EASY-ROB™ Kernel  v8.307
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ERK_CAPI_TOOLPATH_TARGETS Class Reference

Method class to create, unload and specify target locations. More...

#include <erk_capi.h>

Inheritance diagram for ERK_CAPI_TOOLPATH_TARGETS:
ERK_CAPI_TOOLPATH ERK_CAPI_DEVICES ERK_CAPI

Static Public Member Functions

static DLLAPI long ER_STDCALL erTargetLocationReset (ER_TARGET_LOCATION_HND er_tarloc_hnd)
 Reset Target location to default values
Remarks
The target location is marked as invalid.
See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status. More...
 
static DLLAPI int ER_STDCALL erAddTargetLocation (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_LOCATION_HND *er_tarloc_hnd)
 Add a new target location to a tool path
Remarks
The new target location is reset to default values and marked as invalid, use erGetTargetLocationNumber() to receive the number of target locations in the tool path.
See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status. More...
 
static DLLAPI int ER_STDCALL erInsertTargetLocation (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_LOCATION_HND *er_tarloc_hnd, ER_TARGET_LOCATION_HND er_tarloc_hnd_ref=NULL)
 Insert a new target location to a tool path before an existing target location
Remarks
The new target location is inserted before the target location with handle er_tarloc_hnd_ref.
If parameter er_tarloc_hnd_ref is NULL, the new target location is appended, see erAddTargetLocation().
The new target location is reset to default values and marked as invalid, use erGetTargetLocationNumber() to receive the number of target locations in the tool path.
See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status. More...
 
static DLLAPI int ER_STDCALL erUnloadTargetLocation (ER_TARGET_LOCATION_HND *er_tarloc_hnd)
 Unload/delete a target location from a tool path
Remarks
Use erGetTargetLocationNumber() to receive the number of remaining target locations in the tool path. More...
 
static DLLAPI int ER_STDCALL erSwapTargetLocation (ER_TARGET_LOCATION_HND er_tarloc_hnd1, ER_TARGET_LOCATION_HND er_tarloc_hnd2)
 Swap the order of two target location in a tool path
Remarks
Both target location handle must be in the same tool path.
Use erGetTargetLocationIdx() to get the belonging index for each target location. More...
 
static DLLAPI int ER_STDCALL erGetTargetLocationIdx (ER_TARGET_LOCATION_HND er_tarloc_hnd)
 Index of target location in a tool path. More...
 
static DLLAPI char *ER_STDCALL erGetTargetLocationName (ER_TARGET_LOCATION_HND er_tarloc_hnd)
 Name of target location in a tool path. More...
 
static DLLAPI char *ER_STDCALL erGetTargetLocationNameVia (ER_TARGET_LOCATION_HND er_tarloc_hnd)
 Name of target Via location in a tool path, in case of circular motion. More...
 
static DLLAPI int ER_STDCALL erGetTargetLocationNumber (ER_TARGET_LOCATION_HND er_tarloc_hnd)
 Number of target locations in a tool path. More...
 
static DLLAPI ER_HND ER_STDCALL erhGetTargetLocationER_HND (ER_TARGET_LOCATION_HND er_tarloc_hnd)
 Device handle belonging to target location. More...
 
static DLLAPI
ER_TARGET_LOCATION_HND
ER_STDCALL 
erGetTargetLocationFirst (ER_TARGET_LOCATION_HND er_tarloc_hnd)
 Get first target location in a tool path. More...
 
static DLLAPI
ER_TARGET_LOCATION_HND
ER_STDCALL 
erGetTargetLocationLast (ER_TARGET_LOCATION_HND er_tarloc_hnd)
 Get last target location in a tool path. More...
 
static DLLAPI
ER_TARGET_LOCATION_HND
ER_STDCALL 
erGetTargetLocationNext (ER_TARGET_LOCATION_HND er_tarloc_hnd)
 Get next target location in a tool path. More...
 
static DLLAPI
ER_TARGET_LOCATION_HND
ER_STDCALL 
erGetTargetLocationPrev (ER_TARGET_LOCATION_HND er_tarloc_hnd)
 Get previous target location in a tool path. More...
 
static DLLAPI long ER_STDCALL erSetTargetLocation_Move_JointAbs (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *JointPos, double speed_percent=0, double override_speed=0, double *Tool=0)
 Move_JointAbs, full synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...
 
static DLLAPI long ER_STDCALL erSetTargetLocation_Move_Joint (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *CartPosVec, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, double *Tool=0, double *Base=0)
 Move_Joint, full synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...
 
static DLLAPI long ER_STDCALL erSetTargetLocation_Move_SlewAbs (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *JointPos, double speed_percent=0, double override_speed=0, double *Tool=0)
 Move_SlewAbs, not synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...
 
static DLLAPI long ER_STDCALL erSetTargetLocation_Move_Slew (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *CartPosVec, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, double *Tool=0, double *Base=0)
 Move_Slew, not synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...
 
static DLLAPI long ER_STDCALL erSetTargetLocation_Move_LIN (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *CartPosVec, double speed_cp=0, double speed_ori=0, double override_speed=0, long flyby_on=-1, double *Tool=0, double *Base=0)
 Move_LIN, continious path motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...
 
static DLLAPI long ER_STDCALL erSetTargetLocation_Move_CIRC (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *CartPosVecVia, double *CartPosVec, double speed_cp=0, double speed_ori=0, double override_speed=0, long flyby_on=-1, double *Tool=0, double *Base=0)
 Move_CIRC, continious path motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() 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 create, unload and specify target locations.

Member Function Documentation

static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erAddTargetLocation ( ER_TOOLPATH_HND  er_tpth_hnd,
ER_TARGET_LOCATION_HND er_tarloc_hnd 
)
static

Add a new target location to a tool path
Remarks
The new target location is reset to default values and marked as invalid, use erGetTargetLocationNumber() to receive the number of target locations in the tool path.
See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[out]er_tarloc_hnda new unique target location handle ER_TARGET_LOCATION_HND
Return values
0- Ok
1- Error
static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationFirst ( ER_TARGET_LOCATION_HND  er_tarloc_hnd)
static

Get first target location in a tool path.

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
Return values
targetlocation handle - first target location in a tool path ER_TARGET_LOCATION_HND
NULL- Error, tool path has no target locations
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationIdx ( ER_TARGET_LOCATION_HND  er_tarloc_hnd)
static

Index of target location in a tool path.

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
Return values
>0- Idx of target location
0- Error
static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationLast ( ER_TARGET_LOCATION_HND  er_tarloc_hnd)
static

Get last target location in a tool path.

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
Return values
targetlocation handle - last target location in a tool path ER_TARGET_LOCATION_HND
NULL- Error, tool path has no target locations
static DLLAPI char* ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationName ( ER_TARGET_LOCATION_HND  er_tarloc_hnd)
static

Name of target location in a tool path.

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
Return values
pointerto char for 'target location name', maximum lengths ER_MAXSTR
NULL- Error
static DLLAPI char* ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationNameVia ( ER_TARGET_LOCATION_HND  er_tarloc_hnd)
static

Name of target Via location in a tool path, in case of circular motion.

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
Return values
pointerto char for 'target location name', maximum lengths ER_MAXSTR
NULL- Error
static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationNext ( ER_TARGET_LOCATION_HND  er_tarloc_hnd)
static

Get next target location in a tool path.

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
Return values
targetlocation handle - next target location in a tool path ER_TARGET_LOCATION_HND
NULL- target location er_tarloc_hnd is the last one, or tool path has no target locations
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationNumber ( ER_TARGET_LOCATION_HND  er_tarloc_hnd)
static

Number of target locations in a tool path.

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
Return values
n- number of target locations in a tool path
static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationPrev ( ER_TARGET_LOCATION_HND  er_tarloc_hnd)
static

Get previous target location in a tool path.

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
Return values
targetlocation handle - previous target location in a tool path ER_TARGET_LOCATION_HND
NULL- target location er_tarloc_hnd is the first one, or tool path has no target locations
static DLLAPI ER_HND ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erhGetTargetLocationER_HND ( ER_TARGET_LOCATION_HND  er_tarloc_hnd)
static

Device handle belonging to target location.

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
Return values
er_hnd- device robot handle
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erInsertTargetLocation ( ER_TOOLPATH_HND  er_tpth_hnd,
ER_TARGET_LOCATION_HND er_tarloc_hnd,
ER_TARGET_LOCATION_HND  er_tarloc_hnd_ref = NULL 
)
static

Insert a new target location to a tool path before an existing target location
Remarks
The new target location is inserted before the target location with handle er_tarloc_hnd_ref.
If parameter er_tarloc_hnd_ref is NULL, the new target location is appended, see erAddTargetLocation().
The new target location is reset to default values and marked as invalid, use erGetTargetLocationNumber() to receive the number of target locations in the tool path.
See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status.

Parameters
[in]er_tpth_hndunique tool path handle ER_TOOLPATH_HND
[out]er_tarloc_hnda new unique target location handle ER_TARGET_LOCATION_HND
[in]er_tarloc_hnd_refexisting target location handle ER_TARGET_LOCATION_HND
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_CIRC ( ER_TARGET_LOCATION_HND  er_tarloc_hnd,
double *  CartPosVecVia,
double *  CartPosVec,
double  speed_cp = 0,
double  speed_ori = 0,
double  override_speed = 0,
long  flyby_on = -1,
double *  Tool = 0,
double *  Base = 0 
)
static

Move_CIRC, continious path motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
[in]CartPosVecViaTarget Position at VIA location, vector definition Pxyz [m] Rxyz [rad] ER_DOF6
[in]CartPosVecTarget Position vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
[in]speed_cpcartesian speed [m/s], 0 will use template definitions
[in]speed_oricartesian orientation speed [rad/s], 0 will use template definitions
[in]override_speedpercentage override_speed definition [>0-1000%], 0 will use template definitions
[in]flyby_onone of ER_FLYBY_OFF or ER_FLYBY_ON, -1 will use template definitions
[in]ToolTool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
[in]BaseBase vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_Joint ( ER_TARGET_LOCATION_HND  er_tarloc_hnd,
double *  CartPosVec,
long  configuration = 0,
long  ptp_target_calculation_mode = ER_PTP_TARGET_CALC_MODE_UNDEF,
double  speed_percent = 0,
double  override_speed = 0,
double *  Tool = 0,
double *  Base = 0 
)
static

Move_Joint, full synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
[in]CartPosVecTarget Position vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
[in]configurationRobot configuration [1-ER_KIN_CONFIGS], 0 will use template definitions
[in]ptp_target_calculation_modeis one of ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG, 0=ER_PTP_TARGET_CALC_MODE_UNDEF will use template definitions
[in]speed_percentpercentage speed definition [>0-1000%], 0 will use template definitions
[in]override_speedpercentage override_speed definition [>0-1000%], 0 will use template definitions
[in]ToolTool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
[in]BaseBase vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_JointAbs ( ER_TARGET_LOCATION_HND  er_tarloc_hnd,
double *  JointPos,
double  speed_percent = 0,
double  override_speed = 0,
double *  Tool = 0 
)
static

Move_JointAbs, full synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
[in]JointPostarget joint location [m,rad], maximum size ER_KIN_DOFS
[in]speed_percentpercentage speed definition [>0-1000%], 0 will use template definitions
[in]override_speedpercentage override_speed definition [>0-1000%], 0 will use template definitions
[in]ToolTool vector definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN ( ER_TARGET_LOCATION_HND  er_tarloc_hnd,
double *  CartPosVec,
double  speed_cp = 0,
double  speed_ori = 0,
double  override_speed = 0,
long  flyby_on = -1,
double *  Tool = 0,
double *  Base = 0 
)
static

Move_LIN, continious path motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
[in]CartPosVecTarget Position vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
[in]speed_cpcartesian speed [m/s], 0 will use template definitions
[in]speed_oricartesian orientation speed [rad/s], 0 will use template definitions
[in]override_speedpercentage override_speed definition [>0-1000%], 0 will use template definitions
[in]flyby_onone of ER_FLYBY_OFF or ER_FLYBY_ON, -1 will use template definitions
[in]ToolTool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
[in]BaseBase vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_Slew ( ER_TARGET_LOCATION_HND  er_tarloc_hnd,
double *  CartPosVec,
long  configuration = 0,
long  ptp_target_calculation_mode = ER_PTP_TARGET_CALC_MODE_UNDEF,
double  speed_percent = 0,
double  override_speed = 0,
double *  Tool = 0,
double *  Base = 0 
)
static

Move_Slew, not synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
[in]CartPosVecTarget Position vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
[in]configurationRobot configuration [1-ER_KIN_CONFIGS], 0 will use template definitions
[in]ptp_target_calculation_modeis one of ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG, 0=ER_PTP_TARGET_CALC_MODE_UNDEF will use template definitions
[in]speed_percentpercentage speed definition [>0-1000%], 0 will use template definitions
[in]override_speedpercentage override_speed definition [>0-1000%], 0 will use template definitions
[in]ToolTool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
[in]BaseBase vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_SlewAbs ( ER_TARGET_LOCATION_HND  er_tarloc_hnd,
double *  JointPos,
double  speed_percent = 0,
double  override_speed = 0,
double *  Tool = 0 
)
static

Move_SlewAbs, not synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters
[in]er_tarloc_hndunique target location handle ER_TARGET_LOCATION_HND
[in]JointPostarget joint location [m,rad], maximum size ER_KIN_DOFS
[in]speed_percentpercentage speed definition [>0-1000%], 0 will use template definitions
[in]override_speedpercentage override_speed definition [>0-1000%], 0 will use template definitions
[in]ToolTool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
Return values
0- Ok
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSwapTargetLocation ( ER_TARGET_LOCATION_HND  er_tarloc_hnd1,
ER_TARGET_LOCATION_HND  er_tarloc_hnd2 
)
static

Swap the order of two target location in a tool path
Remarks
Both target location handle must be in the same tool path.
Use erGetTargetLocationIdx() to get the belonging index for each target location.

Parameters
[in]er_tarloc_hnd11st unique target location handle ER_TARGET_LOCATION_HND
[in]er_tarloc_hnd22nd unique target location handle ER_TARGET_LOCATION_HND
Return values
0- Ok
1- Error
static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erTargetLocationReset ( ER_TARGET_LOCATION_HND  er_tarloc_hnd)
static

Reset Target location to default values
Remarks
The target location is marked as invalid.
See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status.

Parameters
[in]er_tarloc_hndunique handle for target location ER_TARGET_LOCATION_HND
Return values
0- Ok
1- Error
static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erUnloadTargetLocation ( ER_TARGET_LOCATION_HND er_tarloc_hnd)
static

Unload/delete a target location from a tool path
Remarks
Use erGetTargetLocationNumber() to receive the number of remaining target locations in the tool path.

Parameters
[in,out]er_tarloc_hndunique target location handle set to NULL after successful call ER_TARGET_LOCATION_HND
Return values
0- Ok
1- Error

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