Inherits IDispatch.

Collaboration diagram for IGroupMovement:

Public Member Functions
HRESULT	MoveLinearAbsolute ([in] IRobotPoint *endPoint, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk, [in] DOUBLE radius, [in] enum RobotSetMode setMode, [in] enum RobotSlopeType slopeType)

HRESULT	MoveLinearRelative ([in] IRobotPoint *distance, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk, [in] DOUBLE radius, [in] enum RobotSetMode setMode, [in] enum RobotSlopeType slopeType)

HRESULT	MoveDirectAbsolute ([in] IRobotPoint *endPoint, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk, [in] DOUBLE radius, [in] enum RobotSetMode setMode, [in] enum RobotSlopeType slopeType)

HRESULT	MoveCircularAbsolute ([in] IRobotPoint midPoint, [in] IRobotPoint endPoint, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk, [in] DOUBLE radius, [in] enum RobotSetMode setMode, [in] enum RobotSlopeType slopeType)

HRESULT	SyncOnWithLimits ([in] AxisRef *beltAxis, [in] DOUBLE acceleration, [in] DOUBLE jerk)

HRESULT	SyncOffWithLimits ([in] AxisRef *beltAxis, [in] DOUBLE deceleration, [in] DOUBLE jerk, [in] DOUBLE radius, [in] enum RobotSetMode setMode)

HRESULT	WaitForDone ([in] LONG timeout)

HRESULT	WaitForActive ([in] LONG timeout)

HRESULT	WaitForInBuffer ([in] LONG timeout)

HRESULT	Stop ([in] DOUBLE deceleration, [in] DOUBLE jerk, [in] BOOL stop)

HRESULT	Interrupt ([in] DOUBLE deceleration, [in] DOUBLE jerk)

HRESULT	Continue ()

HRESULT	JogStep ([in] IRobotPoint *distance, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk)

HRESULT	JogCont ([in] IRobotPoint *direction, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk)

HRESULT	StopCmd ()

Detailed Description

Definition of the IGroupMovement interface used to access motion commands to move a group.

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

Definition at line 70 of file IGroupMovement.idl.

Member Function Documentation

HRESULT IGroupMovement::MoveLinearAbsolute	(	[in] IRobotPoint *	endPoint,
		[in] DOUBLE	velocity,
		[in] DOUBLE	acceleration,
		[in] DOUBLE	deceleration,
		[in] DOUBLE	jerk,
		[in] DOUBLE	radius,
		[in] enum RobotSetMode	setMode,
		[in] enum RobotSlopeType	slopeType
	)

performs simple linear move to an absolute end position.

Parameters

[in]	*endPoint	absolute end position.
[in]	velocity	maximum velocity.
[in]	acceleration	maximum acceleration.
[in]	jerk	maximum jerk.
[in]	deceleration	maximum deceleration.
[in]	radius	radius for blending a move.
[in]	setMode	"TO" or "VIA".
[in]	slopeType	e.g. ROBOT_SLOPETYPE_BLOCK_SLOPE.

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

Example C#:: // Move linear absolute to Point.
RobotPoint endPoint = connection.Robot.CreatePoint(new double[] { 0.0, 0.0, 0.0 }, RobotCoordinateSystem.ROBOT_CS_MCS);
connection.Robot.Groups[1].Movement.MoveLinearAbsolute(endPoint, 100.0, 100.0, 20000.0, 50.0, ROBOT_SETMODE_TO, ROBOT_SLOPETYPE_BLOCK_SLOPE);

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

HRESULT IGroupMovement::MoveLinearRelative	(	[in] IRobotPoint *	distance,
		[in] DOUBLE	velocity,
		[in] DOUBLE	acceleration,
		[in] DOUBLE	deceleration,
		[in] DOUBLE	jerk,
		[in] DOUBLE	radius,
		[in] enum RobotSetMode	setMode,
		[in] enum RobotSlopeType	slopeType
	)

performs simple linear move with a given relative distance.

Parameters

[in]	*distance	distance to be moved.
[in]	velocity	maximum velocity.
[in]	acceleration	maximum acceleration.
[in]	jerk	maximum jerk.
[in]	deceleration	maximum deceleration.
[in]	radius	radius for blending a move.
[in]	setMode	"TO" or "VIA".
[in]	slopeType	e.g. ROBOT_SLOPETYPE_BLOCK_SLOPE.

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

Example C#:: // Move linear relative to Point.
RobotPoint distance = connection.Robot.CreatePoint(new double[] { 100.0, 0.0, 0.0 }, RobotCoordinateSystem.ROBOT_CS_MCS);
connection.Robot.Groups[1].Movement.MoveLinearRelative(distance, 100.0, 100.0, 20000.0, 50.0, ROBOT_SETMODE_TO, ROBOT_SLOPETYPE_BLOCK_SLOPE);

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

HRESULT IGroupMovement::MoveDirectAbsolute	(	[in] IRobotPoint *	endPoint,
		[in] DOUBLE	velocity,
		[in] DOUBLE	acceleration,
		[in] DOUBLE	deceleration,
		[in] DOUBLE	jerk,
		[in] DOUBLE	radius,
		[in] enum RobotSetMode	setMode,
		[in] enum RobotSlopeType	slopeType
	)

performs simple point to point move to an absolute end position.

Parameters

[in]	*endPoint	absolute end position.
[in]	velocity	maximum velocity.
[in]	acceleration	maximum acceleration.
[in]	jerk	maximum jerk.
[in]	deceleration	maximum deceleration.
[in]	radius	radius for blending a move.
[in]	setMode	"TO" or "VIA".
[in]	slopeType	e.g. ROBOT_SLOPETYPE_BLOCK_SLOPE.

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

Example C#:: // Move direct absolute to Point.
RobotPoint endPoint = connection.Robot.CreatePoint(new double[] { 0.0, 0.0, 0.0 }, RobotCoordinateSystem.ROBOT_CS_MCS);
connection.Robot.Groups[1].Movement.MoveDirectAbsolute(endPoint, 100.0, 100.0, 20000.0, 50.0, ROBOT_SETMODE_TO, ROBOT_SLOPETYPE_BLOCK_SLOPE);

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

HRESULT IGroupMovement::MoveCircularAbsolute	(	[in] IRobotPoint *	midPoint,
		[in] IRobotPoint *	endPoint,
		[in] DOUBLE	velocity,
		[in] DOUBLE	acceleration,
		[in] DOUBLE	deceleration,
		[in] DOUBLE	jerk,
		[in] DOUBLE	radius,
		[in] enum RobotSetMode	setMode,
		[in] enum RobotSlopeType	slopeType
	)

performs simple circular move to an absolute end position.

Parameters

[in]	*midPoint	mid point to create a circular move.
[in]	*endPoint	absolute end position.
[in]	velocity	maximum velocity.
[in]	acceleration	maximum acceleration.
[in]	jerk	maximum jerk.
[in]	deceleration	maximum deceleration.
[in]	radius	radius for blending a move.
[in]	setMode	"TO" or "VIA".
[in]	slopeType	e.g. ROBOT_SLOPETYPE_BLOCK_SLOPE.

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

Example C#:: // Move circular absolute to Point.
RobotPoint midPoint = connection.Robot.CreatePoint(new double[] { 0.0, 0.0, 0.0 }, RobotCoordinateSystem.ROBOT_CS_MCS);
RobotPoint endPoint = connection.Robot.CreatePoint(new double[] { 0.5, 0.5, 0.5 }, RobotCoordinateSystem.ROBOT_CS_MCS);
connection.Robot.Groups[1].Movement.MoveCircularAbsolute(midPoint, endPoint, 100.0, 100.0, 20000.0, 50.0, 20.0, ROBOT_SETMODE_TO, ROBOT_SLOPETYPE_BLOCK_SLOPE);

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

HRESULT IGroupMovement::SyncOnWithLimits	(	[in] AxisRef *	beltAxis,
		[in] DOUBLE	acceleration,
		[in] DOUBLE	jerk
	)

performs a synchronization to a belt with movement limits.

Parameters

[in]	beltAxis	axis reference of the belt.
[in]	acceleration	maximum acceleration.
[in]	jerk	maximum jerk.

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

Example C#:: // Synchronize to beltAxis.
AxisRef beltAxis;
connection.Robot.Groups[1].Movement.SyncOnWithLimits(beltAxis, 100.0, 20000.0);

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

HRESULT IGroupMovement::SyncOffWithLimits	(	[in] AxisRef *	beltAxis,
		[in] DOUBLE	deceleration,
		[in] DOUBLE	jerk,
		[in] DOUBLE	radius,
		[in] enum RobotSetMode	setMode
	)

performs a desynchronization of a belt with movement limits.

Parameters

[in]	beltAxis	axis reference of the belt.
[in]	jerk	maximum jerk.
[in]	deceleration	maximum deceleration.
[in]	radius	radius for blending a move.
[in]	setMode	"TO" or "VIA".

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

Example C#:: // Desynchronize to beltAxis.
AxisRef beltAxis;
connection.Robot.Groups[1].Movement.SyncOnWithLimits(beltAxis, 100.0, 20000.0, 50.0, ROBOT_SETMODE_TO);

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

HRESULT IGroupMovement::WaitForDone ( [in] LONG timeout )

this function waits until the command status is set to done.

Parameters

[in] timeout if the timeout is exceeded, this function fails with "MLPI_E_TIMEOUT".

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

Example C#:: // Wait 100s for command status set to done. If 100s is exceeded without command status set to done, return "MLPI_E_TIMEOUT".
connection.Robot.Groups[1].Movement.WaitForDone(100);

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

HRESULT IGroupMovement::WaitForActive ( [in] LONG timeout )

this function waits until the command status is set to active

Parameters

[in] timeout if the timeout is exceeded, this function fails with "MLPI_E_TIMEOUT".

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

Example C#:: // Wait 100s for command status set to active. If 100s is exceeded without command status set to active, return "MLPI_E_TIMEOUT".
connection.Robot.Groups[1].Movement.WaitForActive(100);

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

HRESULT IGroupMovement::WaitForInBuffer ( [in] LONG timeout )

this function waits until the command is in buffer

Parameters

[in] timeout if the timeout is exceeded, this function fails with "MLPI_E_TIMEOUT".

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

Example C#:: // Wait 100s for command to get in buffer. If 100s is exceeded without command getting in buffer, return "MLPI_E_TIMEOUT".
connection.Robot.Groups[1].Movement.WaitForInBuffer(100);

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

HRESULT IGroupMovement::Stop	(	[in] DOUBLE	deceleration,
		[in] DOUBLE	jerk,
		[in] BOOL	stop
	)

This function stops the group with the given deceleration and jerk.

Parameters

[in]	deceleration	Commanded deceleration of movement.
[in]	jerk	Commanded jerk of movement.
[in]	stop	TRUE: stopping, FALSE: exit stopping mode Important Note: This command is special in the way that it has to be called one time with 'stop' = TRUE. This will bring the group to a standstill. And when the group is standing still, the command has to be called again with 'stop' = FALSE in order to enter the PLCopen 'Standstill' mode.

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

Example:: // Stop the group.
connection.Robot.Groups[1].Movement.Stop(100.0, 20000.0, true);

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

HRESULT IGroupMovement::Interrupt	(	[in] DOUBLE	deceleration,
		[in] DOUBLE	jerk
	)

This function interrupts the group.

Parameters

[in]	deceleration	Commanded deceleration of movement.
[in]	jerk	Commanded jerk of movement.

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

Example:: // Interrupt the group with settings of paramSet.
connection.Robot.Groups[1].Movement.Interrupt(100.0, 20000.0);

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

HRESULT IGroupMovement::Continue ( )

This function continues the group.

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

Example:: // Continue the group.
connection.Robot.Groups[1].Movement.Continue();

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

HRESULT IGroupMovement::JogStep	(	[in] IRobotPoint *	distance,
		[in] DOUBLE	velocity,
		[in] DOUBLE	acceleration,
		[in] DOUBLE	deceleration,
		[in] DOUBLE	jerk
	)

This function jogs a step.

Parameters

[in]	distance	distance for the jog step.
[in]	velocity	maximum velocity of movement.
[in]	acceleration	maximum acceleration of movement.
[in]	deceleration	maximum deceleration of movement.
[in]	jerk	maximum jerk of movement.

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

Example:: // Jog a step
RobotPoint distance = connection.Robot.CreatePoint(new double[] { 10.0, 0.0, 0.0 }, RobotCoordinateSystem.ROBOT_CS_MCS);
connection.Robot.Groups[1].Movement.JogStep(distance, 10.0, 100.0, 100.0, 1000.0);

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

HRESULT IGroupMovement::JogCont	(	[in] IRobotPoint *	direction,
		[in] DOUBLE	velocity,
		[in] DOUBLE	acceleration,
		[in] DOUBLE	deceleration,
		[in] DOUBLE	jerk
	)

This function jogs continuously.

Parameters

[in]	direction	direction for the continuous jog movement.
[in]	velocity	maximum velocity of movement.
[in]	acceleration	maximum acceleration of movement.
[in]	deceleration	maximum deceleration of movement.
[in]	jerk	maximum jerk of movement.

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

Example:: // Jog continuously
RobotPoint direction = connection.Robot.CreatePoint(new double[] { 1.0, 0.0, 0.0 }, RobotCoordinateSystem.ROBOT_CS_MCS);
connection.Robot.Groups[1].Movement.JogStep(direction, 10.0, 100.0, 100.0, 1000.0);
connection.Robot.Groups[1].Movement.StopCmd();

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

HRESULT IGroupMovement::StopCmd ( )

This function stops last command.

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

Example:: // Stop last command
connection.Robot.Groups[1].Movement.StopCmd();

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

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

IGroupMovement.idl

Public Member Functions

Detailed Description

Member Function Documentation