Inherits IDispatch.

Collaboration diagram for IRobot:

Classes
struct	GroupRef

struct	KinematicsUnits

struct	KinematicsValues

struct	RobotAxisConfiguration

struct	RobotBeltConfigValues

struct	RobotBeltErrorReactionValues

struct	RobotInformation

struct	RobotMechanicData

struct	RobotPerformanceResult

struct	RobotTrafoParameter

Public Types

Public Member Functions
HRESULT	GetConfiguredGroups ([out, retval] SAFEARRAY(struct RobotInformation)*robotsInfo)

HRESULT	CreatePoint ([in] SAFEARRAY(DOUBLE) point, [in, defaultvalue(ROBOT_CS_MCS)] enum RobotCoordinateSystem type, [out, retval] IRobotPoint **retPoint)

HRESULT	GetKinematicsValues ([in]SAFEARRAY(struct GroupRef) Groups, [out, retval] SAFEARRAY(struct KinematicsValues)*kinematicsValues)

HRESULT	GetKinematicsUnits ([in]SAFEARRAY(struct GroupRef) Groups, [out, retval] SAFEARRAY(struct KinematicsUnits)*kinematicsUnits)

Properties
IGroups	Groups `[get]`

Detailed Description

Definition of the IRobot interface which gives access to the robot control functionality of the MLPI Device.

The IRobot interface is not implemented, yet. This is only a placeholder.

Definition at line 70 of file IRobot.idl.

Member Enumeration Documentation

enum IRobot::RobotAxisTypes

This enumeration defines the types of axis used in a robot. This is parameter K-0-0008.

Enumerator
ROBOT_AXISTYPE_NONE	No axis configured.
ROBOT_AXISTYPE_POSITIONING	axis is used as a positioning axis
ROBOT_AXISTYPE_ORIENTATION	axis is used as an orientation axis
ROBOT_AXISTYPE_BELT	axis is used as a belt axis

Definition at line 74 of file IRobot.idl.

enum IRobot::RobotTypes

This enumeration defines the type of robot.

Enumerator
ROBOT_TYPE_RHO	Old robot control core.
ROBOT_TYPE_RCF	RCF robot control core.

Definition at line 84 of file IRobot.idl.

enum IRobot::RobotSetMode

This enumeration defines the set mode for robot motion commands.

Enumerator
ROBOT_SETMODE_TO	no blending
ROBOT_SETMODE_VIA	blending

Definition at line 92 of file IRobot.idl.

enum IRobot::RobotPerformance

This enumeration defines the type of performance measurement.

Enumerator
ROBOT_PERFORMANCE_ENABLE	Enable measurement.
ROBOT_PERFORMANCE_DISABLE	Disable measurement.

Definition at line 100 of file IRobot.idl.

enum IRobot::RobotCoordinateSystem

This enumeration defines the type of performance measurement.

Enumerator
ROBOT_CS_MCS	Machine coordinate system.
ROBOT_CS_ACS	Axes coordinate system.
ROBOT_CS_BCS	Base coordinate system.
ROBOT_CS_PCS1	Product coordinate system.
ROBOT_CS_PCS2	Product coordinate system.
ROBOT_CS_PCS3	Product coordinate system.
ROBOT_CS_PCS4	Product coordinate system.
ROBOT_CS_PCS5	Product coordinate system.
ROBOT_CS_PCS6	Product coordinate system.
ROBOT_CS_PCS7	Product coordinate system.
ROBOT_CS_PCS8	Product coordinate system.
ROBOT_CS_PCS9	Product coordinate system.
ROBOT_CS_PCS10	Product coordinate system.
ROBOT_CS_PCS11	Product coordinate system.
ROBOT_CS_PCS12	Product coordinate system.
ROBOT_CS_PCS13	Product coordinate system.
ROBOT_CS_PCS14	Product coordinate system.
ROBOT_CS_PCS15	Product coordinate system.
ROBOT_CS_PCS16	Product coordinate system.

Definition at line 108 of file IRobot.idl.

enum IRobot::RobotSlopeType

This enumeration defines the slope type for robot motion commands.

Enumerator
ROBOT_SLOPETYPE_BLOCK_SLOPE	blending by starting next command early
ROBOT_SLOPETYPE_PROGR_SLOPE	blending using a circle (deprecated)
ROBOT_SLOPETYPE_CONT_SLOPE	blending using a spline

Definition at line 133 of file IRobot.idl.

enum IRobot::RobotSyncErrorReactionMode

This enumeration defines error reaction mode of a belt.

Enumerator
ROBOT_BELT_ERROR_NO_SPECIFIC_REACTION	If an error occurs, no specific belt synchronous error reaction will happen. The robot stays synchronous to the belt.
ROBOT_BELT_ERROR_DESYNC_OVER_TIME	If an error occurs, the belt desynchronizes from the belt over time.
ROBOT_BELT_ERROR_DESYNC_WITH_LIMITS	If an error occurs, the belt desynchronizes from the belt over limits.

Definition at line 142 of file IRobot.idl.

enum IRobot::RobotMechCmd

This enum defines the command for an mechanical object.

Enumerator
ROBOT_MECH_CREATE_ROD	create a rod
ROBOT_MECH_CREATE_SPHERE	create a sphere
ROBOT_MECH_POSITION	change position of object to (x,y,z)
ROBOT_MECH_DIRECTION	change direction of object to (x,y,z)
ROBOT_MECH_SIZE	change size of object to (x,y,z)

Definition at line 151 of file IRobot.idl.

enum IRobot::RobotCSType

This enum defines whether the coordinate system of a transformation is Cartesian or cylindric.

Enumerator
ROBOT_CS_CARTESIAN	A Cartesian coordinate system.
ROBOT_CS_CYLINDRIC	A cylindric coordinate system.

Definition at line 162 of file IRobot.idl.

enum IRobot::RobotSafeZoneType

This enum defines the type of a save zone.

Enumerator
ROBOT_SAFE_ZONE_TYPE_DEACTIVATED	zone deactivated
ROBOT_SAFE_ZONE_TYPE_INSIDE_OK	points within this zone are allowed
ROBOT_SAFE_ZONE_TYPE_OUTSIDE_OK	points outside of this zone are allowed

Definition at line 170 of file IRobot.idl.

Member Function Documentation

HRESULT IRobot::GetConfiguredGroups ( [out, retval] SAFEARRAY(struct RobotInformation)* robotsInfo )

This method returns a struct array with information about the currently configured robots in the device. Use this method to get a quick overview of the robot configuration of your target. You can then use the Name or GroupRef.AxisNo element of the returned structure as an index for the IMlpiConnection::Robot property of this interface to get more information of the given robot.

Parameters

[out] robotsInfo Struct array containing information about the current robots configuration. Contains one element for each robot.

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

Example C#:: RobotInformation[] robots = (RobotInformation[])connection.Robot.GetConfiguredGroups();

HRESULT IRobot::CreatePoint	(	[in] SAFEARRAY(DOUBLE)	point,
		[in, defaultvalue(ROBOT_CS_MCS)] enum RobotCoordinateSystem	type,
		[out, retval] IRobotPoint **	retPoint
	)

This method creates a robot point object with the given values. Use this method to create a new point. You can use this point for example to move to. Every point has coordinates and a coordinate system the point is defined in.

Parameters

[in]	point	Coordinates of the point
[in]	type	Coordinate system the point is defined in
[out]	retPoint	Created point object.

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

Example C#:: RobotPoint myPoint = connection.Robot.CreatePoint(new double[] { 4.0, 5.0, 6.0 }, GroupCoordinateSystem.ROBOT_CS_MCS);

HRESULT IRobot::GetKinematicsValues	(	[in] SAFEARRAY(struct GroupRef)	Groups,
		[out, retval] SAFEARRAY(struct KinematicsValues)*	kinematicsValues
	)

This function fills an array of IRobot::KinematicsValues structures. Use the Groups input parameter to specify the groups for which information should be read. You may want to use this method to read several sets of kinematics information for several groups using one single method call during operation of the group. This provides increased performance in comparison to reading the values bit by bit and kinematic by kinematic.

Parameters

[in]	Groups	An array of GIRobot::GroupRef structures which specify the kinematics you want to read.
[out]	kinematicsValues	An array of IRobot::KinematicsValues structures.

Returns: Returns a struct with the current operation information about kinematics.

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

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

Example C#:: KinematicsValues[] kinematicsValues;
GroupRef[] groups = new GroupRef[1];
groups[0].controlNo = 0;
groups[0].groupNo = 1;
kinematicsValues = connection.Robot.GetKinematicsValues(groups);

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

HRESULT IRobot::GetKinematicsUnits	(	[in] SAFEARRAY(struct GroupRef)	Groups,
		[out, retval] SAFEARRAY(struct KinematicsUnits)*	kinematicsUnits
	)

This function fills an array of IRobot::KinematicsUnits structures with information about the units of the kinematics. Use the groups input parameter to specify the groups for which information should be read. This provides increased performance in comparison to reading the values bit by bit and kinematic by kinematic.

Parameters

[in]	Groups	An array of GroupRef structures which specify the kinematics you want to read.
[out]	kinematicsUnits	An array of IRobot::KinematicsUnits structures.

Returns: Returns a struct with the current unit information about kinematics.

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

Example C#:: KinematicsUnits[] kinematicsUnits;
GroupRef[] groups = new GroupRef[1];
groups[0].controlNo = 0;
groups[0].groupNo = 1;
kinematicsUnits = connection.Robot.GetKinematicsUnits(groups);

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

Property Documentation

IGroups IRobot::Groups

get

This property returns a IGroups object which allows access to different IGroup objects, as well as access to methods which control ALL groups on the device. The IGroups interface is a collection interface.

Parameters

[out] groups Returns an object of the type IGroups.

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

Example C#:: IGroup Delta = connection.Robot.Groups["Delta"];
IGroup Robot1 = connection.Robot.Groups[1];

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

IRobot.idl

Classes

Public Types

Public Member Functions

Properties

Detailed Description

Member Enumeration Documentation

Member Function Documentation

Property Documentation