending on programmed speed for a target location
Using AutoAccel is a proper way to come close to real cycle times.
Autoaccel 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
Default value: ER_AUTOACCEL_MODE_OFF.

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - autoaccel
NULL- Error
static DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_BaseIdx ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Idx for program shift Base for a target location
see inq_BaseVec(), inq_BaseName()
This BaseIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto long - Base idx
NULL- Error
static DLLAPI char* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_BaseName ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Name for program shift Base for a target location
see inq_BaseVec(), inq_BaseIdx()
This BaseName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto char - Base name, maximum lengths ER_MAXSTR
NULL- Error
static DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_BaseVec ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Program shift Base for a target location
Base '$BASE, $UFrame' has only if IPO_MODE_BASE is set and external TCP disabled
All targets are defined w.r.t to this BASE frame (program shifting)
see inq_BaseIdx(), inq_BaseName()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - Base vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
NULL- Error
static DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_dom_type ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Dominant interpolation type for a target location
The dominant interpolation type can be one of the following values.
ER_DOMINANT_INTERPOLATION_POS, ER_DOMINANT_INTERPOLATION_ORI, ER_DOMINANT_INTERPOLATION_AXIS, ER_DOMINANT_INTERPOLATION_AUTO
Remarks
Default setting is ER_DOMINANT_INTERPOLATION_AUTO.

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto long - dominant interpolation type
NULL- Error
static DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_enabled ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Enables/disables a target location
If the target location is disabled, the trajectory interpolator will skip this target.

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto long - to enable and disable the target location
NULL- Error
static DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_ext_tcp_mode ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Enables/disables external TCP for a target location
IPO_MODE_BASE (tool guided) or IPO_MODE_TOOL (work object guided)

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto long - to enable and disable external TCP
NULL- Error
DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_extTcpBaseIdx ( ER_TARGET_ATTRIBUTES_HND  hnd)

Idx for external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location
see inq_extTcpBaseVec(), inq_extTcpBaseName()
This extTcpBaseIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto long - extTcpBase idx
NULL- Error
DLLAPI char* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_extTcpBaseName ( ER_TARGET_ATTRIBUTES_HND  hnd)

Name for external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location
see inq_extTcpBaseVec(), inq_extTcpBaseIdx()
This extTcpBaseName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto char - extTcpBase name, maximum lengths ER_MAXSTR
NULL- Error
DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_extTcpBaseVec ( ER_TARGET_ATTRIBUTES_HND  hnd)

external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location
Transformation from RobotBase or from flange of positioner to external TCP
see inq_extTcpBaseIdx(), inq_extTcpBaseName()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - extTcpBase vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
NULL- Error
DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_extTcpOffsetIdx ( ER_TARGET_ATTRIBUTES_HND  hnd)

Idx for external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
see inq_extTcpOffsetVec(), inq_extTcpOffsetName()
This extTcpOffsetIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto long - extTcpOffset idx
NULL- Error
DLLAPI char* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_extTcpOffsetName ( ER_TARGET_ATTRIBUTES_HND  hnd)

Name for external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
see inq_extTcpOffsetVec(), inq_extTcpOffsetIdx()
This extTcpOffsetName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto char - extTcpOffset name, maximum lengths ER_MAXSTR
NULL- Error
DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_extTcpOffsetVec ( ER_TARGET_ATTRIBUTES_HND  hnd)

external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
Transformation from extTcpBase or extTcpWorld
see inq_extTcpOffsetIdx(), inq_extTcpOffsetName()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - extTcpOffset vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
NULL- Error
DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_extTcpWorldIdx ( ER_TARGET_ATTRIBUTES_HND  hnd)

Idx for external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location
see inq_extTcpWorldVec(), inq_extTcpWorldName()
This extTcpWorldIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto long - extTcpWorld idx
NULL- Error
DLLAPI char* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_extTcpWorldName ( ER_TARGET_ATTRIBUTES_HND  hnd)

Name for external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location
see inq_extTcpWorldVec(), inq_extTcpWorldIdx()
This extTcpWorldName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto char - extTcpWorld name, maximum lengths ER_MAXSTR
NULL- Error
DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_extTcpWorldVec ( ER_TARGET_ATTRIBUTES_HND  hnd)

external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location
Transformation from RobotWorld or from flange of positioner to external TCP
see inq_extTcpWorldIdx(), inq_extTcpWorldName()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - extTcpWorld vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
NULL- Error
static DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_filter_factor ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Filter factor for smoothing velocity profiles of motions
The filter_factor is one of ER_MOTION_FILTER_GEO or ER_MOTION_FILTER_C2
Remarks
Per default ER_MOTION_FILTER_C2 is set
It makes sense to keep one filter_factor for the complete tool path.

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto long - filter_factor
NULL- Error
static DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_flyby_dist ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

flyby by distance [m] for a target location
In case of flyby by distance, the robot starts moving into the next segment when the distance to the target is less then the flyby_dist value.
flyby_dist has only an effect if flyby is enabled and if set > 0 [m], see inq_flyby_on(), inq_flyby_speed_percent()
Remarks
Default value: 0 [m]

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - flyby_dist
NULL- Error
static DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_flyby_on ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Rounding / flyby condition for a target location
In case of flyby enabled, the robot moves through a target location with programmed speeds and will not decelerate
flyby_on is one of ER_FLYBY_OFF, ER_FLYBY_ON
Remarks
Default value: ER_FLYBY_OFF.

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto long - flyby_on
NULL- Error
static DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_flyby_speed_percent ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

flyby by speed [%] for a target location
In case of flyby by speed, the robot starts moving into the next segment when the current speed is less then the flyby_speed_percent value.
flyby_speed_percent has only an effect if flyby is enabled and if set > 0%, see inq_flyby_on(), inq_flyby_dist()
Remarks
Default value: 0%

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - flyby_speed_percent
NULL- Error
static DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_LagWaitTime ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Lagging time [s] after robot reaches its target location
Remarks
Default value: 0
Has only an effect when flyby is disabled, see inq_LeadWaitTime()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - LagWaitTime
NULL- Error
static DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_LeadWaitTime ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Leading time [s] before robot will start moving to target location
Remarks
Default value: 0
Has only an effect when flyby is disabled, see inq_LagWaitTime()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - LeadWaitTime
NULL- Error
static DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_motype ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Motion Type for a target location
The motion type can be one of the following values
ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4
Remarks
Methods such as.

sets the motion type automatically

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto long - motion type
NULL- Error
static DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_override_speed ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Correction values as percentage value for scaling the programmed speed for a target location
Remarks
Default value: 100%.

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - override_speed
NULL- Error
static DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_ramp ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Change of acceleration and deceleration as percentage value in the range from 20% to 100% of normal values for a target location
Remarks
Default value: 100%
Smaller values results in a smoother acceleration and deceleration when the robot carries high payloads for example.

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - ramp
NULL- Error
static DLLAPI TErTargetID* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_target_id ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

unique target ID of a target location

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto TErTargetID - unique target ID
NULL- Error
static DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_ToolIdx ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Idx for Tool for a target location
see inq_ToolVec(), inq_ToolName()
This ToolIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto long - Tool idx
NULL- Error
static DLLAPI char* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_ToolName ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Name for Tool for a target location
see inq_ToolVec(), inq_ToolIdx()
This ToolName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto char - Tool name, maximum lengths ER_MAXSTR
NULL- Error
DLLAPI long* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_ToolOffsetIdx ( ER_TARGET_ATTRIBUTES_HND  hnd)

Idx for ToolOffset for a target location
see inq_ToolOffsetVec(), inq_ToolOffsetName()
This ToolOffsetIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto long - Tool offset idx
NULL- Error
DLLAPI char* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_ToolOffsetName ( ER_TARGET_ATTRIBUTES_HND  hnd)

Name for ToolOffset for a target location
see inq_ToolOffsetVec(), inq_ToolOffsetIdx()
This ToolOffsetName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto char - Tool offset name, maximum lengths ER_MAXSTR
NULL- Error
DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_ToolOffsetVec ( ER_TARGET_ATTRIBUTES_HND  hnd)

ToolOffset (TCP) for a target location
Offset Transformation from TCP
see inq_ToolOffsetIdx(), inq_ToolOffsetName()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - Tool offset vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
NULL- Error
static DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_ToolVec ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

Tool (TCP) for a target location
Transformation from Tip to TCP
see inq_ToolIdx(), inq_ToolName()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - Tool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
NULL- Error
static DLLAPI double* ER_STDCALL ERK_CAPI_TOOLPATH_ATTRIBUTES::inq_WobjCartPosVec ( ER_TARGET_ATTRIBUTES_HND  hnd)
static

WorkObject valid for all cartesian target locations such as CartPosVec, CartPosVecVia
Using this transformation, all cartesian targets 'T' are modified to T' = WorkObj * T
see e.g. ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN()

Parameters
[in]hndunique target attributes handle ER_TARGET_ATTRIBUTES_HND
Return values
pointerto double - WorkObejct vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
NULL- Error

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