RobotLib

Collaboration diagram for RobotLib:

Modules
	Movement functions
	Configuration functions
	Robot information
	Robot TeachIn
	Version and Permission
	Structs, types, ...

Detailed Description

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 currently executed move. All moves will be executed consecutively.

Note

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