Open Core Interface - MLPI
MLPI-MotionLogicProgrammingInterface(mlpiCore)  1.26.2
Server version since 1.26.0.0 (MLC-FW: 14V22)
RobotLib » Version and Permission
Collaboration diagram for Server version since 1.26.0.0 (MLC-FW: 14V22):
Note
Since firmware version 14V22 (MLPI-Server-Version: 1.26.0.0) a centralized permission management has been implemented in target controls XM2, L75 and VPx. Some permissions have been summarized in order to improve their usability. Additional information regarding the usage of older manifest files (i.e. accounts.xml) with newer server versions can be found in Manifest since server version 1.26.0.0.
Users of other CML controls (i.e. L25, L45, L65) have to use the old permissions as defined in Server versions before 1.26.0.0
List of valid permissions for mlpiRobotLib. These permissions shall be assigned to the groups (i.e. in the group manifest file groups.xml) rather than the users.
Permission-Ident Description
ROBOT_INFO Read robots information - Allows to read robots information, e.g. position, status and diagnosis.
ROBOT_MOVE Move robots - Allows to move robots.
ROBOT_SETUP Setup robots and clear errors - Allows to setup robots and clear errors.
ROBOT_TEACHIN Teach-in robots - Allows to teach-in positions for robots.
List of available functions in mlpiRobotLib and the permissions required for their use.
Function Server version Permission-Ident
mlpiRobotReset 1.0.0.0 "ROBOT_SETUP"
mlpiRobotSetBeltConfiguration 1.0.0.0 "ROBOT_SETUP"
mlpiRobotSetRotaryTableConfiguration 1.0.0.0 "ROBOT_SETUP"
mlpiRobotSetCartesianTransform 1.0.0.0 "ROBOT_SETUP"
mlpiRobotSetCylindricTransform 1.0.0.0 "ROBOT_SETUP"
mlpiRobotSetBeltErrorReaction 1.0.0.0 "ROBOT_SETUP"
mlpiRobotGetBeltErrorReaction 1.0.0.0 "ROBOT_INFO"
mlpiRobotMoveLinearAbs 1.0.0.0 "ROBOT_MOVE"
mlpiRobotMoveCircularAbs 1.0.0.0 "ROBOT_MOVE"
mlpiRobotMoveCircularRel 1.0.0.0 "ROBOT_MOVE"
mlpiRobotMoveLinearRel 1.0.0.0 "ROBOT_MOVE"
mlpiRobotMoveDirectAbs 1.0.0.0 "ROBOT_MOVE"
mlpiRobotMoveDirectRel 1.0.0.0 "ROBOT_MOVE"
mlpiRobotMoveJumpAbs 1.14.0.0 "ROBOT_MOVE"
mlpiRobotSyncOnWithLimits 1.0.0.0 "ROBOT_MOVE"
mlpiRobotSyncOffWithLimits 1.0.0.0 "ROBOT_MOVE"
mlpiRobotOpenCyclicChannel 1.0.0.0 "ROBOT_MOVE"
mlpiRobotWriteCyclicChannel 1.0.0.0 "ROBOT_MOVE"
mlpiRobotStop 1.0.17.0 "ROBOT_MOVE"
mlpiRobotInterrupt 1.0.17.0 "ROBOT_MOVE"
mlpiRobotContinue 1.0.17.0 "ROBOT_MOVE"
mlpiRobotMotionGetStatus 1.0.0.0 "ROBOT_INFO"
mlpiRobotReadCyclicChannel 1.0.0.0 "ROBOT_INFO"
mlpiRobotReadPos 1.0.0.0 "ROBOT_INFO"
mlpiRobotMovePoint 1.0.0.0 "ROBOT_INFO"
mlpiRobotSetPerformanceEnable 1.0.0.0 "ROBOT_INFO"
mlpiRobotGetPerfomanceResult 1.0.0.0 "ROBOT_INFO"
mlpiRobotGetMechanicData 1.0.0.0 "ROBOT_INFO"
mlpiRobotGetTransform 1.0.18.0 "ROBOT_INFO"
mlpiRobotGetBeltConfiguration 1.0.18.0 "ROBOT_INFO"
mlpiRobotAddAllAxisToGroup 1.0.0.0 "ROBOT_SETUP"
mlpiRobotRemAllAxisFromGroup 1.0.0.0 "ROBOT_SETUP"
mlpiRobotGetKinematicsValues 1.1.1.0 "ROBOT_INFO"
mlpiRobotGetDiagnosisText 1.1.1.0 "ROBOT_INFO"
mlpiRobotGetKinematicsUnits 1.1.1.0 "ROBOT_INFO"
mlpiRobotTransformPoint 1.1.1.0 "ROBOT_INFO"
mlpiRobotWait 1.2.1.0 "ROBOT_MOVE"
mlpiRobotSetSafeZone 1.3.1.0 "ROBOT_SETUP"
mlpiRobotJogStep 1.4.0.0 "ROBOT_MOVE"
mlpiRobotJogCont 1.4.0.0 "ROBOT_MOVE"
mlpiRobotStopCmd 1.4.0.0 "ROBOT_MOVE"
mlpiRobotSetBeltDesyncRelConfig 1.4.0.0 "ROBOT_SETUP"
mlpiRobotGetBeltDesyncRelConfig 1.4.0.0 "ROBOT_INFO"
mlpiRobotTeachInWritePoint 1.4.0.0 "ROBOT_TEACHIN"
mlpiRobotTeachInReadPoint 1.4.0.0 "ROBOT_TEACHIN"
mlpiRobotTeachInReadNextPoint 1.4.0.0 "ROBOT_TEACHIN"
mlpiRobotTeachInDeletePoints 1.4.0.0 "ROBOT_TEACHIN"
mlpiRobotTeachInSavePointFile 1.4.0.0 "ROBOT_TEACHIN"
mlpiRobotTeachInLoadPointFile 1.4.0.0 "ROBOT_TEACHIN"
mlpiRobotTeachInDeletePointFile 1.4.0.0 "ROBOT_TEACHIN"
mlpiRobotGetCoordinateSystemInfo 1.6.0.0 "ROBOT_INFO"
mlpiRobotGetStatusSummary 1.6.0.0 "ROBOT_INFO"
mlpiRobotGetSafeZones 1.11.0.0 "ROBOT_INFO"
mlpiRobotGetMoveId 1.14.0.0 "ROBOT_INFO"
mlpiRobotSetMoveId 1.14.0.0 "ROBOT_SETUP"
mlpiRobotGetCmdInfo 1.16.0.0 "ROBOT_INFO"
mlpiRobotChangeTool 1.25.0.0 "ROBOT_SETUP"
List of the old permissions of mlpiRobotLib and their corresponding new permission.
Old permission new Permission
MLPI_ROBOTLIB_PERMISSION_ALWAYS IMPLICIT
MLPI_ROBOTLIB_PERMISSION_SETUP ROBOT_SETUP
MLPI_ROBOTLIB_PERMISSION_CONFIG ROBOT_SETUP
MLPI_ROBOTLIB_PERMISSION_CLEAR ROBOT_SETUP
MLPI_ROBOTLIB_PERMISSION_INFO ROBOT_INFO
MLPI_ROBOTLIB_PERMISSION_MOVE ROBOT_MOVE
MLPI_ROBOTLIB_PERMISSION_TEACHIN

ROBOT_TEACHIN