Inherits com.boschrexroth.mlpi.MlpiComponent.
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| native void | AddAllAxisToGroup () |
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| native void | RemAllAxisFromGroup () |
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| native void | SetCartesianTransform (Robot.RobotCoordinateSystem coordSys, double posX, double posY, double posZ, double rotA, double rotB, double rotC) |
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| native void | SetCylindricTransform (Robot.RobotCoordinateSystem coordSys, double posX, double posY, double posZ, double rotA, double rotB, double rotC) |
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| native void | SetBeltConfiguration (Motion.AxisRef beltAxis, double posX, double posY, double posZ, double rotA, double rotB, double rotC, double beginLength, double totalLength) |
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| native void | SetRotaryTableConfiguration (Motion.AxisRef beltAxis, double posX, double posY, double posZ, double rotA, double rotB, double rotC, double beginLength, double totalLength) |
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| native void | SetBeltErrorReaction (Motion.AxisRef beltAxis, Robot.RobotSyncErrorReactionMode errorType, double time, double deceleration, double jerk) |
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| native void | SetName (String name) |
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| native void | SetAxisConfiguration (Robot.RobotAxisConfiguration[] axisConfig) |
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| native void | SetKinematicType (long type) |
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| native void | Reset () |
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| native void | SetSafeZone (long zoneNumber, Robot.RobotSafeZoneType zoneType, double maxPosX, double maxPosY, double maxPosZ, double minPosX, double minPosY, double minPosZ) |
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| native void | SetMoveId (long moveId) |
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| native void | ChangeTool (double posX, double posY, double posZ, double rotA, double rotB, double rotC) |
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| Type | Element | Description |
| GroupRef | _groupRef | References the robot to the whole system |
| long | _motionHandle | actual motion handle |
Definition at line 75 of file GroupConfig.java.
| native void com.boschrexroth.mlpi.GroupConfig.AddAllAxisToGroup |
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| ) |
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This function add all configured axis to the group/robot
- Note:
- This method maps to the mlpiCore function
mlpiRobotAddAllAxisToGroup, where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupConfig.RemAllAxisFromGroup |
( |
| ) |
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This function remove all configured axes from the group/robot
- Note:
- This method maps to the mlpiCore function
mlpiRobotRemAllAxisFromGroup, where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupConfig.SetCartesianTransform |
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Robot.RobotCoordinateSystem |
coordSys, |
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double |
posX, |
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double |
posY, |
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double |
posZ, |
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double |
rotA, |
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double |
rotB, |
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double |
rotC |
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) |
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This function configures a Cartesian transformation between PCS and MCS
- Parameters
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| [in] | coordSys | Reference to the coordinate system |
| [in] | posX | X position of the PCS in MCS |
| [in] | posY | Y position of the PCS in MCS |
| [in] | posZ | Z position of the PCS in MCS |
| [in] | rotA | rotation of PCS around x axis in MCS |
| [in] | rotB | rotation of PCS around y axis in MCS |
| [in] | rotC | rotation of PCS around z axis in MCS |
- Note:
- This method maps to the mlpiCore function
mlpiRobotSetCartesianTransform, where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupConfig.SetCylindricTransform |
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Robot.RobotCoordinateSystem |
coordSys, |
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double |
posX, |
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double |
posY, |
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double |
posZ, |
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double |
rotA, |
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double |
rotB, |
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double |
rotC |
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) |
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This function configures a cylindrical transformation between PCS and MCS
- Parameters
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| [in] | coordSys | Reference to the coordinate system |
| [in] | posX | X position of the PCS in MCS |
| [in] | posY | Y position of the PCS in MCS |
| [in] | posZ | Z position of the PCS in MCS |
| [in] | rotA | rotation of PCS around x axis in MCS |
| [in] | rotB | rotation of PCS around y axis in MCS |
| [in] | rotC | rotation of PCS around z axis in MCS |
- Note:
- This method maps to the mlpiCore function
mlpiRobotSetCylindricTransform, where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupConfig.SetBeltConfiguration |
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Motion.AxisRef |
beltAxis, |
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double |
posX, |
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double |
posY, |
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double |
posZ, |
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double |
rotA, |
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double |
rotB, |
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double |
rotC, |
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double |
beginLength, |
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double |
totalLength |
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) |
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This function configures a belt
- Parameters
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| [in] | beltAxis | Reference to the coordinate system |
| [in] | posX | X position of the PCS in MCS |
| [in] | posY | Y position of the PCS in MCS |
| [in] | posZ | Z position of the PCS in MCS |
| [in] | rotA | rotation of PCS around x axis in MCS |
| [in] | rotB | rotation of PCS around y axis in MCS |
| [in] | rotC | rotation of PCS around z axis in MCS |
| [in] | beginLength | begin length of belt synchronous working area |
| [in] | totalLength | total length of belt synchronous working area |
- Note:
- This method maps to the mlpiCore function
mlpiRobotSetBeltConfiguration, where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupConfig.SetRotaryTableConfiguration |
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Motion.AxisRef |
beltAxis, |
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double |
posX, |
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double |
posY, |
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double |
posZ, |
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double |
rotA, |
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double |
rotB, |
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double |
rotC, |
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double |
beginLength, |
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double |
totalLength |
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) |
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This function configures a rotary table
- Parameters
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| [in] | beltAxis | Reference to the coordinate system |
| [in] | posX | X position of the PCS in MCS |
| [in] | posY | Y position of the PCS in MCS |
| [in] | posZ | Z position of the PCS in MCS |
| [in] | rotA | rotation of PCS around x axis in MCS |
| [in] | rotB | rotation of PCS around y axis in MCS |
| [in] | rotC | rotation of PCS around z axis in MCS |
| [in] | beginLength | begin length of belt synchronous working area |
| [in] | totalLength | total length of belt synchronous working area |
- Note:
- This method maps to the mlpiCore function
mlpiRobotSetRotaryTableConfiguration, where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupConfig.SetBeltErrorReaction |
( |
Motion.AxisRef |
beltAxis, |
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Robot.RobotSyncErrorReactionMode |
errorType, |
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double |
time, |
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double |
deceleration, |
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double |
jerk |
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) |
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This function configures the error reaction of a belt.
- Parameters
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| [in] | beltAxis | Reference to the axis |
| [in] | errorType | Type of error reaction |
| [in] | time | Defines the time to stop the belt synchronous movement when error reaction mode of belt is time |
| [in] | deceleration | Defines the deceleration to stop the belt synchronous movement when error reaction mode is desynchronization with limits |
| [in] | jerk | Defines the jerk to stop the belt synchronous movement when error reaction mode is desynchronization with limits |
- Note:
- This method maps to the mlpiCore function
mlpiRobotSetBeltErrorReaction, where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupConfig.SetName |
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String |
name | ) |
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This function sets a name for the robot
- Parameters
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| [in] | name | Name for the robot |
- Example Java:
connection.robot().groups(1).configuration().SetName("Kinematic1");
- Note:
- This method maps to the mlpiCore function
mlpiParameterWriteDataString (K-0-0002), where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupConfig.SetAxisConfiguration |
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Robot.RobotAxisConfiguration[] |
axisConfig | ) |
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This function sets the configuration for all given axes
- Parameters
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| [in] | axisConfig | Array with the information for all axes |
- Example Java:
int numberOfAxes = 2;
Robot.RobotAxisConfiguration axis1 = new Robot.RobotAxisConfiguration();
axis1.axisConfiguration = 8;
axis1.controlNumber = 0;
axis1.axisNumber = 1;
Robot.RobotAxisConfiguration axis2 = new Robot.RobotAxisConfiguration();
axis2.axisConfiguration = 8;
axis2.controlNumber = 0;
axis2.axisNumber = 2;
Robot.RobotAxisConfiguration axisConfig[] = new Robot.RobotAxisConfiguration[numberOfAxes];
axisConfig[0] = axis1;
axisConfig[1] = axis2;
connection.robot().groups(1).configuration().SetAxisConfiguration(axisConfig);
- Note:
- This method maps to the mlpiCore function
mlpiParameterWriteDataArrayUshort (K-0-0008), where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupConfig.SetKinematicType |
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long |
type | ) |
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This function sets the type of the robot
- Parameters
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| [in] | type | Number that indicates the kinematic type |
- Note:
- This method maps to the mlpiCore function
mlpiParameterWriteDataUshort (K-0-0031), where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupConfig.Reset |
( |
| ) |
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This function resets the robot from all of its data
- Note:
- This method maps to the mlpiCore function
mlpiRobotReset, where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupConfig.SetSafeZone |
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long |
zoneNumber, |
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Robot.RobotSafeZoneType |
zoneType, |
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double |
maxPosX, |
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double |
maxPosY, |
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double |
maxPosZ, |
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double |
minPosX, |
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double |
minPosY, |
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double |
minPosZ |
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) |
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This function configures a save zone of a robot.
- Parameters
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| [in] | zoneNumber | zone number |
| [in] | zoneType | zone type |
| [in] | maxPosX | X maximum position of zone |
| [in] | minPosX | X minimum position of zone |
| [in] | maxPosY | Y maximum position of zone |
| [in] | minPosY | Y minimum position of zone |
| [in] | maxPosZ | Z maximum position of zone |
| [in] | minPosZ | Z minimum position of zone |
- Note:
- This method maps to the mlpiCore function
mlpiRobotSetSafeZone, where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupConfig.SetMoveId |
( |
long |
moveId | ) |
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This function will set an id in the block buffer for a command. This function can be called at any point. The block id will be incremented after the call of a movement command. The block id can be reseted with the id zero.
- Parameters
-
- Example Java:
long moveID = 9;
connection.robot().groups(1).configuration().SetMoveId(moveID);
- Note:
- This method maps to the mlpiCore function
mlpiRobotSetMoveId, where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupConfig.ChangeTool |
( |
double |
posX, |
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double |
posY, |
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double |
posZ, |
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double |
rotA, |
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double |
rotB, |
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double |
rotC |
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) |
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This function changes a tool.
- Parameters
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| [in] | posX | X position of the PCS in MCS |
| [in] | posY | Y position of the PCS in MCS |
| [in] | posZ | Z position of the PCS in MCS |
| [in] | rotA | rotation of PCS around x axis in MCS |
| [in] | rotB | rotation of PCS around y axis in MCS |
| [in] | rotC | rotation of PCS around z axis in MCS |
- Note:
- This method maps to the mlpiCore function
mlpiRobotChangeTool, where you can find further documentation.
The documentation for this class was generated from the following file:
