Inherits com.boschrexroth.mlpi.MlpiComponent.
| Type | Element | Description |
| GroupRef | _groupRef | References the robot to the whole system |
Definition at line 74 of file GroupInfo.java.
| native void com.boschrexroth.mlpi.GroupInfo.MovePoint |
( |
RobotPoint |
point | ) |
|
Calculates the current position of a point on a belt.
- Parameters
-
| [in] | point | point to be calculated |
- Note:
- This method maps to the mlpiCore function
mlpiRobotMovePoint, where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupInfo.TransformPoint |
( |
Robot.RobotCoordinateSystem |
cs, |
|
|
RobotPoint |
point |
|
) |
| |
Transform a point from coordSystemIn to coordSystemOut. The location of the point stays the same. Only the point of view (coordinate system) changes.
- Parameters
-
| [in] | cs | coordinate system in that will be transformed |
| [in] | point | Point to be transformed |
- Note:
- This method maps to the mlpiCore function
mlpiRobotTransformPoint, where you can find further documentation.
| native void com.boschrexroth.mlpi.GroupInfo.SetPerformanceEnable |
( |
boolean |
type | ) |
|
This function enables/disables the performance measurement of the core of the given group
- Parameters
-
| [in] | type | Enable = TRUE; Disable = FALSE |
- Note:
- This method maps to the mlpiCore function
mlpiRobotSetPerformanceEnable, where you can find further documentation.
| native Robot.RobotPerformanceResult [] com.boschrexroth.mlpi.GroupInfo.GetPerformanceResult |
( |
| ) |
|
This function reads the performance measurement result from the given groups
- Returns
- array of all groups with its performance results
- Note:
- This method maps to the mlpiCore function
mlpiRobotGetPerfomanceResult, where you can find further documentation.
| native Robot.RobotMechanicData [] com.boschrexroth.mlpi.GroupInfo.GetMechanicData |
( |
boolean |
updateOnly | ) |
|
This function reads the mechanic data from the given group
- Parameters
-
| [in] | updateOnly | true to update only, false to refresh everything |
- Returns
- Array that includes all mechanic data
- Note:
- This method maps to the mlpiCore function
mlpiRobotGetMechanicData, where you can find further documentation.
| native RobotPoint com.boschrexroth.mlpi.GroupInfo.GetActualPosition |
( |
Robot.RobotCoordinateSystem |
cs | ) |
|
This function gets the current position of the robot
- Parameters
-
| [in] | cs | Reference to the coordinate system |
- Returns
- Actual position in the given coordinate system
- Note:
- This method maps to the mlpiCore function
mlpiRobotReadPos, where you can find further documentation.
| native String com.boschrexroth.mlpi.GroupInfo.GetName |
( |
| ) |
|
This function returns the name of the kinematic
- Returns
- returns the name of the kinematic
- Note:
- This method maps to the mlpiCore function
mlpiParameterReadDataString (K-0-0002), where you can find further documentation.
| native Robot.RobotTypes com.boschrexroth.mlpi.GroupInfo.GetType |
( |
| ) |
|
This function returns the type of the kinematic
- Returns
- Returning the type of the kinematic
- Note:
- This method maps to the mlpiCore function
mlpiParameterReadDataUlong (K-0-0019), where you can find further documentation.
| native Robot.RobotTrafoParameter com.boschrexroth.mlpi.GroupInfo.GetTransform |
( |
Robot.RobotCoordinateSystem |
coordSys | ) |
|
This function returns the parameter for the transformation to the given coordinate system
- Parameters
-
| [in] | coordSys | Reference to the coordinate system |
- Returns
- Returning the parameter for the transformation to the given coordinate system
- Note:
- This method maps to the mlpiCore function
mlpiRobotGetTransform, where you can find further documentation.
| native Robot.RobotBeltConfigValues com.boschrexroth.mlpi.GroupInfo.GetBeltConfiguration |
( |
Motion.AxisRef |
belt | ) |
|
This function gets belt values
- Parameters
-
| [in] | belt | Reference to the belt |
- Returns
- returns the values for the belt configuration
- Note:
- This method maps to the mlpiCore function
mlpiRobotGetBeltConfiguration, where you can find further documentation.
| native Robot.RobotBeltErrorReactionValues com.boschrexroth.mlpi.GroupInfo.GetBeltErrorReaction |
( |
Motion.AxisRef |
belt | ) |
|
This function gets the configured error reaction of a belt.
- Parameters
-
| [in] | belt | Reference to the belt |
- Returns
- returning the belt error reaction value (mode)
- Note:
- This method maps to the mlpiCore function
mlpiRobotGetBeltErrorReaction, where you can find further documentation.
| native String com.boschrexroth.mlpi.GroupInfo.GetDiagnosisText |
( |
| ) |
|
This function reads the diagnostic message of the kinematics.
- Returns
- returning the diagnosis text
- Note:
- This method maps to the mlpiCore function
mlpiRobotGetDiagnosisText, where you can find further documentation.
| native Robot.RobotKinematicsValues com.boschrexroth.mlpi.GroupInfo.GetKinematicValues |
( |
| ) |
|
This function fills an array of kinematic values structures. Use the group element of the structure to specify the kinematics for which information should be read. You may want to use this structure to read several sets of kinematics information for several kinematics using one single function call during operation of the kinematics. This provides increased performance in comparison to reading the values bit by bit and kinematics by kinematics.
- Returns
- Returns the kinematic values for every robot.
- Note:
- This method maps to the mlpiCore function
mlpiRobotGetKinematicsValues, where you can find further documentation.
| native Robot.RobotKinematicsUnits com.boschrexroth.mlpi.GroupInfo.GetKinematicUnits |
( |
| ) |
|
This function returns the current unit settings of an array of kinematics in string representation. Use it to read the unit settings for display in an HMI.
- Returns
- return a structure of the kinematic units
- Note:
- This method maps to the mlpiCore function
mlpiRobotGetKinematicsUnits, where you can find further documentation.
| native Robot.RobotCoordinateSystemInfo [] com.boschrexroth.mlpi.GroupInfo.GetCoordinateSystemInfo |
( |
| ) |
|
This function will return Informations about the supported Coordinate Systems from the Kinematic
- Returns
- Returning structure containing all information necessary for the command.
- Note:
- This method maps to the mlpiCore function
mlpiRobotGetCoordinateSystemInfo, where you can find further documentation.
| native Robot.RobotSafeZoneData [] com.boschrexroth.mlpi.GroupInfo.GetSafeZones |
( |
| ) |
|
This function will return the Data of all Safezones
- Returns
- Return all Safezonedata.
- Note:
- This method maps to the mlpiCore function
mlpiRobotGetSafeZones, where you can find further documentation.
| native double com.boschrexroth.mlpi.GroupInfo.GetMoveId |
( |
| ) |
|
This function will read the block id and the progress of the currently executed move command. The integer value in front of the dot represents the block id. The decimal part after the dot shows the progress of a movement.
- Returns
- Return Id and progress of the currently executed command.
- Example Java:
double moveId = 0.0;
moveId = connection.robot().groups(1).information().GetMoveId();
java.lang.System.out.println("moveId: " + moveId);
- Note:
- This method maps to the mlpiCore function
mlpiRobotGetMoveId, where you can find further documentation.
| native Robot.RobotCmdInfo [] com.boschrexroth.mlpi.GroupInfo.GetCmdInfo |
( |
Robot.RobotCmdInfoType |
infoType | ) |
|
This function reads the performance measurement result from the given group
- Parameters
-
| [in] | infoType | Type of information which should be read |
- Returns
- Array that includes all cmd information
- Example Java:
Robot.RobotCmdInfo[] cmdInfo = connection.robot().groups(1).information().GetCmdInfo(Robot.RobotCmdInfoType.MLPI_ROBOT_CMD_DATA_TYPE_UID);
for (Robot.RobotCmdInfo info: cmdInfo)
{
java.lang.System.out.println("commandID: " + info.commandID);
java.lang.System.out.println("infoType: " + info.infoType.toString());
java.lang.System.out.println("value: " + info.value);
}
- Note:
- This method maps to the mlpiCore function
mlpiRobotGetCmdInfo, where you can find further documentation.
The documentation for this class was generated from the following file:
