IGroupInfo Interface Reference

Inherits IDispatch.

Collaboration diagram for IGroupInfo:

Public Member Functions
HRESULT	MovePoint ([in, out] IRobotPoint *point)
HRESULT	SetPerformanceEnable ([in] enum RobotPerformance type)
HRESULT	GetPerformanceResult ([out, retval] SAFEARRAY(struct RobotPerformanceResult)*performanceResult)
HRESULT	GetMechanicData ([in] BOOL updateOnly, [out, retval] SAFEARRAY(struct RobotMechanicData)*mechanicData)
HRESULT	GetActualPosition ([in] enum RobotCoordinateSystem cs, [out, retval] IRobotPoint **position)
HRESULT	GetName ([out, retval] BSTR *name)
HRESULT	GetType ([out, retval] enum RobotTypes *type)
HRESULT	GetTransform ([in] enum RobotCoordinateSystem coordSys, [out] struct RobotTrafoParameter *trafoParam)
HRESULT	GetBeltConfiguration ([in] struct AxisRef belt, [out] struct RobotBeltConfigValues *beltValues)
HRESULT	GetBeltErrorReaction ([in] struct AxisRef belt, [out] struct RobotBeltErrorReactionValues *beltErrorReactParam)
HRESULT	GetKinematicValues ([out, retval] struct KinematicsValues *kinematicsValues)
HRESULT	GetKinematicUnits ([out, retval] struct KinematicsUnits *kinematicsUnits)
HRESULT	GetDiagnosisText ([out, retval] BSTR *diagnosisText)
HRESULT	TransformPoint ([in] enum RobotCoordinateSystem csOut, [in, out] IRobotPoint *point)

Detailed Description

Definition of the IGroupInfo interface used to access information of a group.

Use the IGroupInfo interface to get information about a group.

Definition at line 70 of file IGroupInfo.idl.

Member Function Documentation

HRESULT IGroupInfo::MovePoint

(

[in, out] IRobotPoint *

point

)

This function returns the current position of the given point. You can use this function to track a point on a belt. If the point is not on a belt, the coordinates of the point will not be changed.

Parameters

[in,out]

point

Point to determine the current position

Returns

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

Example C#:

//return current position of myPoint on a belt
connection.Robot.Groups[1].Information.MovePoint(myPoint);

Note:

This method maps to the mlpiCore function mlpiRobotMovePoint, where you can find further documentation.

HRESULT IGroupInfo::SetPerformanceEnable

(

[in] enum RobotPerformance

type

)

This function sets the IRobot::RobotPerformance of the Group. You can enable the performance measurement using RobotPerformance.ROBOT_PERFORMANCE_ENABLE. During the enable performance measurement, old values are cleared. To disable performance measurement, use RobotPerformance.ROBOT_PERFORMANCE_DISABLE.

Parameters

[in]

type

IRobot::RobotPerformance of the group.

Returns

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

Example C#:

//enable performance measurement
connection.Robot.Groups[1].Information.SetPerformanceEnable(RobotPerformance.ROBOT_PERFORMANCE_ENABLE);
//disable performance measurement
connection.Robot.Groups[1].Information.SetPerformanceEnable(RobotPerformance.ROBOT_PERFORMANCE_DISABLE);

Note:

This method maps to the mlpiCore function mlpiRobotSetPerformanceEnable, where you can find further documentation.

HRESULT IGroupInfo::GetPerformanceResult

(

[out, retval] SAFEARRAY(struct RobotPerformanceResult)*

performanceResult

)

This function returns an array of IRobot::RobotPerformanceResult of the Group.

Parameters

[out]

performanceResult

IRobot::RobotPerformanceResult of the group.

Returns

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

Example C#:

RobotPerformanceResult[] groupPerformance = (RobotPerformanceResult[])connection.Robot.Groups[1].Information.GetPerformanceResult();
foreach (RobotPerformanceResult item in groupPerformance)
{
  // do something with the values
}

Note:

This method maps to the mlpiCore function mlpiRobotGetPerfomanceResult, where you can find further documentation.

HRESULT IGroupInfo::GetMechanicData	(	[in] BOOL	updateOnly,
		[out, retval] SAFEARRAY(struct RobotMechanicData)*	mechanicData
	)

This function returns an array of IRobot::RobotMechanicData of the Group.

Parameters

[in]	updateOnly	Updates of mechanic data only
[out]	mechanicData	IRobot::RobotMechanicData of the group.

Returns

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

Example C#:

RobotMechanicData[] mechanicData = (RobotMechanicData[])connection.Robot.Groups[1].Information.GetMechanicData(false);
foreach (RobotMechanicData item in mechanicData)
{
  // do something with the values
}

Note:

This method maps to the mlpiCore function mlpiRobotGetMechanicData, where you can find further documentation.

HRESULT IGroupInfo::GetActualPosition	(	[in] enum RobotCoordinateSystem	cs,
		[out, retval] IRobotPoint **	position
	)

This function returns the current position of the group in the given coordinate system.

Parameters

[in]	cs	IRobot::RobotCoordinateSystem to read the position from the group
[out]	position	Current position of the group.

Returns

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

Example C#:

//get current position of the group in MCS and write it to actPos
RobotPoint actPos = connection.Robot.Groups[1].Information.GetActualPosition(RobotCoordinateSystem.ROBOT_CS_MCS);

Example VBA:

Note:

This method maps to the mlpiCore function mlpiRobotReadPos, where you can find further documentation.

HRESULT IGroupInfo::GetName

(

[out, retval] BSTR *

name

)

This function returns the name of the Group.

Parameters

[out]

name

Name of the group.

Returns

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

Example C#:

connection.Robot.Groups["Delta"].Information.GetName(); // returns "Delta"

Note:

This method maps to the mlpiCore function mlpiParameterReadDataString and reads parameter K-0-0002.

HRESULT IGroupInfo::GetType

(

[out, retval] enum RobotTypes *

type

)

This function returns the IRobot::RobotTypes of the Group.

Parameters

[in]

type

IRobot::RobotTypes of the group.

Returns

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

Example C#:

//return the RobotTypes of the given group
connection.Robot.Groups[1].Information.GetType();

Note:

This method maps to the mlpiCore function mlpiParameterReadDataUlong and reads parameter K-0-0019.

HRESULT IGroupInfo::GetTransform	(	[in] enum RobotCoordinateSystem	coordSys,
		[out] struct RobotTrafoParameter *	trafoParam
	)

This function returns the transformation values of a selected coordinate system.

Parameters

[in]	coordSys	IRobot::RobotCoordinateSystem struct defines the type of performance measurement.
[out]	trafoParam	Saves the values in a IRobot::RobotTrafoParameter struct.

Returns

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

Example C#:

//save the trafo parameter to "trafoparam"
RobotTrafoParameter trafoparam;
connection.Robot.Groups[1].Information.GetTransform(ROBOT_CS_BCS, trafoparam)

Note:

This method maps to the mlpiCore function mlpiRobotGetTransform, where you can find further documentation.

HRESULT IGroupInfo::GetBeltConfiguration	(	[in] struct AxisRef	belt,
		[out] struct RobotBeltConfigValues *	beltValues
	)

This function returns the values of a belt configuration.

Parameters

[in]	belt	Saves the values in a IRobot::RobotBeltConfigValues
[out]	beltValues	IMotion::AxisRef defines the axis through the definition of control and axis number

Returns

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

Example C#:

//save the belt configuration to beltValues.
AxisRef belt;
RobotBeltConfigValues *beltValues;
connection.Robot.Groups[1].Information.GetBeltConfiguration(belt, beltValues);

Note:

This method maps to the mlpiCore function mlpiRobotGetBeltConfiguration, where you can find further documentation.

HRESULT IGroupInfo::GetBeltErrorReaction	(	[in] struct AxisRef	belt,
		[out] struct RobotBeltErrorReactionValues *	beltErrorReactParam
	)

This function returns the values of a configured belt error reaction.

Parameters

[out]	beltErrorReactParam	Saves the values in a IRobot::RobotBeltErrorReactionValues
[in]	belt	IMotion::AxisRef defines the axis through the definition of control and axis number

Returns

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

Example C#:

//save the configured belt error reaction to beltErrorReactParam.
AxisRef belt;
RobotBeltErrorReactionValues *beltErrorReactParam;
connection.Robot.Groups[1].Information.GetBeltErrorReaction(belt, beltValues);

Note:

This method maps to the mlpiCore function mlpiRobotGetBeltErrorReaction, where you can find further documentation.

HRESULT IGroupInfo::GetKinematicValues

(

[out, retval] struct KinematicsValues *

kinematicsValues

)

This function fills an array of KinematicValues.

Parameters

[in,out]

kinematicsValues

Returns a struct with the current operation information about the kinematic.

Returns

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

Note

Elements of the struct that can not be read will be set to 0.

Example C#:

//save the configured kinematic values to kinematicsValues.
KinematicsValues *kinematicsValues;
connection.Robot.Groups[1].Information.GetKinematicValues(kinematicsValues);

Note:

This method maps to the mlpiCore function mlpiRobotGetKinematicsValues, where you can find further documentation.

HRESULT IGroupInfo::GetKinematicUnits

(

[out, retval] struct KinematicsUnits *

kinematicsUnits

)

This function fills an array of KinematicUnits with information about the units of the kinematic.

Parameters

[out]

kinematicsUnits

Returns a struct with the current unit information about kinematics.

Returns

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

Example C#:

//save the configured kinematic units to kinematicsUnits.
KinematicsUnits *kinematicsUnits;
connection.Robot.Groups[1].Information.GetKinematicUnits(kinematicsUnits);

Note:

This method maps to the mlpiCore function mlpiRobotGetKinematicsUnits, where you can find further documentation.

HRESULT IGroupInfo::GetDiagnosisText

(

[out, retval] BSTR *

diagnosisText

)

This function reads the current diagnosis text of the kinematic.

Parameters

[out]

diagnosisText

Returns the current diagnosis text as string.

Returns

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

Example C#:

//save the DiagnosisText to diagnosisText.
BSTR *diagnosisText;
connection.Robot.Groups[1].Information.GetDiagnosisText(diagnosisText);

Note:

This method maps to the mlpiCore function mlpiRobotGetDiagnosisText, where you can find further documentation.

HRESULT IGroupInfo::TransformPoint	(	[in] enum RobotCoordinateSystem	csOut,
		[in, out] IRobotPoint *	point
	)

This function transforms the current position of the given point into the given coordinate system. Transforms point from csIn to csOut.

Parameters

[in]	csOut	IRobot::RobotCoordinateSystem to transform the point into.
[in,out]	point	Point which gets transformed.

Returns

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

Example C#:

//transform point "mypoint" into the coordinate system "myCoordSysOut".
connection.Robot.Groups[1].Information.TransformPoint(myCoordSysOut, myPoint);

Note:

This method maps to the mlpiCore function mlpiRobotTransformPoint, where you can find further documentation.

---

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

• IGroupInfo.idl