Inherits com.boschrexroth.mlpi.MlpiComponent.

Collaboration diagram for com.boschrexroth.mlpi.GroupMovement:

Public Member Functions
native void	MoveLinearAbsolute (RobotPoint endPoint, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType)

native void	MoveLinearRelative (RobotPoint distance, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType)

native void	MoveDirectAbsolute (RobotPoint endPoint, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType)

native void	MoveDirectRelative (RobotPoint distance, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType)

native void	MoveCircularAbsolute (RobotPoint midPoint, RobotPoint endPoint, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType)

native void	MoveCircularRelative (RobotPoint midPoint, RobotPoint endPoint, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType)

native void	MoveJumpAbsolute (RobotPoint endPoint, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType, double startHeight, double maxHeight, double endHeight)

native void	SyncOnWithLimits (Motion.AxisRef beltAxis, double acceleration, double jerk)

native void	SyncOffWithLimits (Motion.AxisRef beltAxis, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode)

native void	OpenCyclicChannel (double deceleration, double jerk, double radius, Robot.RobotSetMode setMode)

native void	WriteCyclicChannel (RobotPoint point, Robot.RobotCyclicMode cyclicMode)

native void	WaitForDone (long timeout)

native void	WaitForActive (long timeout)

native void	WaitForInBuffer (long timeout)

native void	Stop (double deceleration, double jerk, boolean stop)

native void	Interrupt (double deceleration, double jerk)

native void	Continue ()

native void	JogStep (RobotPoint distance, double velocity, double acceleration, double deceleration, double jerk)

native void	JogCont (RobotPoint direction, double velocity, double acceleration, double deceleration, double jerk)

native void	StopCmd (Robot.RobotMotionHandle motionHandle)

native Robot.RobotMotionHandle	GetMotionHandle ()

Detailed Description

Type	Element	Description
GroupRef	_groupRef	References the robot to the whole system
long	_motionHandle	actual motion handle

Definition at line 75 of file GroupMovement.java.

Member Function Documentation

native void com.boschrexroth.mlpi.GroupMovement.MoveLinearAbsolute	(	RobotPoint	endPoint,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk,
		double	radius,
		Robot.RobotSetMode	setMode,
		Robot.RobotSlopeType	slopeType
	)

This function moves a kinematic linear

Parameters

[in]	endPoint	End Point of movement
[in]	velocity	Commanded velocity of movement
[in]	acceleration	Commanded acceleration of movement
[in]	deceleration	Commanded deceleration of movement
[in]	jerk	Commanded jerk of movement
[in]	radius	Commanded radius of blending movement
[in]	setMode	set mode
[in]	slopeType	slope type

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

native void com.boschrexroth.mlpi.GroupMovement.MoveLinearRelative	(	RobotPoint	distance,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk,
		double	radius,
		Robot.RobotSetMode	setMode,
		Robot.RobotSlopeType	slopeType
	)

This function moves a kinematic linear relative

Parameters

[in]	distance	Distance of movement
[in]	velocity	Commanded velocity of movement
[in]	acceleration	Commanded acceleration of movement
[in]	deceleration	Commanded deceleration of movement
[in]	jerk	Commanded jerk of movement
[in]	radius	Commanded radius of blending movement
[in]	setMode	set mode
[in]	slopeType	slope type

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

native void com.boschrexroth.mlpi.GroupMovement.MoveDirectAbsolute	(	RobotPoint	endPoint,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk,
		double	radius,
		Robot.RobotSetMode	setMode,
		Robot.RobotSlopeType	slopeType
	)

This function moves a kinematic linear

Parameters

[in]	endPoint	End Point of movement
[in]	velocity	Commanded velocity of movement
[in]	acceleration	Commanded acceleration of movement
[in]	deceleration	Commanded deceleration of movement
[in]	jerk	Commanded jerk of movement
[in]	radius	Commanded radius of blending movement
[in]	setMode	set mode
[in]	slopeType	slope type

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

native void com.boschrexroth.mlpi.GroupMovement.MoveDirectRelative	(	RobotPoint	distance,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk,
		double	radius,
		Robot.RobotSetMode	setMode,
		Robot.RobotSlopeType	slopeType
	)

This function moves a kinematics direct relative

Parameters

[in]	distance	Distance of movement
[in]	velocity	Commanded velocity of movement
[in]	acceleration	Commanded acceleration of movement
[in]	deceleration	Commanded deceleration of movement
[in]	jerk	Commanded jerk of movement
[in]	radius	Commanded radius of blending movement
[in]	setMode	set mode
[in]	slopeType	slope type

Example Java:: double[] point = {100.0, 0.0, 0.0};
RobotPoint distance = new RobotPoint(point, Robot.RobotCoordinateSystem.ROBOT_CS_MCS);
connection.robot().groups(1).movement().MoveDirectRelative(distance, 1000.0, 1000.0, 1000.0, 0.0, 0.0, Robot.RobotSetMode.ROBOT_SETMODE_TO, Robot.RobotSlopeType.ROBOT_SLOPETYPE_BLOCK_SLOPE);

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

native void com.boschrexroth.mlpi.GroupMovement.MoveCircularAbsolute	(	RobotPoint	midPoint,
		RobotPoint	endPoint,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk,
		double	radius,
		Robot.RobotSetMode	setMode,
		Robot.RobotSlopeType	slopeType
	)

This function moves a kinematics circular absolute

Parameters

[in]	midPoint	Aux Point of movement
[in]	endPoint	End Point of movement
[in]	velocity	Commanded velocity of movement
[in]	acceleration	Commanded acceleration of movement
[in]	deceleration	Commanded deceleration of movement
[in]	jerk	Commanded jerk of movement
[in]	radius	Commanded radius of blending movement
[in]	setMode	set mode
[in]	slopeType	slope type

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

native void com.boschrexroth.mlpi.GroupMovement.MoveCircularRelative	(	RobotPoint	midPoint,
		RobotPoint	endPoint,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk,
		double	radius,
		Robot.RobotSetMode	setMode,
		Robot.RobotSlopeType	slopeType
	)

This function moves a kinematics circular relative

Parameters

[in]	midPoint	Aux Point of movement
[in]	endPoint	End Point of movement
[in]	velocity	Commanded velocity of movement
[in]	acceleration	Commanded acceleration of movement
[in]	deceleration	Commanded deceleration of movement
[in]	jerk	Commanded jerk of movement
[in]	radius	Commanded radius of blending movement
[in]	setMode	set mode
[in]	slopeType	slope type

Example Java:: double[] point1 = {-100.0, 100.0, 0.0};
double[] point2 = {0.0, 0.0, 0.0};
RobotPoint midPoint = new RobotPoint(point1 , Robot.RobotCoordinateSystem.ROBOT_CS_MCS);
RobotPoint endPoint = new RobotPoint(point2, Robot.RobotCoordinateSystem.ROBOT_CS_MCS);
connection.robot().groups(1).movement().MoveCircularRelative(midPoint, endPoint, 100.0, 1000.0, 1000.0, 0.0, 0.0, Robot.RobotSetMode.ROBOT_SETMODE_TO, Robot.RobotSlopeType.ROBOT_SLOPETYPE_BLOCK_SLOPE);

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

native void com.boschrexroth.mlpi.GroupMovement.MoveJumpAbsolute	(	RobotPoint	endPoint,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk,
		double	radius,
		Robot.RobotSetMode	setMode,
		Robot.RobotSlopeType	slopeType,
		double	startHeight,
		double	maxHeight,
		double	endHeight
	)

This function moves a kinematic jump absolute

Parameters

[in]	endPoint	End Point of movement
[in]	velocity	Commanded velocity of movement
[in]	acceleration	Commanded acceleration of movement
[in]	deceleration	Commanded deceleration of movement
[in]	jerk	Commanded jerk of movement
[in]	radius	Commanded radius of blending movement
[in]	setMode	set mode
[in]	slopeType	slope type
[in]	startHeight	Minimal start height before the horizontal movement
[in]	maxHeight	Maximum height of movement
[in]	endHeight	Minimal end height after the horizontal movement

Example Java:: double[] point1 = {50.0, 0.0, 0.0};
RobotPoint endPoint = new RobotPoint(point1, Robot.RobotCoordinateSystem.ROBOT_CS_MCS);
connection.robot().groups(1).movement().MoveJumpAbsolute(endPoint, 600.0, 1200.0, 1200.0, 1000.0, 0.0, Robot.RobotSetMode.ROBOT_SETMODE_TO, Robot.RobotSlopeType.ROBOT_SLOPETYPE_BLOCK_SLOPE, 10.0, 20.0, 10.0);

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

native void com.boschrexroth.mlpi.GroupMovement.SyncOnWithLimits	(	Motion.AxisRef	beltAxis,
		double	acceleration,
		double	jerk
	)

This function synchronizes the cinematic to a belt considering limits for jerk and acceleration

Parameters

[in]	beltAxis	Reference to the axis
[in]	acceleration	Commanded acceleration of movement
[in]	jerk	Commanded jerk of movement

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

native void com.boschrexroth.mlpi.GroupMovement.SyncOffWithLimits	(	Motion.AxisRef	beltAxis,
		double	deceleration,
		double	jerk,
		double	radius,
		Robot.RobotSetMode	setMode
	)

This function synchronizes the cinematic to a belt considering limits for jerk and acceleration

Parameters

[in]	beltAxis	Reference to the axis
[in]	deceleration	Commanded deceleration of movement
[in]	jerk	Commanded jerk of movement
[in]	radius	Commanded radius of blending movement
[in]	setMode	set mode

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

native void com.boschrexroth.mlpi.GroupMovement.OpenCyclicChannel	(	double	deceleration,
		double	jerk,
		double	radius,
		Robot.RobotSetMode	setMode
	)

This function opens a channel for cyclic position commands

Parameters

[in]	deceleration	Commanded deceleration of movement
[in]	jerk	Commanded jerk of movement
[in]	radius	Commanded radius of blending movement
[in]	setMode	set mode

Example Java:: Group myRobot = connection.robot().groups(1);
myRobot.movement().OpenCyclicChannel(10.0, 5.0, 2.0, Robot.RobotSetMode.ROBOT_SETMODE_TO);

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

native void com.boschrexroth.mlpi.GroupMovement.WriteCyclicChannel	(	RobotPoint	point,
		Robot.RobotCyclicMode	cyclicMode
	)

This function writes a new cyclic position to a cyclic position channel

Parameters

[in]	point	Point of movement
[in]	cyclicMode	Mode of movement

Example Java:: Group myRobot = connection.robot().groups(1);
RobotPoint P1 = new RobotPoint(new double[]{-0.01, 0.1, 0.0}, Robot.RobotCoordinateSystem.ROBOT_CS_MCS);
myRobot.movement().WriteCyclicChannel(P1, Robot.RobotCyclicMode.ROBOT_CYCLIC_MODE_POS_ABS);

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

native void com.boschrexroth.mlpi.GroupMovement.WaitForDone ( long timeout )

This function lets the program wait until all commands are done

Parameters

[in] timeout after this timeout counter, the program will run again

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

native void com.boschrexroth.mlpi.GroupMovement.WaitForActive ( long timeout )

This function lets the program wait until all commands are active

Parameters

[in] timeout after this timeout counter, the program will run again

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

native void com.boschrexroth.mlpi.GroupMovement.WaitForInBuffer ( long timeout )

This function lets the program wait until all commands are in buffer

Parameters

[in] timeout after this timeout counter, the program will run again

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

native void com.boschrexroth.mlpi.GroupMovement.Stop	(	double	deceleration,
		double	jerk,
		boolean	stop
	)

This function stops the group with given settings

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.

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

native void com.boschrexroth.mlpi.GroupMovement.Interrupt	(	double	deceleration,
		double	jerk
	)

This function interrupts the group

Parameters

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

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

native void com.boschrexroth.mlpi.GroupMovement.Continue ( )

This function continues the group

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

native void com.boschrexroth.mlpi.GroupMovement.JogStep	(	RobotPoint	distance,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk
	)

This function jogs a kinematic in steps

Parameters

[in]	distance	Distance of movement
[in]	velocity	Commanded velocity of movement
[in]	acceleration	Commanded acceleration of movement
[in]	deceleration	Commanded deceleration of movement
[in]	jerk	Commanded jerk of movement

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

native void com.boschrexroth.mlpi.GroupMovement.JogCont	(	RobotPoint	direction,
		double	velocity,
		double	acceleration,
		double	deceleration,
		double	jerk
	)

This function jogs a kinematic continuous

Parameters

[in]	direction	Direction of movement
[in]	velocity	Commanded velocity of movement
[in]	acceleration	Commanded acceleration of movement
[in]	deceleration	Commanded deceleration of movement
[in]	jerk	Commanded jerk of movement

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

native void com.boschrexroth.mlpi.GroupMovement.StopCmd ( Robot.RobotMotionHandle motionHandle )

This function stops a command

Parameters

[in] motionHandle Handle of motion command which should be stopped

Example Java:: double[] point = {100.0, 0.0, 0.0};
RobotPoint direction = new RobotPoint(point, Robot.RobotCoordinateSystem.ROBOT_CS_MCS);
connection.robot().groups(1).movement().JogCont(direction, 2000.0, 1200.0, 1200.0, 20000.0);
Robot.RobotMotionHandle motionhandle = new Robot.RobotMotionHandle();
motionhandle = connection.robot().groups(1).movement().GetMotionHandle();
connection.robot().groups(1).movement().StopCmd(motionhandle);

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

native Robot.RobotMotionHandle com.boschrexroth.mlpi.GroupMovement.GetMotionHandle ( )

This function gets the MotionHandle from the last called motion function. This function is helpful in combination with StopCmd.

Returns: returns the MotionHandle in the class Robot.RobotMotionHandle.

Example Java:: double[] point = {100.0, 0.0, 0.0};
RobotPoint direction = new RobotPoint(point, Robot.RobotCoordinateSystem.ROBOT_CS_MCS);
connection.robot().groups(1).movement().JogCont(direction, 2000.0, 1200.0, 1200.0, 20000.0);
Robot.RobotMotionHandle motionhandle = new Robot.RobotMotionHandle();
motionhandle = connection.robot().groups(1).movement().GetMotionHandle();
connection.robot().groups(1).movement().StopCmd(motionhandle);

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

GroupMovement.java

Public Member Functions

Detailed Description

Member Function Documentation