er_Kernel_main.h File Reference

#include "erk_capi_types.h"

Go to the source code of this file.

Functions
DLLAPI long ER_STDCALL	erKernelGetVersion (void)
	Returns the Kernels Version. More...
DLLAPI long ER_STDCALL	erKernelSetLicensePriority (int license_priority)
	Set license priority. Call this function before initializing the Kernel erKernelInitialize() Parameter license_priority is one of ER_LICENSE_PRIORITY_LMNGR, ER_LICENSE_PRIORITY_LOCAL If license_priority is not set, ER_LICENSE_PRIORITY_LMNGR is default setting, see erKernelGetLicensePriority() More...
DLLAPI long ER_STDCALL	erKernelGetLicensePriority (int *license_priority)
	Get license priority. Parameter license_priority is one of ER_LICENSE_PRIORITY_LMNGR, ER_LICENSE_PRIORITY_LOCAL If license_priority is not set, ER_LICENSE_PRIORITY_LMNGR is default setting, see erKernelSetLicensePriority() More...
DLLAPI long ER_STDCALL	erKernelSetLicenseFile (char *license_file)
	Set location and name of license file. Call this function before initializing the Kernel erKernelInitialize() If license_file is not set, it is supposed that the license file resides in the current folder, see erKernelGetLicenseFile(), erKernelAddLicenseFile() More...
DLLAPI long ER_STDCALL	erKernelAddLicenseFile (char *license_file)
	Set an additional location and name of license file. Call this function before initializing the Kernel erKernelInitialize() If license_file is not set, it is supposed that the license file resides in the current folder, see erKernelGetLicenseFile(), erKernelSetLicenseFile() More...
DLLAPI long ER_STDCALL	erKernelGetLicenseFile (char *license_file)
	Get location and name of license file. If license_file is not set the string is empty, see erKernelSetLicenseFile(), erKernelAddLicenseFile() More...
DLLAPI long ER_STDCALL	erKernelInitialize (char *HostApplicationPath, char *Sold_To_ID, long mode=0)
	Initializes the Kernel. After calling this initial functions all other kernel functions are available. Before calling this initial functions all callback functions should be defined and initialized, thus they can be used when calling this function. The HostApplicationPath must contain the path where the host application is running. The maximum string lenght is ER_HS_MAXSTR The Sold_To_ID contains an individual customer identifier, per default = NULL The mode is not implemented yet, per default = 0. More...
DLLAPI void ER_STDCALL	erKernelFree (void)
	Free all internal Kernel data. Calling this function will delete all internal Kernel data After calling this functions not any kernel functions is available Even callback functions are not available. More...
DLLAPI long ER_STDCALL	erKernelGetLicense (char *hw_id)
	Check license and supplies unique HardwareID or DongleID. More...
DLLAPI long ER_STDCALL	erKernelGetHardwareID (char *hw_id)
	Supplies unique HardwareID or DongleID. More...
DLLAPI long ER_STDCALL	erKernelGetOptions (char *opt)
	Supplies option string containing all enabled options. More...
DLLAPI long ER_STDCALL	erKernelGetOptionsDisabled (char *nopt)
	Supplies option string containing all disabled options. More...
DLLAPI void ER_STDCALL	erSetCallBack_LogProc (TerLogProc Handler)
	Define Callback function for Log Messages. More...
DLLAPI void ER_STDCALL	erEnableCallBack_LogProc (long onoff)
	Enable/Disable Log messages. This function enables or disables Log Messages used with callback function TerLogProc This function can be called before kernel initialization erKernelInitialize() More...
DLLAPI void ER_STDCALL	erSetCallBack_LoadGeometryProc (TerLoadGeometryProc Handler)
	Define Callback function to load a geometry The Host application is prompted to load a geometry. More...
DLLAPI void ER_STDCALL	erSetCallBack_UpdateGeometryProc (TerUpdateGeometryProc Handler)
	Define Callback function to updat a geometries The Host application is prompted to update a geometry. More...
DLLAPI void ER_STDCALL	erSetCallBack_FreeGeometryProc (TerFreeGeometryProc Handler)
	Define Callback function to free Geometry The Host application is prompted to free a geometry. More...
DLLAPI void ER_STDCALL	erSetCallBack_GetActualTravelRangesProc (TerGetActualTravelRangesProc Handler)
	Define Callback function to calculate travel ranges by host application The Host application takes care to calculate the travel ranges. More...
DLLAPI void ER_STDCALL	erSetCallBack_NotifyProc (TerNotifyProc Handler)
	Define Callback function for notify messages The Kernel informs the host application about internel status messages. More...
DLLAPI void ER_STDCALL	erSetCallBack_GrpSyncProc (TerGrpSyncProc Handler)
	Define Callback function for group synchonization. More...
DLLAPI long 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...
DLLAPI long 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...
DLLAPI long 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...
DLLAPI ER_HND ER_STDCALL	erConnectPositionerGetHND (ER_HND er_hnd)
	Get robots connection handle between robot and positioner. See also erConnectPositioner() More...
DLLAPI long 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...
DLLAPI long ER_STDCALL	erConnectPositionerGetSync (ER_HND er_hnd)
	Get robots synchronization flag for synchronization between robot and positioner. See also erConnectPositionerSetSync() More...
DLLAPI long 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...
DLLAPI ER_HND ER_STDCALL	erConnectConveyorGetHND (ER_HND er_hnd)
	Get robots connection handle between robot and conveyor. See also erConnectConveyor() More...
DLLAPI long 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...
DLLAPI long ER_STDCALL	erConnectConveyorGetSync (ER_HND er_hnd)
	Get robots synchronization flag for synchronization between robot and conveyor. See also erConnectConveyorSetSync() More...
DLLAPI long 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...
DLLAPI ER_HND ER_STDCALL	erConnectTrackMotionGetHND (ER_HND er_hnd)
	Get robots connection handle between robot and track motion. See also erConnectTrackMotion() More...
DLLAPI long 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...
DLLAPI long ER_STDCALL	erConnectTrackMotionGetSync (ER_HND er_hnd)
	Get robots synchronization flag for synchronization between robot and track motion. See also erConnectTrackMotionSetSync() More...
DLLAPI long 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...
DLLAPI ER_HND ER_STDCALL	erConnectRobotGetHND (ER_HND er_hnd)
	Get robots connection handle between robot and slave robot. See also erConnectRobot() More...
DLLAPI long 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...
DLLAPI long ER_STDCALL	erConnectRobotGetSync (ER_HND er_hnd)
	Get robots synchronization flag for synchronization between robot and slave robot. See also erConnectRobotSetSync() More...
DLLAPI long 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...
DLLAPI long 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...
DLLAPI long 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...
DLLAPI long ER_STDCALL	erGet_n_Kin (ER_HND er_hnd)
	Get the number of loaded kinematics. More...
DLLAPI long 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...
DLLAPI long ER_STDCALL	erGetName (ER_HND er_hnd, char *name)
	Get the name of the robot. More...
DLLAPI long ER_STDCALL	erGetIDs (ER_HND er_hnd, long *kin_id, long *inv_id, long *inv_sub_id)
	Get Kinematics ID of the robot. kin_id represents the kinematics ID. It can be one of the following values. ER_RRRRRR_ID =1, ER_TTTRRR_ID =2, ER_RRRRRR_BL_ID =3, ER_UNIV_ROB_ID =10, ER_DH_ID =11 Remarks Most robots are modelled with universal coordinates ER_UNIV_ROB_ID. More...
DLLAPI long ER_STDCALL	erGet_num_dofs (ER_HND er_hnd)
	Get number of active robot joints. More...
DLLAPI long ER_STDCALL	erGet_num_dofs_passive (ER_HND er_hnd)
	Get number of passive robot joints. More...
DLLAPI long ER_STDCALL	erGetJointTypes (ER_HND er_hnd, long *jnt_type_active)
	Get active robot joint types. An active robot joint type can be rotational JNT_TYPE_ROT or prismatic JNT_TYPE_TRANS See also erGetJointSign(), erGetJointDirections() More...
DLLAPI long ER_STDCALL	erGetJointTypes_passive (ER_HND er_hnd, long *jnt_type_passive)
	Get passive robot joint types. A passive robot joint type can be rotational JNT_TYPE_ROT or prismatic JNT_TYPE_TRANS See also erGetJointDirections_passive() More...
DLLAPI long ER_STDCALL	erGetJointDirections (ER_HND er_hnd, long *jnt_direction_active)
	Get direction of active robot joints. A robot joint direction can be JNT_DIRECTION_X, JNT_DIRECTION_Y or JNT_DIRECTION_Z See also erGetJointSign(), erGetJointTypes() More...
DLLAPI long ER_STDCALL	erGetJointDirections_passive (ER_HND er_hnd, long *jnt_direction_passive)
	Get direction of passive robot joints. A robot joint direction can be JNT_DIRECTION_X, JNT_DIRECTION_Y or JNT_DIRECTION_Z See also erGetJointTypes_passive() More...
DLLAPI long ER_STDCALL	erGetJointChainTypes (ER_HND er_hnd, long *jnt_chain_type_active)
	Get chain type of active robot joints. A robot chain type can be JNT_CHAIN_TYPE_CHAIN, JNT_CHAIN_TYPE_NO_CHAIN or JNT_CHAIN_TYPE_SEP_NO_CHAIN . More...
DLLAPI long ER_STDCALL	erGetJointChainTypes_passive (ER_HND er_hnd, long *jnt_chain_type_passive)
	Get chain type of passive robot joints. A robot chain type can be JNT_CHAIN_TYPE_CHAIN, JNT_CHAIN_TYPE_NO_CHAIN or JNT_CHAIN_TYPE_SEP_NO_CHAIN . More...
DLLAPI long ER_STDCALL	erGetJointAttachDof_active (ER_HND er_hnd, long *jnt_attach_dof_active)
	Get Attach-Dof of active robot joints. An active joint with chain type JNT_CHAIN_TYPE_CHAIN is attached to an active or passive joint. A valid Attach-Dof number for such an active joint is [0..num_dof], whereby num_dof represents the number of active joints A negative Attach-Dof value of -99 means that the active joint has a chain type of JNT_CHAIN_TYPE_NO_CHAIN or JNT_CHAIN_TYPE_SEP_NO_CHAIN. More...
DLLAPI long ER_STDCALL	erGetJointAttachDof_passive (ER_HND er_hnd, long *jnt_attach_dof_passive)
	Get Attach-Dof of passive robot joints. A passive joint is attached to an active joint. A valid Attach-Dof number number is [0..num_dof], whereby num_dof represents the number of active joints A negative Attach-Dof represents an error. More...
DLLAPI long ER_STDCALL	erGetMoveBaseMode (ER_HND er_hnd, long *move_base_mode)
	Gets moveable base mode. A kinematics base can be fixed or moveable. 0: Robot base is fix (default) 1: Robot base is moveable. More...
DLLAPI long ER_STDCALL	erGetMoveBasepJointIdx (ER_HND er_hnd, long *move_base_pjointidx)
	Gets passive joint idx representing the moveable base. If a kinematics base is moveable, the move_base_pjointidx gives the index [1..number of passive joints] of the passive joints representing the moveable base. Otherwise it is 0, see erGetMoveBaseMode(), erGetpJointMoveBase() More...
DLLAPI long ER_STDCALL	erGetpJointMoveBase (ER_HND er_hnd, DFRAME *pjntTmb)
	Get transformation from passive joint 'pjnt' to the moveable base 'mb'. If a kinematics base is moveable, the pjntTmb contains the transformation from passive joint 'pjnt' to the moveable base 'mb' frame. Otherwise pjntTmb is identity, see erGetMoveBasepJointIdx(), erGetRobotBaseToMoveBase() More...
DLLAPI long ER_STDCALL	erGetRobotBaseToMoveBase (ER_HND er_hnd, DFRAME *bTmb)
	Get transformation from robot base 'b' to the moveable base 'mb'. If a kinematics base is moveable, the bTmb contains the transformation from robot base 'b' to the moveable base 'mb' frame. Otherwise bTmb is identity, see erGetMoveBasepJointIdx(), erGetpJointMoveBase() More...
DLLAPI long ER_STDCALL	erSetJoints (ER_HND er_hnd, double *q_solut)
	Set robot joint data. The kinematics joint data q_solut are in units [m] for prismatic joint type and [rad] for rotational joint type. More...
DLLAPI long ER_STDCALL	erSetJoint (ER_HND er_hnd, double q_solut, long jnt_no)
	Set a single robot joint data. The kinematics joint data q_solut are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of active joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erGetJoints (ER_HND er_hnd, double *q_solut)
	Get robot joint data. The kinematics joint data q_solut are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of active joints with erGet_num_dofs() Remarks Call this function after calling the inverse kinematics transformation, erInvKinRobotBaseTip(), erInvKinWorldTip(), erInvKinRobotBaseTcp(), erInvKinWorldTcp() More...
DLLAPI long ER_STDCALL	erGetJointSolutions (ER_HND er_hnd, double *q_solutions, long *q_warnings)
	Get all robot joint solutions. The kinematics joint data q_solutions are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of active joints with erGet_num_dofs() Get the number of configurations with erGetNumConfigs() Remarks Call this function after calling the inverse kinematics transformation, erInvKinRobotBaseTip(), erInvKinWorldTip(), erInvKinRobotBaseTcp(), erInvKinWorldTcp() More...
DLLAPI long ER_STDCALL	erGetJointSpeeds (ER_HND er_hnd, double *v_solut)
	Get robot joint speeds. The kinematics joint speeds v_solut are in units [m/s] for prismatic joint type and [rad/s] for rotational joint type Get the number of active joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erGetJointAccels (ER_HND er_hnd, double *a_solut)
	Get robot joint accelerations. The kinematics joint accelerations a_solut are in units [m/s^2] for prismatic joint type and [rad/s^2] for rotational joint type Get the number of active joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erGetJoints_passive (ER_HND er_hnd, double *q_passive)
	Get passive robot joint data. The kinematics passive joint data q_passive are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of passive joints with erGet_num_dofs_passive() More...
DLLAPI long ER_STDCALL	erSetConfig (ER_HND er_hnd, long config)
	Set robot configuration A new robot configuration takes effect when calling the inverse kinematics transformation. See The config is valid for 1 to number of possible configurations, see erGetNumConfigs() Remarks The motion planner can change the configuration only for the motion types ER_JOINT (ER_PTP) or ER_SLEW. In case of CP (continuous path, i.e. ER_LIN or ER_CIRC), a givin configuration will be ignored. More...
DLLAPI long ER_STDCALL	erGetConfig (ER_HND er_hnd, long *config)
	Get current robot configuration Gets current robot configuration. See also erSetConfig(). The config is valid for 1 to number of possible configurations, see erGetNumConfigs(). More...
DLLAPI long ER_STDCALL	erFindConfig (ER_HND er_hnd, long *config)
	Find current robot configuration Finds current robot configuration, depending on current robot joint location. The config is valid for 1 to number of possible configurations, see erGetNumConfigs() Remarks If the robot configuration cannot be found, a notify message ER_NOTIFY_CODE_FIND_CONFIG_FAILED will be generated. More...
DLLAPI long ER_STDCALL	erGetNumConfigs (ER_HND er_hnd, long *num_configs)
	Get number of possible robot configurations. More...
DLLAPI long ER_STDCALL	erInvKinRobotBaseTip (ER_HND er_hnd, DFRAME *bTt)
	Calculating the inverse kinematics transformation. The bTt is the location of the flange w.r.t. robots base. Get the calculated robot joint data with erGetJoints(). More...
DLLAPI long ER_STDCALL	erInvKinWorldTip (ER_HND er_hnd, DFRAME *iTt)
	Calculating the inverse kinematics transformation. The iTt is the location of the flange w.r.t. inertia (world). Get the calculated robot joint data with erGetJoints(). More...
DLLAPI long ER_STDCALL	erInvKinRobotBaseTcp (ER_HND er_hnd, DFRAME *bTw)
	Calculating the inverse kinematics transformation. The bTw is the location of the tcp w.r.t. robots base. Get the calculated robot joint data with erGetJoints(). More...
DLLAPI long ER_STDCALL	erInvKinWorldTcp (ER_HND er_hnd, DFRAME *iTw)
	Calculating the inverse kinematics transformation. The iTw is the location of the tcp w.r.t. inertia (world). Get the calculated robot joint data with erGetJoints(). More...
DLLAPI long ER_STDCALL	erSetTool (ER_HND er_hnd, DFRAME *tTw)
	Set robot tool (TCP) data w.r.t. robots flange. More...
DLLAPI long ER_STDCALL	erGetTool (ER_HND er_hnd, DFRAME *tTw)
	Get robot tool (TCP) data w.r.t. robots flange. More...
DLLAPI long ER_STDCALL	erGetToolFix (ER_HND er_hnd, DFRAME *tTwfix)
	Get robot tool fix (TCP) data w.r.t. robots flange, without Tool Offset. More...
DLLAPI long ER_STDCALL	erSetToolOffset (ER_HND er_hnd, DFRAME *wTwo)
	Set robot tool offset (TCP) data w.r.t. robots fix Tcp. More...
DLLAPI long ER_STDCALL	erGetToolOffset (ER_HND er_hnd, DFRAME *wTwo)
	Get robot tool offset (TCP) data w.r.t. robots fix Tcp. More...
DLLAPI long ER_STDCALL	erSetBaseRobotBase (ER_HND er_hnd, DFRAME *bTbase)
	Set $BASE (wobj) w.r.t robot base. The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode() All targets are defined w.r.t to this BASE frame (program shifting) More...
DLLAPI long ER_STDCALL	erGetBaseRobotBase (ER_HND er_hnd, DFRAME *bTbase)
	Get $BASE (wobj) w.r.t robot base. The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode() All targets are defined w.r.t to this BASE frame (program shifting) More...
DLLAPI long ER_STDCALL	erSetBaseWorld (ER_HND er_hnd, DFRAME *iTbase)
	Set $BASE (wobj) w.r.t inertia (world). The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode() All targets are defined w.r.t to this BASE frame (program shifting) More...
DLLAPI long ER_STDCALL	erGetBaseWorld (ER_HND er_hnd, DFRAME *iTbase)
	Get $BASE (wobj) w.r.t inertia (world). The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode() All targets are defined w.r.t to this BASE frame (program shifting) More...
DLLAPI long ER_STDCALL	erSetRobotBase (ER_HND er_hnd, DFRAME *iTb)
	Set robot base location w.r.t. world. More...
DLLAPI long ER_STDCALL	erGetRobotBase (ER_HND er_hnd, DFRAME *iTb)
	Get robot base location w.r.t. world. More...
DLLAPI long ER_STDCALL	erGetRobotBaseTip (ER_HND er_hnd, DFRAME *bTt)
	Get robot tip (flange) location w.r.t. robot base. More...
DLLAPI long ER_STDCALL	erGetRobotBaseTcp (ER_HND er_hnd, DFRAME *bTw)
	Get robot tcp location w.r.t. robot base. More...
DLLAPI long ER_STDCALL	erGetWorldTip (ER_HND er_hnd, DFRAME *iTt)
	Get robot tip location w.r.t. inertia (world) coorsys. More...
DLLAPI long ER_STDCALL	erGetWorldTcp (ER_HND er_hnd, DFRAME *iTw)
	Get robot tcp location w.r.t. inertia (world) coorsys. More...
DLLAPI long ER_STDCALL	erUpdateKin (ER_HND er_hnd)
	Updates the complete kinematics. This function calculates the location of all axis coorsys, the robots tip and tcp w.r.t. robot base. In most cases the forward kinematics calculation is executed. Call this function first, before retrieving the location of axis coorsys. More...
DLLAPI long ER_STDCALL	erGetJointFrameRobotBase (ER_HND er_hnd, long active_jnt_no, DFRAME *bTax)
	Get location of active joint coorsys w.r.t robot base. Get the number of active joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erGetJointFrameRobotBase_passive (ER_HND er_hnd, long passive_jnt_no, DFRAME *bTax)
	Get location of passive joint coorsys w.r.t robot base. Get the number of passive joints with erGet_num_dofs_passive() More...
DLLAPI long ER_STDCALL	erGetJointFrameWorld (ER_HND er_hnd, long active_jnt_no, DFRAME *iTax)
	Get location of active joint coorsys w.r.t innertia (world). Get the number of active joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erGetJointFrameWorld_passive (ER_HND er_hnd, long passive_jnt_no, DFRAME *iTax)
	Get location of passive joint coorsys w.r.t innertia (world). Get the number of passive joints with erGet_num_dofs_passive() More...
DLLAPI long ER_STDCALL	erSetExtTcpRobotBase (ER_HND er_hnd, DFRAME *bText, long use_ext_flange)
	Set location of external TCP w.r.t robot base. Exeption: If use_ext_flange is set, the external TCP w.r.t is defined w.r.t. the (tip) flange of a positioner for example. More...
DLLAPI long ER_STDCALL	erGetExtTcpRobotBase (ER_HND er_hnd, DFRAME *bText)
	Get location of external TCP w.r.t robot base. More...
DLLAPI long ER_STDCALL	erSetExtTcpWorld (ER_HND er_hnd, DFRAME *iText)
	Set location of external TCP w.r.t inertia (world). More...
DLLAPI long ER_STDCALL	erGetExtTcpWorld (ER_HND er_hnd, DFRAME *iText)
	Get location of external TCP w.r.t inertia (world). More...
DLLAPI long ER_STDCALL	erSetExtTcpMode (ER_HND er_hnd, long ext_tcp_mode)
	Set external TCP mode. The external TCP can be IPO_MODE_BASE (tool guided) or IPO_MODE_TOOL (work object guided) More...
DLLAPI long ER_STDCALL	erGetExtTcpMode (ER_HND er_hnd, long *ext_tcp_mode)
	Get external TCP mode. The external TCP can be IPO_MODE_BASE (tool guided) or IPO_MODE_TOOL (work object guided) More...
DLLAPI long ER_STDCALL	erGetInvKinID (ER_HND er_hnd, long *invkin_id)
	Inverse kinematics ID for cRobot. . More...
DLLAPI long ER_STDCALL	erGetInvKinSubID (ER_HND er_hnd, long *invkinsub_id)
	Inverse kinematics Sub-ID for cRobot. . More...
DLLAPI long ER_STDCALL	erSetJointSolutions (ER_HND er_hnd, double *q_solutions, long *q_warnings)
	Set all robot joint solutions. The kinematics joint data q_solutions are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of active joints with erGet_num_dofs() Get the number of configurations with erGetNumConfigs() Remarks Call this function after calling the inverse kinematics transformation, erInvKinRobotBaseTip(), erInvKinWorldTip(), erInvKinRobotBaseTcp(), erInvKinWorldTcp() More...
DLLAPI long ER_STDCALL	erSetJointDyn (ER_HND er_hnd, double q_dyn, long jnt_no)
	Set a single actual robot joint data. The kinematics joint data q_dyn are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of active joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erGetRobotBasetoFirstJoint (ER_HND er_hnd, DFRAME *T)
DLLAPI long ER_STDCALL	erGetJointFrameActiveNext (ER_HND er_hnd, long active_jnt_no, DFRAME *T)
DLLAPI long ER_STDCALL	erSetJointFrameActiveNext (ER_HND er_hnd, long active_jnt_no, DFRAME *T)
DLLAPI long ER_STDCALL	erGetJointFrameActiveLast (ER_HND er_hnd, long active_jnt_no, DFRAME *T)
DLLAPI long ER_STDCALL	erSetJointFrameActiveLast (ER_HND er_hnd, long active_jnt_no, DFRAME *T)
DLLAPI long ER_STDCALL	erGetJointFramePassiveNext (ER_HND er_hnd, long passive_jnt_no, DFRAME *T)
DLLAPI long ER_STDCALL	erSetJointFramePassiveNext (ER_HND er_hnd, long passive_jnt_no, DFRAME *T)
DLLAPI long ER_STDCALL	erGetJointFramePassiveLast (ER_HND er_hnd, long passive_jnt_no, DFRAME *T)
DLLAPI long ER_STDCALL	erSetJointFramePassiveLast (ER_HND er_hnd, long passive_jnt_no, DFRAME *T)
DLLAPI void **ER_STDCALL	erGet_erk_kin_usr_ptr (ER_HND er_hnd)
DLLAPI long ER_STDCALL	erSetHomepos (ER_HND er_hnd, double *homepos)
	Set robot joint homeposition. The kinematics joint homepos are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erGetHomepos (ER_HND er_hnd, double *homepos)
	Get robot joint homeposition. The kinematics joint homepos are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erSetSweMin (ER_HND er_hnd, double *swe_min)
	Set fix minimum travel ranges. The kinematics travel ranges swe_min are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erGetSweMin (ER_HND er_hnd, double *swe_min)
	Get fix minimum travel ranges. The kinematics travel ranges swe_min are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erGetSweMinCalc (ER_HND er_hnd, double *swe_min_calc)
	Get calculated minimum travel ranges. The kinematics calculated travel ranges swe_min_calc are in units [m] for prismatic joint type and [rad] for rotational joint type Use erGetSweCalcMode() to find out if travel ranges are fix or depending on equations Get the number of joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erSetSweMax (ER_HND er_hnd, double *swe_max)
	Set fix maximum travel ranges. The kinematics travel ranges swe_max are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erGetSweMax (ER_HND er_hnd, double *swe_max)
	Get fix maximum travel ranges. The kinematics travel ranges swe_max are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erGetSweMaxCalc (ER_HND er_hnd, double *swe_max_calc)
	Get calculated maximum travel ranges. The kinematics calculated travel ranges swe_max_calc are in units [m] for prismatic joint type and [rad] for rotational joint type Use erGetSweCalcMode() to find out if travel ranges are fix or depending on equations Get the number of joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erGetSweMinMaxCalc (ER_HND er_hnd, double *swe_min_calc, double *swe_max_calc)
	Get calculated minimum and maximum travel ranges. The kinematics calculated travel ranges swe_min_calc and swe_max_calc are in units [m] for prismatic joint type and [rad] for rotational joint type Use erGetSweCalcMode() to find out if travel ranges are fix or depending on equations Get the number of joints with erGet_num_dofs() More...
DLLAPI long ER_STDCALL	erGetSweCalcMode (ER_HND er_hnd, long *swe_calc_mode)
	Get calculation mode for travel ranges Travel ranges can be fixed or depending on joints by a formular for example. More...
DLLAPI long ER_STDCALL	erSetSweMin_passive (ER_HND er_hnd, double *swe_min_passive)
	Set fix minimum travel ranges for passive joints. The kinematics travel ranges swe_min_passive are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of joints with erGet_num_dofs_passive() More...
DLLAPI long ER_STDCALL	erGetSweMin_passive (ER_HND er_hnd, double *swe_min_passive)
	Get fix minimum travel ranges from passive joints. The kinematics travel ranges swe_min_passive are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of passive joints with erGet_num_dofs_passive() More...
DLLAPI long ER_STDCALL	erSetSweMax_passive (ER_HND er_hnd, double *swe_max_passive)
	Set fix maximum travel ranges for passive joints. The kinematics travel ranges swe_max_passive are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of joints with erGet_num_dofs_passive() More...
DLLAPI long ER_STDCALL	erGetSweMax_passive (ER_HND er_hnd, double *swe_max_passive)
	Get fix maximum travel ranges from passive joints. The kinematics travel ranges swe_max_passive are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of passive joints with erGet_num_dofs_passive() More...
DLLAPI long ER_STDCALL	erGetConfigName (ER_HND er_hnd, long config_idx, char *config_name)
	Get the name of robot configuration. Get the number of configurations with erGetNumConfigs() . More...
DLLAPI long ER_STDCALL	erGetJointName (ER_HND er_hnd, long active_jnt_no, char *jnt_name)
	Get the name of active robot joint. More...
DLLAPI long ER_STDCALL	erGetJointName_passive (ER_HND er_hnd, long passive_jnt_no, char *jnt_name_passive)
	Get the name of passive robot joint. More...
DLLAPI long ER_STDCALL	erSetJointSign (ER_HND er_hnd, double *joint_sign)
	Set sign of robot joints. A robot joint sign can be positive +1 or negative -1. More...
DLLAPI long ER_STDCALL	erGetJointSign (ER_HND er_hnd, double *joint_sign)
	Get sign of robot joints. A robot joint sign can be positive +1 or negative -1. See also erGetJointTypes(), erGetJointDirections() More...
DLLAPI long ER_STDCALL	erSetJointOffset (ER_HND er_hnd, double *joint_offset)
	Set offset of robot joints. Robot joint offsets joint_offset are in units [m] for prismatic joint type and [rad] for rotational joint type. More...
DLLAPI long ER_STDCALL	erGetJointOffset (ER_HND er_hnd, double *joint_offset)
	Get offset of robot joints. Robot joint offsets joint_offset are in units [m] for prismatic joint type and [rad] for rotational joint type. More...
DLLAPI long ER_STDCALL	erSetVqMax (ER_HND er_hnd, double *vq_max)
	Set maximum of robot joint speeds. Robot joint speeds vq_max are in units [m/s] for prismatic joint type and [rad/s] for rotational joint type. More...
DLLAPI long ER_STDCALL	erGetVqMax (ER_HND er_hnd, double *vq_max)
	Get maximum of robot joint speeds. Robot joint speeds vq_max are in units [m/s] for prismatic joint type and [rad/s] for rotational joint type. More...
DLLAPI long ER_STDCALL	erSetAqMax (ER_HND er_hnd, double *aq_max)
	Set maximum of robot joint accelerations. Robot joint accelerations aq_max are in units [m/s^2] for prismatic joint type and [rad/s^2] for rotational joint type. More...
DLLAPI long ER_STDCALL	erGetAqMax (ER_HND er_hnd, double *aq_max)
	Get maximum of robot joint accelerations. Robot joint accelerations aq_max are in units [m/s^2] for prismatic joint type and [rad/s^2] for rotational joint type. More...
DLLAPI long ER_STDCALL	erSetVxMax (ER_HND er_hnd, double vx_max)
	Set maximum cartesian speed. More...
DLLAPI long ER_STDCALL	erGetVxMax (ER_HND er_hnd, double *vx_max)
	Get maximum cartesian speed. More...
DLLAPI long ER_STDCALL	erSetVxOriMax (ER_HND er_hnd, double vx_ori_max)
	Set maximum cartesian orientation speed. More...
DLLAPI long ER_STDCALL	erGetVxOriMax (ER_HND er_hnd, double *vx_ori_max)
	Get maximum cartesian orientation speed. More...
DLLAPI long ER_STDCALL	erSetAxMax (ER_HND er_hnd, double ax_max)
	Set maximum cartesian acceleration. More...
DLLAPI long ER_STDCALL	erGetAxMax (ER_HND er_hnd, double *ax_max)
	Get maximum cartesian acceleration. More...
DLLAPI long ER_STDCALL	erSetAxOriMax (ER_HND er_hnd, double ax_ori_max)
	Set maximum cartesian orientation acceleration. More...
DLLAPI long ER_STDCALL	erGetAxOriMax (ER_HND er_hnd, double *ax_ori_max)
	Get maximum cartesian orientation acceleration. More...
DLLAPI long ER_STDCALL	erGetBackLink (ER_HND er_hnd, long *backlink)
	Get robot back link status, obsolete function, use erGetBacklink() More...
DLLAPI long ER_STDCALL	erSetBacklink (ER_HND er_hnd, long backlink)
	Set robot back link status The back link status can be one of the following values. KIN_BACK_LINK_NO=0, KIN_BACK_LINK_YES =1 or KIN_BACK_LINK_UNKNOWN =2 see also erGetBacklink() More...
DLLAPI long ER_STDCALL	erGetBacklink (ER_HND er_hnd, long *backlink)
	Get robot back link status The back link status can be one of the following values. KIN_BACK_LINK_NO=0, KIN_BACK_LINK_YES =1 or KIN_BACK_LINK_UNKNOWN =2 see also erSetBacklink() More...
DLLAPI long ER_STDCALL	erSetAxis_couplingA2A3 (ER_HND er_hnd, long axis_couplingA2A3)
	Set robot axis coupling between axis 2 and 3 The axis coupling can be one of the following values. KIN_A2A3_COUPLING_NO=0, KIN_A2A3_COUPLING_YES =1 or KIN_A2A3_COUPLING_UNKNOWN =2 see also erGetAxis_couplingA2A3() More...
DLLAPI long ER_STDCALL	erGetAxis_couplingA2A3 (ER_HND er_hnd, long *axis_couplingA2A3)
	Get robot axis coupling between axis 2 and 3 The axis coupling can be one of the following values. KIN_A2A3_COUPLING_NO=0, KIN_A2A3_COUPLING_YES =1 or KIN_A2A3_COUPLING_UNKNOWN =2 see also erSetAxis_couplingA2A3() More...
DLLAPI long ER_STDCALL	erSetCounter_weight (ER_HND er_hnd, long counter_weight)
	Set robot counter weight The robot counter weight can be one of the following values. KIN_COUNTER_WEIGHT_NO=0, KIN_COUNTER_WEIGHT_YES =1 or KIN_COUNTER_WEIGHT_UNKNOWN =2 see also erGetCounter_weight() More...
DLLAPI long ER_STDCALL	erGetCounter_weight (ER_HND er_hnd, long *counter_weight)
	Get robot counter weight The robot counter weight can be one of the following values. KIN_COUNTER_WEIGHT_NO=0, KIN_COUNTER_WEIGHT_YES =1 or KIN_COUNTER_WEIGHT_UNKNOWN =2 see also erSetCounter_weight() More...
DLLAPI long ER_STDCALL	erSetTurn_interval (ER_HND er_hnd, double *turn_interval)
	Set the turn interval for each robot joints The kinematics turn interval turn_interval are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of joints with erGet_num_dofs() See also erGetTurn_interval() More...
DLLAPI long ER_STDCALL	erGetTurn_interval (ER_HND er_hnd, double *turn_interval)
	Get the turn interval for each robot joints The kinematics turn interval turn_interval are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of joints with erGet_num_dofs() See also erSetTurn_interval() More...
DLLAPI long ER_STDCALL	erSetTurn_offset (ER_HND er_hnd, double *turn_offset)
	Set the turn offset for each robot joints The kinematics turn offset turn_offset are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of joints with erGet_num_dofs() See also erGetTurn_offset() More...
DLLAPI long ER_STDCALL	erGetTurn_offset (ER_HND er_hnd, double *turn_offset)
	Get the turn offset for each robot joints The kinematics turn offset turn_offset are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of joints with erGet_num_dofs() See also erSetTurn_offset() More...
DLLAPI long ER_STDCALL	erSetTurn_value (ER_HND er_hnd, long *turn_value)
	Set the turn value for each robot joint The turn value turn_value determine the desired Turn in the target for the inverse kinematics calculation and for the trajectory planning It takes effect if ER_PTP_TARGET_CALC_MODE_TURNS is set. The givin turn value must be a valid value and depends on the turn interval erSetTurn_interval() and the turn offset erSetTurn_offset(), and as well from the robot joint location and its configuration. Get the number of joints with erGet_num_dofs() See also erGetTurn_value() More...
DLLAPI long ER_STDCALL	erGetTurn_value (ER_HND er_hnd, long *turn_value)
	Get the turn value for each robot joints The turn value turn_value determine the desired Turn in the target for the inverse kinematics calculation and for the motion planning It takes effect if ER_PTP_TARGET_CALC_MODE_TURNS is set. Get the number of joints with erGet_num_dofs() See also erSetTurn_value() More...
DLLAPI long ER_STDCALL	erINITIALIZE (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 erInitKin() 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. More...
DLLAPI long ER_STDCALL	erRESET (ER_HND er_hnd)
	Resets an instance of a robot to an initial state. Opcode 102, Chapter 3.4.1, Page 3-29 Settings are. More...
DLLAPI long ER_STDCALL	erTERMINATE (ER_HND *er_hnd)
	Terminates an instance of a robot of the Kernel Opcode 103, Chapter 3.4.1, Page 3-30 See erUnloadKin() More...
DLLAPI long ER_STDCALL	erSET_INITIAL_POSITION (ER_HND er_hnd, INITIAL_POSITION_DATA *p_initial_position_data)
	Sets the robot model to a position according to the input data Opcode 116, Chapter 3.4.3, Page 3-50 Remarks After initialization of the Kernel and after jogging the robot in the Host-Application, this function must be called at least once, before the erSET NEXT TARGET() function can be called. More...
DLLAPI long ER_STDCALL	erSELECT_TRACKING (ER_HND er_hnd, long conveyor_flags)
	Selects the Tracking On or Off in the Kernel. Opcode 146, Chapter 3.4.7, Page 3-93 Function not supported In conveyor_flags, each of the 32 bits specifies if the corresponding conveyor is on or off: Bit on (1): Conveyor on, Bit off (0): Conveyor off. More...
DLLAPI long ER_STDCALL	erSET_CONVEYOR_POSITION (ER_HND er_hnd, long input_format, long conveyor_flags, double conveyor_pos)
	Sends the conveyor position to the Kernel. Opcode 147, Chapter 3.4.7, Page 3-94 Function not supported The input_format specifies the format of the input to this function. Can be one of the following values: 1: Joint encoder, 2: Joint angle/distance In conveyor_flags, each of the 32 bits specifies if the corresponding conveyor is on or off: Bit on (1): Conveyor on, Bit off (0): Conveyor off. More...
DLLAPI long ER_STDCALL	erDEFINE_EVENT (ER_HND er_hnd, long event_id, long target_id, double resolution, long type_of_event, double event_spec)
	Defines an internal asynchronous event that is to be generated relative to position and/or time in the Kernel. Opcode 148, Chapter 3.4.8, Page 3-96 Function not supported More...
DLLAPI long ER_STDCALL	erCANCEL_EVENT (ER_HND er_hnd, long event_id)
	This function makes it possible to cancel an event previously defined in the Kernel by the erDEFINE_EVENT() function. Opcode 149, Chapter 3.4.8, Page 3-99 Function not supported More...
DLLAPI long ER_STDCALL	erGET_EVENT (ER_HND er_hnd, long event_nr)
	This function gets information about an internal asynchronous event that occurred in the Kernel. Opcode 150, Chapter 3.4.8, Page 3-100 Function not supported More...
DLLAPI long ER_STDCALL	erGET_MESSAGE (ER_HND er_hnd, long message_number)
	Gives information about controller messages that occurred. Opcode 154, Chapter 3.4.9, Page 3-104 Function not supported Use notify messages instead TErNotifyData. More...
DLLAPI long ER_STDCALL	erSetTrackingWindow (ER_HND er_hnd, long active, double up, double down, TErTrackingWindowID id_tw, char *name=NULL)
	Activates and deactivates the boundaries for a Tracking Window. This function enables a tracking window (typical for a painting applications) and defines the boudary Up- and Down-Stream values. This function works in conjunction with erConnectConveyor(), erConnectConveyorSetSync() and erSetconveyorStartCondition() Remarks Connect the robot first with a conveyor, using erConnectConveyor(), and set the synchronization to ER_SYNC_ON, using erConnectConveyorSetSync(), before activating the tracking window. A tracking window can have one of the following status: 0: TRK_WND_NOT_ACTIVE, 1: TRK_WND_WAITING, 2: TRK_WND_INSIDE or 3: TRK_WND_OUT_OF_BOUNDARY and will be obtained with the NEXT_STEP_DATA when calling erGET_NEXT_STEP() Activating a tracking window sets the status to TRK_WND_WAITING. Deactivating a tracking window sets the status to TRK_WND_NOT_ACTIVE. More...
DLLAPI long ER_STDCALL	erSetconveyorStartCondition (ER_HND er_hnd, double tx0)
	Sets the conveyor start condition. This function set the conveyor start condition for the Tracking Window (typical for a painting applications). The tx0 in units [m] is an offset position in X-direction and is defined w.r.t. to the flange of the conveyor device. This function works in conjunction with erSetTrackingWindow() More...
DLLAPI long ER_STDCALL	erSetEvents_DOUT (ER_HND er_hnd, int idx=1, long io_value=ER_EVENT_BOOL_UNDEF, char *io_name=0, long strig_type=ER_EVENT_TRIGGER_OFF, double strig_time=0, double strig_dist=0, long ttrig_type=ER_EVENT_TRIGGER_OFF, double ttrig_time=0, double ttrig_dist=0)
	Set an event for a boolean output A boolean event for binary outputs is controlled by trigger data, when the movement starts and when the movement reaches the target location. When a trigger condition is met, the binary output is set to ER_EVENT_BOOL_OFF or ER_EVENT_BOOL_ON. Trigger data can be set when the movement starts and when the movement reaches the target. Each trigger consist of three parameters: type ,time and distance. Trigger signal type can be one of the following values. More...
DLLAPI long ER_STDCALL	erSetEvents_DIN (ER_HND er_hnd, int idx=1, long io_value=ER_EVENT_BOOL_UNDEF, char *io_name=0, long leadcond_type=ER_EVENT_CONDITION_UNDEF, double leadcond_value=0, long lagcond_type=ER_EVENT_CONDITION_UNDEF, double lagcond_value=0)
	Set event conditions for a binary input for target location An input is checked before a movement starts (leading) and/or when the movement reaches the target (lagging). In the case of flyby, the checks are made closed to the start and the target location. Each check depends on the specified condition type combined with a condition value. A condition type can be one of the following values. More...
DLLAPI long ER_STDCALL	erSetSpeedReductionEnable (ER_HND er_hnd, long speed_reduction_enable)
	Set speed reduction enable. 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...
DLLAPI long ER_STDCALL	erGetSpeedReductionEnable (ER_HND er_hnd, long *speed_reduction_enable)
	Get speed reduction enable. 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...
DLLAPI long ER_STDCALL	erSELECT_MOTION_TYPE (ER_HND er_hnd, long motion_type)
	Selects the motion type. Opcode 120, Chapter 3.4.4, Page 3-58 The motion_type can be one of the following values ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4. More...
DLLAPI long ER_STDCALL	erSELECT_TARGET_TYPE (ER_HND er_hnd, long target_type)
	selects one of different types for the specification of targets. Opcode 121, Chapter 3.4.4, Page 3-59 The target_type can be one of the following values ER_TARGET_TYPE_ABS = 0 absolute w.r.t. object frame ER_TARGET_TYPE_ABSJOINT = 9 single axis motion More...
DLLAPI long ER_STDCALL	erSELECT_TRAJECTORY_MODE (ER_HND er_hnd, long trajectory_on)
	Selects on or off for the trajectory mode. Opcode 122, Chapter 3.4.4, Page 3-62 The trajectory_on can be one of the following values 0: OFF or 1: ON. More...
DLLAPI long ER_STDCALL	erSET_ADVANCE_MOTION (ER_HND er_hnd, long Number_of_motion)
	Defines the number of motions, the motion planner may run in advance of the interpolator (look_ahead). Opcode 127, Chapter 3.4.4, Page 3-67. More...
DLLAPI long ER_STDCALL	erSET_MOTION_FILTER (ER_HND er_hnd, long filter_factor)
	defines the filter factor for smoothing velocity profiles of motions. Opcode 128, Chapter 3.4.4, Page 3-68 Per default ER_MOTION_FILTER_GEO is set More...
DLLAPI long ER_STDCALL	erREVERSE_MOTION (ER_HND er_hnd, double distance)
	Instructs to do a reverse motion. Opcode 130, Chapter 3.4.4, Page 3-70 The robot moves backwards along the same path as it used to get to the current position. After calling this function, erGET_NEXT_STEP() should be called repeatedly in order to get the reverse motion steps. More...
DLLAPI long ER_STDCALL	erSET_PAYLOAD_PARAMETER (ER_HND er_hnd, long storage, char *frame_id, long param_number, double param_value)
	Allows specifying payloads at different locations on the robot. It has to be supported when the payload influences the motion planning. E.g. the load by a tool on the flange may be specified. Opcode 160, Chapter 3.4.4, Page 3-71 The storage pecifies where to modify the data and can be one of the following values. 1: Modify in memory, 2: Modify on disk. More...
DLLAPI long ER_STDCALL	erSET_CONFIGURATION_CONTROL (ER_HND er_hnd, char *param_id, char *param_contents)
	Allows the setting of controller-specific data for the control of robot configurations. Opcode 161, Chapter 3.4.4, Page 3-72 Function not supported Use function erSetConfig(), erGetConfig() to change the robots configuration. More...
DLLAPI long ER_STDCALL	erSET_OVERRIDE_SPEED (ER_HND er_hnd, double correction_value, long correction_type)
	Sets correction values for scaling the programmed speed during program execution. Opcode 139, Chapter 3.4.5, Page 3-82. The parameter correction_type specifies when the correction is effective and can be one of the following values. 0: It becomes effective at the next call to erGET_NEXT_STEP() 1: It becomes effective for the next target supplied by erSET_NEXT_TARGET() See also erSET_OVERRIDE_SPEED_EX() More...
DLLAPI long ER_STDCALL	erSET_OVERRIDE_ACCELERATION (ER_HND er_hnd, double correction_value, long accel_type, long correction_type)
	Sets correction values for scaling the robot acceleration. Opcode 155, Chapter 3.4.5, Page 3-83. The accel_type specifies the type of acceleration and can be one of the following values. 1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration. The parameter correction_type specifies when the correction is effective and can be one of the following values. 0: It becomes effective at the next call to erGET_NEXT_STEP() 1: It becomes effective for the next target supplied by erSET_NEXT_TARGET() See also erSET_OVERRIDE_ACCELERATION_EX() More...
DLLAPI long ER_STDCALL	erSET_OVERRIDE_SPEED_EX (ER_HND er_hnd, ER_HND er_hnd_slave, double speed_override, double tcp_speed_max=0)
	Sets override for scaling the programmed speed during program execution. If er_hnd_slave is NULL, speed_override and tcp_speed_max set for the kinematics with handle er_hnd for the next call to erSET_NEXT_TARGET(). If er_hnd_slave is equal to er_hnd, speed_override and tcp_speed_max set for the kinematics with handle er_hnd and becomes effective immediatly, erGET_NEXT_STEP(). If er_hnd_slave is set and NOT equal to er_hnd, speed_override and tcp_speed_max set for the kinematics with handle er_hnd_slave and becomes effective immediatly, erGET_NEXT_STEP(). See also erSET_OVERRIDE_SPEED() More...
DLLAPI long ER_STDCALL	erSET_OVERRIDE_ACCELERATION_EX (ER_HND er_hnd, ER_HND er_hnd_slave, double accel_override, double tcp_accel_max=0)
	Sets override for scaling the programmed acceleration during program execution. If er_hnd_slave is NULL, speed_override and tcp_speed_max set for the kinematics with handle er_hnd for the next call to erSET_NEXT_TARGET(). If er_hnd_slave is equal to er_hnd, accel_override and tcp_accel_max set for the kinematics with handle er_hnd and becomes effective immediatly, erGET_NEXT_STEP(). If er_hnd_slave is set and NOT equal to er_hnd, accel_override and tcp_accel_max set for the kinematics with handle er_hnd_slave and becomes effective immediatly, erGET_NEXT_STEP(). See also erSET_OVERRIDE_ACCELERATION() More...
DLLAPI long ER_STDCALL	erSetAutoAccel (ER_HND er_hnd, long autoaccel)
	Enables automatic calculation of acceleration depending on programmed speed. Using AutoAccel is a proper way to come close to real cycle times. The parameter autoaccel specifies the effect when planning a new motion and 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 If auto accel is enabled, other acceleration functions such as erSET_JOINT_ACCELERATIONS(), erSET_CARTESIAN_POSITION_ACCELERATION() and erSET_CARTESIAN_ORIENTATION_ACCELERATION() will have no effect. More...
DLLAPI long ER_STDCALL	erGetAutoAccel (ER_HND er_hnd, long *autoaccel)
	Get status for automatic calculation of acceleration depending on programmed speed. Using AutoAccel is a proper way to come close to real cycle times. The parameter autoaccel specifies the effect when planning a new motion and 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 If auto accel is enabled, other acceleration functions such as erSET_JOINT_ACCELERATIONS(), erSET_CARTESIAN_POSITION_ACCELERATION() and erSET_CARTESIAN_ORIENTATION_ACCELERATION() will have no effect. More...
DLLAPI long ER_STDCALL	erSetAccSet (ER_HND er_hnd, double acc, double ramp)
	Set lagging of accelerations. Using AccSet is a proper way to come close to real cycle times when the robot carries high payloads for example. The parameter acc and ramp are given in percentage values in the range from 20% to 100%. acc: Acceleration and Deceleration as percentage value of normal values. ramp: Change of Acceleration and Deceleration as percentage value of normal values. More...
DLLAPI long ER_STDCALL	erGetAccSet (ER_HND er_hnd, double *acc, double *ramp)
	Get lagging of accelerations. Using AccSet is a proper way to come close to real cycle times when the robot carries high payloads for example. The parameter acc and ramp are given in percentage values in the range from 20% to 100%. acc: Acceleration and Deceleration as percentage value of normal values. ramp: Change of Acceleration and Deceleration as percentage value of normal values. More...
DLLAPI long ER_STDCALL	erSET_INTERPOLATION_TIME (ER_HND er_hnd, double InterpolationTime)
	Sets the interpolation time. Opcode 119, Chapter 3.4.3, Page 3-56 Set the interpolation time step. This has an effect when calling erGET_NEXT_STEP() Per default the interpolation time is set to 50ms. More...
DLLAPI long ER_STDCALL	erSELECT_ORIENTATION_INTERPOLATION_MODE (ER_HND er_hnd, long interpolation_mode, long ori_const)
	Set orientation interpolation mode. Opcode 123, Chapter 3.4.4, Page 3-63 The interpolation_mode is per default =1 one angle (QUATERNION) The ori_const is 0: Orientation is variant or 1: Orientation is constant. More...
DLLAPI long ER_STDCALL	erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE (ER_HND er_hnd, long circ_orientation_interpolation_mode)
	Selects the circular orientation interpolation mode. The parameter circ_orientation_interpolation_mode specifies how the orientation is interpolated during a circle motion and can be one of the following values. 0: ER_CIRC_ORI_INTERPOLATION_START_END, 1: ER_CIRC_ORI_INTERPOLATION_START_VIA_END, 2: ER_CIRC_ORI_INTERPOLATION_START_VIAORI_END 3: ER_CIRC_ORI_INTERPOLATION_TANGENTIAL, 4: ER_CIRC_ORI_INTERPOLATION_FIX. More...
DLLAPI long ER_STDCALL	erSELECT_DOMINANT_INTERPOLATION (ER_HND er_hnd, long dominant_int_type, long dominant_int_param=0)
	Sets the interplation space defining the movement. Opcode 124, Chapter 3.4.4, Page 3-66 The parameter dominant_int_type specifies the dominant interpolation type and can be one of the following values. ER_DOMINANT_INTERPOLATION_POS, ER_DOMINANT_INTERPOLATION_ORI, ER_DOMINANT_INTERPOLATION_AXIS, ER_DOMINANT_INTERPOLATION_AUTO The parameter dominant_int_param ( not supported) specifies an extra parameter for certain interpolation types and can be one of the following values. 2: specifies which orientation component is master. 3: specifies which axis is master. If dominant_int_param is 0 then the controller will select an axis. More...
DLLAPI long ER_STDCALL	erSET_JOINT_SPEEDS (ER_HND er_hnd, long all_joint_flags, long joint_flags, double speed_percent)
	sets the joint speed expressed as percentage of the maximal joint speed. Opcode 131, Chapter 3.4.5, Page 3-74. Remarks If all_joint_flags is 1, the value in speed_percent is in [rad/s] for rotational joint type and in [m/s] for prismatic joint type. It is recommended to set all_joint_flags =0 and use joint_flags, where speed_percent is a percentage value. The maximum joint speeds can be changed with erSetVqMax() and erGetVqMax(). More...
DLLAPI long ER_STDCALL	erSET_CARTESIAN_POSITION_SPEED (ER_HND er_hnd, double speed_value)
	Sets the speed for Cartesian motion. Opcode 133, Chapter 3.4.5, Page 3-75. More...
DLLAPI long ER_STDCALL	erSET_CARTESIAN_ORIENTATION_SPEED (ER_HND er_hnd, long rotation_no, double speed_ori_value)
	Sets the speed for the orientation during Cartesian motion. Opcode 134, Chapter 3.4.5, Page 3-76. The rotation_no should be 1. More...
DLLAPI long ER_STDCALL	erSET_JOINT_ACCELERATIONS (ER_HND er_hnd, long all_joint_flags, long joint_flags, double accel_percent, long accel_type)
	Sets the joint accelerations expressed as percentage of the maximal joint acceleration. Opcode 135, Chapter 3.4.5, Page 3-77. Remarks If all_joint_flags is 1, the value in accel_percent is in [rad/s^2] for rotational joint type and in [m/s^2] for prismatic joint type. It is recommended to set all_joint_flags =0 and use joint_flags, where accel_percent is a percentage value. The maximum joint accelerations can be changed with erSetAqMax() and erGetAqMax(). The accel_type specifies the type of acceleration and can be one of the following values. 1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration. More...
DLLAPI long ER_STDCALL	erSET_CARTESIAN_POSITION_ACCELERATION (ER_HND er_hnd, double accel_value, long accel_type)
	Sets acceleration for cartesian motion [m/sec^2]. Opcode 137, Chapter 3.4.5, Page 3-78. The accel_type specifies the type of acceleration and can be one of the following values. 1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration. More...
DLLAPI long ER_STDCALL	erSET_CARTESIAN_ORIENTATION_ACCELERATION (ER_HND er_hnd, long rotation_no, double accel_ori_value, long accel_type)
	Sets acceleration for the orientation during cartesian motion [m/sec^2]. Opcode 138, Chapter 3.4.5, Page 3-79. The rotation_no should be 1. The accel_type specifies the type of acceleration and can be one of the following values. 1: Acceleration, 2: Deceleration, 3: Acceleration and deceleration. More...
DLLAPI long ER_STDCALL	erGET_CARTESIAN_POSITION_ACCELERATION (ER_HND er_hnd, double *accel_value, long accel_type)
	Gets acceleration for cartesian motion [m/sec^2]. The accel_type specifies the type of acceleration and can be one of the following values. 1: Acceleration, 2: Deceleration. More...
DLLAPI long ER_STDCALL	erGET_CARTESIAN_ORIENTATION_ACCELERATION (ER_HND er_hnd, long rotation_no, double *accel_ori_value, long accel_type)
	Gets acceleration for the orientation during cartesian motion [m/sec^2]. The rotation_no should be 1. The accel_type specifies the type of acceleration and can be one of the following values. 1: Acceleration, 2: Deceleration. More...
DLLAPI long ER_STDCALL	erSET_JOINT_JERKS (ER_HND er_hnd, long all_joint_flags, long joint_flags, double jerk_percent, long jerk_type)
	Sets the joint jerk expressed as a percentage of the maximal joint jerk for each specified joint. Opcode 162, Chapter 3.4.5, Page 3-80. Remarks If all_joint_flags is 1, the value in jerk_percent is in [rad/s^3] for rotational joint type and in [m/s^3] for prismatic joint type. It is recommended to set all_joint_flags =0 and use joint_flags, where jerk_percent is a percentage value. The jerk_type specifies the type of jerk and can be one of the following values. 1: Jerk during acceleration, 2: Jerk during deceleration, 3: Jerk during acceleration and deceleration. More...
DLLAPI long ER_STDCALL	erSET_MOTION_TIME (ER_HND er_hnd, double time_value)
	Specifies the motion time for the next motion. Opcode 156, Chapter 3.4.5, Page 3-81. More...
DLLAPI long ER_STDCALL	erSELECT_FLYBY_MODE (ER_HND er_hnd, long flyby_on)
	Defines rounding / flyby condition. Opcode 140, Chapter 3.4.6, Page 3-85 Per default Flyby is disabled In case of flyby, the robot moves through a CP target with programmed speeds and will not decelerate. Disbable flyby, to reach the target with zero speed (fine position). More...
DLLAPI long ER_STDCALL	erSET_FLYBY_CRITERIA_PARAMETER (ER_HND er_hnd, long param_number, long joint_nr, double param_value)
	Sets the value of a flyby parameter. Opcode 141, Chapter 3.4.6, Page 3-86 Function not supported More...
DLLAPI long ER_STDCALL	erSELECT_FLYBY_CRITERIA (ER_HND er_hnd, long param_number)
	Selects a flyby criterion (parameter). Opcode 142, Chapter 3.4.6, Page 3-87 Function not supported More...
DLLAPI long ER_STDCALL	erCANCEL_FLYBY_CRITERIA (ER_HND er_hnd, long param_number)
	Cancels (unselects) a fly-by criterion. Opcode 143, Chapter 3.4.6, Page 3-88 Function not supported More...
DLLAPI long ER_STDCALL	erSELECT_POINT_ACCURACY (ER_HND er_hnd, long accuracy_type)
	Selects a criterion for when a target is reached. Opcode 144, Chapter 3.4.6, Page 3-89 Function not supported More...
DLLAPI long ER_STDCALL	erSET_POINT_ACCURACY_PARAMETER (ER_HND er_hnd, long accuracy_type, double accuracy_value)
	Sets the value of a parameter determining point accuracy. Opcode 145, Chapter 3.4.6, Page 3-90 Function not supported More...
DLLAPI long ER_STDCALL	erSET_NEXT_TARGET (ER_HND er_hnd, NEXT_TARGET_DATA *p_next_target_data)
	Sends the next target position. This may include intermediate position, radius and angle for circular motion. Opcode 117, Chapter 3.4.3, Page 3-52 This function prepares the next motion based on givin target data in NEXT_TARGET_DATA. If the return is OK, the TrajectoryTime in [sec] is calculated Remarks The function may pass a position and a further TargetParamValue at the same time. For some motion types the Kernel may require more than one call of erSET_NEXT_TARGET() before it can start the motion (e.g. ER_CIRC). Function erGET_NEXT_STEP() reports this as normal, returning Status = 1 (need more data) and ElapsedTime = 0. Use erSET_NEXT_TARGET_ADVANCE() to define data for the about next target. More...
DLLAPI long ER_STDCALL	erSET_NEXT_TARGET_ADVANCE (ER_HND er_hnd, NEXT_TARGET_DATA_ADVANCE *p_next_target_data_advance)
	Sends about next target data The function gives information about the next target, stored in NEXT_TARGET_DATA_ADVANCE Remarks This function should be called once, just before calling erSET_NEXT_TARGET() Parameter AdvanceParam=2 sets all data in NEXT_TARGET_DATA_ADVANCE to default values. More...
DLLAPI long ER_STDCALL	erSTOP_MOTION (ER_HND er_hnd)
	Stops the on-going motion toward the target. Opcode 151, Chapter 3.4.8, Page 3-101 See also erCONTINUE_MOTION(), erCANCEL_MOTION() Remarks After calling this function, the erGET_NEXT_STEP() should be called repeatedly until its Status is 2 (speed is zero) in order to get the deceleration steps. More...
DLLAPI long ER_STDCALL	erCONTINUE_MOTION (ER_HND er_hnd)
	Continues a motion that was stopped with the erSTOP_MOTION() function. Opcode 152, Chapter 3.4.8, Page 3-102 See also erSTOP_MOTION(), erCANCEL_MOTION() Remarks After calling this function, the erGET_NEXT_STEP() should be called repeatedly in order to get the acceleration steps. More...
DLLAPI long ER_STDCALL	erCANCEL_MOTION (ER_HND er_hnd)
	Cancel a motion that was stopped with erSTOP_MOTION() function. Opcode 153, Chapter 3.4.8, Page 3-103 See also erSTOP_MOTION(), erCONTINUE_MOTION() Remarks This function clears any remaining target positions in the Kernel. More...
DLLAPI long ER_STDCALL	erGET_NEXT_STEP (ER_HND er_hnd, long output_format, NEXT_STEP_DATA *p_next_step_data, double time)
	Returns the next interpolated position step the elapsed time and supplementary information like events, joint limits and messages. Opcode 118, Chapter 3.4.3, Page 3-54 The output_format specifies the format desired as output and can be one of the following values. 1: Joint encoder, 2: Joint angle/distance, 4: Cartesian ( w/orientation ), 5: Cartesian and joint encoder, 6: Cartesian and joint angle/distance Per default, output_format should be set = 2 Remarks After the target position has been set (using the erSET_NEXT_TARGET()), this function should be called repeatedly until the Status is 1 or 2, specifying that the Host-Application interpreter can continue. If Status is 1 and the Host-Application interpreter finds more target positions it should send the next one to this Kernel using the erSET_NEXT_TARGET() function before erGET_NEXT_STEP() is called again. If the Status is 1 and the Host-Application interpreter finds no more target positions it can continue to call this function until Status is 2. More...
DLLAPI long ER_STDCALL	erGetCurrentStepData (ER_HND er_hnd, CURRENT_STEP_DATA *p_current_step_data)
	Returns interpolation data for the current interpolated step Remarks After the next step data are calculated, calling erGET_NEXT_STEP() , this function return additional interpolated data, such as motion type, distance to Target, time to Target, Target ID, Override, ... More...
DLLAPI long ER_STDCALL	erSET_OVERRIDE_POSITION (ER_HND er_hnd, DFRAME *PosOffset)
	Sets a correction offset which will be added to the path during program execution. Opcode 129, Chapter 3.4.4, Page 3-69 This function can be used for sensor-compensated motion. It is effective at each time step. The passed value is valid until the function is called again. More...
DLLAPI TErTargetID ER_STDCALL	erGET_CURRENT_TARGETID (ER_HND er_hnd)
	Returns the TargetID of the motion in execution. Opcode 163, Chapter 3.4.6, Page 3-91. More...
DLLAPI long ER_STDCALL	erInitToolPath (ER_HND er_hnd, ER_TOOLPATH_HND *er_tpth_hnd)
	Create a unique tool path handle for a kinematics. More...
DLLAPI long ER_STDCALL	erUnloadToolPath (ER_TOOLPATH_HND *er_tpth_hnd)
	Unload an instance of a kinematics tool path. More...
DLLAPI long 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...
DLLAPI long 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...
DLLAPI long ER_STDCALL	erToolPathGetTargetLocationNumber (ER_TOOLPATH_HND er_tpth_hnd)
	Get the number of target locations in tool path. More...
DLLAPI ER_HND ER_STDCALL	erToolPathGetER_HND (ER_TOOLPATH_HND er_tpth_hnd)
	Device Handle belonging to tool path. This method is obsolete -> use erToolPathGetRobotHandle() More...
DLLAPI char *ER_STDCALL	erToolPathName (ER_TOOLPATH_HND er_tpth_hnd)
	Name of tool path. More...
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...
DLLAPI ER_HND ER_STDCALL	erToolPathGetRobotHandle (ER_TOOLPATH_HND er_tpth_hnd)
	Get device robot handle belonging to tool path handle. More...
DLLAPI ER_HND ER_STDCALL	erToolPathGetTrackMotionHandle (ER_TOOLPATH_HND er_tpth_hnd)
	Get device track motion handle belonging to tool path handle. More...
DLLAPI ER_HND ER_STDCALL	erToolPathGetPositionerHandle (ER_TOOLPATH_HND er_tpth_hnd)
	Get device positioner handle belonging to tool path handle. More...
DLLAPI ER_HND ER_STDCALL	erToolPathGetConveyorHandle (ER_TOOLPATH_HND er_tpth_hnd)
	Get device conveyor handle belonging to tool path handle. More...
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...
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...
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...
DLLAPI char *ER_STDCALL	erToolPathLogFileName (ER_TOOLPATH_HND er_tpth_hnd)
	Name log file. More...
DLLAPI char *ER_STDCALL	erToolPathPrgFileName (ER_TOOLPATH_HND er_tpth_hnd)
	Name program file. More...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
DLLAPI long 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...
DLLAPI long 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...
DLLAPI long 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...
DLLAPI long 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...
DLLAPI long 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...
DLLAPI long ER_STDCALL	erGET_NEXT_TOOLPATH_STEP_INIT (ER_TOOLPATH_HND er_tpth_hnd, long cntrl=ER_MOP_GNTPS_CNTRL_INIT)
	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...
DLLAPI long 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...
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...
DLLAPI long 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...
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...
DLLAPI long 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...
DLLAPI long 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...
DLLAPI long 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...
DLLAPI long 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...
DLLAPI long ER_STDCALL	erGetTargetLocationNumber (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Number of target locations in a tool path. More...
DLLAPI ER_HND ER_STDCALL	erhGetTargetLocationER_HND (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Device handle belonging to target location. More...
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL	erGetTargetLocationFirst (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Get first target location in a tool path. More...
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL	erGetTargetLocationLast (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Get last target location in a tool path. More...
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL	erGetTargetLocationNext (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Get next target location in a tool path. More...
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL	erGetTargetLocationPrev (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Get previous target location in a tool path. More...
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...
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...
DLLAPI long ER_STDCALL	erSetTargetLocation_Move_Joint_Frame (ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME *CartPosFrame, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, DFRAME *ToolFrame=0, DFRAME *BaseFrame=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...
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...
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...
DLLAPI long ER_STDCALL	erSetTargetLocation_Move_Slew_Frame (ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME *CartPosFrame, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, DFRAME *ToolFrame=0, DFRAME *BaseFrame=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...
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...
DLLAPI long ER_STDCALL	erSetTargetLocation_Move_LIN_Frame (ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME *CartPosFrame, double speed_cp=0, double speed_ori=0, double override_speed=0, long flyby_on=-1, DFRAME *ToolFrame=0, DFRAME *BaseFrame=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...
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...
DLLAPI long ER_STDCALL	erSetTargetLocation_Move_CIRC_Frame (ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME *CartPosFrameVia, DFRAME *CartPosFrame, double speed_cp=0, double speed_ori=0, double override_speed=0, long flyby_on=-1, DFRAME *ToolFrame=0, DFRAME *BaseFrame=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...
DLLAPI ER_TARGET_HEAD_HND ER_STDCALL	erGetTargetLocationHeaderDataHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Handle for target header data. More...
DLLAPI ER_TOOLPATH_HND ER_STDCALL	erGetTargetLocationToolPathHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Tool path handle belonging to target location handle. More...
DLLAPI long ER_STDCALL	erGetTargetLocationIdx (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Index of target location. More...
DLLAPI char *ER_STDCALL	erGetTargetLocationName (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Name of target location. More...
DLLAPI char *ER_STDCALL	erGetTargetLocationNameVia (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Name of target Via location, in case of circular motion. More...
DLLAPI long ER_STDCALL	erTargetLocationValid (ER_TARGET_LOCATION_HND er_tarloc_hnd, long valid)
	Validity of a target location A target location is per default invalid when created e.g. ERK_CAPI_TOOLPATH_TARGETS::erAddTargetLocation() and set to valid when a motion e.g. ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN() is defined. This method allows to ask the validity of this target location valid=2, to set the validity of this target location valid=1, or to unset the validity of this target location valid=0. More...
DLLAPI ER_TARGET_INSTRUCTIONS_HND ER_STDCALL	erGetTargetLocationInstructionsHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Handle for target instruction data Remarks Instructions are individual command or information attached to a target location. They don't influence in the calculated trajectory. Instructions are very useful when creating a robot program using the API post processing function ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc(). More...
DLLAPI char *ER_STDCALL	erGetInstructions_information (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Get information target instruction data for target location. For further explanations see GetInstructionsHnd(), erSetInstructions(). More...
DLLAPI char *ER_STDCALL	erGetInstructions_LeadInstructions (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Get LeadInstructions target instruction data for target location. For further explanations see GetInstructionsHnd(), erSetInstructions(). More...
DLLAPI char *ER_STDCALL	erGetInstructions_LagInstructions (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Get LagInstructions target instruction data for target location. For further explanations see GetInstructionsHnd(), erSetInstructions(). More...
DLLAPI int ER_STDCALL	erSetInstructions (ER_TARGET_LOCATION_HND er_tarloc_hnd, char *InfoTxt=NULL, char *LeadInst=NULL, char *LagInst=NULL)
	Set target instruction data for information, leading- and lagging instruction. For further explanations see GetInstructionsHnd(). More...
DLLAPI ER_TARGET_EVENTS_HND ER_STDCALL	erGetTargetLocationEventsHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Handle for target events data. More...
DLLAPI long ER_STDCALL	erSetEvents_EventDOUT (ER_TARGET_EVENTS_HND hnd, int idx=1, long io_value=ER_EVENT_BOOL_UNDEF, char *io_name=0, long strig_type=ER_EVENT_TRIGGER_OFF, double strig_time=0, double strig_dist=0, long ttrig_type=ER_EVENT_TRIGGER_OFF, double ttrig_time=0, double ttrig_dist=0)
	Set an event for a boolean output for target location A boolean event for binary outputs is controlled by trigger data, when the movement starts and when the movement reaches the target location. When a trigger condition is met, the binary output is set to ER_EVENT_BOOL_OFF or ER_EVENT_BOOL_ON. Trigger data can be set when the movement starts and when the movement reaches the target. Each trigger consist of three parameters: type ,time and distance. Trigger signal type can be one of the following values. More...
DLLAPI long ER_STDCALL	erGetEvents_EventDOUT (ER_TARGET_EVENTS_HND hnd, int idx, long *io_value, char *io_name, long *strig_type, double *strig_time, double *strig_dist, long *ttrig_type, double *ttrig_time, double *ttrig_dist)
	Get an event for a boolean output for target location A boolean event for binary outputs is controlled by trigger data, when the movement starts and when the movement reaches the target location. see detailed information in Set_EventDOUT() or erSetEvents_EventDOUT() More...
DLLAPI long ER_STDCALL	erSetEvents_EventDIN (ER_TARGET_EVENTS_HND hnd, int idx=1, long io_value=ER_EVENT_BOOL_UNDEF, char *io_name=0, long leadcond_type=ER_EVENT_CONDITION_UNDEF, double leadcond_value=0, long lagcond_type=ER_EVENT_CONDITION_UNDEF, double lagcond_value=0)
	Set event conditions for a binary input for target location An input is checked before a movement starts (leading) and/or when the movement reaches the target (lagging). In the case of flyby, the checks are made closed to the start and the target location. Each check depends on the specified condition type combined with a condition value. A condition type can be one of the following values. More...
DLLAPI ER_TARGET_ATTRIBUTES_AUX_HND ER_STDCALL	erGetTargetLocationMotionAttributesAuxHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Handle for target attributes auxiliary data. More...
DLLAPI ER_TARGET_ATTRIBUTES_HND ER_STDCALL	erGetTargetLocationMotionAttributesHnd (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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI TErTargetID *ER_STDCALL	erGetMotionAttributes_target_id (ER_TARGET_ATTRIBUTES_HND hnd)
	unique target ID of a target location More...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI DFRAME *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI DFRAME *ER_STDCALL	erSetMotionAttributes_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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_BaseVec (ER_TARGET_ATTRIBUTES_HND hnd)
	Program shift Base for a target location Base '$BASE, $UFrame' has only if IPO_MODE_BASE is set and external TCP disabled All targets are defined w.r.t to this BASE frame (program shifting) see inq_BaseIdx(), inq_BaseName() More...
DLLAPI DFRAME *ER_STDCALL	erGetMotionAttributes_BaseFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *BaseFrame)
	Program shift Base for a target location Base '$BASE, $UFrame' has only if IPO_MODE_BASE is set and external TCP disabled All targets are defined w.r.t to this BASE frame (program shifting) see inq_BaseIdx(), inq_BaseName() More...
DLLAPI DFRAME *ER_STDCALL	erSetMotionAttributes_BaseFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *BaseFrame)
	Program shift Base for a target location Base '$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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI char *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_extTcpBaseVec (ER_TARGET_ATTRIBUTES_HND hnd)
	external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location Transformation from RobotBase or from flange of positioner to external TCP see inq_extTcpBaseIdx(), inq_extTcpBaseName() More...
DLLAPI DFRAME *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI DFRAME *ER_STDCALL	erSetMotionAttributes_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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_extTcpBaseIdx (ER_TARGET_ATTRIBUTES_HND hnd)
	Idx for external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location see inq_extTcpBaseVec(), inq_extTcpBaseName() This extTcpBaseIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
DLLAPI char *ER_STDCALL	erGetMotionAttributes_extTcpBaseName (ER_TARGET_ATTRIBUTES_HND hnd)
	Name for external Tool (TCP) w.r.t. Robot Base or flange of positioner, for a target location see inq_extTcpBaseVec(), inq_extTcpBaseIdx() This extTcpBaseName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_extTcpWorldVec (ER_TARGET_ATTRIBUTES_HND hnd)
	external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location Transformation from RobotWorld or from flange of positioner to external TCP see inq_extTcpWorldIdx(), inq_extTcpWorldName() More...
DLLAPI DFRAME *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI DFRAME *ER_STDCALL	erSetMotionAttributes_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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_extTcpWorldIdx (ER_TARGET_ATTRIBUTES_HND hnd)
	Idx for external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location see inq_extTcpWorldVec(), inq_extTcpWorldName() This extTcpWorldIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
DLLAPI char *ER_STDCALL	erGetMotionAttributes_extTcpWorldName (ER_TARGET_ATTRIBUTES_HND hnd)
	Name for external Tool (TCP) w.r.t. Robot World or flange of positioner, for a target location see inq_extTcpWorldVec(), inq_extTcpWorldIdx() This extTcpWorldName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_extTcpOffsetVec (ER_TARGET_ATTRIBUTES_HND hnd)
	external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location Transformation from extTcpBase or extTcpWorld see inq_extTcpOffsetIdx(), inq_extTcpOffsetName() More...
DLLAPI DFRAME *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI DFRAME *ER_STDCALL	erSetMotionAttributes_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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_extTcpOffsetIdx (ER_TARGET_ATTRIBUTES_HND hnd)
	Idx for external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location see inq_extTcpOffsetVec(), inq_extTcpOffsetName() This extTcpOffsetIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
DLLAPI char *ER_STDCALL	erGetMotionAttributes_extTcpOffsetName (ER_TARGET_ATTRIBUTES_HND hnd)
	Name for external Tool/TCP offset data w.r.t. extTcpBase, extTcpWorld, for a target location see inq_extTcpOffsetVec(), inq_extTcpOffsetIdx() This extTcpOffsetName could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_ToolVec (ER_TARGET_ATTRIBUTES_HND hnd)
	Tool (TCP) for a target location Transformation from Tip to TCP see inq_ToolIdx(), inq_ToolName() More...
DLLAPI DFRAME *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI DFRAME *ER_STDCALL	erSetMotionAttributes_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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI char *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_ToolOffsetVec (ER_TARGET_ATTRIBUTES_HND hnd)
	ToolOffset (TCP) for a target location Offset Transformation from TCP see inq_ToolOffsetIdx(), inq_ToolOffsetName() More...
DLLAPI DFRAME *ER_STDCALL	erGetMotionAttributes_ToolOffsetFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolOffsetFrame)
	ToolOffset (TCP) for a target location Offset Transformation from TCP see inq_ToolOffsetIdx(), inq_ToolOffsetName() More...
DLLAPI DFRAME *ER_STDCALL	erSetMotionAttributes_ToolOffsetFrame (ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolOffsetFrame)
	ToolOffset (TCP) for a target location Offset Transformation from TCP see inq_ToolOffsetIdx(), inq_ToolOffsetName() More...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_ToolOffsetIdx (ER_TARGET_ATTRIBUTES_HND hnd)
	Idx for ToolOffset for a target location see inq_ToolOffsetVec(), inq_ToolOffsetName() This ToolOffsetIdx could be useful when using the post processor method ERK_CAPI_TOOLPATH_APIPP::erTPth_PostProc() More...
DLLAPI char *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI long *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI double *ER_STDCALL	erGetMotionAttributes_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...
DLLAPI ER_TARGET_MOVE_JOINT_HND ER_STDCALL	erGetTargetLocationMoveJointHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Handle for target move joint data Typical data belonging to a move joint target location are: target_type, speed_percent, accel_percent, JointPos , CartPosVec, configuration, ptp_target_calculation_mode, turn_value Remarks The returned handle ER_TARGET_MOVE_JOINT_HND is used to access target move joint data. More...
DLLAPI long *ER_STDCALL	erGetMoveJoint_target_type (ER_TARGET_MOVE_JOINT_HND hnd)
	Target type for joint move for target location is one of. More...
DLLAPI double *ER_STDCALL	erGetMoveJoint_speed_percent (ER_TARGET_MOVE_JOINT_HND hnd)
	Speed_percent percentage speed definition [>0-1000%] for joint move for target location. More...
DLLAPI double *ER_STDCALL	erGetMoveJoint_accel_percent (ER_TARGET_MOVE_JOINT_HND hnd)
	Accel_percent percentage acceleration definition [>0-1000%] for joint move for target location. More...
DLLAPI double *ER_STDCALL	erGetMoveJoint_JointPos (ER_TARGET_MOVE_JOINT_HND hnd)
	Joint position for joint move for target location Remarks Use for. More...
DLLAPI double *ER_STDCALL	erGetMoveJoint_CartPosVec (ER_TARGET_MOVE_JOINT_HND hnd)
	Cartesian position w.r.t. Base for joint move for target location Remarks Use for. More...
DLLAPI long *ER_STDCALL	erGetMoveJoint_configuration (ER_TARGET_MOVE_JOINT_HND hnd)
	configuration Robot configuration [1-ER_KIN_CONFIGS] for target location More...
DLLAPI long *ER_STDCALL	erGetMoveJoint_ptp_target_calculation_mode (ER_TARGET_MOVE_JOINT_HND hnd)
	Ptp_target_calculation_mode for target location is 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. More...
DLLAPI long *ER_STDCALL	erGetMoveJoint_turn_value (ER_TARGET_MOVE_JOINT_HND hnd)
	Turn value for each robot joint for joint move for target location The turn value determine the desired Turn in the target for the inverse kinematics calculation and for the trajectory planning It takes effect if ER_PTP_TARGET_CALC_MODE_TURNS is set, see inq_ptp_target_calculation_mode() More...
DLLAPI ER_TARGET_MOVE_CP_HND ER_STDCALL	erGetTargetLocationMoveCPHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Handle for target move CP data Typical data belonging to a move CP target location are: target_type, speed_cp, speed_ori, accel_cp, accel_ori, CartPosVec, CartPosVecVia, interpolation_mode, orientation_interpolation_mode Remarks The returned handle ER_TARGET_MOVE_CP_HND is used to access target move CP data. More...
DLLAPI long *ER_STDCALL	erGetMoveCP_target_type (ER_TARGET_MOVE_CP_HND hnd)
	Target type for CP move for target location is always. More...
DLLAPI double *ER_STDCALL	erGetMoveCP_speed_cp (ER_TARGET_MOVE_CP_HND hnd)
	Cartesian speed [m/s], for CP move for target location. More...
DLLAPI double *ER_STDCALL	erGetMoveCP_speed_ori (ER_TARGET_MOVE_CP_HND hnd)
	Cartesian orientation speed [rad/s], for CP move for target location. More...
DLLAPI double *ER_STDCALL	erGetMoveCP_accel_cp (ER_TARGET_MOVE_CP_HND hnd)
	Cartesian acceleration [m/s^2], for CP move for target location. More...
DLLAPI double *ER_STDCALL	erGetMoveCP_accel_ori (ER_TARGET_MOVE_CP_HND hnd)
	Cartesian orientation acceleration [rad/s^2], for CP move for target location. More...
DLLAPI double *ER_STDCALL	erGetMoveCP_CartPosVec (ER_TARGET_MOVE_CP_HND hnd)
	Cartesian position w.r.t. Base for CP move for target location Remarks Use for. More...
DLLAPI double *ER_STDCALL	erGetMoveCP_CartPosVecVia (ER_TARGET_MOVE_CP_HND hnd)
	Cartesian position at VIA location w.r.t. Base for CP move for target location Remarks Use for. More...
DLLAPI long *ER_STDCALL	erGetMoveCP_interpolation_mode (ER_TARGET_MOVE_CP_HND hnd)
	Orientation interpolation mode for CP move for target location The interpolation_mode is one of =1 one angle (QUATERNION), =2 two angle (QUATERNION), =3 three angle (VARIABLE) per default =1 one angle (QUATERNION) More...
DLLAPI long *ER_STDCALL	erGetMoveCP_circ_orientation_interpolation_mode (ER_TARGET_MOVE_CP_HND hnd)
	Circular orientation interpolation mode for CP move for target location The circular orientation interpolation_mode is one of. More...
DLLAPI ER_TARGET_MOTION_EXEC_HND ER_STDCALL	erGetTargetLocationMotionExecHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Handle for target execution data Target execution data are calculated while interpolation through the complete tool path, if the robot has reached the target see also. More...
DLLAPI long ER_STDCALL	erGetMotionExec_motion_success (ER_TARGET_MOTION_EXEC_HND hnd)
	Motion success is true when the robot has reached the target location successfully Remarks ERK_CAPI_TOOLPATH::erGET_NEXT_TOOLPATH_STEP_INIT() at the beginning of interpolation will reset motion_success for each targat location. More...
DLLAPI double ER_STDCALL	erGetMotionExec_time_stamp (ER_TARGET_MOTION_EXEC_HND hnd)
	Time stamp - total execution time [s] at the target location, while interpolation through the complete tool path Remarks ERK_CAPI_TOOLPATH::erGET_NEXT_TOOLPATH_STEP_INIT() sets the time_stamp = 0. More...
DLLAPI double ER_STDCALL	erGetMotionExec_trajectory_time (ER_TARGET_MOTION_EXEC_HND hnd)
	Trajectory time [s], time to reach the target location, while interpolation through the complete tool path. More...
DLLAPI long ER_STDCALL	erGetMotionExec_configuration (ER_TARGET_MOTION_EXEC_HND hnd)
	Robot configuration, when reaching the target, while interpolation through the complete tool path Remarks Normally a robot configuration will NOT change during a CP (ER_LIN, ER_CIRC) move Valid robot configurations are between 1 and number of possible configurations depending on robot, maximum ER_KIN_CONFIGS A valid robot configuration can be specified with. More...
DLLAPI double *ER_STDCALL	erGetMotionExec_JointPos (ER_TARGET_MOTION_EXEC_HND hnd)
	Joint position at target location, while interpolation through the complete tool path. More...
DLLAPI double *ER_STDCALL	erGetMotionExec_ExtAxValues (ER_TARGET_MOTION_EXEC_HND hnd)
	External axis values at target location, while interpolation through the complete tool path. More...
DLLAPI ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND ER_STDCALL	erGetTargetLocationExtAxTrackHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Handle for external axis of a Track/Slider-Motion Typical data belonging to external axis data are: number of external axis used, synchonization type, external axis data Remarks External axis data should be specified after the move definition of a target location The returned handle ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND is used to access external axis data for Track/Slider-Motion see example SetExtAxTrackMotionIdx() More...
DLLAPI long *ER_STDCALL	erGetExtAxTrack_number_extax_used (ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND hnd)
	Number of external axis used for Track/Slider see example GetExtAxTrackMotionHnd() More...
DLLAPI long *ER_STDCALL	erGetExtAxTrack_sync_type (ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND hnd)
	Synchonization for Track/Slider For a Track/Slider motion, the synchonization should be always ER_SYNC_ON see example GetExtAxTrackMotionHnd() More...
DLLAPI ER_EXTAX_KIN_DATA *ER_STDCALL	erGetExtAxTrack_extax_data (ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND hnd, long extax_idx)
	External axis values for Track/Slider Values ER_EXTAX_KIN_DATA are: . More...
DLLAPI long ER_STDCALL	erSetExtAxTrackIdx (ER_TARGET_LOCATION_HND er_tarloc_hnd, long extax_idx, double axis_value, double speed_value=0, long sync_type=ER_SYNC_UNDEF, ER_HND er_hnd_connect=0)
	Set external axis values for Track/Slider for target location see example GetExtAxTrackMotionHnd() Remarks Use ERK_CAPI_TOOLPATH::erToolPathSetTrackMotionHandle() to set the Track/Slider device, belonging to this tool path. More...
DLLAPI ER_TARGET_EXTAX_DEVICE_POSITIONER_HND ER_STDCALL	erGetTargetLocationExtAxPositionerHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Handle for external axis of a Positioner/TurnTable-Motion Typical data belonging to external axis data are: number of external axis used, synchonization type, external axis data Remarks External axis data should be specified after the move definition of a target location The returned handle ER_TARGET_EXTAX_DEVICE_POSITIONER_HND is used to access external axis data for Positioner/TurnTable-Motion see example SetExtAxPositionerIdx() More...
DLLAPI long *ER_STDCALL	erGetExtAxPositioner_number_extax_used (ER_TARGET_EXTAX_DEVICE_POSITIONER_HND hnd)
	Number of external axis used for Positioner/TurnTable see example GetExtAxPositionerHnd() More...
DLLAPI long *ER_STDCALL	erGetExtAxPositioner_sync_type (ER_TARGET_EXTAX_DEVICE_POSITIONER_HND hnd)
	Synchonization for Positioner/TurnTable For a Positioner/TurnTable motion, the synchonization can be one of ER_SYNC_ON, ER_SYNC_OFF see example GetExtAxPositionerHnd() More...
DLLAPI ER_EXTAX_KIN_DATA *ER_STDCALL	erGetExtAxPositioner_extax_data (ER_TARGET_EXTAX_DEVICE_POSITIONER_HND hnd, long extax_idx)
	External axis values for Positioner/TurnTable Values ER_EXTAX_KIN_DATA are: . More...
DLLAPI long ER_STDCALL	erSetExtAxPositionerIdx (ER_TARGET_LOCATION_HND er_tarloc_hnd, long extax_idx, double axis_value, double speed_value=0, long sync_type=ER_SYNC_UNDEF, ER_HND er_hnd_connect=0)
	Set external axis values for Positioner/TurnTable for target location see example GetExtAxPositionerHnd() Remarks Use ERK_CAPI_TOOLPATH::erToolPathSetPositionerHandle() to set the Positioner/TurnTable device, belonging to this tool path. More...
DLLAPI ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND ER_STDCALL	erGetTargetLocationExtAxConveyorHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Handle for external axis of a Conveyor-Motion Typical data belonging to external axis data are: number of external axis used, synchonization type, external axis data Remarks External axis data should be specified after the move definition of a target location The returned handle ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND is used to access external axis data for Conveyor-Motion see example erGetExtAxConveyor_sync_type() More...
DLLAPI long *ER_STDCALL	erGetExtAxConveyor_number_extax_used (ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND hnd)
	Number of external axis used for Conveyor see example GetExtAxConveyorHnd() More...
DLLAPI long *ER_STDCALL	erGetExtAxConveyor_sync_type (ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND hnd)
	Synchonization for Conveyor For a Conveyor motion, the synchonization can be one of ER_SYNC_ON, ER_SYNC_OFF see example GetExtAxConveyorHnd() More...
DLLAPI ER_EXTAX_KIN_DATA *ER_STDCALL	erGetExtAxConveyor_extax_data (ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND hnd, long extax_idx)
	External axis values for Conveyor Values ER_EXTAX_KIN_DATA are: . More...
DLLAPI long ER_STDCALL	erSetExtAxConveyorIdx (ER_TARGET_LOCATION_HND er_tarloc_hnd, long extax_idx, double axis_value, double speed_value=0, long sync_type=ER_SYNC_UNDEF, ER_HND er_hnd_connect=0)
	Set external axis values for Conveyor for target location see example GetExtAxConveyorHnd() Remarks Use ERK_CAPI_TOOLPATH::erToolPathSetConveyorHandle() to set the Conveyor device, belonging to this tool path. More...
DLLAPI long ER_STDCALL	erSetConveyorTrackingWindow (ER_TARGET_LOCATION_HND er_tarloc_hnd, long active, double up, double down, TErTrackingWindowID id_tw, char *name=NULL)
	Activates and deactivates the boundaries for a Tracking Window. This function enables a tracking window (typical for a painting applications) and defines the boudary Up- and Down-Stream values. This function works in conjunction with erConnectConveyor(), erConnectConveyorSetSync() and erSetconveyorStartCondition() Remarks Connect the robot first with a conveyor, using erConnectConveyor(), and set the synchronization to ER_SYNC_ON, using erConnectConveyorSetSync(), before activating the tracking window. A tracking window can have one of the following status: 0: TRK_WND_NOT_ACTIVE, 1: TRK_WND_WAITING, 2: TRK_WND_INSIDE or 3: TRK_WND_OUT_OF_BOUNDARY and will be obtained with the NEXT_STEP_DATA when calling erGET_NEXT_STEP() Activating a tracking window sets the status to TRK_WND_WAITING. Deactivating a tracking window sets the status to TRK_WND_NOT_ACTIVE. More...
DLLAPI long ER_STDCALL	erSetConveyorStartOffsetCondition (ER_TARGET_LOCATION_HND er_tarloc_hnd, double tx0)
	Sets the conveyor start offset condition. This function set the conveyor start condition for the Tracking Window (typical for a painting applications). The tx0 in units [m] is an offset position in X-direction and is defined w.r.t. to the flange of the conveyor device. This function works in conjunction with erSetTrackingWindow() More...
DLLAPI long ER_STDCALL	erTPth_TBox_Fct (int FctIdx, int FctSubIdx, ER_TOOLPATH_HND er_tpth_hnd, int constraint_param, char *svalues=NULL)
	Method for miscellaneous tool path calculations Requires DLL EasySimKernel_tboxx64.dll. More...
DLLAPI long ER_STDCALL	erTPth_PostProc (char *ApiPP_Dll_Name, int FctIdx, int FctSubIdx, ER_TOOLPATH_HND er_tpth_hnd, char *program_name, char *target_path=NULL, int pp_param=0, char *svalues=NULL)
	Method for post processing, creating a robot program for a tool path An example Visual Studio Project is available, creating a robot program for KUKA Controller. The name of the DLL is user defined, e.g. 'EasySimKernel_apippx64.dll' Remarks The DLL is loaded and linked will calling this method. Thus, the DLL can be generated again without restarting the Host application. This allows quick changes and adjustments in the shop floor. More...
DLLAPI long ER_STDCALL	erTPth_Fct (ER_TOOLPATH_HND er_tpth_hnd)
	Do Fct. ... tbd. More...
DLLAPI long ER_STDCALL	erColl_BeginModel (ER_COLLISION_HND *er_coll_hnd, long n_tris)
	Creates a collision handle for one Model and preallocate memory for n_tris triangles. More...
DLLAPI long ER_STDCALL	erColl_AddTri (ER_COLLISION_HND er_coll_hnd, double *p1, double *p2, double *p3, long id)
	Adds a triangle to a Model. call erColl_BeginModel() once to create a new unique model handle. More...
DLLAPI long ER_STDCALL	erColl_EndModel (ER_COLLISION_HND er_coll_hnd)
	Stop building a Model. More...
DLLAPI long ER_STDCALL	erColl_ChkCollision (ER_COLLISION_HND er_coll_hnd_1, DFRAME *iT_1, ER_COLLISION_HND er_coll_hnd_2, DFRAME *iT_2, long query_type=ER_COLL_QUERY_TYPE_COLLIDE, long contact_type=ER_COLL_FIRST_CONTACT, double rel_err=0, double abs_err=0, double tolerance=0)
	Perform the collision check of two Models. See also erColl_ChkCollision_res() to get the collision results immediately The query type query_type can be one of the following values. 0: ER_COLL_QUERY_TYPE_UNDEF skip collision checks 1: ER_COLL_QUERY_TYPE_COLLIDE detects collision between two Models 2: ER_COLL_QUERY_TYPE_DISTANCE computes the distance between two Models 3: ER_COLL_QUERY_TYPE_TOLERANCE checks if distance between Models is <= tolerance The contact type contact_type is used for query type ER_COLL_QUERY_TYPE_COLLIDE and can be one of the following values. 1: ER_COLL_ALL_CONTACTS , the erColl_GetResults_Collide() contains an array with all colliding triangle pairs ER_CollideResult. 2: ER_COLL_FIRST_CONTACT , the erColl_GetResults_Collide() array will only get the first colliding triangle pair found. Collide Detects collsion. This is the fastest method. Distance Computes minimum distance between two Models. This method takes the most time !!! Tolerances Specify tolerance for query type ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCE Checks if distance between Models is <= tolerance. Remarks If erColl_ChkCollision() returns with ER_COLL_DETECTED call, depending on the query type, one of the collision result functions erColl_GetResults_Collide(), erColl_GetResults_Distance() or erColl_GetResults_Tolerance() to receive more detailed information about the collision status. More...
DLLAPI long ER_STDCALL	erColl_ChkCollision_res (ER_COLLISION_HND er_coll_hnd_1, DFRAME *iT_1, ER_COLLISION_HND er_coll_hnd_2, DFRAME *iT_2, long query_type=ER_COLL_QUERY_TYPE_COLLIDE, long contact_type=ER_COLL_FIRST_CONTACT, double rel_err=0, double abs_err=0, double tolerance=0, void *pres=NULL)
	Perform the collision check of two Models. Collision results returned immediately by parameter pres compared to erColl_ChkCollision() The query type query_type can be one of the following values. 0: ER_COLL_QUERY_TYPE_UNDEF skip collision checks 1: ER_COLL_QUERY_TYPE_COLLIDE detects collision between two Models 2: ER_COLL_QUERY_TYPE_DISTANCE computes the distance between two Models 3: ER_COLL_QUERY_TYPE_TOLERANCE checks if distance between Models is <= tolerance The contact type contact_type is used for query type ER_COLL_QUERY_TYPE_COLLIDE and can be one of the following values. 1: ER_COLL_ALL_CONTACTS , the erColl_GetResults_Collide() contains an array with all colliding triangle pairs ER_CollideResult. 2: ER_COLL_FIRST_CONTACT , the erColl_GetResults_Collide() array will only get the first colliding triangle pair found. Collide Detects collsion. This is the fastest method. Distance Computes minimum distance between two Models. This method takes the most time !!! Tolerances Specify tolerance for query type ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCE Checks if distance between Models is <= tolerance. Remarks If erColl_ChkCollision_res() returns with ER_COLL_DETECTED, get more detailed information about the collision status by parameter pres. More...
DLLAPI long ER_STDCALL	erColl_ChkCollision_res_free (long query_type, void *pres)
	Frees allocated memory for Collision results for parameter pres The query type query_type can be one of the following values. 0: ER_COLL_QUERY_TYPE_UNDEF skip operation 1: ER_COLL_QUERY_TYPE_COLLIDE frees allocated data in ER_CollideResult 2: ER_COLL_QUERY_TYPE_DISTANCE frees allocated data in ER_DistanceResult 3: ER_COLL_QUERY_TYPE_TOLERANCE frees allocated data in ER_ToleranceResult Remarks Note that the allocated memory in the Collision results structures must be administrated by the Kernel and not in the host application. More...
DLLAPI long ER_STDCALL	erColl_UnloadModel (ER_COLLISION_HND *er_coll_hnd)
	Unload a Model. Free all allocated memory. More...
DLLAPI long ER_STDCALL	erColl_GetResults_Collide (ER_CollideResult *er_cres)
	Get Collision result for query ER_COLL_QUERY_TYPE_COLLIDE. Remarks Call erColl_ChkCollision() first, before calling this function Call erColl_ChkCollision_res() to receive the collision result immediately. More...
DLLAPI long ER_STDCALL	erColl_GetResults_Distance (ER_DistanceResult *er_dres)
	Get Collision result for query ER_COLL_QUERY_TYPE_DISTANCE. Remarks Call erColl_ChkCollision() first, before calling this function Call erColl_ChkCollision_res() to receive the collision result immediately. More...
DLLAPI long ER_STDCALL	erColl_GetResults_Tolerance (ER_ToleranceResult *er_tres)
	Get Collision result for query ER_COLL_QUERY_TYPE_TOLERANCE. Remarks Call erColl_ChkCollision() first, before calling this function Call erColl_ChkCollision_res() to receive the collision result immediately. More...
DLLAPI char *ER_STDCALL	erk_AutoPathVer (void)
	AutoPath Version. More...
DLLAPI int ER_STDCALL	erk_AutoPathSetMem (AutoPath_ConfigurationSpace *apcs)
	allocate memory for AutoPath_ConfigurationSpace data depending on nConfig see example AutoPathInit() More...
DLLAPI int ER_STDCALL	erk_AutoPathInit (AutoPath_ConfigurationSpace *apcs)
	Initialize AutoPath Call this functions to setup the autopath configuration space Parameter apcs defines the complete configuration for all used devices, such as number of configurations up to AUTOPATH_SDK_KIN_DOFS, device handle for each configuration, device axis index, etc. call AutoPathSetMem() first. More...
DLLAPI int ER_STDCALL	erk_AutoPathFreeMem (AutoPath_ConfigurationSpace *apcs)
	free memory of AutoPath_ConfigurationSpace data see example AutoPathInit() More...
DLLAPI int ER_STDCALL	erk_AutoPathTerminate (AutoPath_ConfigurationSpace *apcs)
	Terminate AutoPath call AutoPathFreeMem() first, see example AutoPathInit() More...
DLLAPI int ER_STDCALL	erk_AutoPath_SetCallback_CheckConstraints (BOOL(*ptr_CheckConstraints)(int, void *))
	Defines a callback function to check constraints during AutoPath calculation The callback function is called with two parameters Parameter action in Callback_API_CheckConstraints() is a bitwise inclusive OR operator (|) of AUTOPATH_SDK_CHK_CONSTRAINT_UNDEF, AUTOPATH_SDK_CHK_CONSTRAINT_START, AUTOPATH_SDK_CHK_CONSTRAINT_DEST, AUTOPATH_SDK_CHK_CONSTRAINT_COLLISION, AUTOPATH_SDK_CHK_CONSTRAINT_SWE, AUTOPATH_SDK_CHK_CONSTRAINT_CART_SPACE, AUTOPATH_SDK_CHK_CONSTRAINT_ISCFREE Parameter vapcs in Callback_API_CheckConstraints() defines the autopath configuration space AutoPath_ConfigurationSpace see example AutoPathInit() More...
DLLAPI int ER_STDCALL	erk_AutoPathSetPoseStart (double *pose_start)
	Set start configuration Remarks This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints. More...
DLLAPI int ER_STDCALL	erk_AutoPathSetPoseEnd (double *pose_end)
	Set end configuration Remarks This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints. More...
DLLAPI int ER_STDCALL	erk_AutoPathFindPath (void)
	Start motion planner, find a collision free path between start and end pose In each step, the callback function "ptr_CheckConstraints" is called, to check constraints If the target is reached, the callback function is called with action parameter AUTOPATH_SDK_STATUS_MP_SUCCESS. More...
DLLAPI double *ER_STDCALL	erk_AutoPathGetConfigurationPose (void)
	current configuration pose during FindPath Process return pointer, size nConfig More...
DLLAPI double *ER_STDCALL	erk_AutoPathGetStartPose (void)
	Get Start Pose return pointer, size nConfig. More...
DLLAPI double *ER_STDCALL	erk_AutoPathGetEndPose (void)
	Get End Pose return pointer, size nConfig. More...
DLLAPI double *ER_STDCALL	erk_AutoPathGetAxisConstraintsMin (void)
	Get minimum axis constraints return pointer, size nConfig. More...
DLLAPI double *ER_STDCALL	erk_AutoPathGetAxisConstraintsMax (void)
	Get maximum axis constraints return pointer, size nConfig. More...
DLLAPI int ER_STDCALL	erk_AutoPathAbortPlanning (void)
	Abort path planning use GetPlanningStatus() More...
DLLAPI int ER_STDCALL	erk_AutoPathGetPlanningStatus (void)
	Get path planning status The planning status is one of AUTOPATH_SDK_STATUS_MP_IDLE AUTOPATH_SDK_STATUS_MP_RUNNING. More...
DLLAPI int ER_STDCALL	erk_AutoPathGetNumberOfWayPoints (void)
	Get number of calculated way points, including start and end pose call this method after FindPath() succeeded. More...
DLLAPI int ER_STDCALL	erk_AutoPathGetWayPointDof (void)
	Get dof of calculated way points. More...
DLLAPI double *ER_STDCALL	erk_AutoPathGetWayPoint (int idx)
	Get way point. More...
DLLAPI int ER_STDCALL	erk_AutoPathClearAllWayPoints (void)
	Clear all way points. More...
DLLAPI int ER_STDCALL	erk_AutoPathSetAccuracy (UINT accuracy)
	Set accuracy. More...
DLLAPI int ER_STDCALL	erk_AutoPathSetAxisConstraints (int axisBit=AUTOPATH_SDK_AXIS_BIT_DOF6, int setting=0, double qConstraintMin=0, double qConstraintMax=0)
	Set axis constraints Parameter setting is a bitwise inclusive OR operator (|) of AUTOPATH_SDK_CONSTRAINT_RESET, AUTOPATH_SDK_CONSTRAINT_MIN, AUTOPATH_SDK_CONSTRAINT_MAX. More...
DLLAPI int ER_STDCALL	erk_AutoPathSetAxisPriority (int axisBit, int priority)
	Set axis priority. More...
DLLAPI int ER_STDCALL	erk_AutoPathSetAxisEnable (int axisBit, int enable)
	Set axis enable. More...
DLLAPI int ER_STDCALL	erk_AutoPathSetParameter (int ap_option, int ap_value)
	Set parameter Paramter ap_option is one of AUTOPATH_SDK_PARAMETER_DYNADJUST AUTOPATH_SDK_PARAMETER_ALGORITHM AUTOPATH_SDK_PARAMETER_NTREES AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION AUTOPATH_SDK_PARAMETER_SEED_VALUE. More...
DLLAPI int ER_STDCALL	erk_AutoPathGetParameter (int ap_option)
	Get parameter Paramter ap_option is one of AUTOPATH_SDK_PARAMETER_DYNADJUST AUTOPATH_SDK_PARAMETER_ALGORITHM AUTOPATH_SDK_PARAMETER_NTREES AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION AUTOPATH_SDK_PARAMETER_SEED_VALUE. More...
DLLAPI int ER_STDCALL	erk_AutoPathGetResults (int ap_result)
	Get results Paramter ap_result is one of AUTOPATH_SDK_RESULT_CHECKS AUTOPATH_SDK_RESULT_SECONDS AUTOPATH_SDK_RESULT_CPS AUTOPATH_SDK_RESULT_CFREE AUTOPATH_SDK_RESULT_COBSTACLE AUTOPATH_SDK_RESULT_CDENSITY AUTOPATH_SDK_RESULT_DSECONDS AUTOPATH_SDK_RESULT_SEED_VALUE AUTOPATH_SDK_RESULT_QUALITY_INDEX AUTOPATH_SDK_RESULT_QUALITY_INDEX_STD_DEV. More...
DLLAPI long ER_STDCALL	erUpdateGeo (ER_HND er_hnd)
	Updates all geometry location for each robot joint. This function causes the call of callback function TerUpdateGeometryProc(). The resulted geometry location w.r.t. robot base is the product of KinMat and GeoMat. More...
DLLAPI int ER_STDCALL	erGeoMngr_GetVersion ()
	GeoMngr Version. More...
DLLAPI TErGeoHandle ER_STDCALL	erGeoMngr_LoadGeometry (ER_HND er_hnd, LOAD_GEOMETRY_DATA *p_load_geometry_data)
	Load a geometry. More...
DLLAPI int ER_STDCALL	erGeoMngr_FreeGeometry (ER_HND er_hnd, TErGeoHandle GeoHandle)
	Free or delete a geometry. More...
DLLAPI int ER_STDCALL	erGeoMngr_GetNumGeometries (ER_HND er_hnd)
	Get number of loaded geometries for specified device. More...
DLLAPI int ER_STDCALL	erGeoMngr_GetGeometry (ER_HND er_hnd, int geometryIndex, LOAD_GEOMETRY_DATA *p_load_geometry_data, DFRAME *kinMat)
DLLAPI int ER_STDCALL	erGeoMngr_GetNumAxisGeometries (ER_HND er_hnd, int axis_nr)
DLLAPI int ER_STDCALL	erGeoMngr_GetAxisGeometry (ER_HND er_hnd, int axis_nr, int geometryIndex, LOAD_GEOMETRY_DATA *p_load_geometry_data, DFRAME *kinMat)
DLLAPI const double *ER_STDCALL	erGeoMngr_GetGeometryBBox (TErGeoHandle geometryHandle)
DLLAPI const double *ER_STDCALL	erGeoMngr_GetAxisBBox (ER_HND er_hnd, int axis_id)
DLLAPI const double *ER_STDCALL	erGeoMngr_GetDeviceBBox (ER_HND er_hnd)
DLLAPI int ER_STDCALL	erGeoMngr_GetGeometryNumObjs (TErGeoHandle geometryHandle)
DLLAPI int ER_STDCALL	erGeoMngr_GetGeometryObjNumPoints (TErGeoHandle geometryHandle, int objidx)
DLLAPI double *ER_STDCALL	erGeoMngr_GetGeometryObjPoint (TErGeoHandle geometryHandle, int objidx, int index)
DLLAPI int ER_STDCALL	erGeoMngr_GetGeometryObjNumPointNormals (TErGeoHandle geometryHandle, int objidx)
DLLAPI double *ER_STDCALL	erGeoMngr_GetGeometryObjPointNormal (TErGeoHandle geometryHandle, int objidx, int index)
DLLAPI int ER_STDCALL	erGeoMngr_GetGeometryObjNumLines (TErGeoHandle geometryHandle, int objidx)
DLLAPI size_t *ER_STDCALL	erGeoMngr_GetGeometryObjLine (TErGeoHandle geometryHandle, int objidx, int index)
DLLAPI int ER_STDCALL	erGeoMngr_GetGeometryObjNumPolygons (TErGeoHandle geometryHandle, int objidx)
DLLAPI size_t *ER_STDCALL	erGeoMngr_GetGeometryObjPolygon (TErGeoHandle geometryHandle, int objidx, int index)
DLLAPI double *ER_STDCALL	erGeoMngr_GetGeometryObjColor (TErGeoHandle geometryHandle, int objidx)
DLLAPI long ER_STDCALL	erGeoMngr_GetGeometryObjColorCode (TErGeoHandle geometryHandle, int objidx)
DLLAPI int ER_STDCALL	erGeoMngr_GetGeometryCloneCount (TErGeoHandle geometryHandle)
DLLAPI TErGeoHandle ER_STDCALL	erGeoMngr_GetGeometryCloneHandle (TErGeoHandle geometryHandle)
DLLAPI int ER_STDCALL	erGeoMngr_SetGeometryCollisionHandle (TErGeoHandle geometryHandle, ER_COLLISION_HND collisionHandle)
DLLAPI ER_COLLISION_HND *ER_STDCALL	erGeoMngr_GetGeometryCollisionHandle (TErGeoHandle geometryHandle)
DLLAPI int ER_STDCALL	erGeoMngr_SetGeometryIsCollided (TErGeoHandle geometryHandle, int isCollided)
DLLAPI int *ER_STDCALL	erGeoMngr_GetGeometryIsCollided (TErGeoHandle geometryHandle)
DLLAPI int ER_STDCALL	erGeoMngr_CheckBoundingBoxCollision (DFRAME *T1, const double *bbox1, DFRAME *T2, const double *bbox2, double tolerance)
DLLAPI long ER_STDCALL	erMath_FrameToVecIdx (DFRAME *T, double *vec, long rotation_idx=ER_ROT_XYZ)
	Converts a frame into an euler vector or quaternion. Frame T is converted into a vector vec A frame DFRAME is a homogeneous 4x4 transformation matrix. Depending on the rotation index rotation_idx, which is one of ER_ROT_XYZ = RotX * RotY' * RotZ'' default, ER_ROT_XYZ, ER_ROT_ZYX, ER_ROT_YXZ, ER_ROT_ZYZ,ER_ROT_XYX, ER_ROT_RPY, ER_ROT_QUAT, ER_ROT_CA, ER_ROT_ZYpZ, ER_ROT_Y9XZ, ER_ROT_Z9XY, ER_ROT_Z9XZ, ER_ROT_Z9YX, ER_ROT_IJK, ER_ROT_ANGLE_1 See also erMath_VecToFrameIdx() More...
DLLAPI long ER_STDCALL	erMath_VecToFrameIdx (double *vec, DFRAME *T, long rotation_idx=ER_ROT_XYZ)
	Converts an euler vector or quaternion into a frame. Vector vec is converted into a frame T A frame DFRAME is a homogeneous 4x4 transformation matrix. Depending on the rotation index rotation_idx, which is one of ER_ROT_XYZ = RotX * RotY' * RotZ'' default, ER_ROT_XYZ, ER_ROT_ZYX, ER_ROT_YXZ, ER_ROT_ZYZ,ER_ROT_XYX, ER_ROT_RPY, ER_ROT_QUAT, ER_ROT_CA, ER_ROT_ZYpZ, ER_ROT_Y9XZ, ER_ROT_Z9XY, ER_ROT_Z9XZ, ER_ROT_Z9YX, ER_ROT_IJK, ER_ROT_ANGLE_1 See also erMath_FrameToVecIdx() More...
DLLAPI long ER_STDCALL	erMath_PxyzRxyzToFrame (double x, double y, double z, double Rx, double Ry, double Rz, DFRAME *T)
	Converts an euler represented location with rotation index ER_ROT_XYZ into a frame. Location x, y, z, Rx, Ry, Rz are converted into a frame T A frame DFRAME is a homogeneous 4x4 transformation matrix. See also erMath_VecToFrameIdx(), erMath_FrameToVecIdx() More...
DLLAPI long ER_STDCALL	erMath_Frame_Ident (DFRAME *T)
	Set the homogeneous 4x4 transformation matrix T to identity. T = Ident A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_Frame_Trans (DFRAME *T, double x, double y, double z)
	Set position of homogeneous 4x4 transformation matrix. T.p[] = [x,y,z] A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_Frame_Rot (DFRAME *T, double q, long rotation_idx=ER_ROT_IDENT)
	Set orientation of homogeneous 4x4 transformation matrix. T = f(q,rotation_idx) The rotation index rotation_idx, is one of ER_ROT_IDENT=default, ER_ROT_X, ER_ROT_Y or ER_ROT_Z A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_AngleBetween (DFRAME *Ts, DFRAME *Te, double *angle, double *k=NULL)
	Calculates the angle and the equivalent angle axis between two homogeneous 4x4 transformation matrices. Rotation from start frame Ts into end frame Te by angle of rotation angle about the equivalent angle axis k A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_DistBetween (DFRAME *Ts, DFRAME *Te, double *dist, double *dv=NULL)
	Calculates the distance and direction between two homogeneous 4x4 transformation matrices. Translation from start frame Ts into end frame Te by the distance dist in direction vd A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_CircCenterPoint (double *ps, double *pv, double *pe, DFRAME *pTc, double *radius, double *phi, double *phi_via=NULL)
	Circle calculation from three points ps over pv to pe. Calculates center of circle, radius and angle. More...
DLLAPI long ER_STDCALL	erMath_invT (DFRAME *To, DFRAME *Ti)
	Builds the inverse of a homogeneous 4x4 transformation matrix T. To = inv(Ti) = ( Ri' , -Ri'*pi ), Ri' is transpose of Ri A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_invR (DFRAME *Ro, DFRAME *Ri)
	Builds the inverse of the 3x3 orientation matrix from a homogeneous 4x4 transformation matrix T. Ro = inv(Ri) = transpose(Ri) = Ri', with Ti = ( Ri , pi ) A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_R_R (DFRAME *Ro, DFRAME *Ri1, DFRAME *Ri2)
	Orientation multiplication of two homogeneous 4x4 transformation matrices. Ro = Ri1 * Ri2 A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_T_T (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2)
	Multiplication of two homogeneous 4x4 transformation matrices. To = Ti1 * Ti2 A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_T_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2)
	Multiplication of two homogeneous 4x4 transformation matrices. To = Ti1 * inv(Ti2) Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_invT_T (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2)
	Multiplication of two homogeneous 4x4 transformation matrices. To = inv(Ti1) * Ti2 Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_invT_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2)
	Multiplication of two homogeneous 4x4 transformation matrices. To = inv(Ti1) * inv(Ti2) Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_T_pos (double *po, DFRAME *T, double *pi)
	Multiplication of a 3x1 position with a homogeneous 4x4 transformation matrices. po = T * pi, pi is vector of size ER_DIM po = R*pi + p, with T = ( R , p) A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_invT_pos (double *po, DFRAME *T, double *pi)
	Multiplication of a 3x1 position with the inverse of a homogeneous 4x4 transformation matrices. po = inv(T) * pi, pi is vector of size ER_DIM Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_R_pos (double *po, DFRAME *R, double *pi)
	Multiplication of a 3x1 position with the 3x3 orientation of a homogeneous 4x4 transformation matrices. po = R * pi, pi is vector of size ER_DIM A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_invR_pos (double *po, DFRAME *R, double *pi)
	Multiplication of a 3x1 position with the transpose of a 3x3 orientation of a homogeneous 4x4 transformation matrices. po = R' * pi, pi is vector of size ER_DIM Remarks R' = inv(R) is the transpose of R, see erMath_invR() A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_T_T_T (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3)
	Tripple multiplication of homogeneous 4x4 transformation matrices. To = Ti1 * Ti2 * Ti3 A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_T_T_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3)
	Tripple multiplication of homogeneous 4x4 transformation matrices. To = Ti1 * Ti2 * inv(Ti3) Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_T_invT_T (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3)
	Tripple multiplication of homogeneous 4x4 transformation matrices. To = Ti1 * inv(Ti2) * Ti3 Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_T_invT_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3)
	Tripple multiplication of homogeneous 4x4 transformation matrices. To = Ti1 * inv(Ti2) * inv(Ti3) Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_invT_T_T (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3)
	Tripple multiplication of homogeneous 4x4 transformation matrices. To = inv(Ti1) * Ti2 * Ti3 Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_invT_T_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3)
	Tripple multiplication of homogeneous 4x4 transformation matrices. To = inv(Ti1) * Ti2 * inv(Ti3) Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_invT_invT_T (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3)
	Tripple multiplication of homogeneous 4x4 transformation matrices. To = inv(Ti1) * inv(Ti2) * Ti3 Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI long ER_STDCALL	erMath_mul_invT_invT_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2, DFRAME *Ti3)
	Tripple multiplication of homogeneous 4x4 transformation matrices. To = inv(Ti1) * inv(Ti2) * inv(Ti3) Remarks inv(T) is the inverse of T, see erMath_invT() A frame DFRAME is a homogeneous 4x4 transformation matrix. More...
DLLAPI double *ER_STDCALL	erMath_SetVec6 (double *vec, double q1, double q2, double q3, double q4, double q5, double q6)
	Cpy six values to a vector. More...
DLLAPI double *ER_STDCALL	erMath_SetVec6PosOri (double *vec, double x, double y, double z, double Rx, double Ry, double Rz)
	Cpy and convert a target location (position+orientation) to a vector position x,y,z in [mm] converted to [m] by ER_mm2m orientation Rx,Ry,Rz in [deg] converted to [rad] by ER_RAD . More...
DLLAPI DFRAME *ER_STDCALL	erMath_SetFramePosOri (DFRAME *To, double x, double y, double z, double Rx, double Ry, double Rz)
	Cpy and convert a target location (position+orientation) to a DFRAME position x,y,z in [mm] converted to [m] by ER_mm2m orientation Rx,Ry,Rz in [deg] converted to [rad] by ER_RAD . More...
DLLAPI double *ER_STDCALL	erMath_SetVec_n (double *vec, int n, double q1, double q2, double q3, double q4, double q5, double q6)
	Cpy n values to a vector. More...
DLLAPI double *ER_STDCALL	erMath_CpyVec (double *dst, double *src, int n)
	Cpy vector dst = src. More...
DLLAPI double *ER_STDCALL	erMath_ResetVec (double *dst, int n)
	Reset vector dst = 0. More...

Function Documentation

CpyEventsTemplate()

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.

Parameters

[in]	er_tpth_hnd	unique tool path handle ER_TOOLPATH_HND
[in]	hnd	target location events handle ER_TARGET_EVENTS_HND

Return values

0	- Ok
1	- Error

CpyExtAxConveyorTemplate()

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.

Parameters

[in]	er_tpth_hnd	unique tool path handle ER_TOOLPATH_HND
[in]	hnd	external axis conveyor handle ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND

Return values

0	- Ok
1	- Error

CpyExtAxPositionerTemplate()

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.

Parameters

[in]	er_tpth_hnd	unique tool path handle ER_TOOLPATH_HND
[in]	hnd	external axis positioner handle ER_TARGET_EXTAX_DEVICE_POSITIONER_HND

Return values

0	- Ok
1	- Error

CpyExtAxTrackMotionTemplate()

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.

Parameters

[in]	er_tpth_hnd	unique tool path handle ER_TOOLPATH_HND
[in]	hnd	external axis track motion handle ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND

Return values

0	- Ok
1	- Error

CpyMotionAttributesTemplate()

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.

Parameters

[in]	er_tpth_hnd	unique tool path handle ER_TOOLPATH_HND
[in]	hnd	attribute handle ER_TARGET_ATTRIBUTES_HND

Return values

0	- Ok
1	- Error

CpyMoveCPTemplate()

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.

Parameters

[in]	er_tpth_hnd	unique tool path handle ER_TOOLPATH_HND
[in]	hnd	move cp handle ER_TARGET_MOVE_CP_HND

Return values

0	- Ok
1	- Error

CpyMoveJointTemplate()

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.

Parameters

[in]	er_tpth_hnd	unique tool path handle ER_TOOLPATH_HND
[in]	hnd	move joint handle ER_TARGET_MOVE_JOINT_HND

Return values

0	- Ok
1	- Error

erAddTargetLocation()

DLLAPI long 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.

Parameters

[in]	er_tpth_hnd	unique tool path handle ER_TOOLPATH_HND
[out]	er_tarloc_hnd	a new unique target location handle ER_TARGET_LOCATION_HND

Return values

0	- Ok
1	- Error

erCANCEL_EVENT()

DLLAPI long ER_STDCALL erCANCEL_EVENT	(	ER_HND	er_hnd,
		long	event_id
	)

This function makes it possible to cancel an event previously defined in the Kernel by the erDEFINE_EVENT() function.
Opcode 149, Chapter 3.4.8, Page 3-99
Function not supported

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	event_id

Return values

0	- OK
1	- Error, invalid handle
-1	- not supported

erCANCEL_FLYBY_CRITERIA()

DLLAPI long ER_STDCALL erCANCEL_FLYBY_CRITERIA	(	ER_HND	er_hnd,
		long	param_number
	)

Cancels (unselects) a fly-by criterion.
Opcode 143, Chapter 3.4.6, Page 3-88
Function not supported

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	param_number	specifies which parameter to cancel

Return values

0	- OK
1	- Error, invalid handle
-1	- not supported

erCANCEL_MOTION()

DLLAPI long ER_STDCALL erCANCEL_MOTION

(

ER_HND

er_hnd

)

Cancel a motion that was stopped with erSTOP_MOTION() function.
Opcode 153, Chapter 3.4.8, Page 3-103
See also erSTOP_MOTION(), erCONTINUE_MOTION()
Remarks
This function clears any remaining target positions in the Kernel.

Parameters

[in]

er_hnd

unique kinematics handle ER_HND

Return values

0	- OK
1	- Error, invalid handle
-55	- the function is not performed. Motion in progress

erColl_AddTri()

DLLAPI long ER_STDCALL erColl_AddTri	(	ER_COLLISION_HND	er_coll_hnd,
		double *	p1,
		double *	p2,
		double *	p3,
		long	id
	)

Adds a triangle to a Model.
call erColl_BeginModel() once to create a new unique model handle.

Parameters

[in]	er_coll_hnd	a valid unique Collision handle ER_COLLISION_HND
[in]	p1	1st point of triangle
[in]	p2	2nd point of triangle
[in]	p3	3rd point of triangle
[in]	id	unique identifier for this triangle

Return values

0	- ER_COLL_OK - OK
1	- ER_COLL_ERROR - Error, kernel not initialized
2	- ER_COLL_HND_INVALID - Collision handle invalid

erColl_BeginModel()

DLLAPI long ER_STDCALL erColl_BeginModel	(	ER_COLLISION_HND *	er_coll_hnd,
		long	n_tris
	)

Creates a collision handle for one Model and preallocate memory for n_tris triangles.

Parameters

[out]	er_coll_hnd	unique Collision handle ER_COLLISION_HND
[in]	n_tris	number of model triangles

Return values

0	- ER_COLL_OK - OK
1	- ER_COLL_ERROR - Error, kernel not initialized
2	- ER_COLL_HND_INVALID - Collision handle invalid
-1	- ER_COLL_ERR_MODEL_OUT_OF_MEMORY - not enough memory

erColl_ChkCollision()

DLLAPI long ER_STDCALL erColl_ChkCollision	(	ER_COLLISION_HND	er_coll_hnd_1,
		DFRAME *	iT_1,
		ER_COLLISION_HND	er_coll_hnd_2,
		DFRAME *	iT_2,
		long	query_type = ER_COLL_QUERY_TYPE_COLLIDE,
		long	contact_type = ER_COLL_FIRST_CONTACT,
		double	rel_err = 0,
		double	abs_err = 0,
		double	tolerance = 0
	)

Perform the collision check of two Models.
See also erColl_ChkCollision_res() to get the collision results immediately
The query type query_type can be one of the following values.
0: ER_COLL_QUERY_TYPE_UNDEF skip collision checks
1: ER_COLL_QUERY_TYPE_COLLIDE detects collision between two Models
2: ER_COLL_QUERY_TYPE_DISTANCE computes the distance between two Models
3: ER_COLL_QUERY_TYPE_TOLERANCE checks if distance between Models is <= tolerance
The contact type contact_type is used for query type ER_COLL_QUERY_TYPE_COLLIDE and can be one of the following values.
1: ER_COLL_ALL_CONTACTS , the erColl_GetResults_Collide() contains an array with all colliding triangle pairs ER_CollideResult.
2: ER_COLL_FIRST_CONTACT , the erColl_GetResults_Collide() array will only get the first colliding triangle pair found.
Collide
Detects collsion. This is the fastest method.
Distance
Computes minimum distance between two Models. This method takes the most time !!!
Tolerances
Specify tolerance for query type ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCE
Checks if distance between Models is <= tolerance.
Remarks
If erColl_ChkCollision() returns with ER_COLL_DETECTED call, depending on the query type, one of the collision result functions erColl_GetResults_Collide(), erColl_GetResults_Distance() or erColl_GetResults_Tolerance() to receive more detailed information about the collision status.

// Example:
//  Collision Model
//
//  A Collision Model stores geometry to be used in a proximity query.
//  The geometry is loaded with a call to erColl_BeginModel(), at least one call to 
//  erColl_AddTri(), and then a call to erColl_EndModel().
//
//  create a two triangle models
//
ER_COLLISION_HND er_coll_hnd_1 = NULL; // unique Collision handle for the 1st Model
ER_COLLISION_HND er_coll_hnd_2 = NULL; // unique Collision handle for the 2nd Model
ER_COLLISION_HND *er_coll_hnd;                                  // points to er_coll_hnd_1 or er_coll_hnd_2

long id; // tri identifier
long number_of_tris_1 = 6; // number of tris for the 1st Model
long number_of_tris_2 = 4; // number of tris for the 2nd Model

//~~~~~~~~~~~~~~~~~~~~~~~~~
// erColl_BeginModel
//~~~~~~~~~~~~~~~~~~~~~~~~~
// 1st Model
er_coll_hnd = &er_coll_hnd_1;
ret=erColl_BeginModel(er_coll_hnd,number_of_tris_1);

// 2nd Model
er_coll_hnd = &er_coll_hnd_2;
ret=erColl_BeginModel(er_coll_hnd,number_of_tris_2);

//~~~~~~~~~~~~~~~~~~~~~~~~~
// erColl_AddTri
//~~~~~~~~~~~~~~~~~~~~~~~~~
// define 5 points for a pyramide
double p1[ER_DIM] = { 0.5, 0,   0.0};
double p2[ER_DIM] = { 0.0, 0.5, 0.0};
double p3[ER_DIM] = {-0.5, 0.0, 0.0};
double p4[ER_DIM] = { 0.0,-0.5, 0.0};
double p5[ER_DIM] = { 0.0, 0.0, 0.5};

// 1st Model
er_coll_hnd = &er_coll_hnd_1;
id=0;
ret=erColl_AddTri(*er_coll_hnd,p1,p2,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p2,p3,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p3,p4,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p4,p1,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p1,p4,p3,id++);  // with a bottom
ret=erColl_AddTri(*er_coll_hnd,p3,p2,p1,id++);  // with a bottom
if (ret==ER_COLL_OK)
        erColl_EndModel(*er_coll_hnd);

// 2nd Model
er_coll_hnd = &er_coll_hnd_2;
id=0;
ret=erColl_AddTri(*er_coll_hnd,p1,p2,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p2,p3,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p3,p4,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p4,p1,p5,id++);
if (ret==ER_COLL_OK)
        erColl_EndModel(*er_coll_hnd);

//~~~~~~~~~~~~~~~~~~~~~~~~~
// erColl_ChkCollision
//~~~~~~~~~~~~~~~~~~~~~~~~~
long collision = 0;      // ER_COLL_DETECTED- collision, 0- no collision

DFRAME T_1; // location of 1st Model
erMath_Frame_Ident(&T_1);

DFRAME T_2;      // location of 2nd Model
erMath_Frame_Ident(&T_2);
// translate 2nd Model to z=1.5 and rotate about y-axis by 180 deg 
erMath_PxyzRxyzToFrame( 0.1, 0.1, 1.5, 0.0, 180.0*ER_RAD, 0.0, &T_2);

long query_type = ER_COLL_QUERY_TYPE_DISTANCE;  // or one of ER_COLL_QUERY_TYPE_COLLIDE , ER_COLL_QUERY_TYPE_DISTANCE, ER_COLL_QUERY_TYPE_TOLERANCE
long contact_type = ER_COLL_ALL_CONTACTS;               // or one of ER_COLL_FIRST_CONTACT, if query_type is ER_COLL_QUERY_TYPE_COLLIDE

// if query_type is one of ER_COLL_QUERY_TYPE_DISTANCE, ER_COLL_QUERY_TYPE_TOLERANCE
double rel_err = 0;                                                     // the relative error margin from actual distance
double abs_err = 0;                                                             // the absolute error margin from actual distance
double tolerance = 100 * ER_mm2m;                               // 100 [mm]

collision = erColl_ChkCollision(
        er_coll_hnd_1,  // unique Collision handle for the 1st Model
        &T_1,           // location of 1st object
        er_coll_hnd_2,  // unique Collision handle for the 2nd Model
        &T_2,           // location of 2nd object
        query_type,     // ER_COLL_QUERY_TYPE_COLLIDE, ER_COLL_QUERY_TYPE_DISTANCE, ER_COLL_QUERY_TYPE_TOLERANCE 
        contact_type,   // ER_COLL_FIRST_CONTACT, ER_COLL_ALL_CONTACTS
        rel_err,        // the relative error margin from actual distance
        abs_err,        // the absolute error margin from actual distance
        tolerance       // Tolerance [m]
        );

//~~~~~~~~~~~~~~~~~~~~~~~~~
// Get collision results
//~~~~~~~~~~~~~~~~~~~~~~~~~
if (collision==ER_COLL_DETECTED || 
        query_type==ER_COLL_QUERY_TYPE_DISTANCE)
{
        switch (query_type) {
        case ER_COLL_QUERY_TYPE_COLLIDE:
                ER_CollideResult er_cres;
                erColl_GetResults_Collide(&er_cres);
                // ....
                break;
        case ER_COLL_QUERY_TYPE_DISTANCE:
                ER_DistanceResult er_dres;
                erColl_GetResults_Distance(&er_dres);
                // ....
                break;
        case ER_COLL_QUERY_TYPE_TOLERANCE:
                ER_ToleranceResult er_tres;
                erColl_GetResults_Tolerance(&er_tres);
                // ....
                break;
        };
}
// ....

Parameters

[in]	er_coll_hnd_1	unique Collision handle for the 1st Model ER_COLLISION_HND
[in]	iT_1	a location of the 1st Model w.r.t. inertia DFRAME
[in]	er_coll_hnd_2	unique Collision handle for the 2nd Model ER_COLLISION_HND
[in]	iT_2	a location of the 2nd Model w.r.t. inertia DFRAME
[in]	query_type	collision query type
[in]	contact_type	collision contact type
[in]	rel_err	relative error margin from actual distance
[in]	abs_err	absolute error margin from actual distance
[in]	tolerance	Tolerance value

Return values

3	- ER_COLL_DETECTED - Collision detected
1	- ER_COLL_ERROR - Error, kernel not initialized
2	- ER_COLL_HND_INVALID - Collision handle invalid

erColl_ChkCollision_res()

DLLAPI long ER_STDCALL erColl_ChkCollision_res	(	ER_COLLISION_HND	er_coll_hnd_1,
		DFRAME *	iT_1,
		ER_COLLISION_HND	er_coll_hnd_2,
		DFRAME *	iT_2,
		long	query_type = ER_COLL_QUERY_TYPE_COLLIDE,
		long	contact_type = ER_COLL_FIRST_CONTACT,
		double	rel_err = 0,
		double	abs_err = 0,
		double	tolerance = 0,
		void *	pres = NULL
	)

Perform the collision check of two Models.
Collision results returned immediately by parameter pres compared to erColl_ChkCollision()
The query type query_type can be one of the following values.
0: ER_COLL_QUERY_TYPE_UNDEF skip collision checks
1: ER_COLL_QUERY_TYPE_COLLIDE detects collision between two Models
2: ER_COLL_QUERY_TYPE_DISTANCE computes the distance between two Models
3: ER_COLL_QUERY_TYPE_TOLERANCE checks if distance between Models is <= tolerance
The contact type contact_type is used for query type ER_COLL_QUERY_TYPE_COLLIDE and can be one of the following values.
1: ER_COLL_ALL_CONTACTS , the erColl_GetResults_Collide() contains an array with all colliding triangle pairs ER_CollideResult.
2: ER_COLL_FIRST_CONTACT , the erColl_GetResults_Collide() array will only get the first colliding triangle pair found.
Collide
Detects collsion. This is the fastest method.
Distance
Computes minimum distance between two Models. This method takes the most time !!!
Tolerances
Specify tolerance for query type ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCE
Checks if distance between Models is <= tolerance.
Remarks
If erColl_ChkCollision_res() returns with ER_COLL_DETECTED, get more detailed information about the collision status by parameter pres.

//  Example
//
//  Erk_CollisionResult_Init(...) to initialize collision result structures depending on query_type
//  Erk_CollisionResult_Output(...) to store collision results into file stream 'fp'
//  Erk_Do_Collisions() performe collision check of two Models
//

int Erk_CollisionResult_Init(long query_type, void *pres)
// Initialize collision result structures depending on query_type
// Note that the Kernel will administrate the memory for p->pairs, p->p1, p->p2
// Make sure that these pointers are set to NULL here
{
        if (!pres)
                return 1;

        switch (query_type) {
        case ER_COLL_QUERY_TYPE_COLLIDE:
                {
                ER_CollideResult *p = (ER_CollideResult *)pres;
                p->query_time_secs = 0;
                erMath_Frame_Ident(&p->m1Tm2);
                p->num_pairs_alloced = 0;
                p->num_pairs = 0;
                p->pairs = NULL;
                }
                break;
        case ER_COLL_QUERY_TYPE_DISTANCE:
                {
                ER_DistanceResult *p = (ER_DistanceResult *)pres;
                p->query_time_secs = 0;
                erMath_Frame_Ident(&p->m1Tm2);
                p->rel_err = 0;                                                         
                p->abs_err = 0;                                                         
                p->distance = 0;                                                        
                p->p1 = NULL;                                                           
                p->p2 = NULL;                                                           
                }
                break;
        case ER_COLL_QUERY_TYPE_TOLERANCE:
                {
                ER_ToleranceResult *p = (ER_ToleranceResult *)pres;
                p->query_time_secs = 0;
                erMath_Frame_Ident(&p->m1Tm2);
                p->closer_than_tolerance = 0;                           
                p->tolerance = 0;                                                       
                p->distance = 0;                                                        
                p->p1 = NULL;                                                           
                p->p2 = NULL;                                                           
                }
                break;
        };
        return 0;
}

int  Erk_CollisionResult_Output(long collision, long query_type, int step, void *pres)
// Store collision results into file stream 'fp'
// Pointer 'pres' points to one collision result structure: ER_CollideResult, ER_DistanceResult or ER_ToleranceResult
{
        if (!pres)
                return 1;

        if (collision==ER_COLL_DETECTED || 
                query_type==ER_COLL_QUERY_TYPE_DISTANCE)
        {
                switch (query_type) {
                case ER_COLL_QUERY_TYPE_COLLIDE:
                        {
                                ER_CollideResult *p = (ER_CollideResult *)pres;
                                fprintf(fp,"i=%d erColl_GetResults_Collide() num_pairs_alloced %d  num_pairs %ld  time %.6lf\n",step,
                                        p->num_pairs_alloced,p->num_pairs,p->query_time_secs);
                                DFRAME *pT = &p->m1Tm2;
                                out_frame(fp,"m1Tm2",pT);
                                ER_CollisionPair *pa = p->pairs;        // is NULL if no num_pairs
                                for (int j=0;j<p->num_pairs;j++)
                                {
                                        fprintf(fp,"   pairs[%d]  id ( %d , %d )\n",j,pa->id1,pa->id2);
                                        pa++;
                                }
                        }
                        break;
                case ER_COLL_QUERY_TYPE_DISTANCE:
                        {
                                ER_DistanceResult *p = (ER_DistanceResult *)pres;
                                fprintf(fp,"i=%d erColl_GetResults_Distance() rel_err %.3lf  abs_err %.3lf  distance %.3lf  time %.6lf\n",step,
                                        p->rel_err*100,
                                        p->abs_err*ER_m2mm,
                                        p->distance*ER_m2mm,
                                        p->query_time_secs);
                                DFRAME *pT = &p->m1Tm2;
                                out_frame(fp,"m1Tm2",pT);
                                if (p->distance>0)
                                {
                                        double *v;
                                        v = p->p1;
                                        fprintf(fp,"   p1  %.3lf  %.3lf  %.3lf\n",v[0]*ER_m2mm,v[1]*ER_m2mm,v[2]*ER_m2mm);
                                        v = p->p2;
                                        fprintf(fp,"   p2  %.3lf  %.3lf  %.3lf\n",v[0]*ER_m2mm,v[1]*ER_m2mm,v[2]*ER_m2mm);
                                }
                        }
                        break;
                case ER_COLL_QUERY_TYPE_TOLERANCE:
                        {
                                ER_ToleranceResult *p = (ER_ToleranceResult *)pres;
                                fprintf(fp,"i=%d erColl_GetResults_Tolerance() closer_than_tolerance %s  tolerance %.3lf  distance %.3lf  time %.6lf\n",step,
                                        p->closer_than_tolerance?"TRUE":"NO",p->tolerance*ER_m2mm,p->distance*ER_m2mm,p->query_time_secs);
                                DFRAME *pT = &p->m1Tm2;
                                out_frame(fp,"m1Tm2",pT);
                                if (p->distance>0)
                                {
                                        double *v;
                                        v = p->p1;
                                        fprintf(fp,"   p1  %.3lf  %.3lf  %.3lf\n",v[0]*ER_m2mm,v[1]*ER_m2mm,v[2]*ER_m2mm);
                                        v = p->p2;
                                        fprintf(fp,"   p2  %.3lf  %.3lf  %.3lf\n",v[0]*ER_m2mm,v[1]*ER_m2mm,v[2]*ER_m2mm);
                                }
                        }
                        break;
                };
        }
        return 0;
}

int Erk_Do_Collisions()
// do some collisions
{
        //  Collision Model
        //
        //  A Collision Model stores geometry to be used in a proximity query.
        //  The geometry is loaded with a call to erColl_BeginModel(), at least one call to 
        //  erColl_AddTri(), and then a call to erColl_EndModel().
        //
        //  create a two triangle models
        //

        int ret=ER_COLL_OK;

        long collision = ER_COLL_OK;                                    // ER_COLL_DETECTED - collision, ER_COLL_OK - no collision

        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // erColl_BeginModel
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        ER_COLLISION_HND er_coll_hnd_1 = NULL;                  // unique Collision handle for the 1st Model
        ER_COLLISION_HND er_coll_hnd_2 = NULL;                  // unique Collision handle for the 2nd Model
        ER_COLLISION_HND *er_coll_hnd;                                  // points to er_coll_hnd_1 or er_coll_hnd_2

        long id;                                                                                // tri identifier
        long number_of_tris_1 = 6;                                              // number of tris for the 1st Model
        long number_of_tris_2 = 4;                                              // number of tris for the 2nd Model

        // 1st Model
        er_coll_hnd = &er_coll_hnd_1;
        ret=erColl_BeginModel(er_coll_hnd,number_of_tris_1);

        // 2nd Model
        er_coll_hnd = &er_coll_hnd_2;
        ret=erColl_BeginModel(er_coll_hnd,number_of_tris_2);

        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // erColl_AddTri
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // define 5 points for a pyramide
        double p1[ER_DIM] = { 0.5, 0,   0.0};
        double p2[ER_DIM] = { 0.0, 0.5, 0.0};
        double p3[ER_DIM] = {-0.5, 0.0, 0.0};
        double p4[ER_DIM] = { 0.0,-0.5, 0.0};
        double p5[ER_DIM] = { 0.0, 0.0, 0.5};

        // 1st Model
        er_coll_hnd = &er_coll_hnd_1;
        id=0;
        ret=erColl_AddTri(*er_coll_hnd,p1,p2,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p2,p3,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p3,p4,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p4,p1,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p1,p4,p3,id++);  // bottom
        ret=erColl_AddTri(*er_coll_hnd,p3,p2,p1,id++);  // bottom
        if (ret==ER_COLL_OK)
                erColl_EndModel(*er_coll_hnd);

        // 2nd Model
        er_coll_hnd = &er_coll_hnd_2;
        id=0;
        ret=erColl_AddTri(*er_coll_hnd,p1,p2,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p2,p3,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p3,p4,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p4,p1,p5,id++);
        if (ret==ER_COLL_OK)
                erColl_EndModel(*er_coll_hnd);

        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // erColl_ChkCollision
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        DFRAME T_1;                                                                             // location of 1st Model
        erMath_Frame_Ident(&T_1);

        DFRAME T_2;                                                                             // location of 2nd Model
        erMath_Frame_Ident(&T_2);

        // translate 2nd Model to z=1.5 and rotate about y-axis by 180° 
        erMath_PxyzRxyzToFrame( 0.1, 0.1, 1.5, 0.0, 180.0*ER_RAD, 0.0, &T_2);

        // Choose query_type
        long query_type = ER_COLL_QUERY_TYPE_DISTANCE;  // or one of ER_COLL_QUERY_TYPE_COLLIDE , ER_COLL_QUERY_TYPE_DISTANCE, ER_COLL_QUERY_TYPE_TOLERANCE

        // Set contact_type
        // Note: Only relevant for query_type = ER_COLL_QUERY_TYPE_COLLIDE
        long contact_type = ER_COLL_ALL_CONTACTS;               // or one of ER_COLL_FIRST_CONTACT, if query_type is ER_COLL_QUERY_TYPE_COLLIDE

        // Set rel_err, abs_err and tolerance
        // Note: Only relevant for query_type = ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCE
        double rel_err = 0;                                                     // the relative error margin from actual distance
        double abs_err = 0;                                                             // the absolute error margin from actual distance
        double tolerance = 100 * ER_mm2m;                               // 100 [mm]


        // Initialize collision result structures
        // depending on query_type
        ER_CollideResult er_cres;
        ER_DistanceResult er_dres;
        ER_ToleranceResult er_tres;
        void *pres=NULL;

        pres =  query_type==ER_COLL_QUERY_TYPE_COLLIDE ? (void *)&er_cres :
                        query_type==ER_COLL_QUERY_TYPE_DISTANCE ? (void *)&er_dres :
                        query_type==ER_COLL_QUERY_TYPE_TOLERANCE ? (void *)&er_tres :
                        NULL;

        // Initialize collision result structures depending on query_type
        Erk_CollisionResult_Init(query_type,pres);

        // make some collision tests, 
        // while moving 2nd Model down by 100 mm step

        for (int i=0;ret==ER_COLL_OK && i<20;i++)
        {
                T_2.p[2] -= 100 * ER_mm2m;                                      // move 2nd Model in -z direction

                collision = erColl_ChkCollision_res(
                        er_coll_hnd_1,                                                  // unique Collision handle for the 1st Model
                        &T_1,                                                                   // location of 1st object
                        er_coll_hnd_2,                                                  // unique Collision handle for the 2nd Model
                        &T_2,                                                                   // location of 2nd object
                        query_type,                                                             // ER_COLL_QUERY_TYPE_COLLIDE, ER_COLL_QUERY_TYPE_DISTANCE, ER_COLL_QUERY_TYPE_TOLERANCE 
                        contact_type,                                                   // ER_COLL_FIRST_CONTACT, ER_COLL_ALL_CONTACTS
                        rel_err,                                                                // the relative error margin from actual distance
                        abs_err,                                                                // the absolute error margin from actual distance
                        tolerance,                                                              // Tolerance [m]
                        pres                                                                    // pres collision result depending on query type is ::ER_CollideResult, ::ER_DistanceResult or ::ER_ToleranceResult
                        );

                fprintf(fp,"i=%d erColl_ChkCollision() T_2.p[2]=%.5lf , collision = %ld\n",i,T_2.p[2],collision);

                if (collision==ER_COLL_ERROR || collision==ER_COLL_HND_INVALID)
                {
                        ret=ER_COLL_ERROR;
                }

                //~~~~~~~~~~~~~~~~~~~~~~~~~
                // Output of collision results
                //~~~~~~~~~~~~~~~~~~~~~~~~~
                if (pres)       // Pointer 'pres' points to one collision result structure: ER_CollideResult, ER_DistanceResult or ER_ToleranceResult
                        Erk_CollisionResult_Output(collision,query_type,i,pres);        // Store collision results into file stream 'fp'
                else
                {
                        //~~~~~~~~~~~~~~~~~~~~~~~~~
                        // Get collision results
                        // Using
                        //      erColl_GetResults_Collide()
                        //      erColl_GetResults_Distance()
                        //      erColl_GetResults_Tolerance()
                        //~~~~~~~~~~~~~~~~~~~~~~~~~
                        switch (query_type) {
                        case ER_COLL_QUERY_TYPE_COLLIDE:
                                erColl_GetResults_Collide(&er_cres);
                                pres = (void*) &er_cres;
                                break;
                        case ER_COLL_QUERY_TYPE_DISTANCE:
                                erColl_GetResults_Distance(&er_dres);
                                pres = (void*) &er_dres;
                                break;
                        case ER_COLL_QUERY_TYPE_TOLERANCE:
                                erColl_GetResults_Tolerance(&er_tres);
                                pres = (void*) &er_tres;
                                break;
                        };
                        if (pres)
                                Erk_CollisionResult_Output(collision,query_type,i,pres);        // Store collision results into file stream 'fp'
                }
        }
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // Free  collision result structures depending on query_type
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        if (pres)
                erk_sim_collision.erColl_ChkCollision_res_free(query_type,pres);
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // erColl_UnloadModel
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // 1st Model
        er_coll_hnd = &er_coll_hnd_1;
        erColl_UnloadModel(er_coll_hnd);

        // 2nd Model
        er_coll_hnd = &er_coll_hnd_2;
        erColl_UnloadModel(er_coll_hnd);

        return 0;
}
// ....

Parameters

[in]	er_coll_hnd_1	unique Collision handle for the 1st Model ER_COLLISION_HND
[in]	iT_1	a location of the 1st Model w.r.t. inertia DFRAME
[in]	er_coll_hnd_2	unique Collision handle for the 2nd Model ER_COLLISION_HND
[in]	iT_2	a location of the 2nd Model w.r.t. inertia DFRAME
[in]	query_type	collision query type
[in]	contact_type	collision contact type
[in]	rel_err	relative error margin from actual distance
[in]	abs_err	absolute error margin from actual distance
[in]	tolerance	Tolerance value query_type
[out]	pres	pointer to collision result structure ER_CollideResult, ER_DistanceResult or ER_ToleranceResult, depending on query type

Return values

3	- ER_COLL_DETECTED - Collision detected
1	- ER_COLL_ERROR - Error, kernel not initialized
2	- ER_COLL_HND_INVALID - Collision handle invalid

erColl_ChkCollision_res_free()

DLLAPI long ER_STDCALL erColl_ChkCollision_res_free	(	long	query_type,
		void *	pres
	)

Frees allocated memory for Collision results for parameter pres
The query type query_type can be one of the following values.
0: ER_COLL_QUERY_TYPE_UNDEF skip operation
1: ER_COLL_QUERY_TYPE_COLLIDE frees allocated data in ER_CollideResult
2: ER_COLL_QUERY_TYPE_DISTANCE frees allocated data in ER_DistanceResult
3: ER_COLL_QUERY_TYPE_TOLERANCE frees allocated data in ER_ToleranceResult
Remarks
Note that the allocated memory in the Collision results structures must be administrated by the Kernel and not in the host application.

//  Example
//
//  Erk_CollisionResult_Exit(...) to frees collision result structures depending on query_type
//

int Erk_CollisionResult_Exit(long query_type, void *pres)
// frees collision result structures depending on query_type
{
        if (!pres)
                return ER_COLL_ERROR;

        long ret = erColl_ChkCollision_res_free(query_type,pres);
        return ret;
}

// ....

Parameters

[in]	query_type	collision query type
[out]	pres	pointer to collision result structure ER_CollideResult, ER_DistanceResult or ER_ToleranceResult, depending on query type

Return values

0	- ER_COLL_OK - Ok, free memory done
1	- ER_COLL_ERROR - Error, kernel not initialized

erColl_EndModel()

DLLAPI long ER_STDCALL erColl_EndModel

(

ER_COLLISION_HND

er_coll_hnd

)

Stop building a Model.

Parameters

[in]

er_coll_hnd

a valid unique Collision handle ER_COLLISION_HND

Return values

0	- ER_COLL_OK - OK
1	- ER_COLL_ERROR - Error, kernel not initialized
2	- ER_COLL_HND_INVALID - Collision handle invalid

erColl_GetResults_Collide()

DLLAPI long ER_STDCALL erColl_GetResults_Collide

(

ER_CollideResult *

er_cres

)

Get Collision result for query ER_COLL_QUERY_TYPE_COLLIDE. Remarks
Call erColl_ChkCollision() first, before calling this function
Call erColl_ChkCollision_res() to receive the collision result immediately.

Parameters

[out]

er_cres

collide results ER_CollideResult

Return values

0	- OK
1	- Error, kernel not initialized

erColl_GetResults_Distance()

DLLAPI long ER_STDCALL erColl_GetResults_Distance

(

ER_DistanceResult *

er_dres

)

Get Collision result for query ER_COLL_QUERY_TYPE_DISTANCE. Remarks
Call erColl_ChkCollision() first, before calling this function
Call erColl_ChkCollision_res() to receive the collision result immediately.

Parameters

[out]

er_dres

distance results ER_DistanceResult

Return values

0	- OK
1	- Error, kernel not initialized

erColl_GetResults_Tolerance()

DLLAPI long ER_STDCALL erColl_GetResults_Tolerance

(

ER_ToleranceResult *

er_tres

)

Get Collision result for query ER_COLL_QUERY_TYPE_TOLERANCE. Remarks
Call erColl_ChkCollision() first, before calling this function
Call erColl_ChkCollision_res() to receive the collision result immediately.

Parameters

[out]

er_tres

tolerance results ER_ToleranceResult

Return values

0	- OK
1	- Error, kernel not initialized

erColl_UnloadModel()

DLLAPI long ER_STDCALL erColl_UnloadModel

(

ER_COLLISION_HND *

er_coll_hnd

)

Unload a Model. Free all allocated memory.

Parameters

[in]

er_coll_hnd

a valid unique Collision handle ER_COLLISION_HND

Return values

0	- ER_COLL_OK - OK
1	- ER_COLL_ERROR - Error, kernel not initialized
2	- ER_COLL_HND_INVALID - Collision handle invalid

erConnectConveyor()

DLLAPI long 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.

// Example:
long ret;
ER_HND c_er_hnd; // valid robot handle
ret = erInitKin(&c_er_hnd); // Create a unique kinematics handle
ret = erLoadKin(c_er_hnd,"a robot file name"); // Load an EASY-ROB rob file (*.rob) containing a kinematics

ER_HND er_hnd_conveyor; // valid conveyor handle
ret = erInitKin(&er_hnd_conveyor); // Create a unique kinematics handle
ret = erLoadKin(er_hnd_conveyor,"a conveyor file name"); // Load an EASY-ROB rob file (*.rob) containing a kinematics

ret = erConnectConveyor(c_er_hnd,er_hnd_conveyor); // Connects a conveyor to the robot
long sync_type = ER_SYNC_ON; // device synchronization, ER_SYNC_OFF, ER_SYNC_ON
ret = erConnectConveyorSetSync(c_er_hnd,sync_type);     // Set robots synchronization flag
...

Parameters

[in]	er_hnd	unique kinematics handle for the robot ER_HND
[in]	er_hnd_connect	unique kinematics handle for the conveyor ER_HND

Return values

0	- OK
1	- Error, not licensed option, invalid handle

erConnectConveyorGetHND()

DLLAPI ER_HND ER_STDCALL erConnectConveyorGetHND

(

ER_HND

er_hnd

)

Get robots connection handle between robot and conveyor.
See also erConnectConveyor()

Parameters

[in]

er_hnd

unique kinematics handle for the robot ER_HND

Return values

NULL	- not connected or error
not	NULL - valid handle for connected device

erConnectConveyorGetSync()

DLLAPI long ER_STDCALL erConnectConveyorGetSync

(

ER_HND

er_hnd

)

Get robots synchronization flag for synchronization between robot and conveyor.
See also erConnectConveyorSetSync()

Parameters

[in]

er_hnd

unique kinematics handle for the robot ER_HND

Return values

0	- ER_SYNC_UNDEF - Error, synchronization not defined, robot is maybe not connected to conveyor
1	- ER_SYNC_OFF - synchronization is OFF
2	- ER_SYNC_ON - synchronization is ON
-1	- Error, not licensed option, invalid handle

erConnectConveyorSetSync()

DLLAPI long 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()

Parameters

[in]	er_hnd	unique kinematics handle for the robot ER_HND
[in]	connect_sync	synchronization flag

Return values

0	- OK
1	- Error, not licensed option, invalid handle

erConnectPositioner()

DLLAPI long 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.

// Example:
long ret;
ER_HND c_er_hnd; // valid robot handle
ret = erInitKin(&c_er_hnd); // Create a unique kinematics handle
ret = erLoadKin(c_er_hnd,"a robot file name"); // Load an EASY-ROB rob file (*.rob) containing a kinematics

ER_HND er_hnd_positioner; // valid positioner handle
ret = erInitKin(&er_hnd_positioner); // Create a unique kinematics handle
ret = erLoadKin(er_hnd_positioner,"a positioner file name"); // Load an EASY-ROB rob file (*.rob) containing a kinematics

ret = erConnectPositioner(c_er_hnd,er_hnd_positioner); // Connects a positioner to the robot
long sync_type = ER_SYNC_ON; // device synchronization, ER_SYNC_OFF or ER_SYNC_ON
ret = erConnectPositionerSetSync(c_er_hnd,sync_type);   // Set robots synchronization flag
...

Parameters

[in]	er_hnd	unique kinematics handle for the robot ER_HND
[in]	er_hnd_connect	unique kinematics handle for the positioner ER_HND

Return values

0	- OK
1	- Error, not licensed option, invalid handle

erConnectPositionerGetHND()

DLLAPI ER_HND ER_STDCALL erConnectPositionerGetHND

(

ER_HND

er_hnd

)

Get robots connection handle between robot and positioner.
See also erConnectPositioner()

Parameters

[in]

er_hnd

unique kinematics handle for the robot ER_HND

Return values

NULL	- not connected or error
not	NULL - valid handle for connected device

erConnectPositionerGetSync()

DLLAPI long ER_STDCALL erConnectPositionerGetSync

(

ER_HND

er_hnd

)

Get robots synchronization flag for synchronization between robot and positioner.
See also erConnectPositionerSetSync()

Parameters

[in]

er_hnd

unique kinematics handle for the robot ER_HND

Return values

0	- ER_SYNC_UNDEF - Error, synchronization not defined, robot is maybe not connected to positioner
1	- ER_SYNC_OFF - synchronization is OFF
2	- ER_SYNC_ON - synchronization is ON
-1	- Error, not licensed option, invalid handle

erConnectPositionerSetSync()

DLLAPI long 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()

Parameters

[in]	er_hnd	unique kinematics handle for the robot ER_HND
[in]	connect_sync	synchronization flag

Return values

0	- OK
1	- Error, not licensed option, invalid handle

erConnectRobot()

DLLAPI long 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.

// Example:
long ret;
ER_HND c_er_hnd; // valid robot handle
ret = erInitKin(&c_er_hnd); // Create a unique kinematics handle
ret = erLoadKin(c_er_hnd,"a robot file name"); // Load an EASY-ROB rob file (*.rob) containing a kinematics

ER_HND er_hnd_slave_robot; // valid slave robot handle
ret = erInitKin(&er_hnd_slave_robot); // Create a unique kinematics handle
ret = erLoadKin(er_hnd_slave_robot,"a slave robot file name"); // Load an EASY-ROB rob file (*.rob) containing a kinematics

ret = erConnectConveyor(c_er_hnd,er_hnd_slave_robot); // Connects a slave robot to the robot
long sync_type = ER_SYNC_ON; // device synchronization, ER_SYNC_OFF, ER_SYNC_ON
ret = erConnectRobot(c_er_hnd,sync_type);       // Set robots synchronization flag
...

Parameters

[in]	er_hnd	unique kinematics handle for the robot ER_HND
[in]	er_hnd_connect	unique kinematics handle for the slave robot ER_HND

Return values

0	- OK
1	- Error, not licensed option, invalid handle

erConnectRobotGetHND()

DLLAPI ER_HND ER_STDCALL erConnectRobotGetHND

(

ER_HND

er_hnd

)

Get robots connection handle between robot and slave robot.
See also erConnectRobot()

Parameters

[in]

er_hnd

unique kinematics handle for the robot ER_HND

Return values

NULL	- not connected or error
not	NULL - valid handle for connected device

erConnectRobotGetSync()

DLLAPI long ER_STDCALL erConnectRobotGetSync

(

ER_HND

er_hnd

)

Get robots synchronization flag for synchronization between robot and slave robot.
See also erConnectRobotSetSync()

Parameters

[in]

er_hnd

unique kinematics handle for the robot ER_HND

Return values

0	- ER_SYNC_UNDEF - Error, synchronization not defined, robot is maybe not connected to slave robot
1	- ER_SYNC_OFF - synchronization is OFF
2	- ER_SYNC_ON - synchronization is ON
-1	- Error, not licensed option, invalid handle

erConnectRobotSetSync()

DLLAPI long 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()

Parameters

[in]	er_hnd	unique kinematics handle for the robot ER_HND
[in]	connect_sync	synchronization flag

Return values

0	- OK
1	- Error, not licensed option, invalid handle

erConnectTrackMotion()

DLLAPI long 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.

// Example:
long ret;
ER_HND c_er_hnd; // valid robot handle
ret = erInitKin(&c_er_hnd); // Create a unique kinematics handle
ret = erLoadKin(c_er_hnd,"a robot file name"); // Load an EASY-ROB rob file (*.rob) containing a kinematics

ER_HND er_hnd_track_motion; // valid track motion handle
ret = erInitKin(&er_hnd_track_motion); // Create a unique kinematics handle
ret = erLoadKin(er_hnd_track_motion,"a track motion file name"); // Load an EASY-ROB rob file (*.rob) containing a kinematics

ret = erConnectTrackMotion(c_er_hnd,er_hnd_track_motion); // Connects a track motion to the robot
long sync_type = ER_SYNC_ON; // device synchronization, ER_SYNC_OFF, ER_SYNC_ON, ER_SYNC_CONVEYOR
ret = erConnectTrackMotion(c_er_hnd,sync_type); // Set robots synchronization flag
...

Parameters

[in]	er_hnd	unique kinematics handle for the robot ER_HND
[in]	er_hnd_connect	unique kinematics handle for the track motion ER_HND

Return values

0	- OK
1	- Error, not licensed option, invalid handle

erConnectTrackMotionGetHND()

DLLAPI ER_HND ER_STDCALL erConnectTrackMotionGetHND

(

ER_HND

er_hnd

)

Get robots connection handle between robot and track motion.
See also erConnectTrackMotion()

Parameters

[in]

er_hnd

unique kinematics handle for the robot ER_HND

Return values

NULL	- not connected or error
not	NULL - valid handle for connected device

erConnectTrackMotionGetSync()

DLLAPI long ER_STDCALL erConnectTrackMotionGetSync

(

ER_HND

er_hnd

)

Get robots synchronization flag for synchronization between robot and track motion.
See also erConnectTrackMotionSetSync()

Parameters

[in]

er_hnd

unique kinematics handle for the robot ER_HND

Return values

0	- ER_SYNC_UNDEF - Error, synchronization not defined, robot is maybe not connected to track motion
1	- ER_SYNC_OFF - synchronization is OFF
2	- ER_SYNC_ON - synchronization is ON
4	- ER_SYNC_CONVEYOR - additional synchronization with Conveyor
-1	- Error, not licensed option, invalid handle

erConnectTrackMotionSetSync()

DLLAPI long 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()

Parameters

[in]	er_hnd	unique kinematics handle for the robot ER_HND
[in]	connect_sync	synchronization flag

Return values

0	- OK
1	- Error, not licensed option, invalid handle

erCONTINUE_MOTION()

DLLAPI long ER_STDCALL erCONTINUE_MOTION

(

ER_HND

er_hnd

)

Continues a motion that was stopped with the erSTOP_MOTION() function.
Opcode 152, Chapter 3.4.8, Page 3-102
See also erSTOP_MOTION(), erCANCEL_MOTION()
Remarks
After calling this function, the erGET_NEXT_STEP() should be called repeatedly in order to get the acceleration steps.

Parameters

[in]

er_hnd

unique kinematics handle ER_HND

Return values

0	- OK
1	- Error, invalid handle
-55	- the function is not performed. Motion in progress

erDEFINE_EVENT()

DLLAPI long ER_STDCALL erDEFINE_EVENT	(	ER_HND	er_hnd,
		long	event_id,
		long	target_id,
		double	resolution,
		long	type_of_event,
		double	event_spec
	)

Defines an internal asynchronous event that is to be generated relative to position and/or time in the Kernel.
Opcode 148, Chapter 3.4.8, Page 3-96
Function not supported

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	event_id
[in]	target_id
[in]	resolution
[in]	type_of_event
[in]	event_spec

Return values

0	- OK
1	- Error, invalid handle
-1	- not supported

erEnableCallBack_LogProc()

DLLAPI void ER_STDCALL erEnableCallBack_LogProc

(

long

onoff

)

Enable/Disable Log messages.
This function enables or disables Log Messages used with callback function TerLogProc This function can be called before kernel initialization erKernelInitialize()

// Example:
long m_LogProc;         // 1-enable Log Messages for Callback Function, see erSetCallBack_LogProc(); 0-disable
m_LogProc = 1;          // enable log messages before kernel initialization
erEnableCallBack_LogProc(m_LogProc);
...
char HostPath[LS_MAXSTR];       // HostApplictaionPathPath
getcwd(HostPath,LS_MAXSTR);     // get current workinbg directory
char *Sold_To_ID = NULL;        // individual customer identifier
erKernelInitialize(HostPath,Sold_To_ID);
...

Parameters

[in]

onoff

=1 enable, =0 disable

Return values

void

erFindConfig()

DLLAPI long ER_STDCALL erFindConfig	(	ER_HND	er_hnd,
		long *	config
	)

Find current robot configuration
Finds current robot configuration, depending on current robot joint location.
The config is valid for 1 to number of possible configurations, see erGetNumConfigs()
Remarks
If the robot configuration cannot be found, a notify message ER_NOTIFY_CODE_FIND_CONFIG_FAILED will be generated.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	config	robot configuration number [1..number of robot configurations]

Return values

0	- OK
1	- Error, invalid handle

erGeoMngr_CheckBoundingBoxCollision()

DLLAPI int ER_STDCALL erGeoMngr_CheckBoundingBoxCollision	(	DFRAME *	T1,
		const double *	bbox1,
		DFRAME *	T2,
		const double *	bbox2,
		double	tolerance
	)

erGeoMngr_FreeGeometry()

DLLAPI int ER_STDCALL erGeoMngr_FreeGeometry	(	ER_HND	er_hnd,
		TErGeoHandle	GeoHandle
	)

Free or delete a geometry.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	GeoHandle	unique geometry handle TErGeoHandle

Return values

0	- OK
1	- Error

erGeoMngr_GetAxisBBox()

DLLAPI const double* ER_STDCALL erGeoMngr_GetAxisBBox	(	ER_HND	er_hnd,
		int	axis_id
	)

erGeoMngr_GetAxisGeometry()

DLLAPI int ER_STDCALL erGeoMngr_GetAxisGeometry	(	ER_HND	er_hnd,
		int	axis_nr,
		int	geometryIndex,
		LOAD_GEOMETRY_DATA *	p_load_geometry_data,
		DFRAME *	kinMat
	)

erGeoMngr_GetDeviceBBox()

DLLAPI const double* ER_STDCALL erGeoMngr_GetDeviceBBox

(

ER_HND

er_hnd

)

erGeoMngr_GetGeometry()

DLLAPI int ER_STDCALL erGeoMngr_GetGeometry	(	ER_HND	er_hnd,
		int	geometryIndex,
		LOAD_GEOMETRY_DATA *	p_load_geometry_data,
		DFRAME *	kinMat
	)

erGeoMngr_GetGeometryBBox()

DLLAPI const double* ER_STDCALL erGeoMngr_GetGeometryBBox

(

TErGeoHandle

geometryHandle

)

erGeoMngr_GetGeometryCloneCount()

DLLAPI int ER_STDCALL erGeoMngr_GetGeometryCloneCount

(

TErGeoHandle

geometryHandle

)

erGeoMngr_GetGeometryCloneHandle()

DLLAPI TErGeoHandle ER_STDCALL erGeoMngr_GetGeometryCloneHandle

(

TErGeoHandle

geometryHandle

)

erGeoMngr_GetGeometryCollisionHandle()

DLLAPI ER_COLLISION_HND* ER_STDCALL erGeoMngr_GetGeometryCollisionHandle

(

TErGeoHandle

geometryHandle

)

erGeoMngr_GetGeometryIsCollided()

DLLAPI int* ER_STDCALL erGeoMngr_GetGeometryIsCollided

(

TErGeoHandle

geometryHandle

)

erGeoMngr_GetGeometryNumObjs()

DLLAPI int ER_STDCALL erGeoMngr_GetGeometryNumObjs

(

TErGeoHandle

geometryHandle

)

erGeoMngr_GetGeometryObjColor()

DLLAPI double* ER_STDCALL erGeoMngr_GetGeometryObjColor	(	TErGeoHandle	geometryHandle,
		int	objidx
	)

erGeoMngr_GetGeometryObjColorCode()

DLLAPI long ER_STDCALL erGeoMngr_GetGeometryObjColorCode	(	TErGeoHandle	geometryHandle,
		int	objidx
	)

erGeoMngr_GetGeometryObjLine()

DLLAPI size_t* ER_STDCALL erGeoMngr_GetGeometryObjLine	(	TErGeoHandle	geometryHandle,
		int	objidx,
		int	index
	)

erGeoMngr_GetGeometryObjNumLines()

DLLAPI int ER_STDCALL erGeoMngr_GetGeometryObjNumLines	(	TErGeoHandle	geometryHandle,
		int	objidx
	)

erGeoMngr_GetGeometryObjNumPointNormals()

DLLAPI int ER_STDCALL erGeoMngr_GetGeometryObjNumPointNormals	(	TErGeoHandle	geometryHandle,
		int	objidx
	)

erGeoMngr_GetGeometryObjNumPoints()

DLLAPI int ER_STDCALL erGeoMngr_GetGeometryObjNumPoints	(	TErGeoHandle	geometryHandle,
		int	objidx
	)

erGeoMngr_GetGeometryObjNumPolygons()

DLLAPI int ER_STDCALL erGeoMngr_GetGeometryObjNumPolygons	(	TErGeoHandle	geometryHandle,
		int	objidx
	)

erGeoMngr_GetGeometryObjPoint()

DLLAPI double* ER_STDCALL erGeoMngr_GetGeometryObjPoint	(	TErGeoHandle	geometryHandle,
		int	objidx,
		int	index
	)

erGeoMngr_GetGeometryObjPointNormal()

DLLAPI double* ER_STDCALL erGeoMngr_GetGeometryObjPointNormal	(	TErGeoHandle	geometryHandle,
		int	objidx,
		int	index
	)

erGeoMngr_GetGeometryObjPolygon()

DLLAPI size_t* ER_STDCALL erGeoMngr_GetGeometryObjPolygon	(	TErGeoHandle	geometryHandle,
		int	objidx,
		int	index
	)

erGeoMngr_GetNumAxisGeometries()

DLLAPI int ER_STDCALL erGeoMngr_GetNumAxisGeometries	(	ER_HND	er_hnd,
		int	axis_nr
	)

erGeoMngr_GetNumGeometries()

DLLAPI int ER_STDCALL erGeoMngr_GetNumGeometries

(

ER_HND

er_hnd

)

Get number of loaded geometries for specified device.

Parameters

[in]

er_hnd

unique kinematics handle ER_HND

Return values

0	- no geometries loaded or invalid handle
>0	- number of loaded geometries

erGeoMngr_GetVersion()

DLLAPI int ER_STDCALL erGeoMngr_GetVersion

(

)

GeoMngr Version.

Return values

version

GeoMngr version number

erGeoMngr_LoadGeometry()

DLLAPI TErGeoHandle ER_STDCALL erGeoMngr_LoadGeometry	(	ER_HND	er_hnd,
		LOAD_GEOMETRY_DATA *	p_load_geometry_data
	)

Load a geometry.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	p_load_geometry_data	LOAD_GEOMETRY_DATA

Return values

TErGeoHandle

unique geometry handle created by GeoMngr

erGeoMngr_SetGeometryCollisionHandle()

DLLAPI int ER_STDCALL erGeoMngr_SetGeometryCollisionHandle	(	TErGeoHandle	geometryHandle,
		ER_COLLISION_HND	collisionHandle
	)

erGeoMngr_SetGeometryIsCollided()

DLLAPI int ER_STDCALL erGeoMngr_SetGeometryIsCollided	(	TErGeoHandle	geometryHandle,
		int	isCollided
	)

erGET_CARTESIAN_ORIENTATION_ACCELERATION()

DLLAPI long ER_STDCALL erGET_CARTESIAN_ORIENTATION_ACCELERATION	(	ER_HND	er_hnd,
		long	rotation_no,
		double *	accel_ori_value,
		long	accel_type
	)

Gets acceleration for the orientation during cartesian motion [m/sec^2].
The rotation_no should be 1.
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	rotation_no	Number of the rotation axis
[out]	accel_ori_value	Acceleration for orientation [rad/^2]
[in]	accel_type	Type of acceleration.

Return values

0	- OK
1	- Error

erGET_CARTESIAN_POSITION_ACCELERATION()

DLLAPI long ER_STDCALL erGET_CARTESIAN_POSITION_ACCELERATION	(	ER_HND	er_hnd,
		double *	accel_value,
		long	accel_type
	)

Gets acceleration for cartesian motion [m/sec^2].
The accel_type specifies the type of acceleration and can be one of the following values.
1: Acceleration, 2: Deceleration.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	accel_value	Cartesian speed in [m/s]
[in]	accel_type	Type of acceleration.

Return values

0	- OK
1	- Error

erGET_CURRENT_TARGETID()

DLLAPI TErTargetID ER_STDCALL erGET_CURRENT_TARGETID

(

ER_HND

er_hnd

)

Returns the TargetID of the motion in execution.
Opcode 163, Chapter 3.4.6, Page 3-91.

Parameters

[in]

er_hnd

unique kinematics handle ER_HND

Return values

0	- OK
1	- Error, invalid handle
TErTargetID	- target identifier that was passed with erSET NEXT TARGET(), TErTargetID

erGet_erk_kin_usr_ptr()

DLLAPI void** ER_STDCALL erGet_erk_kin_usr_ptr

(

ER_HND

er_hnd

)

erGET_EVENT()

DLLAPI long ER_STDCALL erGET_EVENT	(	ER_HND	er_hnd,
		long	event_nr
	)

This function gets information about an internal asynchronous event that occurred in the Kernel.
Opcode 150, Chapter 3.4.8, Page 3-100
Function not supported

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	event_nr	specifies which of the occurred events to get

Return values

0	- OK
1	- Error, invalid handle
-1	- not supported

erGET_MESSAGE()

DLLAPI long ER_STDCALL erGET_MESSAGE	(	ER_HND	er_hnd,
		long	message_number
	)

Gives information about controller messages that occurred.
Opcode 154, Chapter 3.4.9, Page 3-104
Function not supported Use notify messages instead TErNotifyData.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	message_number	specifies which of the reported message to get

Return values

0	- OK
1	- Error, invalid handle
-1	- not supported

erGet_n_Kin()

DLLAPI long ER_STDCALL erGet_n_Kin

(

ER_HND

er_hnd

)

Get the number of loaded kinematics.

Parameters

[in]

er_hnd

unique kinematics handle ER_HND

Return values

0	- Error, invalid handle
number_of_robots

erGet_n_Kin_IR()

DLLAPI long ER_STDCALL erGet_n_Kin_IR

(

ER_HND

er_hnd

)

Get the number of loaded kinematics with more than 3 joints and inverse kinematics.

Parameters

[in]

er_hnd

unique kinematics handle ER_HND

Return values

0	- Error, invalid handle
number_of_robots_ir

erGET_NEXT_STEP()

DLLAPI long ER_STDCALL erGET_NEXT_STEP	(	ER_HND	er_hnd,
		long	output_format,
		NEXT_STEP_DATA *	p_next_step_data,
		double	time
	)

Returns the next interpolated position step
the elapsed time and supplementary information like events, joint limits and messages.
Opcode 118, Chapter 3.4.3, Page 3-54
The output_format specifies the format desired as output and can be one of the following values.
1: Joint encoder, 2: Joint angle/distance, 4: Cartesian ( w/orientation ), 5: Cartesian and joint encoder, 6: Cartesian and joint angle/distance
Per default, output_format should be set = 2
Remarks
After the target position has been set (using the erSET_NEXT_TARGET()), this function should be called repeatedly until the Status is 1 or 2, specifying that the Host-Application interpreter can continue. If Status is 1 and the Host-Application interpreter finds more target positions it should send the next one to this Kernel using the erSET_NEXT_TARGET() function before erGET_NEXT_STEP() is called again. If the Status is 1 and the Host-Application interpreter finds no more target positions it can continue to call this function until Status is 2.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	output_format	format desired as output
[out]	p_next_step_data	data for next interpolation step NEXT_STEP_DATA
[in]	time	time [s]

Return values

2	- final step, target reached or speed is zero
1	- need more data, nothing to do
0	- OK, next step is calculated successful
-13	- the specified output format is not supported
-17	- the specified motion type is not supported
-25	- the motion is not possible in the specified time
-42	- no target set
-51	- no solution is found. One joint is out of range
-52	- Cartesian position is out of work range
-68	- fatal error, stopped calculating
-76	- incomplete or inconsistent motion specification, can't move
-1053	- Cartesian position is out of boudary work range
-1059	- Cartesian position is singular

erGET_NEXT_TOOLPATH_STEP()

DLLAPI long 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()

// Example:
int CErERK::ToolPath_erGET_NEXT_TOOLPATH_STEP(ER_TOOLPATH_HND my_tp_hnd, double InterpolationTime, char *folder, char *robfile)
// IN:
//      my_tp_hnd - tool path handle
//      InterpolationTime - sampling rate for interpolation in [ms]
//      folder  - folder, loacation of logfiles
//      robfile - use for logfile names
//....

//----------------------------------
// Step 0
// 1. Initializes the MotionPlanner based on current settings   
//----------------------------------
erk_toolpath.erToolPathSetInitPos(my_tp_hnd,InterpolationTime); // Initializes the Trajectory Planner, InterpolationTime [ms]

//----------------------------------
// Step I
// Initialize Interpolation -> ER_MOP_GNTPS_CNTRL_INIT
//----------------------------------
int cntrl = ER_MOP_GNTPS_CNTRL_INIT;
int res = erk_toolpath.erGET_NEXT_TOOLPATH_STEP_INIT(my_tp_hnd,cntrl);
if (res)
        return res;     // Error

//----------------------------------
// Step II
// Start Interpolation -> ER_MOP_GNTPS_CNTRL_NEXT_STEP
//----------------------------------

NEXT_STEP_DATA next_step_data;
double *TrajectoryTime = &next_step_data.TrajectoryTime;        // resulted trajectory time
double gtime=0;
double dt_ipo = InterpolationTime*0.001;        // dt_ipo in [sec]

cntrl = ER_MOP_GNTPS_CNTRL_NEXT_STEP | ER_MOP_GNTPS_CNTRL_UPDATE_GEO | ER_MOP_GNTPS_CNTRL_STEPDATA_OUT;
// call erGET_NEXT_TOOLPATH_STEP() until the end of ToolPath
int gnts_status=ER_MOP_GNS_OK_SUCCESS;
while (gnts_status!=ER_MOP_GNS_ERROR && gnts_status!=ER_MOP_GNT_NO_TARGETS && gnts_status!=ER_MOP_GNS_TOOLPATH_REACHED)
{
        gtime += dt_ipo;        // time in [sec]
        // 
        // erGET_NEXT_TOOLPATH_STEP returns at each interpolation step a current status 'gnts_status'
        // 
        gnts_status = erk_toolpath.erGET_NEXT_TOOLPATH_STEP(my_tp_hnd,cntrl,&next_step_data,gtime);
        switch (gnts_status) {
        default:
                break;
        case ER_MOP_GNS_ERROR:
                // Error
                if (fp_er_dat) fprintf(fp_er_dat,"Host erGET_NEXT_TOOLPATH_STEP() Error MOP_GNS_ERROR gtime %.3lf TrajectoryTime %.3lf\n",gtime,*TrajectoryTime);
                break;
        case ER_MOP_GNT_NO_TARGETS:
                // Error
                if (fp_er_dat) fprintf(fp_er_dat,"Host erGET_NEXT_TOOLPATH_STEP() Error MOP_GNS_NO_TARGETS gtime %.3lf TrajectoryTime %.3lf\n",gtime,*TrajectoryTime);
                break;
        case ER_MOP_GNS_OK_SUCCESS:
                // Interpolates between two target locations
                // Get Results ....
                break;
        case ER_MOP_GNS_NEED_MORE_DATA:
                // It is one step (<dt_ipo) before reaching the target location
                // If Flyby is enabled, the next interpolation step moves to the next target, if exist
                if (fp_er_dat) fprintf(fp_er_dat,"Host erGET_NEXT_TOOLPATH_STEP() NEED_MORE_DATA gtime %.3lf TrajectoryTime %.3lf\n",gtime,*TrajectoryTime);
                // Get Results ....
                break;
        case ER_MOP_GNS_TARGET_REACHED:
                // The target location is exactly reached. Flyby disabled normally
                if (fp_er_dat) fprintf(fp_er_dat,"Host erGET_NEXT_TOOLPATH_STEP() TARGET_REACHED gtime %.3lf TrajectoryTime %.3lf\n",gtime,*TrajectoryTime);
                // Get Results ....
                break;
        case ER_MOP_GNS_TOOLPATH_REACHED:
                // All target location are interpolated successfully
                if (fp_er_dat) fprintf(fp_er_dat,"Host erGET_NEXT_TOOLPATH_STEP() TOOLPATH_REACHED gtime %.3lf TrajectoryTime %.3lf\n",gtime,*TrajectoryTime);
                // Get Results ....
                break;
        }
}

//----------------------------------
// Step III
// Terminate Interpolation -> ER_MOP_GNTPS_CNTRL_TERMINATE
//----------------------------------
res = erk_toolpath.erGET_NEXT_TOOLPATH_STEP_TERMINATE(my_tp_hnd);
// ....
return res;

Parameters

[in]	er_tpth_hnd	unique tool path handle ER_TOOLPATH_HND
[in]	cntrl
[out]	p_next_step_data	data for next interpolation step NEXT_STEP_DATA
[in]	time	time [s]

Return values

ER_MOP_GNS_OK_SUCCESS	- OK, next step is calculated successful
ER_MOP_GNS_NEED_MORE_DATA	- need more data, nothing to do
ER_MOP_GNS_TARGET_REACHED	- final step, target reached or speed is zero
ER_MOP_GNS_TOOLPATH_REACHED	- final step, last toolpath target reached
ER_MOP_GNS_ERROR	- Error
ER_MOP_GNT_NO_TARGETS	- Error, no targets available

erGET_NEXT_TOOLPATH_STEP_cTargetLocation()

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.

Parameters

[in]

er_tpth_hnd

unique tool path handle ER_TOOLPATH_HND

Return values

handle	for target location ER_TARGET_LOCATION_HND
NULL	- Error

erGET_NEXT_TOOLPATH_STEP_INIT()

DLLAPI long ER_STDCALL erGET_NEXT_TOOLPATH_STEP_INIT	(	ER_TOOLPATH_HND	er_tpth_hnd,
		long	cntrl = ER_MOP_GNTPS_CNTRL_INIT
	)

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.

• ER_MOP_GNTPS_CNTRL_LOG_FILE creates a log file (.dat)
• ER_MOP_GNTPS_CNTRL_PRG_FILE creates a prg file (.prg) with joint data at each interpolation step
• ER_MOP_GNTPS_CNTRL_TOOLPATH_OUT writes contents for current ToolPath into log file (.dat) stream

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

        // Example:
        int CErERK::ToolPath_erGET_NEXT_TOOLPATH_STEP(ER_TOOLPATH_HND my_tp_hnd, double InterpolationTime, char *folder, char *robfile)
        // IN:
        //      my_tp_hnd - tool path handle
        //      InterpolationTime - sampling rate for interpolation in [ms]
        //      folder  - folder, loacation of logfiles
        //      robfile - use for logfile names
        //....
        //----------------------------------
        // Step I
        // Initialize Interpolation -> ER_MOP_GNTPS_CNTRL_INIT
        //----------------------------------
        int cntrl = ER_MOP_GNTPS_CNTRL_INIT;

        // Optional, create output file names and streams
        if (folder && robfile)
        {
                // Create output file names for log_file and prg_file
                cntrl |= ER_MOP_GNTPS_CNTRL_LOG_FILE | ER_MOP_GNTPS_CNTRL_PRG_FILE | ER_MOP_GNTPS_CNTRL_TOOLPATH_OUT;

                char *tp_log_fln = erk_toolpath.erToolPathLogFileName(my_tp_hnd);
                char *tp_prg_fln = erk_toolpath.erToolPathPrgFileName(my_tp_hnd);
                sprintf(tp_log_fln,"%s\\%s-%s",folder,"er_ERK-UDll-Shell-MOP-Positioner-GNS",robfile);
#ifdef _WIN64
                sprintf(&tp_log_fln[strlen(tp_log_fln)-4],"x64.dat");           // new extension dat
#else
                sprintf(&tp_log_fln[strlen(tp_log_fln)-4],".dat");                      // new extension dat
#endif
                strcpy(tp_prg_fln,tp_log_fln);
                sprintf(&tp_prg_fln[strlen(tp_prg_fln)-4],".prg");                      // change extension prg
        }

        int res = erk_toolpath.erGET_NEXT_TOOLPATH_STEP_INIT(my_tp_hnd,cntrl);
        if (res)
                return res;     // Error
        // ....

Parameters

[in]	er_tpth_hnd	unique tool path handle ER_TOOLPATH_HND
[in]	cntrl

Return values

0	- Ok
1	- Error

erGET_NEXT_TOOLPATH_STEP_TERMINATE()

DLLAPI long 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()

Parameters

[in]

er_tpth_hnd

unique tool path handle ER_TOOLPATH_HND

Return values

0	- Ok
1	- Error

erGet_num_dofs()

DLLAPI long ER_STDCALL erGet_num_dofs

(

ER_HND

er_hnd

)

Get number of active robot joints.

Parameters

[in]

er_hnd

unique kinematics handle ER_HND

Return values

n_dof_active	number of active robot joints
0	Error, invalid handle

erGet_num_dofs_passive()

DLLAPI long ER_STDCALL erGet_num_dofs_passive

(

ER_HND

er_hnd

)

Get number of passive robot joints.

Parameters

[in]

er_hnd

unique kinematics handle ER_HND

Return values

n_dof_passive	number of passive robot joints
0	Error, invalid handle

erGetAccSet()

DLLAPI long ER_STDCALL erGetAccSet	(	ER_HND	er_hnd,
		double *	acc,
		double *	ramp
	)

Get lagging of accelerations.
Using AccSet is a proper way to come close to real cycle times when the robot carries high payloads for example.
The parameter acc and ramp are given in percentage values in the range from 20% to 100%.
acc: Acceleration and Deceleration as percentage value of normal values.
ramp: Change of Acceleration and Deceleration as percentage value of normal values.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	acc	acceleration and deceleration
[out]	ramp	change of acceleration and deceleration

Return values

0	- OK
1	- Error

erGetAqMax()

DLLAPI long ER_STDCALL erGetAqMax	(	ER_HND	er_hnd,
		double *	aq_max
	)

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

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	aq_max	maximum of robot joint accelerations, max size ER_KIN_DOFS

Return values

0	- OK
1	- Error, invalid handle

erGetAutoAccel()

DLLAPI long ER_STDCALL erGetAutoAccel	(	ER_HND	er_hnd,
		long *	autoaccel
	)

Get status for automatic calculation of acceleration depending on programmed speed.
Using AutoAccel is a proper way to come close to real cycle times.
The parameter autoaccel specifies the effect when planning a new motion and 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
If auto accel is enabled, other acceleration functions such as erSET_JOINT_ACCELERATIONS(), erSET_CARTESIAN_POSITION_ACCELERATION() and erSET_CARTESIAN_ORIENTATION_ACCELERATION() will have no effect.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	autoaccel	defines auto acceleration mode

Return values

0	- OK
1	- Error

erGetAxis_couplingA2A3()

DLLAPI long ER_STDCALL erGetAxis_couplingA2A3	(	ER_HND	er_hnd,
		long *	axis_couplingA2A3
	)

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

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	axis_couplingA2A3	axis coupling between axis 2 and 3

Return values

0	- OK
1	- Error, invalid handle

erGetAxMax()

DLLAPI long ER_STDCALL erGetAxMax	(	ER_HND	er_hnd,
		double *	ax_max
	)

Get maximum cartesian acceleration.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	ax_max	maximum cartesian acceleration [m/s^2]

Return values

0	- OK
1	- Error, invalid handle

erGetAxOriMax()

DLLAPI long ER_STDCALL erGetAxOriMax	(	ER_HND	er_hnd,
		double *	ax_ori_max
	)

Get maximum cartesian orientation acceleration.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	ax_ori_max	maximum cartesian orientation acceleration [rad/s^2]

Return values

0	- OK
1	- Error, invalid handle

erGetBackLink()

DLLAPI long ER_STDCALL erGetBackLink	(	ER_HND	er_hnd,
		long *	backlink
	)

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

erGetBacklink()

DLLAPI long ER_STDCALL erGetBacklink	(	ER_HND	er_hnd,
		long *	backlink
	)

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

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	backlink	robot back link status

Return values

0	- OK
1	- Error, invalid handle

erGetBaseRobotBase()

DLLAPI long ER_STDCALL erGetBaseRobotBase	(	ER_HND	er_hnd,
		DFRAME *	bTbase
	)

Get $BASE (wobj) w.r.t robot base.
The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode()
All targets are defined w.r.t to this BASE frame (program shifting)

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	bTbase	BASE frame w.r.t. to robot base 'b' DFRAME

Return values

0	- OK
1	- Error, invalid handle

erGetBaseWorld()

DLLAPI long ER_STDCALL erGetBaseWorld	(	ER_HND	er_hnd,
		DFRAME *	iTbase
	)

Get $BASE (wobj) w.r.t inertia (world). The $BASE frame has only effect when IPO_MODE_BASE is set in erSetExtTcpMode()
All targets are defined w.r.t to this BASE frame (program shifting)

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	iTbase	BASE frame w.r.t. to inertia 'i' DFRAME

Return values

0	- OK
1	- Error, invalid handle

erGetConfig()

DLLAPI long ER_STDCALL erGetConfig	(	ER_HND	er_hnd,
		long *	config
	)

Get current robot configuration
Gets current robot configuration. See also erSetConfig().
The config is valid for 1 to number of possible configurations, see erGetNumConfigs().

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	config	robot configuration number [1..number of robot configurations]

Return values

0	- OK
1	- Error, invalid handle

erGetConfigName()

DLLAPI long ER_STDCALL erGetConfigName	(	ER_HND	er_hnd,
		long	config_idx,
		char *	config_name
	)

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

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	config_idx	configuration index [1..number of robot configurations]
[out]	config_name	name of robot configuration, maximum lengths ER_MAXSTR

Return values

NULL	invalid handle

erGetCounter_weight()

DLLAPI long ER_STDCALL erGetCounter_weight	(	ER_HND	er_hnd,
		long *	counter_weight
	)

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

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	counter_weight	robot counter weight

Return values

0	- OK
1	- Error, invalid handle

erGetCurrentStepData()

DLLAPI long ER_STDCALL erGetCurrentStepData	(	ER_HND	er_hnd,
		CURRENT_STEP_DATA *	p_current_step_data
	)

Returns interpolation data for the current interpolated step
Remarks
After the next step data are calculated, calling erGET_NEXT_STEP() , this function return additional interpolated data,
such as motion type, distance to Target, time to Target, Target ID, Override, ...

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	p_current_step_data	data for current interpolation step CURRENT_STEP_DATA

Return values

0	- OK, next step is calculated successful
1	- Error, no interpolation data available

erGetEvents_EventDOUT()

DLLAPI long ER_STDCALL erGetEvents_EventDOUT	(	ER_TARGET_EVENTS_HND	hnd,
		int	idx,
		long *	io_value,
		char *	io_name,
		long *	strig_type,
		double *	strig_time,
		double *	strig_dist,
		long *	ttrig_type,
		double *	ttrig_time,
		double *	ttrig_dist
	)

Get an event for a boolean output for target location
A boolean event for binary outputs is controlled by trigger data, when the movement starts and when the movement reaches the target location.
see detailed information in Set_EventDOUT() or erSetEvents_EventDOUT()

Parameters

[in]	hnd	- unique target location events handle ER_TARGET_EVENTS_HND
[in]	idx	- number of event [1..ER_EVENT_BOOL_N]
[out]	io_value	- one of ER_EVENT_BOOL_UNDEF, ER_EVENT_BOOL_OFF, ER_EVENT_BOOL_ON
[out]	io_name	- name of event, =0 keep template name, maximum lengths ER_MAXSTR
[out]	strig_type	- Start Trigger type to control binary output, one of ER_EVENT_TRIGGER_OFF, ER_EVENT_TRIGGER_DWN, ER_EVENT_TRIGGER_UP
[out]	strig_time	- Trigger time [s] from start location when the signal trigger occurs
[out]	strig_dist	- Trigger distance [m] from start location when the signal trigger occurs, only effect when > 0
[out]	ttrig_type	- Target trigger type to control binary output, one of ER_EVENT_TRIGGER_OFF, ER_EVENT_TRIGGER_DWN, ER_EVENT_TRIGGER_UP
[out]	ttrig_time	- Trigger time [s] to target location when the signal trigger occurs
[out]	ttrig_dist	- Trigger distance [m] to target location when the signal trigger occurs, only effect when > 0

Return values

0	- OK, event data set successfully
1	- Error

erGetExtAxConveyor_extax_data()

DLLAPI ER_EXTAX_KIN_DATA* ER_STDCALL erGetExtAxConveyor_extax_data	(	ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND	hnd,
		long	extax_idx
	)

External axis values for Conveyor
Values ER_EXTAX_KIN_DATA are:
.

• ER_HND er_hnd_connect; ///< Handle of connected device
• long axis_idx; ///< axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1]
• double axis_value; ///< Target value [m,rad]
• double speed_value; ///< Target speed [m/s,rad/s]

see example GetExtAxConveyorHnd()

Parameters

[in]	hnd	unique handle for external axis data definition for Conveyor ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND
[in]	extax_idx	- axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1]

Return values

pointer	to ER_EXTAX_KIN_DATA - external axis values
NULL	- Error

erGetExtAxConveyor_number_extax_used()

DLLAPI long* ER_STDCALL erGetExtAxConveyor_number_extax_used

(

ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND

hnd

)

Number of external axis used for Conveyor
see example GetExtAxConveyorHnd()

Parameters

[in]

hnd

unique handle for external axis data definition for Conveyor ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND

Return values

pointer	to long - number of external axis used
NULL	- Error

erGetExtAxConveyor_sync_type()

DLLAPI long* ER_STDCALL erGetExtAxConveyor_sync_type

(

ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND

hnd

)

Synchonization for Conveyor
For a Conveyor motion, the synchonization can be one of ER_SYNC_ON, ER_SYNC_OFF
see example GetExtAxConveyorHnd()

Parameters

[in]

hnd

unique handle for external axis data definition for Conveyor ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND

Return values

pointer	to long - synchonization
NULL	- Error

erGetExtAxPositioner_extax_data()

DLLAPI ER_EXTAX_KIN_DATA* ER_STDCALL erGetExtAxPositioner_extax_data	(	ER_TARGET_EXTAX_DEVICE_POSITIONER_HND	hnd,
		long	extax_idx
	)

External axis values for Positioner/TurnTable
Values ER_EXTAX_KIN_DATA are:
.

• ER_HND er_hnd_connect; ///< Handle of connected device
• long axis_idx; ///< axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1]
• double axis_value; ///< Target value [m,rad]
• double speed_value; ///< Target speed [m/s,rad/s]

see example GetExtAxPositionerHnd()

Parameters

[in]	hnd	unique handle for external axis data definition for Positioner/TurnTable ER_TARGET_EXTAX_DEVICE_POSITIONER_HND
[in]	extax_idx	- axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1]

Return values

pointer	to ER_EXTAX_KIN_DATA - external axis values
NULL	- Error

erGetExtAxPositioner_number_extax_used()

DLLAPI long* ER_STDCALL erGetExtAxPositioner_number_extax_used

(

ER_TARGET_EXTAX_DEVICE_POSITIONER_HND

hnd

)

Number of external axis used for Positioner/TurnTable
see example GetExtAxPositionerHnd()

Parameters

[in]

hnd

unique handle for external axis data definition for Positioner/TurnTable ER_TARGET_EXTAX_DEVICE_POSITIONER_HND

Return values

pointer	to long - number of external axis used
NULL	- Error

erGetExtAxPositioner_sync_type()

DLLAPI long* ER_STDCALL erGetExtAxPositioner_sync_type

(

ER_TARGET_EXTAX_DEVICE_POSITIONER_HND

hnd

)

Synchonization for Positioner/TurnTable
For a Positioner/TurnTable motion, the synchonization can be one of ER_SYNC_ON, ER_SYNC_OFF
see example GetExtAxPositionerHnd()

Parameters

[in]

hnd

unique handle for external axis data definition for Positioner/TurnTable ER_TARGET_EXTAX_DEVICE_POSITIONER_HND

Return values

pointer	to long - synchonization
NULL	- Error

erGetExtAxTrack_extax_data()

DLLAPI ER_EXTAX_KIN_DATA* ER_STDCALL erGetExtAxTrack_extax_data	(	ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND	hnd,
		long	extax_idx
	)

External axis values for Track/Slider
Values ER_EXTAX_KIN_DATA are:
.

• ER_HND er_hnd_connect; ///< Handle of connected device
• long axis_idx; ///< axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1]
• double axis_value; ///< Target value [m,rad]
• double speed_value; ///< Target speed [m/s,rad/s]

see example GetExtAxTrackMotionHnd()

Parameters

[in]	hnd	unique handle for external axis data definition for Track/Slider ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND
[in]	extax_idx	- axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1]

Return values

pointer	to ER_EXTAX_KIN_DATA - external axis values
NULL	- Error

erGetExtAxTrack_number_extax_used()

DLLAPI long* ER_STDCALL erGetExtAxTrack_number_extax_used

(

ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND

hnd

)

Number of external axis used for Track/Slider
see example GetExtAxTrackMotionHnd()

Parameters

[in]

hnd

unique handle for external axis data definition for Track/Slider ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND

Return values

pointer	to long - number of external axis used
NULL	- Error

erGetExtAxTrack_sync_type()

DLLAPI long* ER_STDCALL erGetExtAxTrack_sync_type

(

ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND

hnd

)

Synchonization for Track/Slider
For a Track/Slider motion, the synchonization should be always ER_SYNC_ON
see example GetExtAxTrackMotionHnd()

Parameters

[in]

hnd

unique handle for external axis data definition for Track/Slider ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND

Return values

pointer	to long - synchonization
NULL	- Error

erGetExtTcpMode()

DLLAPI long ER_STDCALL erGetExtTcpMode	(	ER_HND	er_hnd,
		long *	ext_tcp_mode
	)

Get external TCP mode.
The external TCP can be IPO_MODE_BASE (tool guided) or IPO_MODE_TOOL (work object guided)

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	ext_tcp_mode	external TCP mode IPO_MODE_BASE, IPO_MODE_TOOL

Return values

0	- OK
1	- Error, invalid handle

erGetExtTcpRobotBase()

DLLAPI long ER_STDCALL erGetExtTcpRobotBase	(	ER_HND	er_hnd,
		DFRAME *	bText
	)

Get location of external TCP w.r.t robot base.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	bText	location of external TCP w.r.t robot base 'b' DFRAME

Return values

0	- OK
1	- Error, invalid handle

erGetExtTcpWorld()

DLLAPI long ER_STDCALL erGetExtTcpWorld	(	ER_HND	er_hnd,
		DFRAME *	iText
	)

Get location of external TCP w.r.t inertia (world).

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	iText	location of external TCP w.r.t inertia 'i' DFRAME

Return values

0	- OK
1	- Error, invalid handle

erGetHomepos()

DLLAPI long ER_STDCALL erGetHomepos	(	ER_HND	er_hnd,
		double *	homepos
	)

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

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	homepos	robot joint homeposition, max size ER_KIN_DOFS

Return values

0	- OK
1	- Error, invalid handle

erGetIDs()

DLLAPI long ER_STDCALL erGetIDs	(	ER_HND	er_hnd,
		long *	kin_id,
		long *	inv_id,
		long *	inv_sub_id
	)

Get Kinematics ID of the robot.
kin_id represents the kinematics ID. It can be one of the following values.
ER_RRRRRR_ID =1, ER_TTTRRR_ID =2, ER_RRRRRR_BL_ID =3, ER_UNIV_ROB_ID =10, ER_DH_ID =11
Remarks
Most robots are modelled with universal coordinates ER_UNIV_ROB_ID.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	kin_id	kinematics ID
[out]	inv_id	kinematics ID for inverse calculation
[out]	inv_sub_id	kinematics Sub-ID for inverse calculation

Return values

0	- OK
1	- Error

erGetInstructions_information()

DLLAPI char* ER_STDCALL erGetInstructions_information

(

ER_TARGET_LOCATION_HND

er_tarloc_hnd

)

Get information target instruction data for target location.
For further explanations see GetInstructionsHnd(), erSetInstructions().

Parameters

[in]

er_tarloc_hnd

unique target location handle ER_TARGET_LOCATION_HND

Return values

pointer	to char for target instruction information, maximum lengths ER_HS_MAXSTR
NULL	- Error

erGetInstructions_LagInstructions()

DLLAPI char* ER_STDCALL erGetInstructions_LagInstructions

(

ER_TARGET_LOCATION_HND

er_tarloc_hnd

)

Get LagInstructions target instruction data for target location.
For further explanations see GetInstructionsHnd(), erSetInstructions().

Parameters

[in]

er_tarloc_hnd

unique target location handle ER_TARGET_LOCATION_HND

Return values

pointer	to char for target instruction LagInstructions, maximum lengths ER_HS_MAXSTR
NULL	- Error

erGetInstructions_LeadInstructions()

DLLAPI char* ER_STDCALL erGetInstructions_LeadInstructions

(

ER_TARGET_LOCATION_HND

er_tarloc_hnd

)

Get LeadInstructions target instruction data for target location.
For further explanations see GetInstructionsHnd(), erSetInstructions().

Parameters

[in]

er_tarloc_hnd

unique target location handle ER_TARGET_LOCATION_HND

Return values

pointer	to char for target instruction LeadInstructions, maximum lengths ER_HS_MAXSTR
NULL	- Error

erGetInvKinID()

DLLAPI long ER_STDCALL erGetInvKinID	(	ER_HND	er_hnd,
		long *	invkin_id
	)

Inverse kinematics ID for cRobot.
.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	invkin_id	inverse kinematics ID

Return values

0	- OK
1	- Error, invalid handle

erGetInvKinSubID()

DLLAPI long ER_STDCALL erGetInvKinSubID	(	ER_HND	er_hnd,
		long *	invkinsub_id
	)

Inverse kinematics Sub-ID for cRobot.
.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	invkinsub_id	inverse kinematics Sub-ID

Return values

0	- OK
1	- Error, invalid handle

erGetJointAccels()

DLLAPI long ER_STDCALL erGetJointAccels	(	ER_HND	er_hnd,
		double *	a_solut
	)

Get robot joint accelerations. The kinematics joint accelerations a_solut are in units [m/s^2] for prismatic joint type
and [rad/s^2] for rotational joint type
Get the number of active joints with erGet_num_dofs()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	a_solut	robot joint accelerations, max size ER_KIN_DOFS

Return values

0	- OK
1	- Error, invalid handle

erGetJointAttachDof_active()

DLLAPI long ER_STDCALL erGetJointAttachDof_active	(	ER_HND	er_hnd,
		long *	jnt_attach_dof_active
	)

Get Attach-Dof of active robot joints. An active joint with chain type JNT_CHAIN_TYPE_CHAIN is attached to an active or passive joint.
A valid Attach-Dof number for such an active joint is [0..num_dof], whereby num_dof represents the number of active joints
A negative Attach-Dof value of -99 means that the active joint has a chain type of JNT_CHAIN_TYPE_NO_CHAIN or JNT_CHAIN_TYPE_SEP_NO_CHAIN.

Parameters

[in]	er_hnd	unique kinematics handle::ER_HND
[out]	jnt_attach_dof_active	Attach-Dof of active robot joints, max size::ER_KIN_DOFS

Return values

0	- OK
1	- Error, invalid handle

erGetJointAttachDof_passive()

DLLAPI long ER_STDCALL erGetJointAttachDof_passive	(	ER_HND	er_hnd,
		long *	jnt_attach_dof_passive
	)

Get Attach-Dof of passive robot joints. A passive joint is attached to an active joint. A valid Attach-Dof number number is [0..num_dof], whereby num_dof represents the number of active joints
A negative Attach-Dof represents an error.

Parameters

[in]	er_hnd	unique kinematics handle::ER_HND
[out]	jnt_attach_dof_passive	Attach-Dof of passive robot joints, max size::ER_KIN_DOFS

Return values

0	- OK
1	- Error, invalid handle

erGetJointChainTypes()

DLLAPI long ER_STDCALL erGetJointChainTypes	(	ER_HND	er_hnd,
		long *	jnt_chain_type_active
	)

Get chain type of active robot joints. A robot chain type can be JNT_CHAIN_TYPE_CHAIN, JNT_CHAIN_TYPE_NO_CHAIN or JNT_CHAIN_TYPE_SEP_NO_CHAIN
.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	jnt_chain_type_active	chain type of active robot joints, max size ER_KIN_DOFS

Return values

0	- OK
1	- Error, invalid handle

erGetJointChainTypes_passive()

DLLAPI long ER_STDCALL erGetJointChainTypes_passive	(	ER_HND	er_hnd,
		long *	jnt_chain_type_passive
	)

Get chain type of passive robot joints. A robot chain type can be JNT_CHAIN_TYPE_CHAIN, JNT_CHAIN_TYPE_NO_CHAIN or JNT_CHAIN_TYPE_SEP_NO_CHAIN
.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	jnt_chain_type_passive	chain type of passive robot joints, max size ER_KIN_DOFS

Return values

0	- OK
1	- Error, invalid handle

erGetJointDirections()

DLLAPI long ER_STDCALL erGetJointDirections	(	ER_HND	er_hnd,
		long *	jnt_direction_active
	)

Get direction of active robot joints. A robot joint direction can be JNT_DIRECTION_X, JNT_DIRECTION_Y or JNT_DIRECTION_Z
See also erGetJointSign(), erGetJointTypes()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	jnt_direction_active	direction of active robot joints, max size ER_KIN_DOFS

Return values

0	- OK
1	- Error, invalid handle

erGetJointDirections_passive()

DLLAPI long ER_STDCALL erGetJointDirections_passive	(	ER_HND	er_hnd,
		long *	jnt_direction_passive
	)

Get direction of passive robot joints. A robot joint direction can be JNT_DIRECTION_X, JNT_DIRECTION_Y or JNT_DIRECTION_Z
See also erGetJointTypes_passive()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	jnt_direction_passive	direction of passive robot joints, max size ER_KIN_PASSIVE_JNTS

Return values

0	- OK
1	- Error, invalid handle

erGetJointFrameActiveLast()

DLLAPI long ER_STDCALL erGetJointFrameActiveLast	(	ER_HND	er_hnd,
		long	active_jnt_no,
		DFRAME *	T
	)

erGetJointFrameActiveNext()

DLLAPI long ER_STDCALL erGetJointFrameActiveNext	(	ER_HND	er_hnd,
		long	active_jnt_no,
		DFRAME *	T
	)

erGetJointFramePassiveLast()

DLLAPI long ER_STDCALL erGetJointFramePassiveLast	(	ER_HND	er_hnd,
		long	passive_jnt_no,
		DFRAME *	T
	)

erGetJointFramePassiveNext()

DLLAPI long ER_STDCALL erGetJointFramePassiveNext	(	ER_HND	er_hnd,
		long	passive_jnt_no,
		DFRAME *	T
	)

erGetJointFrameRobotBase()

DLLAPI long ER_STDCALL erGetJointFrameRobotBase	(	ER_HND	er_hnd,
		long	active_jnt_no,
		DFRAME *	bTax
	)

Get location of active joint coorsys w.r.t robot base.
Get the number of active joints with erGet_num_dofs()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	active_jnt_no	active joint number [1..number of active joints], max active_jnt_no is ER_KIN_DOFS
[out]	bTax	location of active joint coorsys w.r.t robot base DFRAME

Return values

0	- OK
1	- Error, invalid handle

erGetJointFrameRobotBase_passive()

DLLAPI long ER_STDCALL erGetJointFrameRobotBase_passive	(	ER_HND	er_hnd,
		long	passive_jnt_no,
		DFRAME *	bTax
	)

Get location of passive joint coorsys w.r.t robot base.
Get the number of passive joints with erGet_num_dofs_passive()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	passive_jnt_no	passive joint number [1..number of passive joints], max passive_jnt_no is ER_KIN_PASSIVE_JNTS
[out]	bTax	location of passive joint coorsys w.r.t robot base DFRAME

Return values

0	- OK
1	- Error, invalid handle, invalid passive_jnt_no

erGetJointFrameWorld()

DLLAPI long ER_STDCALL erGetJointFrameWorld	(	ER_HND	er_hnd,
		long	active_jnt_no,
		DFRAME *	iTax
	)

Get location of active joint coorsys w.r.t innertia (world).
Get the number of active joints with erGet_num_dofs()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	active_jnt_no	active joint number [1..number of active joints], max active_jnt_no is ER_KIN_DOFS
[out]	iTax	location of active joint coorsys w.r.t innertia DFRAME

Return values

0	- OK
1	- Error, invalid handle

erGetJointFrameWorld_passive()

DLLAPI long ER_STDCALL erGetJointFrameWorld_passive	(	ER_HND	er_hnd,
		long	passive_jnt_no,
		DFRAME *	iTax
	)

Get location of passive joint coorsys w.r.t innertia (world).
Get the number of passive joints with erGet_num_dofs_passive()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	passive_jnt_no	passive joint number [1..number of passive joints], max passive_jnt_no is