com.boschrexroth.mlpi.Robot Class Reference

Inherits com.boschrexroth.mlpi.MlpiComponent.

Collaboration diagram for com.boschrexroth.mlpi.Robot:

Classes
class	GroupRef
class	RobotAxisConfiguration
enum	RobotAxisTypes
class	RobotBeltConfigValues
class	RobotBeltErrorReactionValues
class	RobotCmdInfo
enum	RobotCmdInfoType
enum	RobotCoordinateSystem
class	RobotCoordinateSystemInfo
enum	RobotCSType
enum	RobotCyclicMode
class	RobotInformation
class	RobotKinematicsUnits
class	RobotKinematicsValues
class	RobotMechanicData
enum	RobotMechCmd
class	RobotMotionHandle
class	RobotPerformanceResult
class	RobotSafeZoneData
enum	RobotSafeZoneType
enum	RobotSetMode
enum	RobotSlopeType
class	RobotStatusSummary
class	RobotStatusSummaryIn
enum	RobotSyncErrorReactionMode
class	RobotTrafoParameter
enum	RobotTypes

Public Member Functions
Group	groups (short groupNo)
synchronized Group	groups (int groupNo)
RobotPoint	CreatePoint (double point[], Robot.RobotCoordinateSystem type)
native RobotInformation[]	GetConfiguredGroups ()
native RobotKinematicsValues[]	GetKinematicsValues (GroupRef[] groups)
native RobotKinematicsUnits[]	GetKinematicsUnits (GroupRef[] groups)
native RobotStatusSummary[]	GetStatusSummary (RobotStatusSummaryIn[] statusSummaryIn)

Detailed Description

Class definition of the mlpiRobotLib.

This robot library provides functionality for defining a robot, commanding motion and getting robot information.

Note

You find a more detailed description of the concept of robot in the IndraWorks help system of the XLC/MLC product.

The following functions all deal with the motion of a robot. In general, "robot" is used to address a robot. Each motion command usually uses a structure to pass on the information about a particular move. The command will be executed in the control and returns a handle. This handle must be used in future requests for getting status information. The handle and the robot reference a particular motion command. One robot can have multiple active commands (for example, MoveLinearAbs is one and a MoveLinearRel is commanded). A previous commanded move will not be interrupted by a move currently executed. All moves will be executed consecutively.

Note

The RobotLib functions trace their debug informations mainly into the module MLPI_ROBOT_LIB and in addition into the modules RCF*, KIC, KIN_CMD_LOGGER and MLPI_BASE_MODULES. For further informations, see also the detailed description of the library TraceLib and the notes about sec_TraceViewer.

Definition at line 84 of file Robot.java.

Member Function Documentation

Group com.boschrexroth.mlpi.Robot.groups ( short  groupNo )

inline

This method returns the group object with the given number.

Parameters

[in]

groupNo

Number of the robot/group/kinematic.

Returns

Returns the robot/group/kinematic object.

Definition at line 904 of file Robot.java.

Referenced by com.boschrexroth.mlpi.Robot.CreatePoint().

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synchronized Group com.boschrexroth.mlpi.Robot.groups ( int  groupNo )

inline

This method returns the group object with the given number.

Parameters

[in]

groupNo

Number of the robot/group/kinematic.

Returns

Returns the robot/group/kinematic object.

Definition at line 912 of file Robot.java.

RobotPoint com.boschrexroth.mlpi.Robot.CreatePoint ( double  point[], Robot.RobotCoordinateSystem  type  )

inline

This method returns a new RobotPoint object with the given parameters.

Parameters

[in]	point[]	values for the field of the point.
[in]	type	coordinate system for the point.

Returns

Returns the RobotPoint object.

Definition at line 934 of file Robot.java.

References com.boschrexroth.mlpi.Robot.GetConfiguredGroups(), com.boschrexroth.mlpi.Robot.GetKinematicsUnits(), com.boschrexroth.mlpi.Robot.GetKinematicsValues(), com.boschrexroth.mlpi.Robot.GetStatusSummary(), and com.boschrexroth.mlpi.Robot.groups().

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native RobotInformation [] com.boschrexroth.mlpi.Robot.GetConfiguredGroups

(

)

This method returns all robots.

Returns

Returns the informations for all robots.

Note:

This method maps to the mlpiCore function mlpiParameterReadDataArrayUshort C-0-2484, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Robot.CreatePoint().

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native RobotKinematicsValues [] com.boschrexroth.mlpi.Robot.GetKinematicsValues

(

GroupRef[]

groups

)

This function fills an array of KinematicsValues 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.

Parameters

[in]

groups

Reference to all robots.

Returns

Returns the kinematic values for every robot.

Note:

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

Referenced by com.boschrexroth.mlpi.Robot.CreatePoint().

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native RobotKinematicsUnits [] com.boschrexroth.mlpi.Robot.GetKinematicsUnits

(

GroupRef[]

groups

)

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.

Parameters

[in]

groups

Reference to all robots.

Returns

Returns the kinematic units for every robot.

Note:

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

Referenced by com.boschrexroth.mlpi.Robot.CreatePoint().

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native RobotStatusSummary [] com.boschrexroth.mlpi.Robot.GetStatusSummary

(

RobotStatusSummaryIn[]

statusSummaryIn

)

This function will return Info about a Kinematic

Parameters

[in]

StatusSummaryIn

Structure containing all information necessary for the command.

Returns

Returns the StatusSummary for the kinematics.

Example Java:

int numberOfKinematics = 2; 
Robot.RobotStatusSummaryIn kinematic1 = new Robot.RobotStatusSummaryIn();
kinematic1.group.controlNo = 0;
kinematic1.group.groupNo = 1;
kinematic1.coordSys = 0;
Robot.RobotStatusSummaryIn kinematic2 = new Robot.RobotStatusSummaryIn();
kinematic2.group.controlNo = 0;
kinematic2.group.groupNo = 2;
kinematic2.coordSys = 1;
Robot.RobotStatusSummaryIn statusSummaryIn[] = new Robot.RobotStatusSummaryIn[numberOfKinematics];
statusSummaryIn[0] = kinematic1;
statusSummaryIn[1] = kinematic2;
Robot.RobotStatusSummary statusSummary[] = new Robot.RobotStatusSummary[numberOfKinematics];
statusSummary = connection.robot().GetStatusSummary(statusSummaryIn);
System.out.println("State of axis 1: " + statusSummary[0].state);

Note:

This method maps to the mlpiCore function mlpiRobotGetStatusSummary, where you can find further documentation.

Referenced by com.boschrexroth.mlpi.Robot.CreatePoint().

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

• Robot.java