Inherits IDispatch.

Collaboration diagram for IGroupConfig:

Public Member Functions
HRESULT	AddAllAxisToGroup (void)

HRESULT	RemAllAxisFromGroup (void)

HRESULT	SetCartesianTransform ([in] enum RobotCoordinateSystem coordSys, [in] DOUBLE posX, [in] DOUBLE posY, [in] DOUBLE posZ, [in] DOUBLE rotA, [in] DOUBLE rotB, [in] DOUBLE rotC)

HRESULT	SetCylindricTransform ([in] enum RobotCoordinateSystem coordSys, [in] DOUBLE posX, [in] DOUBLE posY, [in] DOUBLE posZ, [in] DOUBLE rotA, [in] DOUBLE rotB, [in] DOUBLE rotC)

HRESULT	SetBeltConfiguration ([in] AxisRef *beltAxis, [in] DOUBLE posX, [in] DOUBLE posY, [in] DOUBLE posZ, [in] DOUBLE rotA, [in] DOUBLE rotB, [in] DOUBLE rotC, [in] DOUBLE beginLength, [in] DOUBLE totalLength)

HRESULT	SetRotaryTableConfiguration ([in] AxisRef *beltAxis, [in] DOUBLE posX, [in] DOUBLE posY, [in] DOUBLE posZ, [in] DOUBLE rotA, [in] DOUBLE rotB, [in] DOUBLE rotC, [in] DOUBLE beginLength, [in] DOUBLE totalLength)

HRESULT	SetBeltErrorReaction ([in] AxisRef *beltAxis, [in] enum RobotSyncErrorReactionMode errorType, [in] DOUBLE time, [in] DOUBLE deceleration, [in] DOUBLE jerk)

HRESULT	SetName ([in] BSTR name)

HRESULT	SetAxisConfiguration ([in] SAFEARRAY(struct RobotAxisConfiguration) axisConfig)

HRESULT	SetKinematicType ([in]LONG type)

HRESULT	Reset ()

HRESULT	SetSafeZone ([in]SHORT zoneNumber, [in]enum RobotSafeZoneType zoneType, [in]DOUBLE maxPosX, [in]DOUBLE maxPosY, [in]DOUBLE maxPosZ, [in]DOUBLE minPosX, [in]DOUBLE minPosY, [in]DOUBLE minPosZ)

Detailed Description

Definition of the IGroupConfig interface used to access motion commands to move an group.

Use the IGroupConfig interface to physically move or control a group by using various motion commands.

Definition at line 70 of file IGroupConfig.idl.

Member Function Documentation

HRESULT IGroupConfig::AddAllAxisToGroup ( void )

This function adds all configured axis to the group.

Returns: Return value indicating success (>=0) or error (<0).

Example C#:: connection.Robot.Robots[1].Configuration.AddAllAxisToGroup;

Note:: This method maps to the mlpiCore function mlpiRobotAddAllAxisToGroup, where you can find further documentation.

HRESULT IGroupConfig::RemAllAxisFromGroup ( void )

This function removes all configured axes from the group.

Returns: Return value indicating success (>=0) or error (<0).

Example C#:: connection.Robot.Robots[1].Configuration.RemAllAxisFromGroup;

Note:: This method maps to the mlpiCore function mlpiRobotRemAllAxisFromGroup, where you can find further documentation.

HRESULT IGroupConfig::SetCartesianTransform	(	[in] enum RobotCoordinateSystem	coordSys,
		[in] DOUBLE	posX,
		[in] DOUBLE	posY,
		[in] DOUBLE	posZ,
		[in] DOUBLE	rotA,
		[in] DOUBLE	rotB,
		[in] DOUBLE	rotC
	)

This function sets a Cartesian transformation for PCS to WCS within the kinematic.

Parameters

[in]	coordSys	specifies the coordinate system, where the transformation will be set
[in]	posX	deferral in X
[in]	posY	deferral in Y
[in]	posZ	deferral in Z
[in]	rotA	twisting around X
[in]	rotB	twisting around Y
[in]	rotC	twisting around Z

Returns: Return value indicating success (>=0) or error (<0).

Example C#:: myGroup.Configuration.SetCartesianTransform(ROBOT_CS_PCS1, 10, 10, 10, 0, 0, 0); //sets a Cartesian transformation

Example VBA:

Note:: This method maps to the mlpiCore function mlpiRobotSetCartesianTransform, where you can find further documentation.

HRESULT IGroupConfig::SetCylindricTransform	(	[in] enum RobotCoordinateSystem	coordSys,
		[in] DOUBLE	posX,
		[in] DOUBLE	posY,
		[in] DOUBLE	posZ,
		[in] DOUBLE	rotA,
		[in] DOUBLE	rotB,
		[in] DOUBLE	rotC
	)

This function sets a cylindric transformation for PCS to WCS within the kinematic.

Parameters

[in]	coordSys	specifies the coordinate system, where the transformation will be set
[in]	posX	deferral in X
[in]	posY	deferral in Y
[in]	posZ	deferral in Z
[in]	rotA	twisting around X
[in]	rotB	twisting around Y
[in]	rotC	twisting around Z

Returns: Return value indicating success (>=0) or error (<0).

Example C#:: myGroup.Configuration.SetCylindricTransform(ROBOT_CS_PCS1, 10, 10, 10, 0, 0, 0); //sets a cylindric transformation

Example VBA:

Note:: This method maps to the mlpiCore function mlpiRobotSetCylindricTransform, where you can find further documentation.

HRESULT IGroupConfig::SetBeltConfiguration	(	[in] AxisRef *	beltAxis,
		[in] DOUBLE	posX,
		[in] DOUBLE	posY,
		[in] DOUBLE	posZ,
		[in] DOUBLE	rotA,
		[in] DOUBLE	rotB,
		[in] DOUBLE	rotC,
		[in] DOUBLE	beginLength,
		[in] DOUBLE	totalLength
	)

This function sets a Cartesian transformation for PCS to WCS within the kinematic and configures a belt for belt synchronous moves.

Parameters

[in]	beltAxis	specifies the belt, which should be configured
[in]	posX	deferral in X
[in]	posY	deferral in Y
[in]	posZ	deferral in Z
[in]	rotA	twisting around X
[in]	rotB	twisting around Y
[in]	rotC	twisting around Z
[in]	beginLength	the synchronization to belt must be started until beginLength exceeded
[in]	totalLength	total length of belt synchronous working area

Returns: Return value indicating success (>=0) or error (<0).

Example C#:: myGroup.Configuration.SetBeltConfiguration(beltAxis1, 10, 10, 10, 0, 0, 0, 1000, 2000); //sets a Cartesian transformation

Example VBA:

Note:: This method maps to the mlpiCore function mlpiRobotSetBeltConfiguration, where you can find further documentation.

HRESULT IGroupConfig::SetRotaryTableConfiguration	(	[in] AxisRef *	beltAxis,
		[in] DOUBLE	posX,
		[in] DOUBLE	posY,
		[in] DOUBLE	posZ,
		[in] DOUBLE	rotA,
		[in] DOUBLE	rotB,
		[in] DOUBLE	rotC,
		[in] DOUBLE	beginLength,
		[in] DOUBLE	totalLength
	)

This function sets a cylindric transformation for PCS to WCS within the kinematic and configures a belt for belt synchronous moves on a rotary table.

Parameters

[in]	beltAxis	specifies the belt, which should be configured
[in]	posX	deferral in X
[in]	posY	deferral in Y
[in]	posZ	deferral in Z
[in]	rotA	twisting around X
[in]	rotB	twisting around Y
[in]	rotC	twisting around Z
[in]	beginLength	the synchronization to belt must be started until beginLength exceeded. In this case, the angle around Z
[in]	totalLength	total length of belt synchronous working area. In this case, the angle around Z

Returns: Return value indicating success (>=0) or error (<0).

Example C#:: myGroup.Configuration.SetRotaryTableConfiguration(beltAxis1, 10, 10, 10, 0, 0, 0, 100, 270); //sets a cylindric transformation, beginLength and totalLenght

Example VBA:

Note:: This method maps to the mlpiCore function mlpiRobotSetRotaryTableConfiguration, where you can find further documentation.

HRESULT IGroupConfig::SetBeltErrorReaction	(	[in] AxisRef *	beltAxis,
		[in] enum RobotSyncErrorReactionMode	errorType,
		[in] DOUBLE	time,
		[in] DOUBLE	deceleration,
		[in] DOUBLE	jerk
	)

This function configures a error reaction for a kinematic and belt synchronous moves.

Parameters

[in]	beltAxis	specifies the belt, which should be configured
[in]	errorType	specifies the type of error reaction
[in]	time	time in s for desynchronization in case of an error
[in]	deceleration	deceleration desynchronization in case of an error
[in]	jerk	jerk desynchronization in case of an error

Returns: Return value indicating success (>=0) or error (<0).

Example C#:: myGroup.Configuration.SetBeltErrorReaction(beltAxis1, ROBOT_BELT_ERROR_DESYNC_OVER_TIME, 1, 0, 0); //sets a specific error reaction for belt synchronous moves

Example VBA:

Note:: This method maps to the mlpiCore function mlpiRobotSetBeltErrorReaction, where you can find further documentation.

HRESULT IGroupConfig::SetName ( [in] BSTR name )

This function sets the name of the Group.

Parameters

[in] name New name of the group.

Returns: Return value indicating success (>=0) or error (<0).

Example C#:: connection.Robot.Groups[1].Configuration.SetName("Delta1);
connection.Robot.Groups[1].Information.GetName(); // returns "Delta1"

Note:: This method maps to the mlpiCore function mlpiParameterWriteDataString and writes parameter K-0-0002.

HRESULT IGroupConfig::SetAxisConfiguration ( [in] SAFEARRAY(struct RobotAxisConfiguration) axisConfig )

This function sets the axis configuration of the group.

Parameters

[in] axisConfig New axis configuration of the group.

Returns: Return value indicating success (>=0) or error (<0).

Example C#:: GroupAxisConfiguration[] axisConfig = new GroupAxisConfiguration[3];
axisConfig[0].axisConfiguration = 8; // position axis
axisConfig[0].controlNumber = 0; // local control
axisConfig[0].axisNumber = 1; // first configured axis
axisConfig[1].axisConfiguration = 8; // position axis
axisConfig[1].controlNumber = 0; // local control
axisConfig[1].axisNumber = 2; // second configured axis
axisConfig[2].axisConfiguration = 8; // position axis
axisConfig[2].controlNumber = 0; // local control
axisConfig[2].axisNumber = 3; // third configured axis
myGroup.Configuration.SetAxisConfiguration(axisConfig);

Example VBA:

Note:: This method maps to the mlpiCore function mlpiParameterWriteDataArrayUshort and writes parameter K-0-0008.

HRESULT IGroupConfig::SetKinematicType ( [in] LONG type )

This function sets the kinematic type (transformation scheme) of the robot.

Parameters

[in] type New transformation scheme of the robot

Returns: Return value indicating success (>=0) or error (<0).

Example C#:: myGroup.Configuration.SetKinematicType(20); // delta transformation

Example VBA:

Note:: This method maps to the mlpiCore function mlpiParameterWriteDataArrayUshort and writes parameter K-0-0031.

HRESULT IGroupConfig::Reset ( )

This function resets the kinematic.

Returns: Return value indicating success (>=0) or error (<0).

Example C#:: myGroup.Configuration.Reset(); // perform a reset

Example VBA:

Note:: This method maps to the mlpiCore function mlpiRobotReset, where you can find further documentation.

HRESULT IGroupConfig::SetSafeZone	(	[in] SHORT	zoneNumber,
		[in] enum RobotSafeZoneType	zoneType,
		[in] DOUBLE	maxPosX,
		[in] DOUBLE	maxPosY,
		[in] DOUBLE	maxPosZ,
		[in] DOUBLE	minPosX,
		[in] DOUBLE	minPosY,
		[in] DOUBLE	minPosZ
	)

This function configures a safe zone of the robot.

Parameters

[in]	zoneNumber	Zone number to configure
[in]	zoneType	New type of the zone
[in]	maxPosX	New positive x-position limit of the zone
[in]	maxPosY	New positive y-position limit of the zone
[in]	maxPosZ	New positive z-position limit of the zone
[in]	minPosX	New negative x-position limit of the zone
[in]	minPosY	New negative y-position limit of the zone
[in]	minPosZ	New negative z-position limit of the zone

Returns: Return value indicating success (>=0) or error (<0).

Example C#:

Example VBA:

Note:: This method maps to the mlpiCore function mlpiRobotSetSafeZone

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

IGroupConfig.idl

Public Member Functions

Detailed Description

Member Function Documentation