Open Core Interface - MLPI
MLPI-MotionLogicProgrammingInterface(mlpiCore)  1.26.2
Macros | Typedefs | Enumerations | Functions
mlpiRobotLib.h File Reference
Include dependency graph for mlpiRobotLib.h:

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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

Functions

MLPIRESULT mlpiRobotMoveLinearAbs (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveLinearAbsolute *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotMoveLinearRel (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveLinearRelative *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotMoveDirectAbs (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveDirectAbsolute *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotMoveDirectRel (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveDirectRelative *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotMoveCircularAbs (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveCircularAbsolute *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotMoveCircularRel (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveCircularRelative *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotMoveJumpAbs (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveJumpAbsolute *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotSetBeltConfiguration (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetBeltConfiguration *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotSetRotaryTableConfiguration (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetBeltConfiguration *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotSyncOnWithLimits (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSyncOnWithLimits *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotSyncOffWithLimits (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSyncOffWithLimits *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotOpenCyclicChannel (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotOpenCyclicChannel *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotWriteCyclicChannel (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotCyclicChannel *paramSet)
 
MLPIRESULT mlpiRobotStop (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotStop *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotInterrupt (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotInterrupt *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotContinue (const MLPIHANDLE connection, const MlpiGroupRef group, MLPIMOTIONHANDLE *motionHandle)
 
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 mlpiRobotSetBeltErrorReaction (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetBeltErrorReaction *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotGetBeltErrorReaction (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotGetBeltErrorReaction *paramSet)
 
MLPIRESULT mlpiRobotSetCartesianTransform (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetTrafoParameter *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotSetCylindricTransform (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetTrafoParameter *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotGetTransform (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotGetTrafoParameter *trafoValues)
 
MLPIRESULT mlpiRobotWait (const MLPIHANDLE connection, const MlpiGroupRef group, const DOUBLE time, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotGetBeltConfiguration (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotGetBeltConfiguration *trafoValues)
 
MLPIRESULT mlpiRobotReset (const MLPIHANDLE connection, const MlpiGroupRef group, MLPIMOTIONHANDLE *motionHandle)
 
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 mlpiRobotAddAllAxisToGroup (const MLPIHANDLE connection, const MlpiGroupRef group)
 
MLPIRESULT mlpiRobotRemAllAxisFromGroup (const MLPIHANDLE connection, const MlpiGroupRef group)
 
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 mlpiRobotSetSafeZone (const MLPIHANDLE connection, MlpiGroupRef group, MlpiRobotSafeZoneData *safeZoneData, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotGetSafeZones (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotSafeZoneData *safeZoneData, const ULONG numElements, ULONG *numElementsRet)
 
MLPIRESULT mlpiRobotJogStep (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotJogStepData *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotJogCont (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotJogContData *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotStopCmd (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotStopCmdData *paramSet, MLPIMOTIONHANDLE *motionHandle)
 
MLPIRESULT mlpiRobotSetBeltDesyncRelConfig (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotBeltDesyncRelData *paramSet)
 
MLPIRESULT mlpiRobotGetBeltDesyncRelConfig (const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotBeltDesyncRelData *paramSet)
 
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)
 
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 mlpiRobotSetMoveId (const MLPIHANDLE connection, const MlpiGroupRef group, const ULONG moveId)
 
MLPIRESULT mlpiRobotGetCmdInfo (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotCmdInfoType infoType, MlpiRobotCmdInfo *cmdInfo, const ULONG numElements, ULONG *numElementsRet)
 
MLPIRESULT mlpiRobotChangeTool (const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotChangeToolParameter *paramSet, MLPIMOTIONHANDLE *motionHandle)
 

Detailed Description

Author
DC-IA/EAM1 (GB, SK, JR)
Copyright
Bosch Rexroth Corporation http://www.boschrexroth.com/oce
Version
1.26.2
Date
2013

Definition in file mlpiRobotLib.h.