EASY-ROB™ Application Programming Interface
v9.301
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Method class for manipulation of tags and access tag attributes. More...
#include <ER_CAPI.H>
Static Public Member Functions | |
static ER_DllExport int | chk_rob_tag_idx (int idx) |
Check if tag index is valid. More... | |
static ER_DllExport frame * | inq_rob_tag_T_cRBase_idx (int idx) |
Temporary Tcp location w.r.t to cRobot Base This Tcp location w.r.t to cRobot Base is saved when the cRobot reaches this Tag See inq_rob_tag_q_cR_idx() , inq_rob_tag_uid_cR_idx() More... | |
static ER_DllExport float * | inq_rob_tag_q_cR_idx (int idx) |
Temporary joint location for cRobot This Joint location is saved when the cRobot reaches this Tag See inq_rob_tag_T_cRBase_idx() , inq_rob_tag_uid_cR_idx() More... | |
static ER_DllExport ER_UID * | inq_rob_tag_uid_cR_idx (int idx) |
Temporary unique robot id of cRobot This Unique robot ID of the cRobot is saved when the cRobot reaches this Tag See inq_rob_tag_T_cRBase_idx() , inq_rob_tag_q_cR_idx() More... | |
static ER_DllExport char * | inq_rob_tag_prefix_idx (int idx) |
Tag_attributes, get tag prefix The complete tag name is tagprefix + tagname See inq_rob_tag_name_idx(), inq_rob_tag_prefix_name_idx() More... | |
static ER_DllExport char * | inq_rob_tag_name_idx (int idx) |
Tag_attributes, get tag name (=postfix) The complete tag name is tagprefix + tagname See inq_rob_tag_prefix_idx(), inq_rob_tag_prefix_name_idx() More... | |
static ER_DllExport char * | inq_rob_tag_prefix_name_idx (int idx) |
Tag_attributes, complete tag name The complete tag name is tagprefix + tagname See inq_rob_tag_prefix_idx() , inq_rob_tag_name_idx() More... | |
static ER_DllExport int * | inq_rob_tag_motype_idx (int idx) |
Tag_attributes, motion type. More... | |
static ER_DllExport float * | inq_rob_tag_speed_ptp_idx (int idx) |
Tag_attributes, ptp speed, 0-def, [rad/s] Remarks use inq_rob_tag_speed_ptp_ov_idx() instead. More... | |
static ER_DllExport float * | inq_rob_tag_speed_cp_idx (int idx) |
Tag_attributes, cp speed, 0-def, [m/s] . More... | |
static ER_DllExport float * | inq_rob_tag_speed_ori_idx (int idx) |
Tag_attributes, ori speed, 0-def, [rad/s]. More... | |
static ER_DllExport int * | inq_rob_tag_confdata_idx (int idx) |
Tag_attributes, robot configuration, 0-def. More... | |
static ER_DllExport float * | inq_rob_tag_zone_idx (int idx) |
Tag_attributes, programmed zone value [mm,%]. More... | |
static ER_DllExport float * | inq_rob_tag_accel_ptp_idx (int idx) |
Tag_attributes, ptp acceleration, 0-def, [rad/s^2] Remarks use inq_rob_tag_accel_ptp_ov_idx() instead. More... | |
static ER_DllExport float * | inq_rob_tag_accel_cp_idx (int idx) |
Tag_attributes, cp acceleration, 0-def, [m/s^2]. More... | |
static ER_DllExport float * | inq_rob_tag_accel_ori_idx (int idx) |
Tag_attributes, orientation acceleration, 0-def, [rad/s^2]. More... | |
static ER_DllExport float * | inq_rob_tag_ov_pro_idx (int idx) |
Tag_attributes, programmed override, 0-def [0-200%]. More... | |
static ER_DllExport float * | inq_rob_tag_speed_ptp_ov_idx (int idx) |
Tag_attributes, ptp override speed, 0-def [0-200%]. More... | |
static ER_DllExport float * | inq_rob_tag_speed_cp_ov_idx (int idx) |
Tag_attributes, cp override speed, 0-def [0-200%]. More... | |
static ER_DllExport float * | inq_rob_tag_speed_ori_ov_idx (int idx) |
Tag_attributes, ori override speed, 0-def [0-200%]. More... | |
static ER_DllExport float * | inq_rob_tag_accel_ptp_ov_idx (int idx) |
Tag_attributes, ptp override accel, 0-def [0-200%]. More... | |
static ER_DllExport float * | inq_rob_tag_accel_cp_ov_idx (int idx) |
Tag_attributes, cp override accel, 0-def [0-200%]. More... | |
static ER_DllExport float * | inq_rob_tag_accel_ori_ov_idx (int idx) |
Tag_attributes, ori override accel, 0-def [0-200%]. More... | |
static ER_DllExport int * | inq_rob_tag_auto_accel_idx (int idx) |
Tag_attributes, auto acceleration, 0-def If auto accel is enabled for a tag, the accelerations for ptp and cp mmoves are calculated automatically depending on programmed speed. More... | |
static ER_DllExport float * | inq_rob_tag_acc_set_acc_idx (int idx) |
Tag_attributes, AccSet Acc, 100-def [20-100%] Set AccSet Acc to 20% for smooth acceleration Set AccSet Acc to 100% for max. acceleration See inq_rob_tag_acc_set_ramp_idx() More... | |
static ER_DllExport float * | inq_rob_tag_acc_set_ramp_idx (int idx) |
Tag_attributes, AccSet Ramp, 100-def [20-100%] Set AccSet Ramp to 20% for smooth acceleration Set AccSet Ramp to 100% for max. acceleration See inq_rob_tag_acc_set_acc_idx() More... | |
static ER_DllExport int * | inq_rob_tag_no_decel_idx (int idx) |
Tag_attributes, No decelaration at target If deceleration flag is 0, the motion decelerates at the target, this is default If deceleration flag is 1, the motion will not decelerate at the target. More... | |
static ER_DllExport int * | inq_rob_tag_leading_pos_idx (int idx) |
tag_attributes, Leading behavior for CP motion 2 - VAR the slowest is dominant, default 1 - Pos the position is dominant 0 - Ori the orientation is dominant More... | |
static ER_DllExport float * | inq_rob_tag_lead_time_idx (int idx) |
tag_attributes, wait time before move begins, 0-def [s] More... | |
static ER_DllExport float * | inq_rob_tag_lag_time_idx (int idx) |
tag_attributes, wait time when targte reached, 0-def [s] More... | |
static ER_DllExport int * | inq_rob_tag_lin_ori_mode_idx (int idx) |
tag_attributes, orientation interpolation mode for LIN motion type default is 4 - LIN_QUATERNION More... | |
static ER_DllExport int * | inq_rob_tag_circ_ori_mode_idx (int idx) |
tag_attributes, orientation interpolation mode for CIRC motion type default is 5 - CIRC_QUATERNION More... | |
static ER_DllExport float * | inq_rob_tag_speed_ptp_ax_ov_idx (int idx) |
tag_attributes, ptp_ax override speed 0-def [0-200%] More... | |
static ER_DllExport float * | inq_rob_tag_accel_ptp_ax_ov_idx (int idx) |
tag_attributes, ptp_ax override accel 0-def [0-200%] More... | |
static ER_DllExport int * | inq_rob_tag_turn_use_idx (int idx) |
tag_attributes, turn flag, 0-do not use turn values (def), 1-use turns If use turns is anabled, defined turn attributes are considered see inq_rob_tag_turn_ax_idx() More... | |
static ER_DllExport int * | inq_rob_tag_turn_ax_idx (int idx) |
tag_attributes, turn values depending on current robots turn interval see inq_rob_tag_turn_use_idx() More... | |
static ER_DllExport char * | inq_rob_tag_user_string_idx (int idx) |
tag_attributes, user defined Tag string To store miscellaneous user data More... | |
static ER_DllExport int * | inq_rob_tag_color_idx (int idx) |
tag_attributes, color of tag Use inq_rob_tag_color_set_idx() to change the color More... | |
static ER_DllExport int | inq_rob_tag_color_set_idx (int idx, int color) |
tag_attributes, set color of tag More... | |
static ER_DllExport float * | inq_rob_tag_length_idx (int idx) |
tag_attributes, tag length [m] Tag size for visualization More... | |
static ER_DllExport int * | inq_rob_tag_render_idx (int idx) |
tag_attributes, tag render Tag render is one of COORSYS_RENDER_STYLE_COORSYS_XYZ=0, COORSYS_RENDER_STYLE_APPROACH_Zx=1, COORSYS_RENDER_STYLE_APPROACH_Xy=2, COORSYS_RENDER_STYLE_APPROACH_Yz=3, COORSYS_RENDER_STYLE_POINT=4, COORSYS_RENDER_STYLE_INVISIBLE=5 More... | |
static ER_DllExport int * | inq_rob_tag_z_buffering_idx (int idx) |
tag_attributes, tag z_buffering Tag z_buffering is one of COORSYS_Z_BUFFERING_OFF, COORSYS_Z_BUFFERING_ON More... | |
static ER_DllExport frame * | inq_rob_tag_frame_idx (int idx) |
tag_attributes, tag location w.r.t. it work object frame see More... | |
static ER_DllExport frame * | inq_rob_tag_frame_strt_idx (int idx) |
tag_attributes, tag start location w.r.t. it work object frame A tag start location is the start condition, a tag has when a path or cell is loaded More... | |
static ER_DllExport int * | inq_rob_tag_n_extax_idx (int idx) |
tag_attributes number of external axis More... | |
static ER_DllExport float * | inq_rob_tag_extax_idx (int idx) |
tag_attributes external axis value [] See inq_rob_tag_n_extax_idx(), inq_rob_tag_extaxjnt_idx(), inq_rob_tag_extaxtype_idx() More... | |
static ER_DllExport int * | inq_rob_tag_extaxjnt_idx (int idx) |
tag_attributes, idx of controlled axis [] Contains the idx of the controlled joint of the cRobot See inq_rob_tag_n_extax_idx(), inq_rob_tag_extax_idx(), inq_rob_tag_extaxtype_idx(), More... | |
static ER_DllExport char * | inq_rob_tag_extaxtype_idx (int idx) |
tag_attributes, type 'R' or 'T' of controlled joint [] Contains the type of the controlled joint of the cRobot See inq_rob_tag_n_extax_idx(), inq_rob_tag_extax_idx(), inq_rob_tag_extaxjnt_idx() More... | |
static ER_DllExport int | delete_cTag () |
Deletes cTag see also ER_CAPI_SYS_STATUS::UnloadTag() More... | |
static ER_DllExport int | inq_Get_c_tag_idx () |
Get current tag idx [1..n_tags] in current path. More... | |
static ER_DllExport int | inq_Set_tag_idx (int tag_idx) |
Set current tag idx [1..n_tags] in current path. More... | |
static ER_DllExport char * | inq_Get_c_tag_name () |
Get current tag name = prefix + postfix. More... | |
static ER_DllExport frame * | inq_Get_c_tag_frame () |
Get current tag location w.r.t. wobj frame location. More... | |
static ER_DllExport frame * | inq_Get_c_tag_frame_strt () |
Get current start tag location w.r.t. wobj frame location. More... | |
static ER_DllExport int | swap_TagUp (void) |
Swaps Tag pointer with the prev Tag. More... | |
static ER_DllExport int | swap_TagDown (void) |
Swaps Tag pointer with the next Tag . More... | |
static ER_DllExport int | copy_current_tag_data (void) |
Copies cTag to tag_copy and to show tag 'c_tag' This method copies all cTag data to the "copyTag" The contend of the "copyTag" is used when creating new Tags. More... | |
static ER_DllExport int | NewTagOnTcp (void) |
Creates a new Tag in current path at Tcp of cRobot. More... | |
static ER_DllExport int | cTagClone (int create_new=0) |
Clones current Tag in current path or creates new one at Tcp of cRobot If parameter create_new is 0, the cTag will be cloned.If parameter create_new is 1, a new Tag will be created at the robots tcp.Mote: If cPath is empty, a new tag will be created on TCP if create_new is 1. More... | |
static ER_DllExport int | Shift_cTagOnTcp (void) |
Shifts cTag to the Tcp of cRobot The cTag will jump to the cRobot Tcp. More... | |
static ER_DllExport int | NewTagOnFrame (frame *T) |
Creates a new Tag in current path at location of frame 'T', without grf_update and TagDlg update. More... | |
static ER_DllExport int | NewTagOnFrame_update (frame *T, int update_mode) |
Creates a new Tag in current path at location of frame 'T' Parameter is a bitwise inclusive OR operator (|) of. More... | |
static ER_DllExport int | Shift_cTagOnFrame (frame *T) |
Shifts cTag to location of frame 'T'. More... | |
static ER_DllExport int | NewTagOnPickPoint (int vertices=0) |
Creates a new Tag at current picked location If vertices = 1 : keep cOrientationIf vertices = 0 : use polygon normal for approach direction. More... | |
static ER_DllExport int | Shift_cTagOnPickPoint (int vertices=0) |
Shifts cTag to the current picked location If vertices = 1 : keep cOrientationIf vertices = 0 : use polygon normal for approach direction. More... | |
static ER_DllExport void | TagClone (void) |
Multiple clone of current Tag Clone all selected Tags. More... | |
Additional Inherited Members | |
Static Public Attributes inherited from ER_CAPI_TARGETS | |
static ER_CAPI_TARGETS_TAG | er_capi_targets_tag |
Method class for manipulation of tags and access tag attributes. More... | |
static ER_CAPI_TARGETS_PATH | er_capi_targets_path |
Method class for creating, deleting and manipulating paths. More... | |
Static Public Attributes inherited from ER_CAPI | |
static ER_CAPI_USER_IO | er_capi_user_io |
Method class for interaction with EASY-ROB. More... | |
static ER_CAPI_DEVICES | er_capi_devices |
Method class to create, attach, update devices, for kinematics calculations and for trajectory planning and -execution. More... | |
static ER_CAPI_SIM | er_capi_sim |
Method class for simulation settings. More... | |
static ER_CAPI_TARGETS | er_capi_targets |
Method class for paths and tags. More... | |
static ER_CAPI_CAD | er_capi_cad |
Method class for for 3D CAD Data import and -export, changing attributes and positions. More... | |
static ER_CAPI_SYS | er_capi_sys |
Method class for mathematical calculations, simulation status, units. More... | |
Method class for manipulation of tags and access tag attributes.
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Check if tag index is valid.
[in] | idx | Tag index, first tag has idx = 1 |
0 | - OK |
1 | - tag_idx does not exist |
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Copies cTag to tag_copy and to show tag 'c_tag'
This method copies all cTag data to the "copyTag"
The contend of the "copyTag" is used when creating new Tags.
0 | - OK |
1 | - cannot copy |
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Clones current Tag in current path or creates new one at Tcp of cRobot
If parameter create_new
is 0, the cTag will be cloned.
If parameter create_new
is 1, a new Tag will be created at the robots tcp.
Mote: If cPath is empty, a new tag will be created on TCP if create_new
is 1.
[in] | create_new |
0 | - OK |
1 | - cannot clone tag |
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Deletes cTag
see also ER_CAPI_SYS_STATUS::UnloadTag()
0 | - OK |
1 | - cannot delete Tag |
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Get current tag location w.r.t. wobj frame location.
pointer | to FRAME |
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Get current start tag location w.r.t. wobj frame location.
pointer | to FRAME |
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Get current tag idx [1..n_tags] in current path.
current | tag index |
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Get current tag name = prefix + postfix.
complete | tag name |
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Tag_attributes, AccSet Acc, 100-def [20-100%]
Set AccSet Acc to 20% for smooth acceleration
Set AccSet Acc to 100% for max. acceleration
See inq_rob_tag_acc_set_ramp_idx()
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to AccSet Acc |
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Tag_attributes, AccSet Ramp, 100-def [20-100%]
Set AccSet Ramp to 20% for smooth acceleration
Set AccSet Ramp to 100% for max. acceleration
See inq_rob_tag_acc_set_acc_idx()
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to AccSet Ramp |
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Tag_attributes, cp acceleration, 0-def, [m/s^2].
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to accel cp value [m/s^2] |
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Tag_attributes, cp override accel, 0-def [0-200%].
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to cp override accel |
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Tag_attributes, orientation acceleration, 0-def, [rad/s^2].
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to accel ori value [rad/s^2] |
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Tag_attributes, ori override accel, 0-def [0-200%].
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to ori override accel |
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tag_attributes, ptp_ax override accel 0-def [0-200%]
[in] | idx | Tag index, first tag has idx = 1 |
ptp_ax | override accel |
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Tag_attributes, ptp acceleration, 0-def, [rad/s^2]
Remarks
use inq_rob_tag_accel_ptp_ov_idx() instead.
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to tag accel_ptp value [rad/s^2] |
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Tag_attributes, ptp override accel, 0-def [0-200%].
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to ptp override accel |
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Tag_attributes, auto acceleration, 0-def
If auto accel is enabled for a tag, the accelerations for ptp and cp mmoves are calculated automatically depending on programmed speed.
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to auto acceleration |
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tag_attributes, orientation interpolation mode for CIRC motion type
default is 5 - CIRC_QUATERNION
[in] | idx | Tag index, first tag has idx = 1 |
0 | - CIRC_VARIABLE |
1 | - CIRC_FIX |
2 | - CIRC_TANGENTIAL |
3 | - CIRC_AUX |
4 | - CIRC_VARIABLE2 |
5 | - CIRC_QUATERNION |
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tag_attributes, color of tag
Use inq_rob_tag_color_set_idx() to change the color
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to tag color |
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tag_attributes, set color of tag
[in] | idx | Tag index, first tag has idx = 1 |
[in] | color | New tag color |
0 | - OK |
1 | - Error |
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Tag_attributes, robot configuration, 0-def.
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to robot configuration |
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tag_attributes external axis value []
See inq_rob_tag_n_extax_idx(), inq_rob_tag_extaxjnt_idx(), inq_rob_tag_extaxtype_idx()
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to external axis data, maximum size is inq_rob_tag_n_extax_idx() |
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tag_attributes, idx of controlled axis []
Contains the idx of the controlled joint of the cRobot
See inq_rob_tag_n_extax_idx(), inq_rob_tag_extax_idx(), inq_rob_tag_extaxtype_idx(),
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to external joint idx, maximum size is inq_rob_tag_n_extax_idx() |
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tag_attributes, type 'R' or 'T' of controlled joint []
Contains the type of the controlled joint of the cRobot
See inq_rob_tag_n_extax_idx(), inq_rob_tag_extax_idx(), inq_rob_tag_extaxjnt_idx()
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to type string, maximum string length inq_rob_tag_n_extax_idx() |
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tag_attributes, tag location w.r.t. it work object frame
see
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to FRAME |
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tag_attributes, tag start location w.r.t. it work object frame
A tag start location is the start condition, a tag has when a path or cell is loaded
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to FRAME |
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tag_attributes, wait time when targte reached, 0-def [s]
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to lag time |
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tag_attributes, wait time before move begins, 0-def [s]
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to lead time |
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tag_attributes, Leading behavior for CP motion
2 - VAR the slowest is dominant, default
1 - Pos the position is dominant
0 - Ori the orientation is dominant
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to Leading behavior |
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tag_attributes, tag length [m]
Tag size for visualization
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to tag length |
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tag_attributes, orientation interpolation mode for LIN motion type
default is 4 - LIN_QUATERNION
[in] | idx | Tag index, first tag has idx = 1 |
0 | - LIN_VARIABLE |
1 | - LIN_FIX |
2 | - LIN_TANGENTIAL |
3 | - LIN_AUX |
4 | - LIN_QUATERNION |
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Tag_attributes, motion type.
[in] | idx | Tag index, first tag has idx = 1 |
0 | - TAG_MOTYPE_DEF |
1 | - TAG_MOTYPE_PTP |
2 | - TAG_MOTYPE_LIN |
3 | - TAG_MOTYPE_CIRC |
4 | - TAG_MOTYPE_VIA |
5 | - TAG_MOTYPE_SLEW |
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tag_attributes number of external axis
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to number of external axis |
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Tag_attributes, get tag name (=postfix)
The complete tag name is tagprefix + tagname
See inq_rob_tag_prefix_idx(), inq_rob_tag_prefix_name_idx()
[in] | idx | Tag index, first tag has idx = 1 |
tag | name |
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Tag_attributes, No decelaration at target
If deceleration flag is 0, the motion decelerates at the target, this is default
If deceleration flag is 1, the motion will not decelerate at the target.
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to no deceleration flag |
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Tag_attributes, programmed override, 0-def [0-200%].
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to programmed override, 0-def [0-200%] |
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Tag_attributes, get tag prefix
The complete tag name is tagprefix + tagname
See inq_rob_tag_name_idx(), inq_rob_tag_prefix_name_idx()
[in] | idx | Tag index, first tag has idx = 1 |
tag | prefix |
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Tag_attributes, complete tag name
The complete tag name is tagprefix + tagname See inq_rob_tag_prefix_idx() , inq_rob_tag_name_idx()
[in] | idx | Tag index, first tag has idx = 1 |
complete | tag name |
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Temporary joint location for cRobot
This Joint location is saved when the cRobot reaches this Tag
See inq_rob_tag_T_cRBase_idx() , inq_rob_tag_uid_cR_idx()
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to vector, maximum size KIN_DOFS |
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tag_attributes, tag render
Tag render is one of COORSYS_RENDER_STYLE_COORSYS_XYZ=0, COORSYS_RENDER_STYLE_APPROACH_Zx=1, COORSYS_RENDER_STYLE_APPROACH_Xy=2, COORSYS_RENDER_STYLE_APPROACH_Yz=3, COORSYS_RENDER_STYLE_POINT=4, COORSYS_RENDER_STYLE_INVISIBLE=5
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to tag render |
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Tag_attributes, cp speed, 0-def, [m/s]
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[in] | idx | Tag index, first tag has idx = 1 |
pointer | to tag speed_cp value [m/s] |
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Tag_attributes, cp override speed, 0-def [0-200%].
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to cp override speed |
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Tag_attributes, ori speed, 0-def, [rad/s].
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to tag ori speed value [rad/s] |
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Tag_attributes, ori override speed, 0-def [0-200%].
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to ori override speed |
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tag_attributes, ptp_ax override speed 0-def [0-200%]
[in] | idx | Tag index, first tag has idx = 1 |
ptp_ax | override speed |
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Tag_attributes, ptp speed, 0-def, [rad/s]
Remarks
use inq_rob_tag_speed_ptp_ov_idx() instead.
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to tag speed_ptp value [rad/s] |
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Tag_attributes, ptp override speed, 0-def [0-200%].
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to ptp override speed |
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Temporary Tcp location w.r.t to cRobot Base
This Tcp location w.r.t to cRobot Base is saved when the cRobot reaches this Tag
See inq_rob_tag_q_cR_idx() , inq_rob_tag_uid_cR_idx()
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to FRAME |
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tag_attributes, turn values depending on current robots turn interval
see inq_rob_tag_turn_use_idx()
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to turn value for each joint |
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tag_attributes, turn flag, 0-do not use turn values (def), 1-use turns
If use turns is anabled, defined turn attributes are considered
see inq_rob_tag_turn_ax_idx()
[in] | idx | Tag index, first tag has idx = 1 |
0 | - Do not use turn values (def) |
1 | - Use turns |
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Temporary unique robot id of cRobot
This Unique robot ID of the cRobot is saved when the cRobot reaches this Tag
See inq_rob_tag_T_cRBase_idx() , inq_rob_tag_q_cR_idx()
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to unique robot id |
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tag_attributes, user defined Tag string
To store miscellaneous user data
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to user data |
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static |
tag_attributes, tag z_buffering
Tag z_buffering is one of COORSYS_Z_BUFFERING_OFF, COORSYS_Z_BUFFERING_ON
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to tag z_buffering |
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Tag_attributes, programmed zone value [mm,%].
[in] | idx | Tag index, first tag has idx = 1 |
pointer | to zone value |
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static |
Set current tag idx [1..n_tags] in current path.
[in] | tag_idx | Tag index, first tag has idx = 1 |
0 | - OK |
1 | - invalid tag index |
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static |
Creates a new Tag in current path at location of frame 'T',
without grf_update and TagDlg update.
[in] | T | location w.r.t. work object, FRAME |
0 | - OK |
1 | - cannot create new tag |
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static |
Creates a new Tag in current path at location of frame 'T'
Parameter is
a bitwise inclusive OR operator (|) of.
[in] | T | location w.r.t. work object, FRAME |
[in] | update_mode | - updates 3D-Scenario and TagWindow |
0 | - OK |
1 | - cannot create new tag |
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static |
Creates a new Tag at current picked location
If vertices
= 1 : keep cOrientation
If vertices
= 0 : use polygon normal for approach direction.
[in] | vertices |
0 | - OK |
1 | - cannot create new tag |
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static |
Creates a new Tag in current path at Tcp of cRobot.
0 | - OK |
1 | - cannot create a new Tag |
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static |
Shifts cTag to location of frame 'T'.
[in] | T | location w.r.t. work object, FRAME |
0 | - OK |
1 | - cannot shift tag |
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static |
Shifts cTag to the current picked location
If vertices
= 1 : keep cOrientation
If vertices
= 0 : use polygon normal for approach direction.
[in] | vertices |
0 | - OK |
1 | - cannot shift cTag |
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static |
Shifts cTag to the Tcp of cRobot
The cTag will jump to the cRobot Tcp.
0 | - OK |
1 | - cannot shift tag |
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static |
Swaps Tag pointer with the next Tag
.
0 | - OK |
1 | - cannot swap tag |
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static |
Swaps Tag pointer with the prev Tag.
0 | - OK |
1 | - cannot swap tag |
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Multiple clone of current Tag
Clone all selected Tags.
void |