UTILROBOT

Functions
void	UTILROBOT_ClearHeldObjetTCP ()
	clear the TCP of the held objet for the PP
void	UTILROBOT_ClearUserFrame ()
	clear user frame for the PP
void	UTILROBOT_FromX0Y0Z0ToABBQuaternion (double RangX0, double RangY0, double RangZ0, double *RcalQ1, double *RcalQ2, double *RcalQ3, double *RcalQ4)
	Calculate the ABB quaternion from an orientation expression. There is a risk of precision issues near zero when using quaternions; therefore, it is recommended to use Euler angles for ABB robots.
void	UTILROBOT_FromX0Y0Z0ToRotationVector (double RangX0, double RangY0, double RangZ0, double *RcalX0, double *RcalY1, double *RcalZ2)
	calculate new angles values for robot move in cartesian mode
void	UTILROBOT_GetAxisInfo (const std::string &i_axisName, double *o_axisPos, int *o_axisType, int *o_succeeded)
	get axis information on the position and the type (linear or rotary)
void	UTILROBOT_GetAxisRangeLimits (const std::string &i_axisName, double *o_min, double *o_max, int *o_isLimitless, int *o_axisType)
	get axis range limits information and the type (linear or rotary)
void	UTILROBOT_GetCommandAttribute (int *CommandAttribute)
	read the command attribute
void	UTILROBOT_GetCommandName (std::string &commandName)
	read the command name
void	UTILROBOT_GetCycleType (int *CycleType)
	read the actual cycle type, which can be : ROBOT_CYC_UNDEFINED for undefined cycle ROBOT_CYC_PROBING for probing cycle ROBOT_CYC_DRILLINGTYPE for drilling type cycles, including drilling, tapping and threading ROBOT_CYC_MACHINING for machining cycle except probing and drilling type ROBOT_CYC_MACHINECOMMAND for machine command
void	UTILROBOT_GetHeldObjetTCPInX0Y0Z0 (double *X, double *Y, double *Z, double *A, double *B, double *C)
	get held objet TCP frame with rotation in X0Y0Z0 with angles in radian
void	UTILROBOT_GetHeldObjetTCPInX0Y0Z0_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C)
	get held objet TCP with rotation in X0Y0Z0 with angles in degree
void	UTILROBOT_GetHeldObjetTCPInX0Y1Z2_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C)
	get held objet TCP with rotation in X0Y1Z2 with angles in degree
void	UTILROBOT_GetHeldObjetTCPInZ0Y1X2_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C)
	get held objet TCP with rotation in Z0Y1X2 with angles in degree
void	UTILROBOT_GetHeldObjetTCPInZ0Y1Z2_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C)
	get held objet TCP with rotation in Z0Y1Z2 with angles in degree
void	UTILROBOT_GetInterJointPosForCircular (int *isSucceed, double *J1, double *J2, double *J3, double *J4, double *J5, double *J6)
	get the joint position in radian of the intermediate point for a circular interpolation
void	UTILROBOT_GetMoveType (int *MoveType)
	Read the move type of the point from the cycle (prefix PPI_CYC) or from the machine command (prefix PPI_COM), which can be:
void	UTILROBOT_GetMoveTypeFromCycle (int *MoveType)
	read the move type of the tool path point from cycle, which can be : -1 for undefined 0 for point 1 for line other than approach and retract 2 for circle 3 for approach line 4 for retract line
void	UTILROBOT_GetOrientationModeOfCycle (int *orientationMode)
	Retrieve the orientation interpolation mode of a machining cycle, which can be: -1: Undefined (used for machine commands or probing cycles) 0: Minimize tool orientation changes (used for machining cycles) 1: Follow the toolpath (used for machining cycles)
void	UTILROBOT_GetPartMoveMatrixInX0Y0Z0 (double *X, double *Y, double *Z, double *A, double *B, double *C, int *o_ifMoved)
	get part move matrix with rotation in X0Y0Z0 with angles in radian
void	UTILROBOT_GetPartMoveMatrixInX0Y0Z0_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C, int *o_ifMoved)
	get part move matrix with rotation in X0Y0Z0 with angles in degree
void	UTILROBOT_GetPartMoveMatrixInX0Y1Z2_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C, int *o_ifMoved)
	get part move matrix with rotation in X0Y1Z2 with angles in degree
void	UTILROBOT_GetPartMoveMatrixInZ0Y1X2_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C, int *o_ifMoved)
	get part move matrix with rotation in Z0Y1X2 with angles in degree
void	UTILROBOT_GetPartMoveMatrixInZ0Y1Z2_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C, int *o_ifMoved)
	get part move matrix with rotation in Z0Y1Z2 with angles in degree
void	UTILROBOT_GetRobotAxisRangeLimits (const int i_axisIndex, double *o_min, double *o_max, int *o_isLimitless)
	get robot axis range limits
void	UTILROBOT_GetSubCycleNumber (int *o_int)
	get the number of sub-cycles (A cycle may have multiple sub-cycles in the presence of different planes)
void	UTILROBOT_GetUserFrameInX0Y0Z0 (double *X, double *Y, double *Z, double *A, double *B, double *C)
	get user frame with rotation in X0Y0Z0 with angles in radian
void	UTILROBOT_GetUserFrameInX0Y0Z0_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C)
	get user frame with rotation in X0Y0Z0 with angles in degree
void	UTILROBOT_GetUserFrameInX0Y1Z2_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C)
	get user frame with rotation in X0Y1Z2 with angles in degree
void	UTILROBOT_GetUserFrameInZ0Y1X2_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C)
	get user frame with rotation in Z0Y1X2 with angles in degree
void	UTILROBOT_GetUserFrameInZ0Y1Z2_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C)
	get user frame with rotation in Z0Y1Z2 with angles in degree
void	UTILROBOT_IfAtCycleFirstPointMoveOfFirstSubCycle (int *o_bool)
	Check if it is at the first move point of the first sub-cycle (a cycle may have multiple sub-cycles when different planes are present). Do not check for machine command.
void	UTILROBOT_IfAtFirstSubCycle (int *o_bool)
	check if is at the first sub-cycle (A cycle may have multiple sub-cycles in the presence of different planes)
void	UTILROBOT_IfAtLastSubCycle (int *o_bool)
	check if is at the last sub-cycle (A cycle may have multiple sub-cycles in the presence of different planes)
void	UTILROBOT_IfExistExternalAxis (const std::string &i_axisName, int *o_succeeded)
	check if an external axis exists
void	UTILROBOT_IsCycle_PartHeld (int *o_bool)
	Check if the cycle is in part-held mode.
void	UTILROBOT_IsHeldObjetTCPChanged (int *isToolTCPChanged)
	Check if tool TCP changed Works only on points from cycle toolpath (no check on points from machine commands).
void	UTILROBOT_IsMovePointFromCommand (int *isFromCommand)
	read if the move point is from machine command
void	UTILROBOT_IsRobotAxisJ3CoupledToJ2 (int *o_isJ3Coupled, double *o_min, double *o_max)
	Get the J3 axis range limits when coupled with J2 (as in Fanuc robots)
void	UTILROBOT_IsUserFrameChanged (int *isUserFrameChanged)
	Check if user frame changed. Works only on points from cycle toolpath (no check on points from machine commands).
void	UTILROBOT_JointsToCartesian_ABB (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *Q1, double *Q2, double *Q3, double *Q4, int *Config1, int *Config2, int *Config3, int *Config4)
	transform from joint position to cartesian position for ABB robots with quaternion. There is a risk of precision issues near zero when using quaternions; therefore, it is recommended to use Euler angles for ABB robots.
void	UTILROBOT_JointsToCartesian_ABB_EulerAngles (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *Rot_Z0, double *Rot_Y1, double *Rot_X2, int *Config1, int *Config2, int *Config3, int *Config4)
	transform from joint position to cartesian position for ABB robots with Euler angler in order ZYX
void	UTILROBOT_JointsToCartesian_Elite_CS (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *Rx, double *Ry, double *Rz)
	transform from joint position to cartesian position for Elite CS robots
void	UTILROBOT_JointsToCartesian_Elite_EC (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *Rx, double *Ry, double *Rz)
	transform from joint position to cartesian position for Elite EC robots
void	UTILROBOT_JointsToCartesian_FANUC (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *W, double *P, double *R, std::string &Config)
	transform from joint position to cartesian position for Fanuc robots
void	UTILROBOT_JointsToCartesian_Kawasaki (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *W, double *P, double *R, std::string &ConfigShoulder, std::string &ConfigElbow, std::string &ConfigWrist)
	transform from joint position to cartesian position for Kawasaki robots
void	UTILROBOT_JointsToCartesian_KUKA (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *W, double *P, double *R, std::string &Status, std::string &Turn)
	transform from joint position to cartesian position for KUKA robots
void	UTILROBOT_JointsToCartesian_Staubli (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *A, double *B, double *C, std::string &Config)
	transform from joint position to cartesian position for Staubli robots
void	UTILROBOT_JointsToCartesian_UR (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *RV1, double *RV2, double *RV3)
	transform from joint position to cartesian position with rotation vector for UR robots
void	UTILROBOT_JointsToCartesian_YaskawaMotoman (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *W, double *P, double *R, std::string &Config)
	transform from joint position to cartesian position for Yaskawa Motoman robots
void	UTILROBOT_JointsToCartesianInX0Y0Z0_mm_deg (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *A, double *B, double *C)
	transform from joint position to cartesian position with rotation in X0Y0Z0 with angles in degree
void	UTILROBOT_JointsToCartesianInX0Y1Z2_mm_deg (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *A, double *B, double *C)
	transform from joint position to cartesian position with rotation in X0Y1Z2 with angles in degree
void	UTILROBOT_JointsToCartesianInZ0Y1X2_mm_deg (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *A, double *B, double *C)
	transform from joint position to cartesian position with rotation in Z0Y1X2 with angles in degree
void	UTILROBOT_JointsToCartesianInZ0Y1Z2_mm_deg (int mode, double J1, double J2, double J3, double J4, double J5, double J6, double *X, double *Y, double *Z, double *A, double *B, double *C)
	transform from joint position to cartesian position with rotation in Z0Y1Z2 with angles in degree
void	UTILROBOT_SetHeldObjetTCP (int fatherRef)
	Set the held object TCP for ISO output in tool held mode. It is usually referenced either to the robot flange or to the tool support origin. The tool support origin may differ from the robot flange, for example when a spindle used for tool changing is mounted on the flange and considered part of the extended robot.
void	UTILROBOT_SetHeldObjetTCP_PartHeld (int fatherRef)
	Set the held object TCP for ISO output in part held mode.
void	UTILROBOT_SetLinearMotionDiscretization (int i_bool)
	Set if the linear motion path should be discretized.
void	UTILROBOT_SetPartOriginOffsetFromX0Y0Z0 (double Trans_X, double Trans_Y, double Trans_Z, double Rot_X0, double Rot_Y0, double Rot_Z0)
	set part origin offset with rotation X0Y1Z2 (first around X0, then Y0, then Z0)
void	UTILROBOT_SetPartOriginOffsetFromX0Y1Z2 (double Trans_X, double Trans_Y, double Trans_Z, double Rot_X0, double Rot_Y1, double Rot_Z2)
	set part origin offset with rotation X0Y1Z2 (first around X0, then Y1, then Z2)
void	UTILROBOT_SetPartOriginOffsetFromZ0Y1X2 (double Trans_X, double Trans_Y, double Trans_Z, double Rot_Z0, double Rot_Y1, double Rot_X2)
	set part origin offset with rotation Z0Y1X2 (first around Z0, then Y1, then X2)
void	UTILROBOT_SetPartOriginOffsetFromZ0Y1Z2 (double Trans_X, double Trans_Y, double Trans_Z, double Rot_Z0, double Rot_Y1, double Rot_Z2)
	set part origin offset with rotation Z0Y1X2 (first around Z0, then Y1, then X2)
void	UTILROBOT_SetUserFrame (int targetRef, int fatherRef, int moveMode)
	Set the user frame for ISO output in tool held mode, which is usually referenced either to the robot origin or to the machine origin. Prefer using the machine origin when performing coordinated motion with external axes. Works only on points from cycle toolpath (no effect on points from machine commands).
void	UTILROBOT_SetUserFrame_PartHeld (int fatherRef)
	Set the user frame for ISO output in part held mode.
void	UTILROBOT_ToolSupportToRobotFlangeMatrixInX0Y0Z0 (double *X, double *Y, double *Z, double *A, double *B, double *C)
	Get the transformation matrix of the tool support origin relative to the robot flange with rotation in X0Y0Z0 with angles in radian.
void	UTILROBOT_ToolSupportToRobotFlangeMatrixInX0Y0Z0_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C)
	Get the transformation matrix of the tool support origin relative to the robot flange with rotation in X0Y0Z0 with angles in degree.
void	UTILROBOT_ToolSupportToRobotFlangeMatrixInX0Y1Z2_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C)
	Get the transformation matrix of the tool support origin relative to the robot flange with rotation in X0Y1Z2 with angles in degree.
void	UTILROBOT_ToolSupportToRobotFlangeMatrixInZ0Y1X2_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C)
	Get the transformation matrix of the tool support origin relative to the robot flange with rotation in Z0Y1X2 with angles in degree.
void	UTILROBOT_ToolSupportToRobotFlangeMatrixInZ0Y1Z2_mm_deg (double *X, double *Y, double *Z, double *A, double *B, double *C)
	Get the transformation matrix of the tool support origin relative to the robot flange with rotation in Z0Y1Z2 with angles in degree.

Detailed Description

Various utilities for ROBOT

Function Documentation

UTILROBOT_ClearHeldObjetTCP()

void UTILROBOT_ClearHeldObjetTCP

(

)

clear the TCP of the held objet for the PP

Version

6.11

PCALL(UTILROBOT_ClearHeldObjetTCP();

UTILROBOT_ClearUserFrame()

void UTILROBOT_ClearUserFrame

(

)

clear user frame for the PP

Version

6.11

PCALL(UTILROBOT_ClearUserFrame();

UTILROBOT_FromX0Y0Z0ToABBQuaternion()

void UTILROBOT_FromX0Y0Z0ToABBQuaternion	(	double	RangX0,
		double	RangY0,
		double	RangZ0,
		double *	RcalQ1,
		double *	RcalQ2,
		double *	RcalQ3,
		double *	RcalQ4 )

Calculate the ABB quaternion from an orientation expression.
There is a risk of precision issues near zero when using quaternions; therefore, it is recommended to use Euler angles for ABB robots.

Version

6.11

Parameters

[in]	RangX0	Xvalue
[in]	RangY0	Yvalue
[in]	RangZ0	Zvalue
[out]	RcalQ1	1st element of the ABB quaternion
[out]	RcalQ2	2nd element of the ABB quaternion
[out]	RcalQ3	3rd element of the ABB quaternion
[out]	RcalQ4	4th element of the ABB quaternion

PCALL(UTILROBOT_FromX0Y0Z0TABBQuaternion,RangX0,RangY0,RangZ0,RcalQ1,RcalQ2,RcalQ3,RcalQ4);

UTILROBOT_FromX0Y0Z0ToRotationVector()

void UTILROBOT_FromX0Y0Z0ToRotationVector	(	double	RangX0,
		double	RangY0,
		double	RangZ0,
		double *	RcalX0,
		double *	RcalY1,
		double *	RcalZ2 )

calculate new angles values for robot move in cartesian mode

Version

6.11

Parameters

[in]	RangX0	Xvalue
[in]	RangY0	Yvalue
[in]	RangZ0	Zvalue
[out]	RcalX0	around X
[out]	RcalY1	around Y
[out]	RcalZ2	around Z

PCALL(UTILROBOT_FromX0Y0Z0ToRotationVector,RangX0,RangY0,RangZ0,RcalX0,RcalY1,RcalZ2);

UTILROBOT_GetAxisInfo()

void UTILROBOT_GetAxisInfo	(	const std::string &	i_axisName,
		double *	o_axisPos,
		int *	o_axisType,
		int *	o_succeeded )

get axis information on the position and the type (linear or rotary)

Version

6.12

Parameters

[in]	i_axisName	axis name in the MCG
[out]	o_axisPos	axis position
[out]	o_axisType	axis type, 0 for rotary axis, 1 for linear axis, -1 for others
[out]	o_succeeded	if the operation succeeded

PCALL(UTILROBOT_GetAxisInfo, i_axisName, o_axisPos, o_axisType, o_succeeded);

UTILROBOT_GetAxisRangeLimits()

void UTILROBOT_GetAxisRangeLimits	(	const std::string &	i_axisName,
		double *	o_min,
		double *	o_max,
		int *	o_isLimitless,
		int *	o_axisType )

get axis range limits information and the type (linear or rotary)

Version

6.12

Parameters

[in]	i_axisName	axis name in the MCG
[out]	o_min	minimum axis limit
[out]	o_max	maximum axis limit
[out]	o_isLimitless	if the axis is limitless
[out]	o_axisType	axis type, 0 for rotary axis, 1 for linear axis, -1 for others

PCALL(UTILROBOT_GetAxisRangeLimits, i_axisName, o_min, o_max, o_isLimitless, o_axisType);

UTILROBOT_GetCommandAttribute()

void UTILROBOT_GetCommandAttribute

(

int *

CommandAttribute

)

read the command attribute

Version

6.12

PCALL(UTILROBOT_GetCommandAttribute,CommandAttribute);

UTILROBOT_GetCommandName()

void UTILROBOT_GetCommandName

(

std::string &

commandName

)

read the command name

Version

6.11

PCALL(UTILROBOT_GetCommandName,commandName);

UTILROBOT_GetCycleType()

void UTILROBOT_GetCycleType

(

int *

CycleType

)

read the actual cycle type, which can be : ROBOT_CYC_UNDEFINED for undefined cycle ROBOT_CYC_PROBING for probing cycle ROBOT_CYC_DRILLINGTYPE for drilling type cycles, including drilling, tapping and threading ROBOT_CYC_MACHINING for machining cycle except probing and drilling type ROBOT_CYC_MACHINECOMMAND for machine command

Version

6.12

Parameters

[out]

CycleType

cycle type

PCALL(UTILROBOT_GetCycleType,CycleType);

UTILROBOT_GetHeldObjetTCPInX0Y0Z0()

void UTILROBOT_GetHeldObjetTCPInX0Y0Z0	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

get held objet TCP frame with rotation in X0Y0Z0 with angles in radian

Version

6.11

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in radian
[out]	B	rotation around Y0 in radian
[out]	C	rotation around Z0 in radian

PCALL(UTILROBOT_GetHeldObjetTCPInX0Y0Z0,X,Y,Z,A,B,C);

UTILROBOT_GetHeldObjetTCPInX0Y0Z0_mm_deg()

void UTILROBOT_GetHeldObjetTCPInX0Y0Z0_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

get held objet TCP with rotation in X0Y0Z0 with angles in degree

Version

6.11

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in degree
[out]	B	rotation around Y0 in degree
[out]	C	rotation around Z0 in degree

PCALL(UTILROBOT_GetHeldObjetTCPInX0Y0Z0_mm_deg,X,Y,Z,A,B,C);

UTILROBOT_GetHeldObjetTCPInX0Y1Z2_mm_deg()

void UTILROBOT_GetHeldObjetTCPInX0Y1Z2_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

get held objet TCP with rotation in X0Y1Z2 with angles in degree

Version

6.11

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around Z2 in degree

PCALL(UTILROBOT_GetHeldObjetTCPInX0Y1Z2_mm_deg,X,Y,Z,A,B,C);

UTILROBOT_GetHeldObjetTCPInZ0Y1X2_mm_deg()

void UTILROBOT_GetHeldObjetTCPInZ0Y1X2_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

get held objet TCP with rotation in Z0Y1X2 with angles in degree

Version

6.11

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around Z0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around X2 in degree

PCALL(UTILROBOT_GetHeldObjetTCPInZ0Y1X2_mm_deg,X,Y,Z,A,B,C);

UTILROBOT_GetHeldObjetTCPInZ0Y1Z2_mm_deg()

void UTILROBOT_GetHeldObjetTCPInZ0Y1Z2_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

get held objet TCP with rotation in Z0Y1Z2 with angles in degree

Version

6.11

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around Z0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around Z2 in degree

PCALL(UTILROBOT_GetHeldObjetTCPInZ0Y1Z2_mm_deg,X,Y,Z,A,B,C);

UTILROBOT_GetInterJointPosForCircular()

void UTILROBOT_GetInterJointPosForCircular	(	int *	isSucceed,
		double *	J1,
		double *	J2,
		double *	J3,
		double *	J4,
		double *	J5,
		double *	J6 )

get the joint position in radian of the intermediate point for a circular interpolation

Version

6.12

Parameters

[out]	isSucceed	if succeed
[out]	J1	angular position of J1 in radian
[out]	J2	angular position of J2 in radian
[out]	J3	angular position of J3 in radian
[out]	J4	angular position of J4 in radian
[out]	J5	angular position of J5 in radian
[out]	J6	angular position of J6 in radian

PCALL(UTILROBOT_GetInterJointPosForCircular,isSucceed,J1,J2,J3,J4,J5,J6);

UTILROBOT_GetMoveType()

void UTILROBOT_GetMoveType

(

int *

MoveType

)

Read the move type of the point from the cycle (prefix PPI_CYC) or from the machine command (prefix PPI_COM), which can be:

Version

6.12

PPI_CYC_FIRST_JOINT_ONLY_ROBOT PPI_CYC_LATER_JOINT_ONLY_ROBOT PPI_CYC_LINEAR_ONLY_ROBOT PPI_CYC_CIRCULAR_ONLY_ROBOT PPI_CYC_FIRST_JOINT_ROBOT_EXT PPI_CYC_LATER_JOINT_ROBOT_EXT PPI_CYC_LINEAR_ROBOT_EXT PPI_CYC_CIRCULAR_ROBOT_EXT PPI_CYC_FIRST_JOINT_ONLY_EXT PPI_CYC_LATER_JOINT_ONLY_EXT PPI_CYC_LINEAR_ONLY_EXT PPI_CYC_LINEAR_ONLY_EXT_DRILLING PPI_CYC_CIRCULAR_ONLY_EXT PPI_CYC_FIRST_JOINT_ROBOT_PROBING PPI_CYC_LATER_JOINT_ROBOT_PROBING PPI_CYC_LINEAR_ROBOT_PROBING PPI_CYC_LINEAR_TOUCH_ROBOT_PROBING

PPI_COM_POSITIONING_ONLY_ROBOT PPI_COM_POSITIONING_ONLY_EXT PPI_COM_POSITIONING_ROBOT_EXT PPI_COM_JOINT_ONLY_ROBOT PPI_COM_LINEAR_ONLY_ROBOT PPI_COM_CIRCULAR_ONLY_ROBOT

Parameters

[out]

MoveType

move type

PCALL(UTILROBOT_GetMoveType,MoveType);

UTILROBOT_GetMoveTypeFromCycle()

void UTILROBOT_GetMoveTypeFromCycle

(

int *

MoveType

)

read the move type of the tool path point from cycle, which can be : -1 for undefined
0 for point
1 for line other than approach and retract
2 for circle
3 for approach line 4 for retract line

Version

6.12

Parameters

[out]

MoveType

move type of the tool path point from cycle

PCALL(UTILROBOT_GetMoveTypeFromCycle,MoveType);

UTILROBOT_GetOrientationModeOfCycle()

void UTILROBOT_GetOrientationModeOfCycle

(

int *

orientationMode

)

Retrieve the orientation interpolation mode of a machining cycle, which can be: -1: Undefined (used for machine commands or probing cycles) 0: Minimize tool orientation changes (used for machining cycles) 1: Follow the toolpath (used for machining cycles)

Version

6.12

Parameters

[out]

orientationMode

orientation interpolation mode of a machining cycle

PCALL(UTILROBOT_GetOrientationModeOfCycle,orientationMode);

UTILROBOT_GetPartMoveMatrixInX0Y0Z0()

void UTILROBOT_GetPartMoveMatrixInX0Y0Z0	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C,
		int *	o_ifMoved )

get part move matrix with rotation in X0Y0Z0 with angles in radian

Version

6.12

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in radian
[out]	B	rotation around Y0 in radian
[out]	C	rotation around Z0 in radian
[out]	o_ifMoved	if the part has moved

PCALL(UTILROBOT_GetPartMoveMatrixInX0Y0Z0,X,Y,Z,A,B,C);

UTILROBOT_GetPartMoveMatrixInX0Y0Z0_mm_deg()

void UTILROBOT_GetPartMoveMatrixInX0Y0Z0_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C,
		int *	o_ifMoved )

get part move matrix with rotation in X0Y0Z0 with angles in degree

Version

6.12

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in degree
[out]	B	rotation around Y0 in degree
[out]	C	rotation around Z0 in degree
[out]	o_ifMoved	if the part has moved

PCALL(UTILROBOT_GetPartMoveMatrixInX0Y0Z0_mm_deg,X,Y,Z,A,B,C);

UTILROBOT_GetPartMoveMatrixInX0Y1Z2_mm_deg()

void UTILROBOT_GetPartMoveMatrixInX0Y1Z2_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C,
		int *	o_ifMoved )

get part move matrix with rotation in X0Y1Z2 with angles in degree

Version

6.12

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around Z2 in degree
[out]	o_ifMoved	if the part has moved

PCALL(UTILROBOT_GetPartMoveMatrixInX0Y1Z2_mm_deg,X,Y,Z,A,B,C);

UTILROBOT_GetPartMoveMatrixInZ0Y1X2_mm_deg()

void UTILROBOT_GetPartMoveMatrixInZ0Y1X2_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C,
		int *	o_ifMoved )

get part move matrix with rotation in Z0Y1X2 with angles in degree

Version

6.12

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around Z0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around X2 in degree
[out]	o_ifMoved	if the part has moved

PCALL(UTILROBOT_GetPartMoveMatrixInZ0Y1X2_mm_deg,X,Y,Z,A,B,C);

UTILROBOT_GetPartMoveMatrixInZ0Y1Z2_mm_deg()

void UTILROBOT_GetPartMoveMatrixInZ0Y1Z2_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C,
		int *	o_ifMoved )

get part move matrix with rotation in Z0Y1Z2 with angles in degree

Version

6.12

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around Z0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around Z2 in degree
[out]	o_ifMoved	if the part has moved

PCALL(UTILROBOT_GetPartMoveMatrixInZ0Y1Z2_mm_deg,X,Y,Z,A,B,C);

UTILROBOT_GetRobotAxisRangeLimits()

void UTILROBOT_GetRobotAxisRangeLimits	(	const int	i_axisIndex,
		double *	o_min,
		double *	o_max,
		int *	o_isLimitless )

get robot axis range limits

Version

6.12

Parameters

[in]	i_axisIndex	robot axis index, should be between 0 and 5
[out]	o_min	minimum axis limit
[out]	o_max	maximum axis limit
[out]	o_isLimitless	if the axis is limitless

PCALL(UTILROBOT_GetRobotAxisRangeLimits, i_axisIndex, o_min, o_max, o_isLimitless);

UTILROBOT_GetSubCycleNumber()

void UTILROBOT_GetSubCycleNumber

(

int *

o_int

)

get the number of sub-cycles (A cycle may have multiple sub-cycles in the presence of different planes)

Version

6.12

Parameters

[out]

o_int

number of sub-cycles

PCALL(UTILROBOT_GetSubCycleNumber,o_int);

UTILROBOT_GetUserFrameInX0Y0Z0()

void UTILROBOT_GetUserFrameInX0Y0Z0	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

get user frame with rotation in X0Y0Z0 with angles in radian

Version

6.11

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in radian
[out]	B	rotation around Y0 in radian
[out]	C	rotation around Z0 in radian

PCALL(UTILROBOT_GetUserFrameInX0Y0Z0,X,Y,Z,A,B,C);

UTILROBOT_GetUserFrameInX0Y0Z0_mm_deg()

void UTILROBOT_GetUserFrameInX0Y0Z0_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

get user frame with rotation in X0Y0Z0 with angles in degree

Version

6.11

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in degree
[out]	B	rotation around Y0 in degree
[out]	C	rotation around Z0 in degree

PCALL(UTILROBOT_GetUserFrameInX0Y0Z0_mm_deg,X,Y,Z,A,B,C);

UTILROBOT_GetUserFrameInX0Y1Z2_mm_deg()

void UTILROBOT_GetUserFrameInX0Y1Z2_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

get user frame with rotation in X0Y1Z2 with angles in degree

Version

6.11

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around Z2 in degree

PCALL(UTILROBOT_GetUserFrameInX0Y1Z2_mm_deg,X,Y,Z,A,B,C);

UTILROBOT_GetUserFrameInZ0Y1X2_mm_deg()

void UTILROBOT_GetUserFrameInZ0Y1X2_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

get user frame with rotation in Z0Y1X2 with angles in degree

Version

6.11

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around Z0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around X2 in degree

PCALL(UTILROBOT_GetUserFrameInZ0Y1X2_mm_deg,X,Y,Z,A,B,C);

UTILROBOT_GetUserFrameInZ0Y1Z2_mm_deg()

void UTILROBOT_GetUserFrameInZ0Y1Z2_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

get user frame with rotation in Z0Y1Z2 with angles in degree

Version

6.11

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around Z0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around Z2 in degree

PCALL(UTILROBOT_GetUserFrameInZ0Y1Z2_mm_deg,X,Y,Z,A,B,C);

UTILROBOT_IfAtCycleFirstPointMoveOfFirstSubCycle()

void UTILROBOT_IfAtCycleFirstPointMoveOfFirstSubCycle

(

int *

o_bool

)

Check if it is at the first move point of the first sub-cycle (a cycle may have multiple sub-cycles when different planes are present).
Do not check for machine command.

Version

6.12

Parameters

[out]

o_bool

if it is at the first move point of the first sub-cycle

PCALL(UTILROBOT_IfAtCycleFirstPointMoveOfFirstSubCycle,o_bool);

UTILROBOT_IfAtFirstSubCycle()

void UTILROBOT_IfAtFirstSubCycle

(

int *

o_bool

)

check if is at the first sub-cycle (A cycle may have multiple sub-cycles in the presence of different planes)

Version

6.12

Parameters

[out]

o_bool

if is at the first sub-cycle

PCALL(UTILROBOT_IfAtFirstSubCycle,o_bool);

UTILROBOT_IfAtLastSubCycle()

void UTILROBOT_IfAtLastSubCycle

(

int *

o_bool

)

check if is at the last sub-cycle (A cycle may have multiple sub-cycles in the presence of different planes)

Version

6.12

Parameters

[out]

o_bool

if is at the last sub-cycle

PCALL(UTILROBOT_IfAtLastSubCycle,o_bool);

UTILROBOT_IfExistExternalAxis()

void UTILROBOT_IfExistExternalAxis	(	const std::string &	i_axisName,
		int *	o_succeeded )

check if an external axis exists

Version

6.12

Parameters

[in]	i_axisName	axis name in the MCG
[out]	o_succeeded	if the external axis exists

PCALL(UTILROBOT_IfExistExternalAxis, o_succeeded);

UTILROBOT_IsCycle_PartHeld()

void UTILROBOT_IsCycle_PartHeld

(

int *

o_bool

)

Check if the cycle is in part-held mode.

Version

6.12

Parameters

[out]

o_bool

if the cycle is in part-held mode

PCALL(UTILROBOT_IsCycle_PartHeld,o_bool);

UTILROBOT_IsHeldObjetTCPChanged()

void UTILROBOT_IsHeldObjetTCPChanged

(

int *

isToolTCPChanged

)

Check if tool TCP changed
Works only on points from cycle toolpath (no check on points from machine commands).

Version

6.11

Parameters

[out]

isToolTCPChanged

if tool TCP changed

PCALL(UTILROBOT_IsHeldObjetTCPChanged,isToolTCPChanged);

UTILROBOT_IsMovePointFromCommand()

void UTILROBOT_IsMovePointFromCommand

(

int *

isFromCommand

)

read if the move point is from machine command

Version

6.11

Parameters

[out]

isFromCommand

TRUE if the move point is from command

PCALL(UTILROBOT_IsMovePointFromCommand,isFromCommand);

UTILROBOT_IsRobotAxisJ3CoupledToJ2()

void UTILROBOT_IsRobotAxisJ3CoupledToJ2	(	int *	o_isJ3Coupled,
		double *	o_min,
		double *	o_max )

Get the J3 axis range limits when coupled with J2 (as in Fanuc robots)

Version

6.12

Parameters

[out]	o_isJ3Coupled	if J3 is coupled with J2
[out]	o_min	minimum axis limit of coupled J3
[out]	o_max	maximum axis limit of coupled J3

PCALL(UTILROBOT_IsRobotAxisJ3CoupledToJ2, o_isJ3Coupled, o_min, o_max);

UTILROBOT_IsUserFrameChanged()

void UTILROBOT_IsUserFrameChanged

(

int *

isUserFrameChanged

)

Check if user frame changed.
Works only on points from cycle toolpath (no check on points from machine commands).

Version

6.11

Parameters

[out]

isUserFrameChanged

if user frame changed

PCALL(UTILROBOT_IsUserFrameChanged,isUserFrameChanged);

UTILROBOT_JointsToCartesian_ABB()

void UTILROBOT_JointsToCartesian_ABB	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	Q1,
		double *	Q2,
		double *	Q3,
		double *	Q4,
		int *	Config1,
		int *	Config2,
		int *	Config3,
		int *	Config4 )

transform from joint position to cartesian position for ABB robots with quaternion.
There is a risk of precision issues near zero when using quaternions; therefore, it is recommended to use Euler angles for ABB robots.

Version

6.11

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	Q1	1st element of the ABB quaternion
[out]	Q2	2nd element of the ABB quaternion
[out]	Q3	3rd element of the ABB quaternion
[out]	Q4	4th element of the ABB quaternion
[out]	Config1	1st element of the robot configuration
[out]	Config2	2nd element of the robot configuration
[out]	Config3	3rd element of the robot configuration
[out]	Config4	4th element of the robot configuration

PCALL(UTILROBOT_JointsToCartesian_ABB,J1,J2,J3,J4,J5,J6,X,Y,Z,Q1,Q2,Q3,Q4,Config1,Config2,Config3,Config4);

UTILROBOT_JointsToCartesian_ABB_EulerAngles()

void UTILROBOT_JointsToCartesian_ABB_EulerAngles	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	Rot_Z0,
		double *	Rot_Y1,
		double *	Rot_X2,
		int *	Config1,
		int *	Config2,
		int *	Config3,
		int *	Config4 )

transform from joint position to cartesian position for ABB robots with Euler angler in order ZYX

Version

6.13

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	Rot_Z0	The rotation, in degrees, around the Z0 axis.
[out]	Rot_Y1	The rotation, in degrees, around the Y1 axis.
[out]	Rot_X2	The rotation, in degrees, around the X2 axis.
[out]	Config1	1st element of the robot configuration
[out]	Config2	2nd element of the robot configuration
[out]	Config3	3rd element of the robot configuration
[out]	Config4	4th element of the robot configuration

PCALL(UTILROBOT_JointsToCartesian_ABB_EulerAngles,J1,J2,J3,J4,J5,J6,X,Y,Z,Rot_Z0,Rot_Y1,Rot_X2,Config1,Config2,Config3,Config4);

UTILROBOT_JointsToCartesian_Elite_CS()

void UTILROBOT_JointsToCartesian_Elite_CS	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	Rx,
		double *	Ry,
		double *	Rz )

transform from joint position to cartesian position for Elite CS robots

Version

6.11

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X in m
[out]	Y	translation on Y in m
[out]	Z	translation on Z in m
[out]	Rx	rotation around X0 in radian
[out]	Ry	rotation around Y0 in radian
[out]	Rz	rotation around Z0 in radian

PCALL(UTILROBOT_JointsToCartesian_Elite_CS,J1,J2,J3,J4,J5,J6,X,Y,Z,Rx,Ry,Rz);

UTILROBOT_JointsToCartesian_Elite_EC()

void UTILROBOT_JointsToCartesian_Elite_EC	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	Rx,
		double *	Ry,
		double *	Rz )

transform from joint position to cartesian position for Elite EC robots

Version

6.11

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X in m
[out]	Y	translation on Y in m
[out]	Z	translation on Z in m
[out]	Rx	rotation around X0 in radian
[out]	Ry	rotation around Y0 in radian
[out]	Rz	rotation around Z0 in radian

PCALL(UTILROBOT_JointsToCartesian_Elite_EC,J1,J2,J3,J4,J5,J6,X,Y,Z,Rx,Ry,Rz);

UTILROBOT_JointsToCartesian_FANUC()

void UTILROBOT_JointsToCartesian_FANUC	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	W,
		double *	P,
		double *	R,
		std::string &	Config )

transform from joint position to cartesian position for Fanuc robots

Version

6.11

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	W	rotation W in degree
[out]	P	rotation P in degree
[out]	R	rotation R in degree
[out]	Config	Robot Configuration

PCALL(UTILROBOT_JointsToCartesian_FANUC,J1,J2,J3,J4,J5,J6,X,Y,Z,W,P,R,Config);

UTILROBOT_JointsToCartesian_Kawasaki()

void UTILROBOT_JointsToCartesian_Kawasaki	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	W,
		double *	P,
		double *	R,
		std::string &	ConfigShoulder,
		std::string &	ConfigElbow,
		std::string &	ConfigWrist )

transform from joint position to cartesian position for Kawasaki robots

Version

6.11

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	W	rotation W in degree
[out]	P	rotation P in degree
[out]	R	rotation R in degree
[out]	ConfigShoulder	Robot configuration for shoulder
[out]	ConfigElbow	Robot configuration for elbow
[out]	ConfigWrist	Robot configuration for wrist

PCALL(UTILROBOT_JointsToCartesian_Kawasaki,J1,J2,J3,J4,J5,J6,X,Y,Z,W,P,R,ConfigShoulder,ConfigElbow,ConfigWrist);

UTILROBOT_JointsToCartesian_KUKA()

void UTILROBOT_JointsToCartesian_KUKA	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	W,
		double *	P,
		double *	R,
		std::string &	Status,
		std::string &	Turn )

transform from joint position to cartesian position for KUKA robots

Version

6.11

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	W	rotation W in degree
[out]	P	rotation P in degree
[out]	R	rotation R in degree
[out]	Status	Robot configuration for status
[out]	Turn	Robot configuration for turn

PCALL(UTILROBOT_JointsToCartesian_KUKA,J1,J2,J3,J4,J5,J6,X,Y,Z,W,P,R,Status,Turn);

UTILROBOT_JointsToCartesian_Staubli()

void UTILROBOT_JointsToCartesian_Staubli	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C,
		std::string &	Config )

transform from joint position to cartesian position for Staubli robots

Version

6.11

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation Rx0 in degree
[out]	B	rotation Ry1 in degree
[out]	C	rotation Rz2 in degree
[out]	Config	Robot Configuration

PCALL(UTILROBOT_JointsToCartesian_Staubli,J1,J2,J3,J4,J5,J6,X,Y,Z,W,P,R,Config);

UTILROBOT_JointsToCartesian_UR()

void UTILROBOT_JointsToCartesian_UR	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	RV1,
		double *	RV2,
		double *	RV3 )

transform from joint position to cartesian position with rotation vector for UR robots

Version

6.11

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X in m
[out]	Y	translation on Y in m
[out]	Z	translation on Z in m
[out]	RV1	1st element of the rotation vector
[out]	RV2	2nd element of the rotation vector
[out]	RV3	3rd element of the rotation vector

PCALL(UTILROBOT_JointsToCartesian_UR,J1,J2,J3,J4,J5,J6,X,Y,Z,RV1,RV2,RV3);

UTILROBOT_JointsToCartesian_YaskawaMotoman()

void UTILROBOT_JointsToCartesian_YaskawaMotoman	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	W,
		double *	P,
		double *	R,
		std::string &	Config )

transform from joint position to cartesian position for Yaskawa Motoman robots

Version

6.11

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	W	rotation W in degree
[out]	P	rotation P in degree
[out]	R	rotation R in degree
[out]	Config	Robot Configuration

PCALL(UTILROBOT_JointsToCartesian_YaskawaMotoman,J1,J2,J3,J4,J5,J6,X,Y,Z,W,P,R,Config);

UTILROBOT_JointsToCartesianInX0Y0Z0_mm_deg()

void UTILROBOT_JointsToCartesianInX0Y0Z0_mm_deg	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

transform from joint position to cartesian position with rotation in X0Y0Z0 with angles in degree

Version

6.11

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in degree
[out]	B	rotation around Y0 in degree
[out]	C	rotation around Z0 in degree

PCALL(UTILROBOT_JointsToCartesianInX0Y0Z0_mm_deg,J1,J2,J3,J4,J5,J6,X,Y,Z,A,B,C);

UTILROBOT_JointsToCartesianInX0Y1Z2_mm_deg()

void UTILROBOT_JointsToCartesianInX0Y1Z2_mm_deg	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

transform from joint position to cartesian position with rotation in X0Y1Z2 with angles in degree

Version

6.11

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around Z2 in degree

PCALL(UTILROBOT_JointsToCartesianInX0Y1Z2_mm_deg,J1,J2,J3,J4,J5,J6,X,Y,Z,A,B,C);

UTILROBOT_JointsToCartesianInZ0Y1X2_mm_deg()

void UTILROBOT_JointsToCartesianInZ0Y1X2_mm_deg	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

transform from joint position to cartesian position with rotation in Z0Y1X2 with angles in degree

Version

6.11

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around Z0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around X2 in degree

PCALL(UTILROBOT_JointsToCartesianInZ0Y1X2_mm_deg,J1,J2,J3,J4,J5,J6,X,Y,Z,A,B,C);

UTILROBOT_JointsToCartesianInZ0Y1Z2_mm_deg()

void UTILROBOT_JointsToCartesianInZ0Y1Z2_mm_deg	(	int	mode,
		double	J1,
		double	J2,
		double	J3,
		double	J4,
		double	J5,
		double	J6,
		double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

transform from joint position to cartesian position with rotation in Z0Y1Z2 with angles in degree

Version

6.11

Parameters

[in]	mode	by default 0 for transform of held-oject in user frame, 1 for inverse of the transform of held-oject in user frame (useful for part-held case)
[in]	J1	Angle position of robot axis 1 in radian
[in]	J2	Angle position of robot axis 2 in radian
[in]	J3	Angle position of robot axis 3 in radian
[in]	J4	Angle position of robot axis 4 in radian
[in]	J5	Angle position of robot axis 5 in radian
[in]	J6	Angle position of robot axis 6 in radian
[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around Z0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around Z2 in degree

PCALL(UTILROBOT_JointsToCartesianInZ0Y1Z2_mm_deg,J1,J2,J3,J4,J5,J6,X,Y,Z,A,B,C);

UTILROBOT_SetHeldObjetTCP()

void UTILROBOT_SetHeldObjetTCP

(

int

fatherRef

)

Set the held object TCP for ISO output in tool held mode. It is usually referenced either to the robot flange or to the tool support origin.
The tool support origin may differ from the robot flange, for example when a spindle used for tool changing is mounted on the flange and considered part of the extended robot.

Version

6.12

Parameters

[in]

fatherRef

Father reference: 0 for robot flange, 1 for tool support origin.

PCALL(UTILROBOT_SetHeldObjetTCP,fatherRef);

UTILROBOT_SetHeldObjetTCP_PartHeld()

void UTILROBOT_SetHeldObjetTCP_PartHeld

(

int

fatherRef

)

Set the held object TCP for ISO output in part held mode.

Version

6.12

Parameters

[in]

fatherRef

Father reference: 0 for robot flange.

PCALL(UTILROBOT_SetHeldObjetTCP_PartHeld,fatherRef);

UTILROBOT_SetLinearMotionDiscretization()

void UTILROBOT_SetLinearMotionDiscretization

(

int

i_bool

)

Set if the linear motion path should be discretized.

Version

6.13

Parameters

[in]

i_bool

CONST_YES: linear motion discretization enabled; CONST_NO: disabled.

PCALL(UTILROBOT_SetLinearMotionDiscretization, i_bool);

UTILROBOT_SetPartOriginOffsetFromX0Y0Z0()

void UTILROBOT_SetPartOriginOffsetFromX0Y0Z0	(	double	Trans_X,
		double	Trans_Y,
		double	Trans_Z,
		double	Rot_X0,
		double	Rot_Y0,
		double	Rot_Z0 )

set part origin offset with rotation X0Y1Z2 (first around X0, then Y0, then Z0)

Version

6.11

Parameters

[in]	Trans_X	Translation in X direction
[in]	Trans_Y	Translation in Y direction
[in]	Trans_Z	Translation in Z direction
[in]	Rot_X0	Rotation angle in radian around X0
[in]	Rot_Y0	Rotation angle in radian around Y0
[in]	Rot_Z0	Rotation angle in radian around Z0

PCALL(UTILROBOT_SetPartOriginOffsetFromX0Y0Z0,Trans_X,Trans_Y,Trans_Z,Rot_X0,Rot_Y0,Rot_Z0);

UTILROBOT_SetPartOriginOffsetFromX0Y1Z2()

void UTILROBOT_SetPartOriginOffsetFromX0Y1Z2	(	double	Trans_X,
		double	Trans_Y,
		double	Trans_Z,
		double	Rot_X0,
		double	Rot_Y1,
		double	Rot_Z2 )

set part origin offset with rotation X0Y1Z2 (first around X0, then Y1, then Z2)

Version

6.11

Parameters

[in]	Trans_X	Translation in X direction
[in]	Trans_Y	Translation in Y direction
[in]	Trans_Z	Translation in Z direction
[in]	Rot_X0	Rotation angle in radian around X0
[in]	Rot_Y1	Rotation angle in radian around Y1
[in]	Rot_Z2	Rotation angle in radian around Z2

PCALL(UTILROBOT_SetPartOriginOffsetFromX0Y1Z2,Trans_X,Trans_Y,Trans_Z,Rot_X0,Rot_Y1,Rot_Z2);

UTILROBOT_SetPartOriginOffsetFromZ0Y1X2()

void UTILROBOT_SetPartOriginOffsetFromZ0Y1X2	(	double	Trans_X,
		double	Trans_Y,
		double	Trans_Z,
		double	Rot_Z0,
		double	Rot_Y1,
		double	Rot_X2 )

set part origin offset with rotation Z0Y1X2 (first around Z0, then Y1, then X2)

Version

6.11

Parameters

[in]	Trans_X	Translation in X direction
[in]	Trans_Y	Translation in Y direction
[in]	Trans_Z	Translation in Z direction
[in]	Rot_Z0	Rotation angle in radian around Z0
[in]	Rot_Y1	Rotation angle in radian around Y1
[in]	Rot_X2	Rotation angle in radian around X2

PCALL(UTILROBOT_SetPartOriginOffsetFromZ0Y1X2,Trans_X,Trans_Y,Trans_Z,Rot_Z0,Rot_Y1,Rot_X2);

UTILROBOT_SetPartOriginOffsetFromZ0Y1Z2()

void UTILROBOT_SetPartOriginOffsetFromZ0Y1Z2	(	double	Trans_X,
		double	Trans_Y,
		double	Trans_Z,
		double	Rot_Z0,
		double	Rot_Y1,
		double	Rot_Z2 )

set part origin offset with rotation Z0Y1X2 (first around Z0, then Y1, then X2)

Version

6.11

Parameters

[in]	Trans_X	Translation in X direction
[in]	Trans_Y	Translation in Y direction
[in]	Trans_Z	Translation in Z direction
[in]	Rot_Z0	Rotation angle in radian around Z0
[in]	Rot_Y1	Rotation angle in radian around Y1
[in]	Rot_Z2	Rotation angle in radian around Z2

PCALL(UTILROBOT_SetPartOriginOffsetFromZ0Y1Z2,Trans_X,Trans_Y,Trans_Z,Rot_Z0,Rot_Y1,Rot_Z2);

UTILROBOT_SetUserFrame()

void UTILROBOT_SetUserFrame	(	int	targetRef,
		int	fatherRef,
		int	moveMode )

Set the user frame for ISO output in tool held mode, which is usually referenced either to the robot origin or to the machine origin.
Prefer using the machine origin when performing coordinated motion with external axes.
Works only on points from cycle toolpath (no effect on points from machine commands).

Version

6.12

Parameters

[in]	targetRef	Target reference: 0 for part origin, 1 for work plane origin.
[in]	fatherRef	Father reference: 0 for robot world origin, 1 for machine origin.
[in]	moveMode	0 for part origin at setup, 1 for part origin after part movement (by external axis from Machine Command or 7th-axis synchronization).

PCALL(UTILROBOT_SetUserFrame,targetRef,fatherRef,moveMode);

UTILROBOT_SetUserFrame_PartHeld()

void UTILROBOT_SetUserFrame_PartHeld

(

int

fatherRef

)

Set the user frame for ISO output in part held mode.

Version

6.12

Parameters

[in]

fatherRef

Father reference: 0 for robot world origin, 1 for machine origin.

PCALL(UTILROBOT_SetUserFrame_PartHeld,fatherRef);

UTILROBOT_ToolSupportToRobotFlangeMatrixInX0Y0Z0()

void UTILROBOT_ToolSupportToRobotFlangeMatrixInX0Y0Z0	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

Get the transformation matrix of the tool support origin relative to the robot flange with rotation in X0Y0Z0 with angles in radian.

Version

6.12

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in radian
[out]	B	rotation around Y0 in radian
[out]	C	rotation around Z0 in radian

PCALL(UTILROBOT_ToolSupportToRobotFlangeMatrixInX0Y0Z0,X,Y,Z,A,B,C);

UTILROBOT_ToolSupportToRobotFlangeMatrixInX0Y0Z0_mm_deg()

void UTILROBOT_ToolSupportToRobotFlangeMatrixInX0Y0Z0_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

Get the transformation matrix of the tool support origin relative to the robot flange with rotation in X0Y0Z0 with angles in degree.

Version

6.12

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in degree
[out]	B	rotation around Y0 in degree
[out]	C	rotation around Z0 in degree

PCALL(UTILROBOT_ToolSupportToRobotFlangeMatrixInX0Y0Z0,X,Y,Z,A,B,C);

UTILROBOT_ToolSupportToRobotFlangeMatrixInX0Y1Z2_mm_deg()

void UTILROBOT_ToolSupportToRobotFlangeMatrixInX0Y1Z2_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

Get the transformation matrix of the tool support origin relative to the robot flange with rotation in X0Y1Z2 with angles in degree.

Version

6.12

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around X0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around Z2 in degree

PCALL(UTILROBOT_ToolSupportToRobotFlangeMatrixInX0Y1Z2,X,Y,Z,A,B,C);

UTILROBOT_ToolSupportToRobotFlangeMatrixInZ0Y1X2_mm_deg()

void UTILROBOT_ToolSupportToRobotFlangeMatrixInZ0Y1X2_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

Get the transformation matrix of the tool support origin relative to the robot flange with rotation in Z0Y1X2 with angles in degree.

Version

6.12

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around Z0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around X2 in degree

PCALL(UTILROBOT_ToolSupportToRobotFlangeMatrixInZ0Y1X2,X,Y,Z,A,B,C);

UTILROBOT_ToolSupportToRobotFlangeMatrixInZ0Y1Z2_mm_deg()

void UTILROBOT_ToolSupportToRobotFlangeMatrixInZ0Y1Z2_mm_deg	(	double *	X,
		double *	Y,
		double *	Z,
		double *	A,
		double *	B,
		double *	C )

Get the transformation matrix of the tool support origin relative to the robot flange with rotation in Z0Y1Z2 with angles in degree.

Version

6.12

Parameters

[out]	X	translation on X
[out]	Y	translation on Y
[out]	Z	translation on Z
[out]	A	rotation around Z0 in degree
[out]	B	rotation around Y1 in degree
[out]	C	rotation around Z2 in degree

PCALL(UTILROBOT_ToolSupportToRobotFlangeMatrixInZ0Y1Z2,X,Y,Z,A,B,C);