Introduction

EASY-ROB™ Open Software Architecture EROSA provides the method class ER_CAPI to control EASY-ROB™ from an own host application (Executable) or an user defined dialog, represented by a Window DLL. The API allows the development of individual product customizations and special solutions.

The API is available for EASY-ROB™ x64 solutions.

Application Programming Interface (API)

The method class ER_CAPI acts as an interface for the EASY-ROB™ Robotics Simulator Professional Version and EASY-ROB™ Robotics Framework Version as well as for the extensions API-INV, API-IPO, API-DYN, API-UserDLL, API-PostProc and API-Sensors.

The exported class ER_CAPI structures every EASY-ROB™ API-method and simplifies the use. The class ER_CAPI is a pure method-class, which is defined in the header-files.

All methods are standard ANSI C compatible functions. We recommend to use Microsoft® Visual Studio C++ 2017. Other compilers are possible as well.

class ER_CAPI

A Method class containing all other ER_CAPI_* classes
The main class ER_CAPI is sub-divided in following classes

ER_CAPI_USER_IO Method class for interaction with EASY-ROB
ER_CAPI_DEVICES Method class to create, attach and update devices, for kinematics calculations and for trajectory planning and -execution
ER_CAPI_SIM Method class for simulation settings
ER_CAPI_TARGETS Method class for paths and tags
ER_CAPI_CAD Method class for for 3D CAD Data import and -export, changing attributes and positions
ER_CAPI_SYS Method class for mathematical calculations, simulation status, units

class ER_CAPI_USER_IO

Method class for interaction with EASY-ROB

ER_CAPI_USER_IO_FILE Method class to load and save work cells-, robots-, tool-files, etc.
ER_CAPI_USER_IO_DIALOG

Method class, supplies dialogs, i.e. to enter and show values

ER_CAPI_USER_IO_PICK

Method class to "pick" objects such as devices, tags, polygon, vertices, measure distances, ...

ER_CAPI_USER_IO_CRUISE Method class to manipulate the 3D Scene
ER_CAPI_USER_IO_3DPDF Method class for 3D Pdf Export

class ER_CAPI_DEVICES

A Method class to create, attach and update devices, for kinematics calculations and for trajectory planning and -execution

ER_CAPI_ROB Method class kinematics calculations and transformations
ER_CAPI_MOP Method class for trajectory planning and -execution

class ER_CAPI_ROB

A Method class kinematics calculations and transformations

ER_CAPI_ROB_KIN Method class forward-, Inverse kinematics, desired robot joints, tools, position w.r.t. world and reference system
ER_CAPI_ROB_ATRIBUTES Method class for robot/device attributes, travel ranges, home position, device name, ...
ER_CAPI_ROB_DYN Method class for dynamics, controller parameter, sampling rates

class ER_CAPI_MOP

A Method class for trajectory planning and -execution

ER_CAPI_MOP_DATA Method class for start-, target data, motion time, etc
ER_CAPI_MOP_PATH Method class for path specifications, motion type (PTP, LIN, CIRC), speeds, acceleration, waiting time, etc.
ER_CAPI_MOP_PREP Method class for trajectory planning (preparation)
ER_CAPI_MOP_EXEC Method class for trajectory execution
ER_CAPI_MOP_AUTOPATH Method class for collision free path and motion planning

class ER_CAPI_SIM

A Method class for simulation settings

ER_CAPI_SIM_MONITORING Method class for monitoring of travel ranges, speeds, etc.
ER_CAPI_SIM_COLLISION Method class for collision, tolerances, etc.
ER_CAPI_SIM_CAMERA Method class for camera settings
ER_CAPI_SIM_ERPL Method class for executing ERPL- and ERCL commands
ER_CAPI_SIM_TRACK Method class for TCP trace, reference and visualization

class ER_CAPI_TARGETS

A Method class for paths and tags

ER_CAPI_TARGETS_TAG Method class for manipulation of tags and access tag attributes
ER_CAPI_TARGETS_PATH Method class for creating, deleting and manipulating paths

class ER_CAPI_CAD

A Method class for for 3D CAD Data import and -export, changing attributes and positions

ER_CAPI_CAD_IO Method class for access to geometry parameter: Location, polygons, vertices, attributes, etc.
ER_CAPI_CAD_CREATE Method class for creating primitive geometries such as cubes, cylinder, spheres, etc.
ER_CAPI_CAD_IMPORT Method class for importing existing 3D geometries (IGP, STL, 3DS)
ER_CAPI_CAD_CONVERT Method class for converting external neutral and native CAD formats (STEP, IGES, JT-Open, CATIA, Pro/E, and so on) into the internal IGP Part File Format.

class ER_CAPI_SYS

A Method class for mathematical calculations, simulation status, units

ER_CAPI_SYS_UTILITIES Method class for helping functions, color conversion, etc.
ER_CAPI_SYS_MATHEMATICS Method class for mathematical calculations, multiplications of homogeneous matrices, conversion Euler angle, triangle calculations, formula parser, etc.
ER_CAPI_SYS_VIEW Method class for graphical update of the 3D scene, refreshing dialogs, etc.
ER_CAPI_SYS_PREVIEW Method class for the CAD-Preview
ER_CAPI_SYS_STATUS Method class for unloading objects (work cells, robots, tools, programs, etc.) simulation status
ER_CAPI_SYS_UNITS Method class for setting and calculating units
ER_CAPI_SYS_USERDLL Method class to access API UserDll

Information and Support

Web: API's / Additional Options and Modules
Email: support@easy-rob.com

OEM Products & Partner

Get more information about OEM Partner and Products based on EASY-ROB™ Open Software Architecture EROSA

Contact

EASY-ROB Software GmbH
Hauptstr. 42
65719 Hofheim am Taunus, Germany
Tel.: +49 (0) 6192 921 70-77
sales.nosp@m.@eas.nosp@m.y-rob.nosp@m..com