Collaboration diagram for Robot TeachIn:

Functions
MLPIRESULT	mlpiRobotTeachInWritePoint (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataWrite *paramSet)

MLPIRESULT	mlpiRobotTeachInReadPoint (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotTeachInDataRead *paramSet)

MLPIRESULT	mlpiRobotTeachInReadNextPoint (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotTeachInDataReadNext *paramSet)

MLPIRESULT	mlpiRobotTeachInDeletePoints (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataDeletePoints *paramSet)

MLPIRESULT	mlpiRobotTeachInSavePointFile (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataFileData paramSet, MLPIMOTIONHANDLE motionHandle)

MLPIRESULT	mlpiRobotTeachInLoadPointFile (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataFileData paramSet, MLPIMOTIONHANDLE motionHandle)

MLPIRESULT	mlpiRobotTeachInDeletePointFile (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataDeleteFileData paramSet, MLPIMOTIONHANDLE motionHandle)

Detailed Description

This group of functions allows the user to use the TeachIn functions.

Function Documentation

MLPIRESULT mlpiRobotTeachInWritePoint	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotTeachInDataWrite *	paramSet
	)

This function saves or modifies a point for the TeachIn.

Parameters

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

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

Example:: 1 // Save the defined point for the TeachIn.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotPoint P1 = {0};
6 P1.coordinate[0] = 100.0;
7 P1.coordinate[1] = 0.0;
8 P1.coordinate[2] = 0.0;
9 MlpiRobotTeachInDataWrite paramSet;
10 paramSet.teachPoint = P1;
11 paramSet.usOptions = MLPI_ROBOT_TEACH_IN_WRITE_POINT_SIMPLE;
12 paramSet.wCoordSys = MLPI_ROBOT_CS_MCS;
13 memcpy(paramSet.pointName, L"Point1", MLPI_ROBOT_MAX_TEACH_NAME_LEN*sizeof(WCHAR16));
14 MLPIRESULT result = mlpiRobotTeachInWritePoint(connection, group, &paramSet);

MLPIRESULT mlpiRobotTeachInReadPoint	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		MlpiRobotTeachInDataRead *	paramSet
	)

This function returns a point of the TeachIn map.

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 // Read a point of the TeachIn map.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotTeachInDataRead paramSet;
6 memcpy(paramSet.pointName, L"Point1", MLPI_ROBOT_MAX_TEACH_NAME_LEN*sizeof(WCHAR16));
7 MLPIRESULT result = mlpiRobotTeachInReadPoint(connection, group, &paramSet);
8 MlpiRobotPoint P1 = paramSet.teachPoint;
9 MlpiRobotCoordinateSystem CoordSys = paramSet.wCoordSys;

MLPIRESULT mlpiRobotTeachInReadNextPoint	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		MlpiRobotTeachInDataReadNext *	paramSet
	)

This function returns the next point of the TeachIn map.

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 //Read the next point of the TeachIn map.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotTeachInDataReadNext paramSet;
6 memcpy(paramSet.pointNameInput, L"Point1", MLPI_ROBOT_MAX_TEACH_NAME_LEN*sizeof(WCHAR16));
7 MLPIRESULT result = mlpiRobotTeachInReadNextPoint(connection, group, &paramSet);
8 WCHAR16 nextPoint[MLPI_ROBOT_MAX_TEACH_NAME_LEN];
9 memcpy(nextPoint, paramSet.pointNameInput, MLPI_ROBOT_MAX_TEACH_NAME_LEN*sizeof(WCHAR16));
10 MlpiRobotPoint P1 = paramSet.teachPoint;
11 MlpiRobotCoordinateSystem CoordSys = paramSet.wCoordSys;

MLPIRESULT mlpiRobotTeachInDeletePoints	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotTeachInDataDeletePoints *	paramSet
	)

This function deletes points of the TeachIn map. For delete of multiple points use "*" at the end of the name.

Parameters

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

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

Example:: 1 // Delete the defined point of the TeachIn map.
2 MlpiGroupRef group;
3 group.controlNo = MLPI_LOCAL_CONTROL;
4 group.groupNo = MLPI_GROUP_1;
5 MlpiRobotTeachInDataDeletePoints paramSet;
6 memcpy(paramSet.pointName, L"Point1", MLPI_ROBOT_MAX_TEACH_NAME_LEN*sizeof(WCHAR16));
7 MLPIRESULT result = mlpiRobotTeachInDeletePoints(connection, group, &paramSet);

MLPIRESULT mlpiRobotTeachInSavePointFile	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotTeachInDataFileData *	paramSet,
		MLPIMOTIONHANDLE *	motionHandle
	)

This function will save the actual map to a file.

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 // Save the actual map to the file.
2 MLPIMOTIONHANDLE motionHandle;
3 MlpiGroupRef group;
4 group.controlNo = MLPI_LOCAL_CONTROL;
5 group.groupNo = MLPI_GROUP_1;
6 MlpiRobotTeachInDataFileData paramSet;
7 memcpy(paramSet.fileName, L"TestFile", MLPI_ROBOT_MAX_TEACH_NAME_LEN*sizeof(WCHAR16));
8 paramSet.fileOptions = MLPI_ROBOT_TEACH_IN_NEW;
9 MLPIRESULT result = mlpiRobotTeachInSavePointFile(connection, group, &paramSet, &motionHandle);

MLPIRESULT mlpiRobotTeachInLoadPointFile	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotTeachInDataFileData *	paramSet,
		MLPIMOTIONHANDLE *	motionHandle
	)

This function will load the map from a file.

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 // Load the map from a file.
2 MLPIMOTIONHANDLE motionHandle;
3 MlpiGroupRef group;
4 group.controlNo = MLPI_LOCAL_CONTROL;
5 group.groupNo = MLPI_GROUP_1;
6 MlpiRobotTeachInDataFileData paramSet;
7 memcpy(paramSet.fileName, L"TestFile", MLPI_ROBOT_MAX_TEACH_NAME_LEN*sizeof(WCHAR16));
8 paramSet.fileOptions = MLPI_ROBOT_TEACH_IN_NEW;
9 MLPIRESULT result = mlpiRobotTeachInLoadPointFile(connection, group, &paramSet, &motionHandle);

MLPIRESULT mlpiRobotTeachInDeletePointFile	(	const MLPIHANDLE	connection,
		const MlpiGroupRef	group,
		const MlpiRobotTeachInDataDeleteFileData *	paramSet,
		MLPIMOTIONHANDLE *	motionHandle
	)

This function will delete a point file.

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 // Delete a point file.
2 MLPIMOTIONHANDLE motionHandle;
3 MlpiGroupRef group;
4 group.controlNo = MLPI_LOCAL_CONTROL;
5 group.groupNo = MLPI_GROUP_1;
6 MlpiRobotTeachInDataDeleteFileData paramSet;
7 memcpy(paramSet.fileName, L"TestFile", MLPI_ROBOT_MAX_TEACH_NAME_LEN*sizeof(WCHAR16));
8 MLPIRESULT result = mlpiRobotTeachInDeletePointFile(connection, group, &paramSet, &motionHandle);

Functions

Detailed Description

Function Documentation