1 #ifndef __MLPIROBOTLIB_H__ 2 #define __MLPIROBOTLIB_H__ 319 #define MLPI_ROBOT_COORDINATES_IN_POINT (16) 320 #define MLPI_ROBOT_MAX_POS_AXIS (3) 321 #define MLPI_ROBOT_AXIS_COUNT (16) 322 #define MLPI_ROBOT_MAX_UNIT_LEN (12) 323 #define MLPI_ROBOT_MAX_CSNAME_LEN (30) 324 #define MLPI_ROBOT_MAX_COORDINATE_SYSTEMS (19) 325 #define MLPI_ROBOT_MAX_UNITS_LEN (MLPI_ROBOT_MAX_UNIT_LEN * MLPI_ROBOT_AXIS_COUNT) 326 #define MLPI_ROBOT_MAX_SAFEZONES (32) 327 #define MLPI_ROBOT_MAX_TEACH_NAME_LEN (21) 439 MLPI_ROBOT_TEACH_IN_WRITE_POINT_SIMPLE = 0x000,
440 MLPI_ROBOT_TEACH_IN_WRITE_POINT_OVERWRITE = 0x001,
441 MLPI_ROBOT_TEACH_IN_WRITE_POINT_BELT_VALUES = 0x002,
447 MLPI_ROBOT_TEACH_IN_NEW = 0,
448 MLPI_ROBOT_TEACH_IN_APPEND,
449 MLPI_ROBOT_TEACH_IN_APPEND_OVERWRITE,
468 #if !defined(TARGET_OS_VXWORKS) 1338 #if !defined(TARGET_OS_VXWORKS) 1353 #if defined(TARGET_OS_WINNT) 1354 #if defined(MLPI_EXPORTS) 1355 #define MLPI_API __declspec(dllexport) 1356 #elif defined(MLPI_IMPORTS) 1357 #define MLPI_API __declspec(dllimport) 1362 #if defined(MLPI_EXPORTS) 1363 #define MLPI_API __attribute__ ((visibility("default"))) 1364 #elif defined(MLPI_IMPORTS) 2773 #endif // endof: #ifndef __MLPIROBOTLIB_H__ product coordinate system 10
struct MlpiRobotBeltDesyncRelData MlpiRobotBeltDesyncRelData
This structure defines the parameters of a relative desynchronization configuration.
struct MlpiRobotMechanicData MlpiRobotMechanicData
This structure defines the information about the mechanical structure of a robot. ...
MlpiRobotMechCmd
This enum defines the command for a mechanical object.
read the state of a command
If an error occurs, the kinematics desynchronizes from the belt over limits.
struct MlpiRobotMoveLinearAbsolute MlpiRobotMoveLinearAbsolute
This structure defines the parameters of a linear absolute movement.
struct MlpiRobotTeachInDataReadNext MlpiRobotTeachInDataReadNext
This structure defines the parameters of the TeachInDataReadNext command.
struct MlpiRobotTeachInDataWrite MlpiRobotTeachInDataWrite
This structure defines the parameters of the TeachInWrite command.
struct MlpiGroupRef MlpiGroupRef
This structure defines the group through the definition of control and group number.
struct MlpiRobotOpenCyclicChannel MlpiRobotOpenCyclicChannel
This structure defines the parameters for opening a cyclic position channel.
long MLPIRESULT
common MLPI-API return value
struct MlpiKinematicsUnits MlpiKinematicsUnits
Structure containing units of the kinematics as strings. You may want to use this structure to read a...
product coordinate system 15
MLPIRESULT mlpiRobotOpenCyclicChannel(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotOpenCyclicChannel *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function opens a channel for cyclic position commands.
product coordinate system 8
MLPIRESULT mlpiRobotMoveLinearRel(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveLinearRelative *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function moves a kinematics linear relative.
struct MlpiRobotInterrupt MlpiRobotInterrupt
This structure defines the parameters for interrupting the group.
product coordinate system 4
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.
struct MlpiRobotSyncOnWithLimits MlpiRobotSyncOnWithLimits
This structure defines the parameters for configuring a synchronizing movement of a belt with limits...
MLPIRESULT mlpiRobotReset(const MLPIHANDLE connection, const MlpiGroupRef group, MLPIMOTIONHANDLE *motionHandle)
This function clears all errors of the group.
product coordinate system 9
struct MlpiRobotMotionStatus MlpiRobotMotionStatus
This structure defines the status of a robot movement command.
signed char BOOL8
1 byte boolean
unsigned short USHORT
2 byte unsigned integer
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...
struct MlpiRobotMoveDirectRelative MlpiRobotMoveDirectRelative
This structure defines the parameters of a direct relative movement.
If an error occurs, no specific belt synchronous error reaction will happen. The kinematics stays syn...
struct MlpiRobotMoveDirectAbsolute MlpiRobotMoveDirectAbsolute
This structure defines the parameters of an absolute direct movement.
MLPIRESULT mlpiRobotMoveDirectAbs(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveDirectAbsolute *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function moves a kinematics direct absolute.
struct MlpiRobotTeachInDataDeleteFileData MlpiRobotTeachInDataDeleteFileData
This structure defines the parameters of the TeachInDataFileData command.
#define MLPI_ROBOT_COORDINATES_IN_POINT
number of coordinates in a point
struct MlpiRobotTeachInDataRead MlpiRobotTeachInDataRead
This structure defines the parameters of the TeachInRead command.
struct MlpiRobotMoveCircularRelative MlpiRobotMoveCircularRelative
This structure defines the parameters of a circular relative movement.
MLPIRESULT mlpiRobotGetBeltConfiguration(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotGetBeltConfiguration *trafoValues)
This function reads a belt configuration.
struct MlpiRobotGetBeltErrorReaction MlpiRobotGetBeltErrorReaction
This structure defines the parameters of the configuration of the error reaction of a belt...
cartesian coordinate system
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 ...
set reference coordinate of object system to MCS
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.
MLPIRESULT mlpiRobotSetRotaryTableConfiguration(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetBeltConfiguration *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function configures a rotary table.
MLPIRESULT mlpiRobotInterrupt(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotInterrupt *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function interrupts the group.
MlpiRobotPointType
This enumeration defines the point type.
points outside of this zone are allowed
struct MlpiRobotSetBeltConfiguration MlpiRobotSetBeltConfiguration
This structure defines the parameters for the configuration of a belt.
blending using a circle (deprecated)
MLPIRESULT mlpiRobotSetCylindricTransform(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetTrafoParameter *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function configures a cylindric transformation between PCS and MCS.
MLPIRESULT mlpiRobotContinue(const MLPIHANDLE connection, const MlpiGroupRef group, MLPIMOTIONHANDLE *motionHandle)
This function continues the previously interrupted movement of a group.
product coordinate system 2
#define MLPI_ROBOT_MAX_TEACH_NAME_LEN
maximum name length of teach points
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...
struct MlpiKinematicsValues MlpiKinematicsValues
Structure containing operation information about a kinematics. These values do change as soon as the ...
struct MlpiRobotCoordinateSystemInfo MlpiRobotCoordinateSystemInfo
This structure defines the parameters of the GetCSInfo command.
MLPIRESULT mlpiRobotJogStep(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotJogStepData *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function jogs a kinematics in steps.
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...
#define MLPI_STRUCT_ALIGN_USHORT
2 byte unsigned integer, aligned within structs to MLPI data type USHORT
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.
MlpiRobotCyclicMode
This enum defines the type of a cyclic position command.
#define MLPI_STRUCT_ALIGN_ULLONG
8 byte unsigned integer, aligned within structs to MLPI data type ULLONG
MLPIRESULT mlpiRobotSyncOnWithLimits(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSyncOnWithLimits *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function synchronizes the kinematics to a belt considering limits for jerk and acceleration...
MLPIRESULT mlpiRobotSetBeltErrorReaction(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetBeltErrorReaction *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function configures the error reaction of a belt.
MLPIRESULT mlpiRobotGetBeltErrorReaction(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotGetBeltErrorReaction *paramSet)
This function gets the configured error reaction of a belt.
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.
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...
If an error occurs, the kinematics desynchronizes from the belt over time.
read all types of information available in this enumeration
MLPIRESULT mlpiRobotMoveCircularAbs(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveCircularAbsolute *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function moves a kinematics circular absolute.
#define MLPI_STRUCT_ALIGN_STRUCT
structure, dummy
machine coordinate system
product coordinate system 14
MLPIRESULT mlpiRobotSetBeltConfiguration(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetBeltConfiguration *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function configures a belt.
wchar_t WCHAR16
UTF16 string.
MLPIRESULT mlpiRobotTeachInSavePointFile(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataFileData *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function will save the actual map to a file.
product coordinate system 1
struct MlpiRobotJogContData MlpiRobotJogContData
This structure defines the parameters of a continuous jog movement.
MLPIRESULT mlpiRobotGetSafeZones(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotSafeZoneData *safeZoneData, const ULONG numElements, ULONG *numElementsRet)
This function gets all safezones of a kinematics.
product coordinate system 13
MLPIRESULT mlpiRobotGetStatusSummary(const MLPIHANDLE connection, MlpiRobotGetStatusSummary *statusSummary, const ULONG numElements)
This function will return actual status information about kinematics in a specified coordinate system...
#define MLPI_STRUCT_ALIGN_BOOL8
1 byte boolean, aligned within structs to MLPI data type BOOL8
points within this zone are allowed
change direction of object to (x,y,z)
MlpiRobotSyncErrorReactionMode
This enumeration defines the error reaction mode of a belt.
#define MLPI_STRUCT_ALIGN_ENUM
enumeration, aligned within structs to 32 bit
MLPIRESULT mlpiRobotMoveDirectRel(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveDirectRelative *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function moves a kinematics direct relative.
unsigned long long MLPIMOTIONHANDLE
MLPI-API handle value used for motion functions.
MLPIRESULT mlpiRobotGetBeltDesyncRelConfig(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotBeltDesyncRelData *paramSet)
This function reads relative desynchronization from a belt configuration.
#define MLPI_STRUCT_ALIGN_ULONG
4 byte unsigned integer, aligned within structs to MLPI data type ULONG
MlpiRobotSlopeType
This enumeration defines the slope types of movement commands.
product coordinate system 16
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 ...
product coordinate system 3
#define MLPI_ROBOT_MAX_CSNAME_LEN
maximum length of coordinate system name
struct MlpiRobotGetBeltConfiguration MlpiRobotGetBeltConfiguration
This structure defines the belt configuration.
MLPIRESULT mlpiRobotStopCmd(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotStopCmdData *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function stops a command.
struct MlpiRobotTeachInDataFileData MlpiRobotTeachInDataFileData
This structure defines the parameters of the TeachInDataFileData command.
#define MLPI_ROBOT_MAX_UNIT_LEN
maximum length of unit name
struct MlpiRobotCmdInfo MlpiRobotCmdInfo
This structure defines the information about the mechanical structure of a robot. ...
MLPIRESULT mlpiRobotSetBeltDesyncRelConfig(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotBeltDesyncRelData *paramSet)
This function configures relative desynchronization from a belt.
MLPIRESULT mlpiRobotTeachInDeletePointFile(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataDeleteFileData *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function will delete a point file.
MLPIRESULT mlpiRobotRemAllAxisFromGroup(const MLPIHANDLE connection, const MlpiGroupRef group)
This function removes all configured axis from a group.
struct MlpiRobotPoint MlpiRobotPoint
This structure defines a point.
MLPIRESULT mlpiRobotTeachInLoadPointFile(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataFileData *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function will load the map from a file.
MLPIRESULT mlpiRobotTeachInWritePoint(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataWrite *paramSet)
This function saves or modifies a point for the TeachIn.
MLPIRESULT mlpiRobotSetSafeZone(const MLPIHANDLE connection, MlpiGroupRef group, MlpiRobotSafeZoneData *safeZoneData, MLPIMOTIONHANDLE *motionHandle)
This function configures a save zone of a robot.
MlpiRobotCoordinateSystem
This enumeration defines coordinate systems of a robot.
MlpiRobotSafeZoneType
This enum defines the type of a save zone.
MLPIRESULT mlpiRobotSyncOffWithLimits(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSyncOffWithLimits *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function desynchronizes the kinematics from a belt considering limits for jerk and deceleration...
MLPIRESULT mlpiRobotJogCont(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotJogContData *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function jogs a kinematics continuously.
struct MlpiRobotJogStepData MlpiRobotJogStepData
This structure defines the parameters of a jog step movement.
struct MlpiRobotSetTrafoParameter MlpiRobotSetTrafoParameter
This structure defines the parameters for configuring a product coordinate system.
MlpiRobotCSType
This enumeration defines the type of the coordinate system.
MLPIRESULT mlpiRobotWriteCyclicChannel(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotCyclicChannel *paramSet)
This function writes a new cyclic position to a cyclic position channel.
MLPIRESULT mlpiRobotMoveLinearAbs(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveLinearAbsolute *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function moves a kinematics linear absolute.
MLPIRESULT mlpiRobotMotionGetStatus(const MLPIHANDLE connection, const MlpiGroupRef group, const MLPIMOTIONHANDLE motionHandle, MlpiRobotMotionStatus *status)
This function reads the status of a movement command.
MLPIRESULT mlpiRobotAddAllAxisToGroup(const MLPIHANDLE connection, const MlpiGroupRef group)
This function adds all configured axis to a group.
struct MlpiRobotStopCmdData MlpiRobotStopCmdData
This structure defines the parameters of a stop command.
struct MlpiRobotChangeToolParameter MlpiRobotChangeToolParameter
This structure defines the information for a tool change command.
MlpiRobotAxisTypes
This enumeration defines the types of axes used in a robot. This is parameter K-0-0008.
read the progress of move-commands in the block buffer
change size of object to (x,y,z)
axis is used as an orientation axis
struct MlpiRobotMoveJumpAbsolute MlpiRobotMoveJumpAbsolute
This structure defines the parameters of a jump absolute movement.
struct MlpiRobotMoveLinearRelative MlpiRobotMoveLinearRelative
This structure defines the parameters of a linear relative movement.
MLPIRESULT mlpiRobotTeachInReadPoint(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotTeachInDataRead *paramSet)
This function returns a point of the TeachIn map.
MLPIRESULT mlpiRobotTeachInReadNextPoint(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotTeachInDataReadNext *paramSet)
This function returns the next point of the TeachIn map.
struct MlpiRobotGetStatusSummary MlpiRobotGetStatusSummary
This structure defines the parameters of the GetStatusSummary command.
MlpiRobotTeachInWriteOption
This enum defines the possible options for writing a point while the TeachIn functions.
blending by starting next command early
MLPIRESULT mlpiRobotStop(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotStop *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function stops the group with settings of paramSet.
#define MLPI_STRUCT_ALIGN_FLOAT
4 byte floating point, aligned within structs to MLPI data type FLOAT
unsigned long ULONG
4 byte unsigned integer
cylindric coordinate system
struct MlpiRobotStop MlpiRobotStop
This structure defines the parameters for stopping the group.
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 po...
struct MlpiRobotSyncOffWithLimits MlpiRobotSyncOffWithLimits
This structure defines the parameters for configuring a desynchronizing movement of a belt with limit...
float FLOAT
4 byte floating point
struct MlpiRobotGetTrafoParameter MlpiRobotGetTrafoParameter
This structure defines the parameter of a transformation.
MLPIRESULT mlpiRobotGetDiagnosisText(const MLPIHANDLE connection, const MlpiGroupRef group, WCHAR16 *buffer, const ULONG numElements)
This function reads the diagnostic message of the kinematics.
product coordinate system 5
double DOUBLE
8 byte floating point
struct MlpiAxisRef MlpiAxisRef
This structure defines the axis through the definition of control and axis number.
MLPIRESULT mlpiRobotMoveCircularRel(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveCircularRelative *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function moves a kinematics circular relative.
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...
MLPIRESULT mlpiRobotMoveJumpAbs(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveJumpAbsolute *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function moves a kinematics jump absolute.
change rotation of object to (A,B,C)
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...
product coordinate system 11
#define MLPI_STRUCT_ALIGN_DOUBLE
8 byte floating point, aligned within structs to MLPI data type DOUBLE
unsigned long MLPIHANDLE
common MLPI-API handle value
MLPIRESULT mlpiRobotReadCyclicChannel(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotCyclicChannel *paramSet)
This function returns last values written by mlpiRobotWriteCyclicChannel.
MlpiRobotSetMode
This enumeration defines the set mode of movement commands.
product coordinate system 6
read the total distance of move-commands in the block buffer
axis is used as a positioning axis
MLPIRESULT mlpiRobotWait(const MLPIHANDLE connection, const MlpiGroupRef group, const DOUBLE time, MLPIMOTIONHANDLE *motionHandle)
This function lets the robot wait at last commanded position for a specified time in seconds...
change position of object to (x,y,z)
#define MLPI_ROBOT_MAX_POS_AXIS
number of positioning axes
struct MlpiRobotMoveCircularAbsolute MlpiRobotMoveCircularAbsolute
This structure defines the parameters of an absolute circular movement.
product coordinate system 12
struct MlpiRobotSafeZoneData MlpiRobotSafeZoneData
This structure defines the parameters for a save zone.
struct MlpiRobotCyclicChannel MlpiRobotCyclicChannel
This structure defines the parameters for a cyclic position.
MlpiRobotCmdInfoType
This enum defines the type of information which should be read.
product coordinate system 7
MlpiRobotTeachInPointFileOption
This enum defines the options, how a file can be loaded or saved.
struct MlpiRobotPerformanceResult MlpiRobotPerformanceResult
This structure defines the information for a performance measurement.
axis is used as a belt axis
read the unique identifier of a command
struct MlpiRobotSetBeltErrorReaction MlpiRobotSetBeltErrorReaction
This structure defines the parameters for the configuration of the error reaction of a belt...
#define MLPI_STRUCT_ALIGN_WCHAR16
2 byte char, aligned within structs to MLPI data type WCHAR16
MLPIRESULT mlpiRobotChangeTool(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotChangeToolParameter *paramSet, MLPIMOTIONHANDLE *motionHandle)
This function changes a tool.
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...
struct MlpiRobotTeachInDataDeletePoints MlpiRobotTeachInDataDeletePoints
This structure defines the parameters of the TeachInDataDeletePoints command.
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 struc...
Relative position delta to last position.