Collaboration diagram for Configuration functions:

Functions
MLPIRESULT	mlpiRobotSetBeltConfiguration (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetBeltConfiguration paramSet, MLPIMOTIONHANDLE motionHandle)

MLPIRESULT	mlpiRobotSetRotaryTableConfiguration (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetBeltConfiguration paramSet, MLPIMOTIONHANDLE motionHandle)

MLPIRESULT	mlpiRobotSetBeltErrorReaction (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetBeltErrorReaction paramSet, MLPIMOTIONHANDLE motionHandle)

MLPIRESULT	mlpiRobotGetBeltErrorReaction (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotGetBeltErrorReaction *paramSet)

MLPIRESULT	mlpiRobotSetCartesianTransform (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetTrafoParameter paramSet, MLPIMOTIONHANDLE motionHandle)

MLPIRESULT	mlpiRobotSetCylindricTransform (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetTrafoParameter paramSet, MLPIMOTIONHANDLE motionHandle)

MLPIRESULT	mlpiRobotGetTransform (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotGetTrafoParameter *trafoValues)

MLPIRESULT	mlpiRobotGetBeltConfiguration (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotGetBeltConfiguration *trafoValues)

MLPIRESULT	mlpiRobotReset (const MLPIHANDLE connection, const MlpiGroupRef group, MLPIMOTIONHANDLE *motionHandle)

MLPIRESULT	mlpiRobotAddAllAxisToGroup (const MLPIHANDLE connection, const MlpiGroupRef group)

MLPIRESULT	mlpiRobotRemAllAxisFromGroup (const MLPIHANDLE connection, const MlpiGroupRef group)

MLPIRESULT	mlpiRobotSetSafeZone (const MLPIHANDLE connection, MlpiGroupRef group, MlpiRobotSafeZoneData safeZoneData, MLPIMOTIONHANDLE motionHandle)

MLPIRESULT	mlpiRobotSetBeltDesyncRelConfig (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotBeltDesyncRelData *paramSet)

MLPIRESULT	mlpiRobotGetBeltDesyncRelConfig (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotBeltDesyncRelData *paramSet)

MLPIRESULT	mlpiRobotSetMoveId (const MLPIHANDLE connection, const MlpiGroupRef group, const ULONG moveId)

MLPIRESULT	mlpiRobotChangeTool (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotChangeToolParameter paramSet, MLPIMOTIONHANDLE motionHandle)

Detailed Description

The following functions all deal with administration of groups.

Function Documentation

MLPIRESULT mlpiRobotSetBeltConfiguration	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotSetBeltConfiguration *	paramSet,
		MLPIMOTIONHANDLE *	motionHandle
	)

This function configures a belt.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in]	paramSet	Structure containing all information necessary for the command.
[out]	motionHandle	Pointer to value where motion handle will be stored.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Configures a belt with the settings of paramSet.
2 MLPIMOTIONHANDLE motionHandle;
3 MlpiGroupRef group;
4 group.controlNo = MLPI_LOCAL_CONTROL;
5 group.groupNo = MLPI_GROUP_1;
6 MlpiRobotSetBeltConfiguration paramSet;
7 paramSet.belt.axisNo = MLPI_AXIS_4;
8 paramSet.belt.controlNo = MLPI_LOCAL_CONTROL;
9 paramSet.posX = 0.0;
10 paramSet.posY = 0.0;
11 paramSet.posZ = 0.0;
12 paramSet.rotA = 0.0;
13 paramSet.rotB = 0.0;
14 paramSet.rotC = 0.0;
15 paramSet.begin = 10.0;
16 paramSet.total = 110.0;
17 MLPIRESULT result = mlpiRobotSetBeltConfiguration(connection, group, &paramSet, &motionHandle);

MLPIRESULT mlpiRobotSetRotaryTableConfiguration	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotSetBeltConfiguration *	paramSet,
		MLPIMOTIONHANDLE *	motionHandle
	)

This function configures a rotary table.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in]	paramSet	Structure containing all information necessary for the command.
[out]	motionHandle	Pointer to value where motion handle will be stored.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Configures a rotary table with the settings of paramSet.
2 MLPIMOTIONHANDLE motionHandle;
3 MlpiGroupRef group;
4 group.controlNo = MLPI_LOCAL_CONTROL;
5 group.groupNo = MLPI_GROUP_1;
6 MlpiRobotSetBeltConfiguration paramSet;
7 paramSet.belt.axisNo = MLPI_AXIS_4;
8 paramSet.belt.controlNo = MLPI_LOCAL_CONTROL;
9 paramSet.posX = 0.0;
10 paramSet.posY = 0.0;
11 paramSet.posZ = 0.0;
12 paramSet.rotA = 0.0;
13 paramSet.rotB = 0.0;
14 paramSet.rotC = 0.0;
15 paramSet.begin = 10.0;
16 paramSet.total = 110.0;
17 MLPIRESULT result = mlpiRobotSetRotaryTableConfiguration(connection, group, &paramSet, &motionHandle);

MLPIRESULT mlpiRobotSetBeltErrorReaction	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotSetBeltErrorReaction *	paramSet,
		MLPIMOTIONHANDLE *	motionHandle
	)

This function configures the error reaction of a belt.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in]	paramSet	Structure containing all information necessary for the command.
[out]	motionHandle	Pointer to value where motion handle will be stored.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Configure error reaction of a belt to desync over 100ms.
2 MLPIMOTIONHANDLE motionHandle;
3 MlpiGroupRef group;
4 group.controlNo = MLPI_LOCAL_CONTROL;
5 group.groupNo = MLPI_GROUP_1;
6 MlpiAxisRef belt;
7 belt.axisNo = MLPI_AXIS_4;
8 belt.controlNo = MLPI_LOCAL_CONTROL;
9 MlpiRobotSetBeltErrorReaction paramSet;
10 paramSet.belt = belt;
11 paramSet.decelaration = 0.0;
12 paramSet.errorType = MLPI_ROBOT_BELT_ERROR_DESYNC_OVER_TIME;
13 paramSet.jerk = 0.0;
14 paramSet.time = 100.0;
15 MLPIRESULT result = mlpiRobotSetBeltErrorReaction(connection, group, &paramSet, &motionHandle);

MLPIRESULT mlpiRobotGetBeltErrorReaction	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		MlpiRobotGetBeltErrorReaction *	paramSet
	)

This function gets the configured error reaction of a belt.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in,out]	paramSet	Structure containing all information necessary for the command.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Get Configured error reaction of a belt.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiAxisRef belt;
6 belt.axisNo = MLPI_AXIS_4;
7 belt.controlNo = MLPI_LOCAL_CONTROL;
8 MlpiRobotGetBeltErrorReaction paramSet;
9 paramSet.belt = belt;
10 MLPIRESULT result = mlpiRobotGetBeltErrorReaction(connection, group, &paramSet);

MLPIRESULT mlpiRobotSetCartesianTransform	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotSetTrafoParameter *	paramSet,
		MLPIMOTIONHANDLE *	motionHandle
	)

This function configures a Cartesian transformation between PCS and MCS. Note that this function will return an error if a belt is configured for the PCS.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in]	paramSet	Structure containing all information necessary for the command.
[out]	motionHandle	Pointer to value where motion handle will be stored.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Transforms the origin of MLPI_ROBOT_CS_PCS1 to (100.0,50.0,0.0,0.0,0.0,0.0) in MCS.
2 MLPIMOTIONHANDLE motionHandle;
3 MlpiGroupRef group;
4 group.controlNo = MLPI_LOCAL_CONTROL;
5 group.groupNo = MLPI_GROUP_1;
6 MlpiRobotSetTrafoParameter paramSet;
7 paramSet.coordSystem = MLPI_ROBOT_CS_PCS1;
8 paramSet.posX = 100;
9 paramSet.posY = 50;
10 paramSet.posZ = 0;
11 paramSet.rotA = 0.0;
12 paramSet.rotB = 0.0;
13 paramSet.rotB = 0.0;
14 MLPIRESULT result = mlpiRobotSetCartesianTransform(connection, group, &paramSet, &motionHandle);

MLPIRESULT mlpiRobotSetCylindricTransform	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotSetTrafoParameter *	paramSet,
		MLPIMOTIONHANDLE *	motionHandle
	)

This function configures a cylindric transformation between PCS and MCS.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in]	paramSet	Structure containing all information necessary for the command.
[out]	motionHandle	Pointer to value where motion handle will be stored.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Transforms the origin of MLPI_ROBOT_CS_PCS1 to (100.0,50.0,0.0,0.0,0.0,0.0) in MCS.
2 MLPIMOTIONHANDLE motionHandle;
3 MlpiGroupRef group;
4 group.controlNo = MLPI_LOCAL_CONTROL;
5 group.groupNo = MLPI_GROUP_1;
6 MlpiRobotSetTrafoParameter paramSet;
7 paramSet.coordSystem = MLPI_ROBOT_CS_PCS1;
8 paramSet.posX = 100;
9 paramSet.posY = 50;
10 paramSet.posZ = 0;
11 paramSet.rotA = 0.0;
12 paramSet.rotB = 0.0;
13 paramSet.rotB = 0.0;
14 MLPIRESULT result = mlpiRobotSetCylindricTransform(connection, group, &paramSet, &motionHandle);

MLPIRESULT mlpiRobotGetTransform	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		MlpiRobotGetTrafoParameter *	trafoValues
	)

This function gets configuration values of transformation. This function can be called for MLPI_ROBOT_CS_BCS and MLPI_ROBOT_CS_PCSx. For the future: ACS_BCS is not supported yet.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in,out]	trafoValues	Structure containing all information

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Get the origin of MLPI_ROBOT_CS_BCS in MCS.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotGetTrafoParameter trafoValues;
6 trafoValues.coordSystem = MLPI_ROBOT_CS_BCS;
7 trafoValues.csType = MLPI_ROBOT_CARTESIAN;
8 MLPIRESULT result = mlpiRobotGetTransform(connection, group, &trafoValues);

MLPIRESULT mlpiRobotGetBeltConfiguration	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		MlpiRobotGetBeltConfiguration *	trafoValues
	)

This function reads a belt configuration.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in,out]	trafoValues	Structure containing all information

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Get the belt configuration.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiAxisRef belt;
6 belt.axisNo = MLPI_AXIS_4;
7 belt.controlNo = MLPI_LOCAL_CONTROL;
8 MlpiRobotGetBeltConfiguration trafoValues;
9 trafoValues.belt = belt;
10 MLPIRESULT result = mlpiRobotGetBeltConfiguration(connection, group, &trafoValues);

MLPIRESULT mlpiRobotReset	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		MLPIMOTIONHANDLE *	motionHandle
	)

This function clears all errors of the group.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group to reset all errors from
[out]	motionHandle	Pointer to value where motion handle will be stored.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Clear all errors of the group.
2 MLPIMOTIONHANDLE motionHandle;
3 MlpiGroupRef group;
4 group.controlNo = MLPI_LOCAL_CONTROL;
5 group.groupNo = MLPI_GROUP_1;
6 MLPIRESULT result = mlpiRobotReset(connection, group, &motionHandle);

MLPIRESULT mlpiRobotAddAllAxisToGroup	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group
	)

This function adds all configured axis to a group.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Add all configured axis to a group.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MLPIRESULT result = mlpiRobotAddAllAxisToGroup(connection, group);

MLPIRESULT mlpiRobotRemAllAxisFromGroup	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group
	)

This function removes all configured axis from a group.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Remove all configured axis from a group.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MLPIRESULT result = mlpiRobotRemAllAxisFromGroup(connection, group);

MLPIRESULT mlpiRobotSetSafeZone	(	const MLPIHANDLE	connection,
		MlpiGroupRef	group,
		MlpiRobotSafeZoneData *	safeZoneData,
		MLPIMOTIONHANDLE *	motionHandle
	)

This function configures a save zone of a robot.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in]	safeZoneData	Data of save zone.
[out]	motionHandle	Pointer to value where motion handle will be stored.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Set safe zone data of the defined group.
2 MLPIMOTIONHANDLE motionHandle;
3 MlpiGroupRef group;
4 group.controlNo = MLPI_LOCAL_CONTROL;
5 group.groupNo = MLPI_GROUP_1;
6 MlpiRobotSafeZoneData paramSet;
7 paramSet.pointNeg[0] = 50;
8 paramSet.pointPos[0] = 100;
9 paramSet.zoneNumber = 1;
10 paramSet.zoneType = MLPI_ROBOT_SAFE_ZONE_TYPE_INSIDE_OK;
11 MLPIRESULT result = mlpiRobotSetSafeZone(connection, group, &paramSet, &motionHandle);

MLPIRESULT mlpiRobotSetBeltDesyncRelConfig	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotBeltDesyncRelData *	paramSet
	)

This function configures relative desynchronization from a belt.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in]	paramSet	Structure containing all information necessary for the function.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Configure relative desynchronization from the defined belt.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotBeltDesyncRelData paramSet;
6 paramSet.belt.axisNo = MLPI_AXIS_4;
7 paramSet.belt.controlNo = MLPI_LOCAL_CONTROL;
8 paramSet.endPercent = 50.0;
9 paramSet.startPercent = 25.0;
10 MLPIRESULT result = mlpiRobotSetBeltDesyncRelConfig(connection, group, &paramSet);

MLPIRESULT mlpiRobotGetBeltDesyncRelConfig	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		MlpiRobotBeltDesyncRelData *	paramSet
	)

This function reads relative desynchronization from a belt configuration.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in]	paramSet	Structure containing all information necessary for the function.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Read relative desynchronization from the defined belt.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotBeltDesyncRelData paramSet;
6 paramSet.belt.axisNo = MLPI_AXIS_4;
7 paramSet.belt.controlNo = MLPI_LOCAL_CONTROL;
8 MLPIRESULT result = mlpiRobotGetBeltDesyncRelConfig(connection, group, &paramSet);

MLPIRESULT mlpiRobotSetMoveId	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const ULONG	moveId
	)

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

[in]	connection	Handle for multiple connections.
[in]	group	Reference to the group.
[in]	moveId	To be set id.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Set block id.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 ULONG moveId = 150;
6 MLPIRESULT result = mlpiRobotSetMoveID(connection, group, moveId);

MLPIRESULT mlpiRobotChangeTool	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotChangeToolParameter *	paramSet,
		MLPIMOTIONHANDLE *	motionHandle
	)

This function changes a tool.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in]	paramSet	Structure containing all information necessary for the tool change command.
[out]	motionHandle	Pointer to value where motion handle will be stored.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Configure a tool change.
2 MLPIMOTIONHANDLE motionHandle;
3 MlpiGroupRef group;
4 group.controlNo = MLPI_LOCAL_CONTROL;
5 group.groupNo = MLPI_GROUP_1;
6 MlpiRobotChangeToolParameter paramSet;
7 paramSet.posX = 70.0;
8 paramSet.posY = 50.0;
9 paramSet.posZ = 0.0;
10 paramSet.rotA = 90.0;
11 paramSet.rotB = 0.0;
12 paramSet.rotB = 0.0;
13 MLPIRESULT result = mlpiRobotChangeTool(connection, group, &paramSet, &motionHandle);

Functions

Detailed Description

Function Documentation