EASY-ROB™ Kernel
v8.606
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Method class to set and get tool path motion attributes for target locations. More...
#include <erk_capi.h>
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 DFRAME *ER_STDCALL | Get_WobjCartPosFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *WobjCartPosFrame) |
Get 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 DFRAME *ER_STDCALL | Set_WobjCartPosFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *WobjCartPosFrame) |
Set 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, $UFrame' has only if IPO_MODE_BASE is set and external TCP disabled All targets are defined w.r.t to this BASE frame (program shifting) see inq_BaseIdx(), inq_BaseName() More... | |
static DLLAPI DFRAME *ER_STDCALL | Get_BaseFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *BaseFrame) |
Program shift Base for a target location Base '$BASE, $UFrame' has only if IPO_MODE_BASE is set and external TCP disabled All targets are defined w.r.t to this BASE frame (program shifting) see inq_BaseIdx(), inq_BaseName() More... | |
static DLLAPI DFRAME *ER_STDCALL | Set_BaseFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *BaseFrame) |
Program shift Base for a target location Base '$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_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... | |
static DLLAPI DFRAME *ER_STDCALL | Get_extTcpBaseFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpBaseFrame) |
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... | |
static DLLAPI DFRAME *ER_STDCALL | Set_extTcpBaseFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpBaseFrame) |
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... | |
static 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... | |
static 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... | |
static 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... | |
static DLLAPI DFRAME *ER_STDCALL | Get_extTcpWorldFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpWorldFrame) |
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... | |
static DLLAPI DFRAME *ER_STDCALL | Set_extTcpWorldFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpWorldFrame) |
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... | |
static 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... | |
static 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... | |
static 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... | |
static DLLAPI DFRAME *ER_STDCALL | Get_extTcpOffsetFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpOffsetFrame) |
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... | |
static DLLAPI DFRAME *ER_STDCALL | Set_extTcpOffsetFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpOffsetFrame) |
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... | |
static 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... | |
static 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... | |
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 DFRAME *ER_STDCALL | Get_ToolFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolFrame) |
Tool (TCP) for a target location Transformation from Tip to TCP see inq_ToolIdx(), inq_ToolName() More... | |
static DLLAPI DFRAME *ER_STDCALL | Set_ToolFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolFrame) |
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 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... | |
static DLLAPI DFRAME *ER_STDCALL | Get_ToolOffsetFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolOffsetFrame) |
ToolOffset (TCP) for a target location Offset Transformation from TCP see inq_ToolOffsetIdx(), inq_ToolOffsetName() More... | |
static DLLAPI DFRAME *ER_STDCALL | Set_ToolOffsetFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolOffsetFrame) |
ToolOffset (TCP) for a target location Offset Transformation from TCP see inq_ToolOffsetIdx(), inq_ToolOffsetName() More... | |
static 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... | |
static 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 DLLAPI long *ER_STDCALL | inq_speed_reduction_enable (ER_TARGET_ATTRIBUTES_HND hnd) |
Speed reduction enable for a target location The speed reduction enable can be one of the following values ER_SPEED_REDUCTION_ENABLE = 1, ER_SPEED_REDUCTION_DISABLE = 0 If speed reduction is enabled, the robots TCP speed gets reduced (while motion execution in erGET_NEXT_STEP()) if the desired nominal joint speeds exceeds the maximum allowed joint speed, defined with erSetVqMax(). Remarks Per default, speed reduction is enabled. Speed reduction causes the TrajectoryTime to increase, while the RemainingTime represents the minimum time necessary to reach the target. 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) |
Name of 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 | CpyEventsTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EVENTS_HND hnd) |
Copy events to template data. The events defined with events handle hnd are copied to the events template belonging to the tool path handle er_tpth_hnd . More... | |
static DLLAPI ER_TARGET_EVENTS_HND ER_STDCALL | GetEventsTemplateHnd (ER_TOOLPATH_HND er_tpth_hnd) |
Get events template data from tool path. Get the events template data belonging to the tool path er_tpth_hnd . 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_EVENTS | erk_toolpath_events |
Method class to set and get tool path events 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... | |
Method class to set and get tool path motion attributes for target locations.
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | BaseFrame | location DFRAME |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | extTcpBaseFrame | location DFRAME |
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external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
Transformation from extTcpBase or extTcpWorld
see inq_extTcpOffsetIdx(), inq_extTcpOffsetName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | extTcpOffsetFrame | location DFRAME |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | extTcpWorldFrame | location DFRAME |
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Tool (TCP) for a target location
Transformation from Tip to TCP
see inq_ToolIdx(), inq_ToolName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | ToolFrame | location DFRAME |
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ToolOffset (TCP) for a target location
Offset Transformation from TCP
see inq_ToolOffsetIdx(), inq_ToolOffsetName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | ToolOffsetFrame | location DFRAME |
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Get 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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[out] | WobjCartPosFrame | work object location DFRAME |
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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.
[in] | er_tarloc_hnd | unique target location handle ER_TARGET_LOCATION_HND |
hnd | - target location attributes handle ER_TARGET_ATTRIBUTES_HND |
NULL | - Error, invalid target locations |
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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.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - acc |
NULL | - Error |
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Number of motions, the motion planner may run in advance of the interpolator (look_ahead) for a target location
Remarks
Default value: 1.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - advance_motion |
NULL | - Error |
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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.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - autoaccel |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - Base idx |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to char - Base name, maximum lengths ER_MAXSTR |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - Base vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
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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.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - dominant interpolation type |
NULL | - Error |
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Enables/disables a target location
If the target location is disabled, the trajectory interpolator will skip this target.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - to enable and disable the target location |
NULL | - Error |
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Enables/disables external TCP for a target location
IPO_MODE_BASE (tool guided) or IPO_MODE_TOOL (work object guided)
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - to enable and disable external TCP |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - extTcpBase idx |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to char - extTcpBase name, maximum lengths ER_MAXSTR |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - extTcpBase vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - extTcpOffset idx |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to char - extTcpOffset name, maximum lengths ER_MAXSTR |
NULL | - Error |
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external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
Transformation from extTcpBase or extTcpWorld
see inq_extTcpOffsetIdx(), inq_extTcpOffsetName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - extTcpOffset vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - extTcpWorld idx |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to char - extTcpWorld name, maximum lengths ER_MAXSTR |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - extTcpWorld vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
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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.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - filter_factor |
NULL | - Error |
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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]
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - flyby_dist |
NULL | - Error |
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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.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - flyby_on |
NULL | - Error |
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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%
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - flyby_speed_percent |
NULL | - Error |
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Lagging time [s] after robot reaches its target location
Remarks
Default value: 0
Has only an effect when flyby is disabled, see inq_LeadWaitTime()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - LagWaitTime |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - LeadWaitTime |
NULL | - Error |
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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
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - motion type |
NULL | - Error |
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Correction values as percentage value for scaling the programmed speed for a target location
Remarks
Default value: 100%.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - override_speed |
NULL | - Error |
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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.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - ramp |
NULL | - Error |
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Speed reduction enable for a target location
The speed reduction enable can be one of the following values
ER_SPEED_REDUCTION_ENABLE = 1, ER_SPEED_REDUCTION_DISABLE = 0
If speed reduction is enabled, the robots TCP speed gets reduced (while motion execution in erGET_NEXT_STEP()) if the desired nominal joint speeds exceeds the maximum allowed joint speed, defined with erSetVqMax().
Remarks
Per default, speed reduction is enabled.
Speed reduction causes the TrajectoryTime to increase, while the RemainingTime represents the minimum time necessary to reach the target.
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - speed_reduction_enable |
NULL | - Error |
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unique target ID of a target location
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to TErTargetID - unique target ID |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - Tool idx |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to char - Tool name, maximum lengths ER_MAXSTR |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to long - Tool offset idx |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to char - Tool offset name, maximum lengths ER_MAXSTR |
NULL | - Error |
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ToolOffset (TCP) for a target location
Offset Transformation from TCP
see inq_ToolOffsetIdx(), inq_ToolOffsetName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - Tool offset vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
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Tool (TCP) for a target location
Transformation from Tip to TCP
see inq_ToolIdx(), inq_ToolName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - Tool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
pointer | to double - WorkObejct vector, definition Pxyz [m] Rxyz [rad] ER_DOF6 |
NULL | - Error |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | BaseFrame | location DFRAME |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | extTcpBaseFrame | location DFRAME |
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external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location
Transformation from extTcpBase or extTcpWorld
see inq_extTcpOffsetIdx(), inq_extTcpOffsetName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | extTcpOffsetFrame | location DFRAME |
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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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | extTcpWorldFrame | location DFRAME |
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Tool (TCP) for a target location
Transformation from Tip to TCP
see inq_ToolIdx(), inq_ToolName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | ToolFrame | location DFRAME |
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ToolOffset (TCP) for a target location
Offset Transformation from TCP
see inq_ToolOffsetIdx(), inq_ToolOffsetName()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | ToolOffsetFrame | location DFRAME |
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static |
Set 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()
[in] | hnd | unique target attributes handle ER_TARGET_ATTRIBUTES_HND |
[in] | WobjCartPosFrame | work object location DFRAME |