Structs, types, ...

Collaboration diagram for Structs, types, ...:

Macros
#define	MLPI_ROBOT_COORDINATES_IN_POINT   (16)
#define	MLPI_ROBOT_MAX_POS_AXIS   (3)
#define	MLPI_ROBOT_AXIS_COUNT   (16)
#define	MLPI_ROBOT_MAX_UNIT_LEN   (12)
#define	MLPI_ROBOT_MAX_CSNAME_LEN   (30)
#define	MLPI_ROBOT_MAX_COORDINATE_SYSTEMS   (19)
#define	MLPI_ROBOT_MAX_SAFEZONES   (32)
#define	MLPI_ROBOT_MAX_TEACH_NAME_LEN   (21)

Typedefs
typedef enum MlpiRobotAxisTypes	MlpiRobotAxisTypes
typedef enum MlpiRobotSetMode	MlpiRobotSetMode
typedef enum MlpiRobotCoordinateSystem	MlpiRobotCoordinateSystem
typedef enum MlpiRobotCSType	MlpiRobotCSType
typedef enum MlpiRobotPointType	MlpiRobotPointType
typedef enum MlpiRobotSlopeType	MlpiRobotSlopeType
typedef enum MlpiRobotSyncErrorReactionMode	MlpiRobotSyncErrorReactionMode
typedef enum MlpiRobotCyclicMode	MlpiRobotCyclicMode
typedef enum MlpiRobotMechCmd	MlpiRobotMechCmd
typedef enum MlpiRobotSafeZoneType	MlpiRobotSafeZoneType
typedef enum MlpiRobotTeachInWriteOption	MlpiRobotTeachInWriteOption
typedef enum MlpiRobotTeachInPointFileOption	MlpiRobotTeachInPointFileOption
typedef enum MlpiRobotCmdInfoType	MlpiRobotCmdInfoType
typedef struct MlpiRobotMotionStatus	MlpiRobotMotionStatus
typedef struct MlpiRobotPoint	MlpiRobotPoint
typedef struct MlpiRobotMoveLinearAbsolute	MlpiRobotMoveLinearAbsolute
typedef struct MlpiRobotMoveLinearRelative	MlpiRobotMoveLinearRelative
typedef struct MlpiRobotMoveDirectAbsolute	MlpiRobotMoveDirectAbsolute
typedef struct MlpiRobotMoveDirectRelative	MlpiRobotMoveDirectRelative
typedef struct MlpiRobotMoveCircularAbsolute	MlpiRobotMoveCircularAbsolute
typedef struct MlpiRobotMoveCircularRelative	MlpiRobotMoveCircularRelative
typedef struct MlpiRobotMoveJumpAbsolute	MlpiRobotMoveJumpAbsolute
typedef struct MlpiRobotSetBeltConfiguration	MlpiRobotSetBeltConfiguration
typedef struct MlpiRobotGetBeltConfiguration	MlpiRobotGetBeltConfiguration
typedef struct MlpiRobotSetBeltErrorReaction	MlpiRobotSetBeltErrorReaction
typedef struct MlpiRobotGetBeltErrorReaction	MlpiRobotGetBeltErrorReaction
typedef struct MlpiRobotSyncOffWithLimits	MlpiRobotSyncOffWithLimits
typedef struct MlpiRobotSyncOnWithLimits	MlpiRobotSyncOnWithLimits
typedef struct MlpiRobotSetTrafoParameter	MlpiRobotSetTrafoParameter
typedef struct MlpiRobotGetTrafoParameter	MlpiRobotGetTrafoParameter
typedef struct MlpiRobotOpenCyclicChannel	MlpiRobotOpenCyclicChannel
typedef struct MlpiRobotCyclicChannel	MlpiRobotCyclicChannel
typedef struct MlpiRobotPerformanceResult	MlpiRobotPerformanceResult
typedef struct MlpiRobotMechanicData	MlpiRobotMechanicData
typedef struct MlpiKinematicsValues	MlpiKinematicsValues
typedef struct MlpiKinematicsUnits	MlpiKinematicsUnits
typedef struct MlpiRobotStop	MlpiRobotStop
typedef struct MlpiRobotInterrupt	MlpiRobotInterrupt
typedef struct MlpiRobotSafeZoneData	MlpiRobotSafeZoneData
typedef struct MlpiRobotJogStepData	MlpiRobotJogStepData
typedef struct MlpiRobotJogContData	MlpiRobotJogContData
typedef struct MlpiRobotStopCmdData	MlpiRobotStopCmdData
typedef struct MlpiRobotBeltDesyncRelData	MlpiRobotBeltDesyncRelData
typedef struct MlpiRobotTeachInDataWrite	MlpiRobotTeachInDataWrite
typedef struct MlpiRobotTeachInDataRead	MlpiRobotTeachInDataRead
typedef struct MlpiRobotTeachInDataReadNext	MlpiRobotTeachInDataReadNext
typedef struct MlpiRobotTeachInDataDeletePoints	MlpiRobotTeachInDataDeletePoints
typedef struct MlpiRobotTeachInDataFileData	MlpiRobotTeachInDataFileData
typedef struct MlpiRobotTeachInDataDeleteFileData	MlpiRobotTeachInDataDeleteFileData
typedef struct MlpiRobotGetStatusSummary	MlpiRobotGetStatusSummary
typedef struct MlpiRobotCoordinateSystemInfo	MlpiRobotCoordinateSystemInfo
typedef struct MlpiRobotCmdInfo	MlpiRobotCmdInfo
typedef struct MlpiRobotChangeToolParameter	MlpiRobotChangeToolParameter

Enumerations

Detailed Description

List of used types, enumerations, structures and more...

Macro Definition Documentation

#define MLPI_ROBOT_COORDINATES_IN_POINT   (16)

number of coordinates in a point

Definition at line 319 of file mlpiRobotLib.h.

#define MLPI_ROBOT_MAX_POS_AXIS   (3)

number of positioning axes

Definition at line 320 of file mlpiRobotLib.h.

#define MLPI_ROBOT_AXIS_COUNT   (16)

number of axis of a robot

Definition at line 321 of file mlpiRobotLib.h.

#define MLPI_ROBOT_MAX_UNIT_LEN   (12)

maximum length of unit name

Definition at line 322 of file mlpiRobotLib.h.

#define MLPI_ROBOT_MAX_CSNAME_LEN   (30)

maximum length of coordinate system name

Definition at line 323 of file mlpiRobotLib.h.

#define MLPI_ROBOT_MAX_COORDINATE_SYSTEMS   (19)

maximum number of coordinate systems

Definition at line 324 of file mlpiRobotLib.h.

#define MLPI_ROBOT_MAX_SAFEZONES   (32)

maximum number of safezones

Definition at line 326 of file mlpiRobotLib.h.

#define MLPI_ROBOT_MAX_TEACH_NAME_LEN   (21)

maximum name length of teach points

Definition at line 327 of file mlpiRobotLib.h.

Typedef Documentation

typedef enum MlpiRobotAxisTypes MlpiRobotAxisTypes

This enumeration defines the types of axes used in a robot. This is parameter K-0-0008.

typedef enum MlpiRobotSetMode MlpiRobotSetMode

This enumeration defines the set mode of movement commands.

typedef enum MlpiRobotCoordinateSystem MlpiRobotCoordinateSystem

This enumeration defines coordinate systems of a robot.

typedef enum MlpiRobotCSType MlpiRobotCSType

This enumeration defines the type of the coordinate system.

typedef enum MlpiRobotPointType MlpiRobotPointType

This enumeration defines the point type.

typedef enum MlpiRobotSlopeType MlpiRobotSlopeType

This enumeration defines the slope types of movement commands.

typedef enum MlpiRobotSyncErrorReactionMode MlpiRobotSyncErrorReactionMode

This enumeration defines the error reaction mode of a belt.

typedef enum MlpiRobotCyclicMode MlpiRobotCyclicMode

This enum defines the type of a cyclic position command.

typedef enum MlpiRobotMechCmd MlpiRobotMechCmd

This enum defines the command for a mechanical object.

typedef enum MlpiRobotSafeZoneType MlpiRobotSafeZoneType

This enum defines the type of a save zone.

typedef enum MlpiRobotTeachInWriteOption MlpiRobotTeachInWriteOption

This enum defines the possible options for writing a point while the TeachIn functions.

typedef enum MlpiRobotTeachInPointFileOption MlpiRobotTeachInPointFileOption

This enum defines the options, how a file can be loaded or saved.

typedef enum MlpiRobotCmdInfoType MlpiRobotCmdInfoType

This enum defines the type of information which should be read.

MlpiRobotMotionStatus

This structure defines the status of a robot movement command.

Elements of struct MlpiRobotMotionStatus

Type	Element	Description
BOOL8	done	TRUE when command is completed
BOOL8	active	TRUE as long as command is active
BOOL8	inbuffer	TRUE when command is in buffer
BOOL8	commandaborted	TRUE when command has been aborted by another command
BOOL8	error	TRUE when motion command issued an error
USHORT	errorID	Identifier of error
USHORT	table	Table identifier of error
ULONG	additional1	Additional diagnosis number1
ULONG	additional2	Additional diagnosis number2

MlpiRobotPoint

This structure defines a point.

Elements of struct MlpiRobotPoint

Type	Element	Description
array of DOUBLE	coordinate	Array of coordinates of a point with MLPI_ROBOT_COORDINATES_IN_POINT elements.

MlpiRobotMoveLinearAbsolute

This structure defines the parameters of a linear absolute movement.

Elements of struct MlpiRobotMoveLinearAbsolute

Type	Element	Description
MlpiRobotPoint	point	End Point of movement
DOUBLE	velocity	Maximum velocity of movement
DOUBLE	acceleration	Maximum acceleration of movement
DOUBLE	deceleration	Maximum deceleration of movement
DOUBLE	jerk	Maximum jerk of movement
DOUBLE	blendingRadius	Commanded radius of blending movement
MlpiRobotSetMode	setMode	set mode
MlpiRobotCoordinateSystem	coordSystem	coordinate system
MlpiRobotSlopeType	slopeType	slope type

MlpiRobotMoveLinearRelative

This structure defines the parameters of a linear relative movement.

Elements of struct MlpiRobotMoveLinearRelative

Type	Element	Description
MlpiRobotPoint	distance	Distance of movement
DOUBLE	velocity	Maximum velocity of movement
DOUBLE	acceleration	Maximum acceleration of movement
DOUBLE	deceleration	Maximum deceleration of movement
DOUBLE	jerk	Maximum jerk of movement
DOUBLE	blendingRadius	Commanded radius of blending movement
MlpiRobotSetMode	setMode	set mode
MlpiRobotCoordinateSystem	coordSystem	coordinate system
MlpiRobotSlopeType	slopeType	slope type

MlpiRobotMoveDirectAbsolute

This structure defines the parameters of an absolute direct movement.

Elements of struct MlpiRobotMoveDirectAbsolute

Type	Element	Description
MlpiRobotPoint	point	End Point of movement
DOUBLE	velocity	Maximum velocity of movement
DOUBLE	acceleration	Maximum acceleration of movement
DOUBLE	deceleration	Maximum deceleration of movement
DOUBLE	jerk	Maximum jerk of movement
DOUBLE	blendingRadius	Commanded radius of blending movement
MlpiRobotSetMode	setMode	set mode
MlpiRobotCoordinateSystem	coordSystem	coordinate system
MlpiRobotSlopeType	slopeType	slope type

MlpiRobotMoveDirectRelative

This structure defines the parameters of a direct relative movement.

Elements of struct MlpiRobotMoveDirectRelative

Type	Element	Description
MlpiRobotPoint	distance	Distance of movement
DOUBLE	velocity	Maximum velocity of movement
DOUBLE	acceleration	Maximum acceleration of movement
DOUBLE	deceleration	Maximum deceleration of movement
DOUBLE	jerk	Maximum jerk of movement
DOUBLE	blendingRadius	Commanded radius of blending movement
MlpiRobotSetMode	setMode	set mode
MlpiRobotCoordinateSystem	coordSystem	coordinate system
MlpiRobotSlopeType	slopeType	slope type

MlpiRobotMoveCircularAbsolute

This structure defines the parameters of an absolute circular movement.

Elements of struct MlpiRobotMoveCircularAbsolute

Type	Element	Description
MlpiRobotPoint	auxPoint	Aux Point of movement
MlpiRobotPoint	endPoint	End Point of movement
DOUBLE	velocity	Maximum velocity of movement
DOUBLE	acceleration	Maximum acceleration of movement
DOUBLE	deceleration	Maximum deceleration of movement
DOUBLE	jerk	Maximum jerk of movement
DOUBLE	blendingRadius	Commanded radius of blending movement
MlpiRobotSetMode	setMode	set mode
MlpiRobotCoordinateSystem	coordSystem	coordinate system
MlpiRobotSlopeType	slopeType	slope type

MlpiRobotMoveCircularRelative

This structure defines the parameters of a circular relative movement.

Elements of struct MlpiRobotMoveCircularRelative

Type	Element	Description
MlpiRobotPoint	auxPoint	Aux Point of movement
MlpiRobotPoint	endPoint	End Point of movement
DOUBLE	velocity	Maximum velocity of movement
DOUBLE	acceleration	Maximum acceleration of movement
DOUBLE	deceleration	Maximum deceleration of movement
DOUBLE	jerk	Maximum jerk of movement
DOUBLE	blendingRadius	Commanded radius of blending movement
MlpiRobotSetMode	setMode	set mode
MlpiRobotCoordinateSystem	coordSystem	coordinate system
MlpiRobotSlopeType	slopeType	slope type

MlpiRobotMoveJumpAbsolute

This structure defines the parameters of a jump absolute movement.

Elements of struct MlpiRobotMoveJumpAbsolute

Type	Element	Description
MlpiRobotPoint	point	End Point of movement
DOUBLE	velocity	Maximum velocity of movement
DOUBLE	acceleration	Maximum acceleration of movement
DOUBLE	deceleration	Maximum deceleration of movement
DOUBLE	jerk	Maximum jerk of movement
DOUBLE	blendingRadius	Commanded radius of blending movement
MlpiRobotSetMode	setMode	set mode
MlpiRobotCoordinateSystem	coordSystem	coordinate system
MlpiRobotSlopeType	slopeType	slope type
DOUBLE	startHeight	Minimal start height before the horizontal movement
DOUBLE	maxHeight	Maximum height of movement
DOUBLE	endHeight	Minimal end height after the horizontal movement

MlpiRobotSetBeltConfiguration

This structure defines the parameters for the configuration of a belt.

Elements of struct MlpiRobotSetBeltConfiguration

Type	Element	Description
MlpiAxisRef	belt	Reference to the belt
DOUBLE	posX	X position of the belt in MCS
DOUBLE	posY	Y position of the belt in MCS
DOUBLE	posZ	Z position of the belt in MCS
DOUBLE	rotA	rotation of belt around x axis in MCS
DOUBLE	rotB	rotation of belt around y axis in MCS
DOUBLE	rotC	rotation of belt around z axis in MCS
DOUBLE	begin	begin length of belt synchronous working area
DOUBLE	total	total length of belt synchronous working area

MlpiRobotGetBeltConfiguration

This structure defines the belt configuration.

Elements of struct MlpiRobotGetBeltConfiguration

Type	Direction	Element	Description
MlpiAxisRef	[in]	belt	Reference to the belt
DOUBLE	[out]	posX	X position of the belt in MCS
DOUBLE	[out]	posY	Y position of the belt in MCS
DOUBLE	[out]	posZ	Z position of the belt in MCS
DOUBLE	[out]	rotA	rotation of belt around x axis in MCS
DOUBLE	[out]	rotB	rotation of belt around y axis in MCS
DOUBLE	[out]	rotC	rotation of belt around z axis in MCS
DOUBLE	[out]	begin	begin length of belt synchronous working area
DOUBLE	[out]	total	total length of belt synchronous working area
MlpiRobotCSType	[out]	csType	Type of coordinate system

MlpiRobotSetBeltErrorReaction

This structure defines the parameters for the configuration of the error reaction of a belt.

Elements of struct MlpiRobotSetBeltErrorReaction

Type	Element	Description
MlpiAxisRef	belt	Reference to the belt
DOUBLE	time	Defines the time in seconds to stop the belt synchronous movement when error reaction mode of belt is time
DOUBLE	decelaration	Defines the deceleration to stop the belt synchronous movement when error reaction mode is desynchronization with limits
DOUBLE	jerk	Defines the jerk to stop the belt synchronous movement when error reaction mode is desynchronization with limits
MlpiRobotSyncErrorReactionMode	errorType	Type of error reaction

MlpiRobotGetBeltErrorReaction

This structure defines the parameters of the configuration of the error reaction of a belt.

Elements of struct MlpiRobotSetBeltErrorReaction

Type	Direction	Element	Description
MlpiAxisRef	[in]	belt	Reference to the belt
DOUBLE	[out]	time	Defines the time in seconds to stop the belt synchronous movement when error reaction mode of belt is time
DOUBLE	[out]	deceleration	Defines the deceleration to stop the belt synchronous movement when error reaction mode is desynchronization with limits
DOUBLE	[out]	jerk	Defines the jerk to stop the belt synchronous movement when error reaction mode is desynchronization with limits
MlpiRobotSyncErrorReactionMode	[out]	errorType	Type of error reaction

MlpiRobotSyncOffWithLimits

This structure defines the parameters for configuring a desynchronizing movement of a belt with limits.

Elements of struct MlpiRobotSyncOffWithLimits

Type	Element	Description
MlpiAxisRef	belt	Reference to the belt
DOUBLE	deceleration	Maximum deceleration of movement
DOUBLE	jerk	Maximum jerk of movement
DOUBLE	blendingRadius	Maximum radius of blending movement
MlpiRobotSetMode	setMode	set mode

MlpiRobotSyncOnWithLimits

This structure defines the parameters for configuring a synchronizing movement of a belt with limits.

Elements of struct MlpiRobotSyncOnWithLimits

Type	Element	Description
MlpiAxisRef	belt	Reference to the belt
DOUBLE	acceleration	Maximum acceleration of movement
DOUBLE	jerk	Maximum jerk of movement

MlpiRobotSetTrafoParameter

This structure defines the parameters for configuring a product coordinate system.

Elements of struct MlpiRobotSetTrafoParameter

Type	Element	Description
MlpiRobotCoordinateSystem	coordSystem	Reference to the coordinate system
DOUBLE	posX	X position of the belt in MCS
DOUBLE	posY	Y position of the belt in MCS
DOUBLE	posZ	Z position of the belt in MCS
DOUBLE	rotA	rotation of belt around x axis in MCS
DOUBLE	rotB	rotation of belt around y axis in MCS
DOUBLE	rotC	rotation of belt around z axis in MCS

MlpiRobotGetTrafoParameter

This structure defines the parameter of a transformation.

Elements of struct MlpiRobotGetTrafoParameter

Type	Direction	Element	Description
MlpiRobotCoordinateSystem	[in]	coordSystem	Reference to the coordinate system
DOUBLE	[out]	posX	X position of the coordinate system in MCS
DOUBLE	[out]	posY	Y position of the coordinate system in MCS
DOUBLE	[out]	posZ	Z position of the coordinate system in MCS
DOUBLE	[out]	rotA	rotation of the coordinate system around x axis in MCS
DOUBLE	[out]	rotB	rotation of the coordinate system around y axis in MCS
DOUBLE	[out]	rotC	rotation of the coordinate system around z axis in MCS
MlpiRobotCSType	[out]	csType	Type of coordinate system

MlpiRobotOpenCyclicChannel

This structure defines the parameters for opening a cyclic position channel.

Elements of struct MlpiRobotOpenCyclicChannel

Type	Element	Description
DOUBLE	deceleration	Maximum deceleration of movement
DOUBLE	jerk	Maximum jerk of movement
DOUBLE	blendingRadius	Commanded radius of blending movement
MlpiRobotSetMode	setMode	set mode

MlpiRobotCyclicChannel

This structure defines the parameters for a cyclic position.

Elements of struct MlpiRobotCyclicChannel

Type	Element	Description
MlpiRobotCoordinateSystem	coordSystem	coordinate system
MlpiRobotPoint	point	Point of movement
MlpiRobotCyclicMode	cyclicMode	Mode of movement

MlpiRobotPerformanceResult

This structure defines the information for a performance measurement.

Elements of struct MlpiRobotPerformanceResult

Type	Element	Description
WCHAR16	name[16]	Name of the performance measurement.
LONG	count	Count over recorded measurements.
DOUBLE	min	Minimum over all recorded measurements.
DOUBLE	max	Maximum over all recorded measurements.
DOUBLE	avg	Average over all recorded measurements.

MlpiRobotMechanicData

This structure defines the information about the mechanical structure of a robot.

Elements of struct MlpiRobotMechanicData

Type	Element	Description
MlpiRobotMechCmd	cmd	Command for the object.
WCHAR16	object[8]	Object id.
DOUBLE	x	x data for the command.
DOUBLE	y	y data for the command.
DOUBLE	z	z data for the command.

MlpiKinematicsValues

Structure containing operation information about a kinematics. These values do change as soon as the kinematics is in operation. You may want to use this structure to read several sets of kinematics information using one single function call during operation of the kinematics. This provides increased performance in comparison to reading the values bit by bit. Especially when reading the values for multiple kinematics.

Elements of struct MlpiKinematicsValues

Type	Element	Description
ULONG	state	Kinematics state of the kinematics.
ULONG	stateExtended	Extended kinematics state of the kinematics.
ULONG	diagnosisNumber	DiagnosisNumber of the kinematics.
FLOAT	actualPosition[MLPI_ROBOT_COORDINATES_IN_POINT]	Actual position of the kinematics.
FLOAT	actualVelocity	Actual velocity of the kinematics.
FLOAT	actualAcceleration	Actual acceleration of the kinematics.

MlpiKinematicsUnits

Structure containing units of the kinematics as strings. You may want to use this structure to read all units of a kinematics information set using one single function call.

Elements of struct MlpiKinematicsUnits

Type	Element	Description
WCHAR16	position[MLPI_ROBOT_MAX_UNITS_LEN]	Position unit of the kinematics. e.g. 'mm'.
WCHAR16	velocity[MLPI_ROBOT_MAX_UNITS_LEN]	Velocity unit of the kinematics. e.g. 'mm/s'.
WCHAR16	acceleration[MLPI_ROBOT_MAX_UNITS_LEN]	Acceleration unit of the kinematics. e.g. 'mm/s2'.

MlpiRobotStop

This structure defines the parameters for stopping the group.

Elements of struct MlpiRobotStop

Type	Element	Description
DOUBLE	deceleration	Maximum deceleration of movement
DOUBLE	jerk	Maximum jerk of movement
BOOL8	stop	TRUE: stopping, FALSE: exit stopping mode

MlpiRobotInterrupt

This structure defines the parameters for interrupting the group.

Elements of struct MlpiRobotInterrupt

Type	Element	Description
DOUBLE	deceleration	Maximum deceleration of movement
DOUBLE	jerk	Maximum jerk of movement

MlpiRobotSafeZoneData

This structure defines the parameters for a save zone.

Elements of struct MlpiRobotSafeZoneData

Type	Element	Description
USHORT	zoneNumber	zone number
MlpiRobotSafeZoneType	zoneType	zone type
DOUBLE	pointPos[MLPI_ROBOT_MAX_POS_AXIS]	minimum position of zone
DOUBLE	pointNeg[MLPI_ROBOT_MAX_POS_AXIS]	maximum position of zone

MlpiRobotJogStepData

This structure defines the parameters of a jog step movement.

Elements of struct MlpiRobotJogStepData

Type	Element	Description
MlpiRobotPoint	distance	Distance of movement
DOUBLE	velocity	Maximum velocity of movement
DOUBLE	acceleration	Maximum acceleration of movement
DOUBLE	deceleration	Maximum deceleration of movement
DOUBLE	jerk	Maximum jerk of movement
MlpiRobotCoordinateSystem	coordSystem	coordinate system

MlpiRobotJogContData

This structure defines the parameters of a continuous jog movement.

Elements of struct MlpiRobotJogContData

Type	Element	Description
MlpiRobotPoint	direction	Direction of movement
DOUBLE	velocity	Maximum velocity of movement
DOUBLE	acceleration	Maximum acceleration of movement
DOUBLE	deceleration	Maximum deceleration of movement
DOUBLE	jerk	Maximum jerk of movement
MlpiRobotCoordinateSystem	coordSystem	coordinate system

MlpiRobotStopCmdData

This structure defines the parameters of a stop command.

Elements of struct MlpiRobotStopCmdData

Type	Element	Description
MLPIMOTIONHANDLE	cmdID	ID of the command that will be stopped

MlpiRobotBeltDesyncRelData

This structure defines the parameters of a relative desynchronization configuration.

Elements of struct MlpiRobotBeltDesyncRelData

Type	Element	Description
MlpiAxisRef	belt	Reference to the axis
DOUBLE	startPercent	percentage of start relative desynchronization
DOUBLE	endPercent	percentage of end relative desynchronization

MlpiRobotTeachInDataWrite

This structure defines the parameters of the TeachInWrite command.

Elements of struct MlpiRobotTeachInDataWrite

Type	Element	Description
WCHAR16	pointName[MLPI_ROBOT_MAX_TEACH_NAME_LEN]	Name of the point that will be saved
MlpiRobotPoint	teachPoint	Point that will be saved
MlpiRobotCoordinateSystem	coordSys	Coordinate system of the point
USHORT	options	Option, what will be written and how

MlpiRobotTeachInDataRead

This structure defines the parameters of the TeachInRead command.

Elements of struct MlpiRobotTeachInDataRead

Type	Direction	Element	Description
WCHAR16	[in]	pointName[MLPI_ROBOT_MAX_TEACH_NAME_LEN]	Name of the point that will be loaded
MlpiRobotPoint	[out]	teachPoint	Point that will be returned
MlpiRobotCoordinateSystem	[out]	coordSys	Coordinate system of the point

MlpiRobotTeachInDataReadNext

This structure defines the parameters of the TeachInDataReadNext command.

Elements of struct MlpiRobotTeachInDataReadNext

Type	Direction	Element	Description
WCHAR16	[in]	pointNameInput[MLPI_ROBOT_MAX_TEACH_NAME_LEN]	Name of the current point
WCHAR16	[out]	pointNameOutput[MLPI_ROBOT_MAX_TEACH_NAME_LEN]	Name of the next point after current
MlpiRobotPoint	[out]	teachPoint	Point that will be saved
MlpiRobotCoordinateSystem	[out]	coordSys	Coordinate system of the point

MlpiRobotTeachInDataDeletePoints

This structure defines the parameters of the TeachInDataDeletePoints command.

Elements of struct MlpiRobotTeachInDataDeletePoints

Type	Element	Description
WCHAR16	pointName[MLPI_ROBOT_MAX_TEACH_NAME_LEN]	Name of the point that will be deleted

MlpiRobotTeachInDataFileData

This structure defines the parameters of the TeachInDataFileData command.

Elements of struct MlpiRobotTeachInDataFileData

Type	Element	Description
WCHAR16	fileName[MLPI_ROBOT_MAX_TEACH_NAME_LEN]	Name of the file that will be saved or loaded
MlpiRobotTeachInPointFileOption	fileOptions	Option, how the loading or writing will happen

MlpiRobotTeachInDataDeleteFileData

This structure defines the parameters of the TeachInDataFileData command.

Elements of struct MlpiRobotTeachInDataDeleteFileData

Type	Element	Description
WCHAR16	fileName[MLPI_ROBOT_MAX_TEACH_NAME_LEN]	Name of the file that will be deleted

MlpiRobotGetStatusSummary

This structure defines the parameters of the GetStatusSummary command.

Elements of struct MlpiRobotGetStatusSummary

Type	Direction	Element	Description
MlpiGroupRef	[in]	group	Reference to the group.
ULONG	[in]	coordSys	Coordinate System.
ULONG	[out]	state	Kinematics state
ULONG	[out]	stateExtended	Extended kinematics state
ULONG	[out]	diagnosisNumber	Diagnosis number of the kinematics.
USHORT	[out]	dimension	Dimension of a point of the kinematics
MlpiRobotPoint	[out]	actualPosition	Actual position of the kinematics.
WCHAR16[MLPI_ROBOT_MAX_UNITS_LEN]	[out]	actualPosUnit	Unit of actual position.
FLOAT	[out]	actualVelocity	Actual velocity of the kinematics.
FLOAT	[out]	actualAcceleration	Actual acceleration of the kinematics.
FLOAT	[out]	actualJerk	Actual jerk of the kinematics.
WCHAR16[MLPI_ROBOT_MAX_UNIT_LEN]	[out]	pathUnits	Unit of Vel, Acc and Jrk.
WCHAR16[MLPI_ROBOT_MAX_UNIT_LEN]	[out]	timeBase	Unit of time.

MlpiRobotCoordinateSystemInfo

This structure defines the parameters of the GetCSInfo command.

Elements of struct MlpiRobotCoordinateSystemInfo

Type	Element	Description
ULONG	cs	Reference to the coordinate system.
USHORT	dimension	Dimension of a point of the kinematics.
WCHAR16[MLPI_ROBOT_MAX_CSNAME_LEN]	name	Name of the kinematics.
WCHAR16[MLPI_ROBOT_MAX_UNITS_LEN]	posunits	Unit of Vel, Acc and Jrk.

MlpiRobotCmdInfo

This structure defines the information about the mechanical structure of a robot.

Elements of struct MlpiRobotCmdInfo

Type	Element	Description
ULONG	commandID	ID of the command.
MlpiRobotCmdInfoType	type	Type of given information.
DOUBLE	value	Value of the information.

MlpiRobotChangeToolParameter

This structure defines the information for a tool change command.

Elements of struct MlpiRobotChangeToolParameter

Type	Element	Description
DOUBLE	posX	X position of the PCS in MCS.
DOUBLE	posY	Y position of the PCS in MCS.
DOUBLE	posZ	Z position of the PCS in MCS.
DOUBLE	rotA	rotation of PCS around x axis in MCS.
DOUBLE	rotB	rotation of PCS around y axis in MCS.
DOUBLE	rotC	rotation of PCS around z axis in MCS.

Enumeration Type Documentation

enum MlpiRobotAxisTypes

This enumeration defines the types of axes used in a robot. This is parameter K-0-0008.

Enumerator
MLPI_ROBOT_AXISTYPE_NONE	No axis configured.
MLPI_ROBOT_AXISTYPE_POSITIONING	axis is used as a positioning axis
MLPI_ROBOT_AXISTYPE_ORIENTATION	axis is used as an orientation axis
MLPI_ROBOT_AXISTYPE_BELT	axis is used as a belt axis

Definition at line 334 of file mlpiRobotLib.h.

enum MlpiRobotSetMode

This enumeration defines the set mode of movement commands.

Enumerator
MLPI_ROBOT_SETMODE_TO	no blending
MLPI_ROBOT_SETMODE_VIA	blending

Definition at line 343 of file mlpiRobotLib.h.

enum MlpiRobotCoordinateSystem

This enumeration defines coordinate systems of a robot.

Enumerator
MLPI_ROBOT_CS_MCS	machine coordinate system
MLPI_ROBOT_CS_ACS	axis coordinate system
MLPI_ROBOT_CS_BCS	base coordinate system
MLPI_ROBOT_CS_PCS1	product coordinate system 1
MLPI_ROBOT_CS_PCS2	product coordinate system 2
MLPI_ROBOT_CS_PCS3	product coordinate system 3
MLPI_ROBOT_CS_PCS4	product coordinate system 4
MLPI_ROBOT_CS_PCS5	product coordinate system 5
MLPI_ROBOT_CS_PCS6	product coordinate system 6
MLPI_ROBOT_CS_PCS7	product coordinate system 7
MLPI_ROBOT_CS_PCS8	product coordinate system 8
MLPI_ROBOT_CS_PCS9	product coordinate system 9
MLPI_ROBOT_CS_PCS10	product coordinate system 10
MLPI_ROBOT_CS_PCS11	product coordinate system 11
MLPI_ROBOT_CS_PCS12	product coordinate system 12
MLPI_ROBOT_CS_PCS13	product coordinate system 13
MLPI_ROBOT_CS_PCS14	product coordinate system 14
MLPI_ROBOT_CS_PCS15	product coordinate system 15
MLPI_ROBOT_CS_PCS16	product coordinate system 16
MLPI_ROBOT_CS_FCS	flange coordinate system

Definition at line 350 of file mlpiRobotLib.h.

enum MlpiRobotCSType

This enumeration defines the type of the coordinate system.

Enumerator
MLPI_ROBOT_CARTESIAN	cartesian coordinate system
MLPI_ROBOT_CYLINDRIC	cylindric coordinate system

Definition at line 375 of file mlpiRobotLib.h.

enum MlpiRobotPointType

This enumeration defines the point type.

Enumerator
MLPI_ROBOT_POINT_TYPE_PREP	position of preparation
MLPI_ROBOT_POINT_TYPE_EXEC	position of execution

Definition at line 384 of file mlpiRobotLib.h.

enum MlpiRobotSlopeType

This enumeration defines the slope types of movement commands.

Enumerator
MLPI_ROBOT_SLOPETYPE_BLOCK_SLOPE	blending by starting next command early
MLPI_ROBOT_SLOPETYPE_PROGR_SLOPE	blending using a circle (deprecated)
MLPI_ROBOT_SLOPETYPE_CONT_SLOPE	blending using a spline

Definition at line 392 of file mlpiRobotLib.h.

enum MlpiRobotSyncErrorReactionMode

This enumeration defines the error reaction mode of a belt.

Enumerator
MLPI_ROBOT_BELT_ERROR_NO_SPECIFIC_REACTION	If an error occurs, no specific belt synchronous error reaction will happen. The kinematics stays synchronous to the belt.
MLPI_ROBOT_BELT_ERROR_DESYNC_OVER_TIME	If an error occurs, the kinematics desynchronizes from the belt over time.
MLPI_ROBOT_BELT_ERROR_DESYNC_WITH_LIMITS	If an error occurs, the kinematics desynchronizes from the belt over limits.

Definition at line 400 of file mlpiRobotLib.h.

enum MlpiRobotCyclicMode

This enum defines the type of a cyclic position command.

Enumerator
MLPI_ROBOT_CYCLIC_MODE_POS_ABS	Absolute position.
MLPI_ROBOT_CYCLIC_MODE_POS_REL	Relative position delta to last position.
MLPI_ROBOT_CYCLIC_MODE_VEL	Velocity in robot units.

Definition at line 408 of file mlpiRobotLib.h.

enum MlpiRobotMechCmd

This enum defines the command for a mechanical object.

Enumerator
MLPI_ROBOT_MECH_CREATE_ROD	create a rod
MLPI_ROBOT_MECH_CREATE_SPHERE	create a sphere
MLPI_ROBOT_MECH_POSITION	change position of object to (x,y,z)
MLPI_ROBOT_MECH_DIRECTION	change direction of object to (x,y,z)
MLPI_ROBOT_MECH_SIZE	change size of object to (x,y,z)
MLPI_ROBOT_MECH_CREATE_CUBOID	create a cuboid
MLPI_ROBOT_MECH_SET_MCS	set reference coordinate of object system to MCS
MLPI_ROBOT_MECH_ROTATE	change rotation of object to (A,B,C)

Definition at line 416 of file mlpiRobotLib.h.

enum MlpiRobotSafeZoneType

This enum defines the type of a save zone.

Enumerator
MLPI_ROBOT_SAFE_ZONE_TYPE_DEACTIVATED	zone deactivated
MLPI_ROBOT_SAFE_ZONE_TYPE_INSIDE_OK	points within this zone are allowed
MLPI_ROBOT_SAFE_ZONE_TYPE_OUTSIDE_OK	points outside of this zone are allowed

Definition at line 429 of file mlpiRobotLib.h.

enum MlpiRobotTeachInWriteOption

This enum defines the possible options for writing a point while the TeachIn functions.

Definition at line 437 of file mlpiRobotLib.h.

enum MlpiRobotTeachInPointFileOption

This enum defines the options, how a file can be loaded or saved.

Definition at line 445 of file mlpiRobotLib.h.

enum MlpiRobotCmdInfoType

This enum defines the type of information which should be read.

Enumerator
MLPI_ROBOT_CMD_INFO_TYPE_ALL	read all types of information available in this enumeration
MLPI_ROBOT_CMD_DATA_TYPE_PROGRESS	read the progress of move-commands in the block buffer
MLPI_ROBOT_CMD_DATA_TYPE_TOTAL_DISTANCE	read the total distance of move-commands in the block buffer
MLPI_ROBOT_CMD_DATA_TYPE_UID	read the unique identifier of a command
MLPI_ROBOT_CMD_DATA_TYPE_STATE	read the state of a command

Definition at line 453 of file mlpiRobotLib.h.