Collaboration diagram for Robot information:

Functions
MLPIRESULT	mlpiRobotReadCyclicChannel (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotCyclicChannel *paramSet)

MLPIRESULT	mlpiRobotReadPos (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotCoordinateSystem coordSystem, const MlpiRobotPointType pointType, MlpiRobotPoint *position)

MLPIRESULT	mlpiRobotMovePoint (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotCoordinateSystem coordSystem, MlpiRobotPoint *position)

MLPIRESULT	mlpiRobotTransformPoint (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotCoordinateSystem coordSystemIn, const MlpiRobotCoordinateSystem coordSystemOut, MlpiRobotPoint *position)

MLPIRESULT	mlpiRobotMotionGetStatus (const MLPIHANDLE connection, const MlpiGroupRef group, const MLPIMOTIONHANDLE motionHandle, MlpiRobotMotionStatus *status)

MLPIRESULT	mlpiRobotSetPerformanceEnable (const MLPIHANDLE connection, const MlpiGroupRef group, const BOOL8 enable)

MLPIRESULT	mlpiRobotGetPerfomanceResult (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotPerformanceResult performanceResult, const ULONG numElements, ULONG numElementsRet)

MLPIRESULT	mlpiRobotGetMechanicData (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotMechanicData mechanicData, const ULONG numElements, ULONG numElementsRet, BOOL8 updateOnly)

MLPIRESULT	mlpiRobotGetKinematicsValues (const MLPIHANDLE connection, MlpiGroupRef groups, MlpiKinematicsValues kinematicsValues, const ULONG numElements)

MLPIRESULT	mlpiRobotGetDiagnosisText (const MLPIHANDLE connection, const MlpiGroupRef group, WCHAR16 *buffer, const ULONG numElements)

MLPIRESULT	mlpiRobotGetKinematicsUnits (const MLPIHANDLE connection, MlpiGroupRef groups, MlpiKinematicsUnits kinematicsUnits, const ULONG numElements)

MLPIRESULT	mlpiRobotGetSafeZones (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotSafeZoneData safeZoneData, const ULONG numElements, ULONG numElementsRet)

MLPIRESULT	mlpiRobotGetCoordinateSystemInfo (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotCoordinateSystemInfo csInfo, const ULONG numElements, ULONG numElementsRet)

MLPIRESULT	mlpiRobotGetStatusSummary (const MLPIHANDLE connection, MlpiRobotGetStatusSummary *statusSummary, const ULONG numElements)

MLPIRESULT	mlpiRobotGetMoveId (const MLPIHANDLE connection, const MlpiGroupRef group, DOUBLE *moveId)

MLPIRESULT	mlpiRobotGetCmdInfo (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotCmdInfoType infoType, MlpiRobotCmdInfo cmdInfo, const ULONG numElements, ULONG numElementsRet)

Detailed Description

This group of functions allows the user to get group related information.

Function Documentation

MLPIRESULT mlpiRobotReadCyclicChannel	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		MlpiRobotCyclicChannel *	paramSet
	)

This function returns last values written by mlpiRobotWriteCyclicChannel.

Parameters

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

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

Example:: 1 // returns last values written by mlpiRobotWriteCyclicChannel
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotCyclicChannel paramSet;
6 MLPIRESULT result = mlpiRobotReadCyclicChannel(connection, group, &paramSet);

MLPIRESULT mlpiRobotReadPos	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotCoordinateSystem	coordSystem,
		const MlpiRobotPointType	pointType,
		MlpiRobotPoint *	position
	)

This function returns the current position of the robot.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in]	coordSystem	Coordinate system to read position from.
[in]	pointType	Point type to read position from.
[out]	position	Current position.

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

Example:: 1 // Read the current position of the robot.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotPoint position;
6 MLPIRESULT result = mlpiRobotReadPos(connection, group, MLPI_ROBOT_CS_MCS, MLPI_ROBOT_POINT_TYPE_PREP, &position);

MLPIRESULT mlpiRobotMovePoint	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotCoordinateSystem	coordSystem,
		MlpiRobotPoint *	position
	)

This function moves a point at the current position in space. Usually this function should be called for points on a belt. A point with one more belt values will be moved to current belt values. After calling this function the point on a belt has the current position in space with the current belt value. Points without belt values will not be modified.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in]	coordSystem	Coordinate system of the point.
[in,out]	position	Current position.

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

Example:: 1 // moves a point on a belt to current position.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotPoint position;
6 MLPIRESULT result = mlpiRobotMovePoint(connection, group, MLPI_ROBOT_CS_MCS, &position);

MLPIRESULT mlpiRobotTransformPoint	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotCoordinateSystem	coordSystemIn,
		const MlpiRobotCoordinateSystem	coordSystemOut,
		MlpiRobotPoint *	position
	)

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]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[in]	coordSystemIn	Coordinate system to read position from.
[in]	coordSystemOut	Coordinate system to which the position gets transformed.
[in,out]	position	Current position.

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

Example:: 1 // Transform point from MCS to BCS.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotPoint position;
6 MLPIRESULT result = mlpiRobotTransformPoint(connection, group, MLPI_ROBOT_CS_MCS, MLPI_ROBOT_CS_BCS, &position);

MLPIRESULT mlpiRobotMotionGetStatus	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MLPIMOTIONHANDLE	motionHandle,
		MlpiRobotMotionStatus *	status
	)

This function reads the status of a movement command.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to the group.
[in]	motionHandle	Handle of the motion command where the status should be requested.
[out]	status	Pointer to data where status will be stored.

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

Example:: 1 // Read status of a movement command.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotMotionStatus status;
6 MLPIRESULT result = mlpiRobotMotionGetStatus(connection, group, motionHandle, &status);

MLPIRESULT mlpiRobotSetPerformanceEnable	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const BOOL8	enable
	)

This function enables/disables the performance measurement of the core of the defined group.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to the group.
[in]	enable	true to start measurement, false to stop measurement

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

Example:: 1 // Enable the performance measurement of the core of the defined group.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MLPIRESULT result = mlpiRobotSetPerformanceEnable(connection, group, TRUE);

MLPIRESULT mlpiRobotGetPerfomanceResult	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		MlpiRobotPerformanceResult *	performanceResult,
		const ULONG	numElements,
		ULONG *	numElementsRet
	)

This function reads the performance measurement result from the defined group.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to the group.
[out]	performanceResult	Performance measurement result.
[in]	numElements	Count of performanceResult array size.
[out]	numElementsRet	Return count of performanceResult.

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

Example:: 1 // Read performance measurement result from defined group.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotPerformanceResult arPerfResults[100];
6 ULONG ulPerfCount = 0;
7 MLPIRESULT result = mlpiRobotGetPerfomanceResult(connection, group, arPerfResults, 100, &ulPerfCount);

MLPIRESULT mlpiRobotGetMechanicData	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		MlpiRobotMechanicData *	mechanicData,
		const ULONG	numElements,
		ULONG *	numElementsRet,
		BOOL8	updateOnly
	)

This function reads the mechanical data from the defined group.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to the group.
[out]	mechanicData	Mechanical data.
[in]	numElements	Count of mechanical data array size.
[out]	numElementsRet	Return count of mechanical data read.
[in]	updateOnly	true to update only, false to refresh everything

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

Example:: 1 // Read the mechanical data from the defined group
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotMechanicData mechanicalData[100];
6 ULONG numElementsRet = 0;
7 MLPIRESULT result = mlpiRobotGetMechanicData(connection, group, &mechanicalData, 100, &numElementsRet, TRUE);

MLPIRESULT mlpiRobotGetKinematicsValues	(	const MLPIHANDLE	connection,
		MlpiGroupRef *	groups,
		MlpiKinematicsValues *	kinematicsValues,
		const ULONG	numElements
	)

This function returns an array of MlpiKinematicsValues 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]	connection	Handle for multiple connections.
[in]	groups	Reference to groups.
[out]	kinematicsValues	Returns a struct with the current operation information about kinematics.
[in]	numElements	Number of kinematics for which values should be read. This is the array length of the parameter `kinematicsValues`.

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

Note: Elements of the struct (beside controlNo and groupNo) that can not be read will be set to 0.

Example:: 1 // Get KinematicsValues of defined groups.
2 const ULONG numElements = 2;
3 MlpiGroupRef groups[2];
4 groups[0].controlNo = MLPI_LOCAL_CONTROL;
5 groups[0].groupNo = (MlpiGroupNumber)(1);
6 groups[1].controlNo = MLPI_LOCAL_CONTROL;
7 groups[1].groupNo = (MlpiGroupNumber)(2);
8 MlpiKinematicsValues kinematicsValues[2];
9 MLPIRESULT result = mlpiRobotGetKinematicsValues(connection, groups, kinematicsValues, numElements);

MLPIRESULT mlpiRobotGetDiagnosisText	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		WCHAR16 *	buffer,
		const ULONG	numElements
	)

This function reads the diagnostic message of the kinematics.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to the group.
[out]	buffer	Pointer to where text should be stored.
[in]	numElements	Number of available WCHAR16 characters in buffer.

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

Example:: 1 // Get DiagnosisText of defined group.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 WCHAR16 buffer[BUFFERLENGTH];
6 MLPIRESULT result = mlpiRobotGetDiagnosisText(connection, group, buffer, BUFFERLENGTH );

MLPIRESULT mlpiRobotGetKinematicsUnits	(	const MLPIHANDLE	connection,
		MlpiGroupRef *	groups,
		MlpiKinematicsUnits *	kinematicsUnits,
		const ULONG	numElements
	)

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]	connection	Handle for multiple connections.
[in]	groups	Reference to groups.
[out]	kinematicsUnits	Returns a struct with the current unit settings of the kinematics.
[in]	numElements	Number of kinematics for which values should be read. This is the array length of the parameter `kinematicsUnits`.

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

Example:: 1 // Get KinematicsUnits of defined groups.
2 const ULONG numElements = 2;
3 MlpiGroupRef groups[2];
4 groups[0].controlNo = MLPI_LOCAL_CONTROL;
5 groups[0].groupNo = (MlpiGroupNumber)(1);
6 groups[1].controlNo = MLPI_LOCAL_CONTROL;
7 groups[1].groupNo = (MlpiGroupNumber)(2);
8 MlpiKinematicsUnits kinematicsUnits[numElements];
9 MLPIRESULT result = mlpiRobotGetKinematicsUnits(connection, groups, kinematicsUnits, numElements);

MLPIRESULT mlpiRobotGetSafeZones	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		MlpiRobotSafeZoneData *	safeZoneData,
		const ULONG	numElements,
		ULONG *	numElementsRet
	)

This function gets all safezones of a kinematics.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[out]	safeZoneData	Data of save zone.
[in]	numElements	Number of safezones that should be read. This is the array length of the parameter `safeZoneData`.
[out]	numElementsRet	Return count of safezones.

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

Example:: 1 // read all safe zones of a kinematics.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotSafeZoneData paramSet[MLPI_ROBOT_MAX_SAFEZONES];
6 ULONG numRetElements = 0;
7 MLPIRESULT result = mlpiRobotGetSafeZones(connection, group, &paramSet, MLPI_ROBOT_MAX_SAFEZONES, &numRetElements);

MLPIRESULT mlpiRobotGetCoordinateSystemInfo	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		MlpiRobotCoordinateSystemInfo *	csInfo,
		const ULONG	numElements,
		ULONG *	numElementsRet
	)

This function will return information about the supported coordinate systems from the kinematics.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to group.
[out]	csInfo	Structure containing all information necessary for the command.
[in]	numElements	Number of elements.
[out]	numElementsRet	Number of elements returned.

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

Example:: 1 // Read information about the supported coordinate systems from the kinematics.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotCoordinateSystemInfo coordinateSystems[19];
6 ULONG numElemsRet;
7 MLPIRESULT result = mlpiRobotGetCoordinateSystemInfo(connection, group, coordinateSystems, 19, &numElemsRet);

MLPIRESULT mlpiRobotGetStatusSummary	(	const MLPIHANDLE	connection,
		MlpiRobotGetStatusSummary *	statusSummary,
		const ULONG	numElements
	)

This function will return actual status information about kinematics in a specified coordinate systems.

Parameters

[in]	connection	Handle for multiple connections.
[in,out]	statusSummary	Structure containing all information necessary for the command.
[in]	numElements	Number of elements.

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

Example:: 1 // Read actual status information.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotGetStatusSummary statusSummary[2];
6 statusSummary[0].group.controlNo = MLPI_LOCAL_CONTROL;
7 statusSummary[0].group.groupNo = MLPI_GROUP_1;
8 statusSummary[0].coordSys = MLPI_ROBOT_CS_MCS;
9 statusSummary[1].group.controlNo = MLPI_LOCAL_CONTROL;
10 statusSummary[1].group.groupNo = MLPI_GROUP_2;
11 statusSummary[1].coordSys = MLPI_ROBOT_CS_ACS;
12 MLPIRESULT result = mlpiRobotGetStatusSummary(connection, statusSummary, 2);

MLPIRESULT mlpiRobotGetMoveId	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		DOUBLE *	moveId
	)

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.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to the group.
[out]	moveId	Id and progress of the currently executed command.

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

Example:: 1 // Read block id
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 DOUBLE moveId = 0.0;
6 MLPIRESULT result = mlpiRobotGetMoveID(connection, group, &moveId);

MLPIRESULT mlpiRobotGetCmdInfo	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotCmdInfoType	infoType,
		MlpiRobotCmdInfo *	cmdInfo,
		const ULONG	numElements,
		ULONG *	numElementsRet
	)

This function reads the command info from the defined group.

Parameters

[in]	connection	Handle for multiple connections.
[in]	group	Reference to the group.
[in]	infoType	Type of information.
[out]	cmdInfo	Command info.
[in]	numElements	Count of command info array size.
[out]	numElementsRet	Return count of command info read

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

Example:: 1 // Read the command info from the defined group
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotCmdInfoType infoType = MLPI_ROBOT_CMD_DATA_TYPE_UID;
6 MlpiRobotCmdInfo cmdInfo[100];
7 ULONG numElementsRet = 0;
8 MLPIRESULT result = mlpiRobotGetCmdInfo(connection, group, infoType, cmdInfo, 100, &numElementsRet);

Functions

Detailed Description

Function Documentation