nrc_queue_operate.h File Reference

#include "parameter/nrc_define.h"

Go to the source code of this file.

Functions
EXPORT_API Result	queue_motion_set_status (SOCKETFD socketFd, bool status)
	打开or关闭控制器的队列运动模式
EXPORT_API Result	queue_motion_set_status_robot (SOCKETFD socketFd, int robotNum, bool status)
EXPORT_API Result	queue_motion_get_status (SOCKETFD socketFd, bool &status)
	查询控制器当前是否打开队列运动模式
EXPORT_API Result	queue_motion_get_status_robot (SOCKETFD socketFd, int robotNum, bool &status)
EXPORT_API Result	queue_motion_clear_Data (SOCKETFD socketFd)
	清空缓存的运动队列数据
EXPORT_API Result	queue_motion_clear_Data_robot (SOCKETFD socketFd, int robotNum)
EXPORT_API Result	queue_motion_size (SOCKETFD socketFd, int &size)
	查询当前运动队列的长度
EXPORT_API Result	queue_motion_size_robot (SOCKETFD socketFd, int robotNum, int &size)
EXPORT_API Result	queue_motion_get_queuelen (SOCKETFD socketFd, int &len)
	查询当前运动队列剩余的指令数量
EXPORT_API Result	queue_motion_get_queuelen_robot (SOCKETFD socketFd, int robotNum, int &len)
EXPORT_API Result	queue_motion_send_to_controller (SOCKETFD socketFd, int size)
	将本地队列的前size个数据发送到控制器
EXPORT_API Result	queue_motion_send_to_controller_robot (SOCKETFD socketFd, int robotNum, int size)
EXPORT_API Result	queue_motion_suspend (SOCKETFD socketFd)
	暂停连续运动
EXPORT_API Result	queue_motion_suspend_robot (SOCKETFD socketFd, int robotNum)
EXPORT_API Result	queue_motion_restart (SOCKETFD socketFd)
	暂停后再次运行运动队列
EXPORT_API Result	queue_motion_restart_robot (SOCKETFD socketFd, int robotNum)
EXPORT_API Result	queue_motion_stop (SOCKETFD socketFd)
	停止连续运动
EXPORT_API Result	queue_motion_stop_robot (SOCKETFD socketFd, int robotNum)
EXPORT_API Result	queue_motion_stop_not_power_off (SOCKETFD socketFd)
	停止连续运动保持上电状态
EXPORT_API Result	queue_motion_stop_not_power_off_robot (SOCKETFD socketFd, int robotNum)
EXPORT_API Result	queue_motion_push_back_moveJ (SOCKETFD socketFd, MoveCmd moveCmd)
	队列运动模式的本地队列最后插入一条moveJ运动
EXPORT_API Result	queue_motion_push_back_moveJ_robot (SOCKETFD socketFd, int robotNum, MoveCmd moveCmd)
EXPORT_API Result	queue_motion_push_back_moveL (SOCKETFD socketFd, MoveCmd moveCmd)
	队列运动模式的本地队列最后插入一条moveL运动
EXPORT_API Result	queue_motion_push_back_moveL_robot (SOCKETFD socketFd, int robotNum, MoveCmd moveCmd)
EXPORT_API Result	queue_motion_push_back_moveC (SOCKETFD socketFd, MoveCmd moveCmd)
	队列运动模式的本地队列最后插入一条moveC运动
EXPORT_API Result	queue_motion_push_back_moveC_robot (SOCKETFD socketFd, int robotNum, MoveCmd moveCmd)
EXPORT_API Result	queue_motion_push_back_moveCA (SOCKETFD socketFd, MoveCmd moveCmd)
	队列运动模式的本地队列最后插入一条moveCA运动
EXPORT_API Result	queue_motion_push_back_moveCA_robot (SOCKETFD socketFd, int robotNum, MoveCmd moveCmd)
EXPORT_API Result	queue_motion_push_back_moveS (SOCKETFD socketFd, MoveCmd moveCmd)
	队列运动模式的本地队列最后插入一条moveS运动
EXPORT_API Result	queue_motion_push_back_moveS_robot (SOCKETFD socketFd, int robotNum, MoveCmd moveCmd)
EXPORT_API Result	queue_motion_push_back_moveJ_extra (SOCKETFD socketFd, MoveCmd moveCmd)
	队列运动模式的本地队列最后插入一条moveJExtra外部轴关节运动
EXPORT_API Result	queue_motion_push_back_moveJ_extra_robot (SOCKETFD socketFd, int robotNum, MoveCmd moveCmd)
EXPORT_API Result	queue_motion_push_back_moveL_extra (SOCKETFD socketFd, MoveCmd moveCmd)
	队列运动模式的本地队列最后插入一条moveLExtra外部轴关节运动
EXPORT_API Result	queue_motion_push_back_moveL_extra_robot (SOCKETFD socketFd, int robotNum, MoveCmd moveCmd)
EXPORT_API Result	queue_motion_push_back_imove (SOCKETFD socketFd, MoveCmd moveCmd)
	队列运动模式的本地队列最后插入一条imove增量运动
EXPORT_API Result	queue_motion_push_back_imove_rbobt (SOCKETFD socketFd, int robotNum, MoveCmd moveCmd)
EXPORT_API Result	queue_motion_push_back_timer (SOCKETFD socketFd, double time)
	队列运动模式的本地队列最后插入一条Timer指令
EXPORT_API Result	queue_motion_push_back_timer_robot (SOCKETFD socketFd, int robotNum, double time)
EXPORT_API Result	queue_motion_push_back_dout (SOCKETFD socketFd, int port, bool value)
	队列运动模式的本地队列最后插入一条DOUT指令
EXPORT_API Result	queue_motion_push_back_dout_robot (SOCKETFD socketFd, int robotNum, int port, bool value)
EXPORT_API Result	queue_motion_push_back_conveyor_check_pos (SOCKETFD socketFd, int id)
	队列运动模式的本地队列最后插入一条CONVEYOR_CHECKPOS(传送带工件检测开始)指令
EXPORT_API Result	queue_motion_push_back_conveyor_check_pos_robot (SOCKETFD socketFd, int robotNum, int id)
EXPORT_API Result	queue_motion_push_back_conveyor_check_end (SOCKETFD socketFd, int id)
	队列运动模式的本地队列最后插入一条CONVEYOR_CHECKEND(传送带工件检测结束)指令
EXPORT_API Result	queue_motion_push_back_conveyor_check_end_robot (SOCKETFD socketFd, int robotNum, int id)
EXPORT_API Result	queue_motion_push_back_conveyor_on (SOCKETFD socketFd, int id, int postype, std::vector< double > pos, int vel, int acc)
	队列运动模式的本地队列最后插入一条CONVEYOR_ON(传送带跟踪开始)指令
EXPORT_API Result	queue_motion_push_back_conveyor_on_robot (SOCKETFD socketFd, int robotNum, int id, int postype, std::vector< double > pos, int vel, int acc)
EXPORT_API Result	queue_motion_push_back_conveyor_off (SOCKETFD socketFd, int id)
	队列运动模式的本地队列最后插入一条CONVEYOR_OFF(传送带跟踪结束)指令
EXPORT_API Result	queue_motion_push_back_conveyor_off_robot (SOCKETFD socketFd, int robotNum, int id)
EXPORT_API Result	queue_motion_push_back_conveyor_pos (SOCKETFD socketFd, int id, const std::string posName)
	队列运动模式的本地队列最后插入一条CONVEYOR_POS(获取传送带跟踪位置)指令
EXPORT_API Result	queue_motion_push_back_conveyor_pos_robot (SOCKETFD socketFd, int robotNum, int id, const std::string posName)
EXPORT_API Result	queue_motion_push_back_conveyor_clear (SOCKETFD socketFd, int id, int removeType)
	队列运动模式的本地队列最后插入一条CONVEYOR_POS(获取传送带跟踪位置)指令
EXPORT_API Result	queue_motion_push_back_conveyor_clear_robot (SOCKETFD socketFd, int robotNum, int id, int removeType)
EXPORT_API Result	queue_motion_push_back_arc_on (SOCKETFD socketFd, int id)
	队列运动模式的本地队列最后插入一条ARCON(焊接开始)指令
EXPORT_API Result	queue_motion_push_back_arc_on_robot (SOCKETFD socketFd, int robotNum, int id)
EXPORT_API Result	queue_motion_push_back_arc_off (SOCKETFD socketFd, int id)
	队列运动模式的本地队列最后插入一条ARCOFF(焊接结束)指令
EXPORT_API Result	queue_motion_push_back_arc_off_robot (SOCKETFD socketFd, int robotNum, int id)
EXPORT_API Result	queue_motion_push_back_wave_on (SOCKETFD socketFd, int id)
	队列运动模式的本地队列最后插入一条WVON(摆焊开始)指令
EXPORT_API Result	queue_motion_push_back_wave_on_robot (SOCKETFD socketFd, int robotNum, int id)
EXPORT_API Result	queue_motion_push_back_wave_off (SOCKETFD socketFd, int id)
	队列运动模式的本地队列最后插入一条WVOFF(摆焊结束)指令
EXPORT_API Result	queue_motion_push_back_wave_off_robot (SOCKETFD socketFd, int robotNum, int id)
EXPORT_API Result	queue_motion_push_back_tigweld_on (SOCKETFD socketFd, int type, double l1, double l2)
	队列运动模式的本地队列最后插入一条TIGWELD(鱼鳞焊开始)指令
EXPORT_API Result	queue_motion_push_back_tigweld_on_robot (SOCKETFD socketFd, int robotNum, int type, double l1, double l2)
EXPORT_API Result	queue_motion_push_back_tigweld_off (SOCKETFD socketFd)
	队列运动模式的本地队列最后插入一条TIGWELD(鱼鳞焊结束)指令
EXPORT_API Result	queue_motion_push_back_tigweld_off_robot (SOCKETFD socketFd, int robotNum)
EXPORT_API Result	queue_motion_push_back_spot_weld (SOCKETFD socketFd, int id, double time)
	队列运动模式的本地队列最后插入一条SPOTWEDL(点焊)指令
EXPORT_API Result	queue_motion_push_back_spot_weld_robot (SOCKETFD socketFd, int robotNum, int id, double time)
EXPORT_API Result	queue_motion_push_back_vision_craft_start (SOCKETFD socketFd, int id)
	队列运动模式的本地队列最后插入一条VISION_RUN(开始视觉)指令
EXPORT_API Result	queue_motion_push_back_vision_craft_start_robot (SOCKETFD socketFd, int robotNum, int id)
EXPORT_API Result	queue_motion_push_back_vision_craft_get_pos (SOCKETFD socketFd, int id, const std::string posName)
	队列运动模式的本地队列最后插入一条VISION_POS(获取视觉位置)指令
EXPORT_API Result	queue_motion_push_back_vision_craft_get_pos_robot (SOCKETFD socketFd, int robotNum, int id, const std::string posName)
EXPORT_API Result	queue_motion_push_back_vision_craft_visual_trigger (SOCKETFD socketFd, int id)
	队列运动模式的本地队列最后插入一条VISION_TRG(触发视觉)指令
EXPORT_API Result	queue_motion_push_back_vision_craft_visual_trigger_robot (SOCKETFD socketFd, int robotNum, int id)
EXPORT_API Result	queue_motion_push_back_vision_craft_visual_end (SOCKETFD socketFd, int id)
	队列运动模式的本地队列最后插入一条VISION_ENDL(视觉结束)指令
EXPORT_API Result	queue_motion_push_back_vision_craft_visual_end_robot (SOCKETFD socketFd, int robotNum, int id)
EXPORT_API Result	queue_motion_push_back_until (SOCKETFD socketFd, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup)
	队列运动模式的本地队列最后插入一条UNTIL(直到)指令
EXPORT_API Result	queue_motion_push_back_until_robot (SOCKETFD socketFd, int robotNum, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup)
EXPORT_API Result	queue_motion_push_back_end_until (SOCKETFD socketFd)
	队列运动模式的本地队列最后插入一条ENDUNTIL(结束直到)指令
EXPORT_API Result	queue_motion_push_back_end_until_robot (SOCKETFD socketFd, int robotNum)
EXPORT_API Result	queue_motion_push_back_while (SOCKETFD socketFd, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup)
	队列运动模式的本地队列最后插入一条WHILE(循环)指令
EXPORT_API Result	queue_motion_push_back_while_robot (SOCKETFD socketFd, int robotNum, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup)
EXPORT_API Result	queue_motion_push_back_end_while (SOCKETFD socketFd)
	队列运动模式的本地队列最后插入一条ENDWHILE(结束直到)指令
EXPORT_API Result	queue_motion_push_back_end_while_robot (SOCKETFD socketFd, int robotNum)
EXPORT_API Result	queue_motion_push_back_if (SOCKETFD socketFd, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup)
	队列运动模式的本地队列最后插入一条IF(如果)指令
EXPORT_API Result	queue_motion_push_back_if_robot (SOCKETFD socketFd, int robotNum, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup)
EXPORT_API Result	queue_motion_push_back_end_if (SOCKETFD socketFd)
	队列运动模式的本地队列最后插入一条ENDIF(结束如果)指令
EXPORT_API Result	queue_motion_push_back_end_if_robot (SOCKETFD socketFd, int robotNum)
EXPORT_API Result	queue_motion_push_back_label (SOCKETFD socketFd, const std::string &label)
	队列运动模式的本地队列最后插入一条LABEL(标签)指令
EXPORT_API Result	queue_motion_push_back_label_robot (SOCKETFD socketFd, int robotNum, const std::string &label)
EXPORT_API Result	queue_motion_push_back_jump (SOCKETFD socketFd, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup, bool jumpConditionFlag, const std::string &label)
	队列运动模式的本地队列最后插入一条JUMP(跳转)指令
EXPORT_API Result	queue_motion_push_back_jump_robot (SOCKETFD socketFd, int robotNum, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup, bool jumpConditionFlag, const std::string &label)
EXPORT_API Result	queue_motion_push_back_samov (SOCKETFD socketFd, MoveCmd moveCmd, PositionData posData)
	队列运动模式的本地队列最后插入一条SAMOV(定点移动)指令
EXPORT_API Result	queue_motion_push_back_samov_robot (SOCKETFD socketFd, int robotNum, MoveCmd moveCmd, PositionData posData)
EXPORT_API Result	queue_motion_push_back_cil (SOCKETFD socketFd, MoveCmd moveCmd, int id)
	队列运动模式的本地队列最后插入一条CIL(相贯线)指令
EXPORT_API Result	queue_motion_push_back_cil_robot (SOCKETFD socketFd, int robotNum, MoveCmd moveCmd, int id)
EXPORT_API Result	queue_motion_push_back_TOFFSETON (SOCKETFD socketFd, OffsetCommandParam params)
	队列运动模式的本地队列最后插入一条TOFFSETON(轨迹偏移开始)指令
EXPORT_API Result	queue_motion_push_back_TOFFSETON_robot (SOCKETFD socketFd, int robotNum, OffsetCommandParam params)
EXPORT_API Result	queue_motion_push_back_TOFFSETOFF (SOCKETFD socketFd)
	队列运动模式的本地队列最后插入一条TOFFSETOFF(轨迹偏移结束)指令
EXPORT_API Result	queue_motion_push_back_TOFFSETOFF_robot (SOCKETFD socketFd, int robotNum)

Function Documentation

queue_motion_clear_Data()

EXPORT_API Result queue_motion_clear_Data

(

SOCKETFD

socketFd

)

清空缓存的运动队列数据

queue_motion_clear_Data_robot()

EXPORT_API Result queue_motion_clear_Data_robot	(	SOCKETFD	socketFd,
		int	robotNum )

queue_motion_get_queuelen()

EXPORT_API Result queue_motion_get_queuelen	(	SOCKETFD	socketFd,
		int &	len )

查询当前运动队列剩余的指令数量

queue_motion_get_queuelen_robot()

EXPORT_API Result queue_motion_get_queuelen_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int &	len )

queue_motion_get_status()

EXPORT_API Result queue_motion_get_status	(	SOCKETFD	socketFd,
		bool &	status )

查询控制器当前是否打开队列运动模式

Parameters

status

用来存储返回值 0-关闭 1-已打开

queue_motion_get_status_robot()

EXPORT_API Result queue_motion_get_status_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		bool &	status )

queue_motion_push_back_arc_off()

EXPORT_API Result queue_motion_push_back_arc_off	(	SOCKETFD	socketFd,
		int	id )

队列运动模式的本地队列最后插入一条ARCOFF(焊接结束)指令

Parameters

id

工艺号

queue_motion_push_back_arc_off_robot()

EXPORT_API Result queue_motion_push_back_arc_off_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id )

queue_motion_push_back_arc_on()

EXPORT_API Result queue_motion_push_back_arc_on	(	SOCKETFD	socketFd,
		int	id )

队列运动模式的本地队列最后插入一条ARCON(焊接开始)指令

Parameters

id

工艺号

queue_motion_push_back_arc_on_robot()

EXPORT_API Result queue_motion_push_back_arc_on_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id )

queue_motion_push_back_cil()

EXPORT_API Result queue_motion_push_back_cil	(	SOCKETFD	socketFd,
		MoveCmd	moveCmd,
		int	id )

队列运动模式的本地队列最后插入一条CIL(相贯线)指令

queue_motion_push_back_cil_robot()

EXPORT_API Result queue_motion_push_back_cil_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		MoveCmd	moveCmd,
		int	id )

queue_motion_push_back_conveyor_check_end()

EXPORT_API Result queue_motion_push_back_conveyor_check_end	(	SOCKETFD	socketFd,
		int	id )

队列运动模式的本地队列最后插入一条CONVEYOR_CHECKEND(传送带工件检测结束)指令

Parameters

id

工艺号

queue_motion_push_back_conveyor_check_end_robot()

EXPORT_API Result queue_motion_push_back_conveyor_check_end_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id )

queue_motion_push_back_conveyor_check_pos()

EXPORT_API Result queue_motion_push_back_conveyor_check_pos	(	SOCKETFD	socketFd,
		int	id )

队列运动模式的本地队列最后插入一条CONVEYOR_CHECKPOS(传送带工件检测开始)指令

Parameters

id

工艺号

queue_motion_push_back_conveyor_check_pos_robot()

EXPORT_API Result queue_motion_push_back_conveyor_check_pos_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id )

queue_motion_push_back_conveyor_clear()

EXPORT_API Result queue_motion_push_back_conveyor_clear	(	SOCKETFD	socketFd,
		int	id,
		int	removeType )

队列运动模式的本地队列最后插入一条CONVEYOR_POS(获取传送带跟踪位置)指令

Parameters

id	工艺号
removeType	删除范围 0 全部目标 1本次目标

queue_motion_push_back_conveyor_clear_robot()

EXPORT_API Result queue_motion_push_back_conveyor_clear_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id,
		int	removeType )

queue_motion_push_back_conveyor_off()

EXPORT_API Result queue_motion_push_back_conveyor_off	(	SOCKETFD	socketFd,
		int	id )

队列运动模式的本地队列最后插入一条CONVEYOR_OFF(传送带跟踪结束)指令

Parameters

id

工艺号

queue_motion_push_back_conveyor_off_robot()

EXPORT_API Result queue_motion_push_back_conveyor_off_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id )

queue_motion_push_back_conveyor_on()

EXPORT_API Result queue_motion_push_back_conveyor_on	(	SOCKETFD	socketFd,
		int	id,
		int	postype,
		std::vector< double >	pos,
		int	vel,
		int	acc )

队列运动模式的本地队列最后插入一条CONVEYOR_ON(传送带跟踪开始)指令

Parameters

id	工艺号
posTtype	0:需要手动传入点位 1：默认使用工件点
pos	坐标 长度14位 [0-7]坐标信息(坐标系,坐标值的角度弧度制等) [8-14]坐标数据
vel	参数范围[2,2000] mm/s
acc	参数范围[1,100]%

queue_motion_push_back_conveyor_on_robot()

EXPORT_API Result queue_motion_push_back_conveyor_on_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id,
		int	postype,
		std::vector< double >	pos,
		int	vel,
		int	acc )

queue_motion_push_back_conveyor_pos()

EXPORT_API Result queue_motion_push_back_conveyor_pos	(	SOCKETFD	socketFd,
		int	id,
		const std::string	posName )

队列运动模式的本地队列最后插入一条CONVEYOR_POS(获取传送带跟踪位置)指令

Parameters

id	工艺号
posName	全局点位名

queue_motion_push_back_conveyor_pos_robot()

EXPORT_API Result queue_motion_push_back_conveyor_pos_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id,
		const std::string	posName )

queue_motion_push_back_dout()

EXPORT_API Result queue_motion_push_back_dout	(	SOCKETFD	socketFd,
		int	port,
		bool	value )

队列运动模式的本地队列最后插入一条DOUT指令

Parameters

port	端口
value

queue_motion_push_back_dout_robot()

EXPORT_API Result queue_motion_push_back_dout_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	port,
		bool	value )

queue_motion_push_back_end_if()

EXPORT_API Result queue_motion_push_back_end_if

(

SOCKETFD

socketFd

)

队列运动模式的本地队列最后插入一条ENDIF(结束如果)指令

queue_motion_push_back_end_if_robot()

EXPORT_API Result queue_motion_push_back_end_if_robot	(	SOCKETFD	socketFd,
		int	robotNum )

queue_motion_push_back_end_until()

EXPORT_API Result queue_motion_push_back_end_until

(

SOCKETFD

socketFd

)

队列运动模式的本地队列最后插入一条ENDUNTIL(结束直到)指令

queue_motion_push_back_end_until_robot()

EXPORT_API Result queue_motion_push_back_end_until_robot	(	SOCKETFD	socketFd,
		int	robotNum )

queue_motion_push_back_end_while()

EXPORT_API Result queue_motion_push_back_end_while

(

SOCKETFD

socketFd

)

队列运动模式的本地队列最后插入一条ENDWHILE(结束直到)指令

queue_motion_push_back_end_while_robot()

EXPORT_API Result queue_motion_push_back_end_while_robot	(	SOCKETFD	socketFd,
		int	robotNum )

queue_motion_push_back_if()

EXPORT_API Result queue_motion_push_back_if	(	SOCKETFD	socketFd,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup )

队列运动模式的本地队列最后插入一条IF(如果)指令

Parameters

socketFd	套接字文件描述符
conditionGroups	条件组的二维向量
logic	第一层的逻辑类型，0为"与"，1为"或"
logicGroup	第二层的逻辑类型，0为"与"，1为"或"

queue_motion_push_back_if_robot()

EXPORT_API Result queue_motion_push_back_if_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup )

queue_motion_push_back_imove()

EXPORT_API Result queue_motion_push_back_imove	(	SOCKETFD	socketFd,
		MoveCmd	moveCmd )

队列运动模式的本地队列最后插入一条imove增量运动

Parameters

targetPos	目标点坐标 长度7+7 本体7位 外部轴7位
velocity	参数范围(1,1000] mm/s
acc，dec	参数范围(1,100]
pl	多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_imove_rbobt()

EXPORT_API Result queue_motion_push_back_imove_rbobt	(	SOCKETFD	socketFd,
		int	robotNum,
		MoveCmd	moveCmd )

queue_motion_push_back_jump()

EXPORT_API Result queue_motion_push_back_jump	(	SOCKETFD	socketFd,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup,
		bool	jumpConditionFlag,
		const std::string &	label )

队列运动模式的本地队列最后插入一条JUMP(跳转)指令

queue_motion_push_back_jump_robot()

EXPORT_API Result queue_motion_push_back_jump_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup,
		bool	jumpConditionFlag,
		const std::string &	label )

queue_motion_push_back_label()

EXPORT_API Result queue_motion_push_back_label	(	SOCKETFD	socketFd,
		const std::string &	label )

队列运动模式的本地队列最后插入一条LABEL(标签)指令

Parameters

label

标签名字

queue_motion_push_back_label_robot()

EXPORT_API Result queue_motion_push_back_label_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		const std::string &	label )

queue_motion_push_back_moveC()

EXPORT_API Result queue_motion_push_back_moveC	(	SOCKETFD	socketFd,
		MoveCmd	moveCmd )

队列运动模式的本地队列最后插入一条moveC运动

Parameters

targetPos	目标点坐标 长度7位
velocity	参数范围(1,1000] mm/s
acc，dec	参数范围(1,100]
pl	多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveC_robot()

EXPORT_API Result queue_motion_push_back_moveC_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		MoveCmd	moveCmd )

queue_motion_push_back_moveCA()

EXPORT_API Result queue_motion_push_back_moveCA	(	SOCKETFD	socketFd,
		MoveCmd	moveCmd )

队列运动模式的本地队列最后插入一条moveCA运动

Parameters

targetPos	目标点坐标 长度7位
velocity	参数范围(1,1000] mm/s
acc，dec	参数范围(1,100]
pl	多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveCA_robot()

EXPORT_API Result queue_motion_push_back_moveCA_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		MoveCmd	moveCmd )

queue_motion_push_back_moveJ()

EXPORT_API Result queue_motion_push_back_moveJ	(	SOCKETFD	socketFd,
		MoveCmd	moveCmd )

队列运动模式的本地队列最后插入一条moveJ运动

Parameters

moveCmd

targetPos 目标点坐标 长度7位 velocity 参数范围(1,100] 度/s acc，dec 参数范围(1,100] pl 多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveJ_extra()

EXPORT_API Result queue_motion_push_back_moveJ_extra	(	SOCKETFD	socketFd,
		MoveCmd	moveCmd )

队列运动模式的本地队列最后插入一条moveJExtra外部轴关节运动

Parameters

targetPos	目标点坐标 长度7+7 本体7位 外部轴7位
velocity	参数范围(1,100] 度/s
acc，dec	参数范围(1,100]
pl	多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveJ_extra_robot()

EXPORT_API Result queue_motion_push_back_moveJ_extra_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		MoveCmd	moveCmd )

queue_motion_push_back_moveJ_robot()

EXPORT_API Result queue_motion_push_back_moveJ_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		MoveCmd	moveCmd )

queue_motion_push_back_moveL()

EXPORT_API Result queue_motion_push_back_moveL	(	SOCKETFD	socketFd,
		MoveCmd	moveCmd )

队列运动模式的本地队列最后插入一条moveL运动

Parameters

targetPos	目标点坐标 长度7位
velocity	参数范围(1,1000] mm/s
acc，dec	参数范围(1,100]
pl	多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveL_extra()

EXPORT_API Result queue_motion_push_back_moveL_extra	(	SOCKETFD	socketFd,
		MoveCmd	moveCmd )

队列运动模式的本地队列最后插入一条moveLExtra外部轴关节运动

Parameters

targetPos	目标点坐标 长度7+7 本体7位 外部轴7位
velocity	参数范围(1,1000] mm/s
acc，dec	参数范围(1,100]
pl	多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveL_extra_robot()

EXPORT_API Result queue_motion_push_back_moveL_extra_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		MoveCmd	moveCmd )

queue_motion_push_back_moveL_robot()

EXPORT_API Result queue_motion_push_back_moveL_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		MoveCmd	moveCmd )

queue_motion_push_back_moveS()

EXPORT_API Result queue_motion_push_back_moveS	(	SOCKETFD	socketFd,
		MoveCmd	moveCmd )

队列运动模式的本地队列最后插入一条moveS运动

Parameters

targetPos	目标点坐标 长度7位
velocity	参数范围(1,1000] mm/s
acc，dec	参数范围(1,100]
pl	多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveS_robot()

EXPORT_API Result queue_motion_push_back_moveS_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		MoveCmd	moveCmd )

queue_motion_push_back_samov()

EXPORT_API Result queue_motion_push_back_samov	(	SOCKETFD	socketFd,
		MoveCmd	moveCmd,
		PositionData	posData )

队列运动模式的本地队列最后插入一条SAMOV(定点移动)指令

queue_motion_push_back_samov_robot()

EXPORT_API Result queue_motion_push_back_samov_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		MoveCmd	moveCmd,
		PositionData	posData )

queue_motion_push_back_spot_weld()

EXPORT_API Result queue_motion_push_back_spot_weld	(	SOCKETFD	socketFd,
		int	id,
		double	time )

队列运动模式的本地队列最后插入一条SPOTWEDL(点焊)指令

Parameters

id	工艺号
time	点焊时间范围(0,1000]

queue_motion_push_back_spot_weld_robot()

EXPORT_API Result queue_motion_push_back_spot_weld_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id,
		double	time )

queue_motion_push_back_tigweld_off()

EXPORT_API Result queue_motion_push_back_tigweld_off

(

SOCKETFD

socketFd

)

队列运动模式的本地队列最后插入一条TIGWELD(鱼鳞焊结束)指令

queue_motion_push_back_tigweld_off_robot()

EXPORT_API Result queue_motion_push_back_tigweld_off_robot	(	SOCKETFD	socketFd,
		int	robotNum )

queue_motion_push_back_tigweld_on()

EXPORT_API Result queue_motion_push_back_tigweld_on	(	SOCKETFD	socketFd,
		int	type,
		double	l1,
		double	l2 )

队列运动模式的本地队列最后插入一条TIGWELD(鱼鳞焊开始)指令

Parameters

type	1:点焊时间 2:点焊距离
l1	点焊时间参数范围[0.01-10]S 焊接距离参数范围[0.01-9999]MM
l2	空走距离参数范围[0.01-9999]MM

queue_motion_push_back_tigweld_on_robot()

EXPORT_API Result queue_motion_push_back_tigweld_on_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	type,
		double	l1,
		double	l2 )

queue_motion_push_back_timer()

EXPORT_API Result queue_motion_push_back_timer	(	SOCKETFD	socketFd,
		double	time )

队列运动模式的本地队列最后插入一条Timer指令

Parameters

time

延时 单位s

queue_motion_push_back_timer_robot()

EXPORT_API Result queue_motion_push_back_timer_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		double	time )

queue_motion_push_back_TOFFSETOFF()

EXPORT_API Result queue_motion_push_back_TOFFSETOFF

(

SOCKETFD

socketFd

)

队列运动模式的本地队列最后插入一条TOFFSETOFF(轨迹偏移结束)指令

queue_motion_push_back_TOFFSETOFF_robot()

EXPORT_API Result queue_motion_push_back_TOFFSETOFF_robot	(	SOCKETFD	socketFd,
		int	robotNum )

queue_motion_push_back_TOFFSETON()

EXPORT_API Result queue_motion_push_back_TOFFSETON	(	SOCKETFD	socketFd,
		OffsetCommandParam	params )

队列运动模式的本地队列最后插入一条TOFFSETON(轨迹偏移开始)指令

queue_motion_push_back_TOFFSETON_robot()

EXPORT_API Result queue_motion_push_back_TOFFSETON_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		OffsetCommandParam	params )

queue_motion_push_back_until()

EXPORT_API Result queue_motion_push_back_until	(	SOCKETFD	socketFd,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup )

队列运动模式的本地队列最后插入一条UNTIL(直到)指令

Parameters

socketFd	套接字文件描述符
conditionGroups	条件组的二维向量
logic	第一层的逻辑类型，0为"与"，1为"或"
logicGroup	第二层的逻辑类型，0为"与"，1为"或"

queue_motion_push_back_until_robot()

EXPORT_API Result queue_motion_push_back_until_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup )

queue_motion_push_back_vision_craft_get_pos()

EXPORT_API Result queue_motion_push_back_vision_craft_get_pos	(	SOCKETFD	socketFd,
		int	id,
		const std::string	posName )

队列运动模式的本地队列最后插入一条VISION_POS(获取视觉位置)指令

Parameters

id	工艺号
posName	存放位置的变量名字GP0001

queue_motion_push_back_vision_craft_get_pos_robot()

EXPORT_API Result queue_motion_push_back_vision_craft_get_pos_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id,
		const std::string	posName )

queue_motion_push_back_vision_craft_start()

EXPORT_API Result queue_motion_push_back_vision_craft_start	(	SOCKETFD	socketFd,
		int	id )

队列运动模式的本地队列最后插入一条VISION_RUN(开始视觉)指令

Parameters

id

工艺号

queue_motion_push_back_vision_craft_start_robot()

EXPORT_API Result queue_motion_push_back_vision_craft_start_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id )

queue_motion_push_back_vision_craft_visual_end()

EXPORT_API Result queue_motion_push_back_vision_craft_visual_end	(	SOCKETFD	socketFd,
		int	id )

队列运动模式的本地队列最后插入一条VISION_ENDL(视觉结束)指令

Parameters

id	工艺号
time	点焊时间范围(0,1000]

queue_motion_push_back_vision_craft_visual_end_robot()

EXPORT_API Result queue_motion_push_back_vision_craft_visual_end_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id )

queue_motion_push_back_vision_craft_visual_trigger()

EXPORT_API Result queue_motion_push_back_vision_craft_visual_trigger	(	SOCKETFD	socketFd,
		int	id )

队列运动模式的本地队列最后插入一条VISION_TRG(触发视觉)指令

Parameters

id	工艺号
time	点焊时间范围(0,1000]

queue_motion_push_back_vision_craft_visual_trigger_robot()

EXPORT_API Result queue_motion_push_back_vision_craft_visual_trigger_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id )

queue_motion_push_back_wave_off()

EXPORT_API Result queue_motion_push_back_wave_off	(	SOCKETFD	socketFd,
		int	id )

队列运动模式的本地队列最后插入一条WVOFF(摆焊结束)指令

Parameters

id	工艺号 工艺号 参数范围[1-9]

queue_motion_push_back_wave_off_robot()

EXPORT_API Result queue_motion_push_back_wave_off_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id )

queue_motion_push_back_wave_on()

EXPORT_API Result queue_motion_push_back_wave_on	(	SOCKETFD	socketFd,
		int	id )

队列运动模式的本地队列最后插入一条WVON(摆焊开始)指令

Parameters

id	工艺号 参数范围[1-9]

queue_motion_push_back_wave_on_robot()

EXPORT_API Result queue_motion_push_back_wave_on_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	id )

queue_motion_push_back_while()

EXPORT_API Result queue_motion_push_back_while	(	SOCKETFD	socketFd,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup )

队列运动模式的本地队列最后插入一条WHILE(循环)指令

Parameters

socketFd	套接字文件描述符
conditionGroups	条件组的二维向量
logic	第一层的逻辑类型，0为"与"，1为"或"
logicGroup	第二层的逻辑类型，0为"与"，1为"或"

queue_motion_push_back_while_robot()

EXPORT_API Result queue_motion_push_back_while_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup )

queue_motion_restart()

EXPORT_API Result queue_motion_restart

(

SOCKETFD

socketFd

)

暂停后再次运行运动队列

queue_motion_restart_robot()

EXPORT_API Result queue_motion_restart_robot	(	SOCKETFD	socketFd,
		int	robotNum )

queue_motion_send_to_controller()

EXPORT_API Result queue_motion_send_to_controller	(	SOCKETFD	socketFd,
		int	size )

将本地队列的前size个数据发送到控制器

Parameters

size	要发送的队列大小 size = 0时将当前运动队列全部指令发送 范围[0,31];

Returns

0-成功 -1-失败 -2-未连接机器人 -3-传入的size超过队列长度

Warning

控制器接受到队列后，将会立马开始运动。调用前请先调用queue_motion_set_status(true);

queue_motion_send_to_controller_robot()

EXPORT_API Result queue_motion_send_to_controller_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	size )

queue_motion_set_status()

EXPORT_API Result queue_motion_set_status	(	SOCKETFD	socketFd,
		bool	status )

打开or关闭控制器的队列运动模式

Parameters

status

0-关闭 1-打开

Returns

0-成功 -1-失败 -2-未连接机器人

Warning

无论是打开还是关闭，都将清空远端控制器已经存储的队列

queue_motion_set_status_robot()

EXPORT_API Result queue_motion_set_status_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		bool	status )

queue_motion_size()

EXPORT_API Result queue_motion_size	(	SOCKETFD	socketFd,
		int &	size )

查询当前运动队列的长度

queue_motion_size_robot()

EXPORT_API Result queue_motion_size_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int &	size )

queue_motion_stop()

EXPORT_API Result queue_motion_stop

(

SOCKETFD

socketFd

)

停止连续运动

Deprecated

该接口已废弃，建议使用 queue_motion_stop_not_power_off 替代。

queue_motion_stop_not_power_off()

EXPORT_API Result queue_motion_stop_not_power_off

(

SOCKETFD

socketFd

)

停止连续运动保持上电状态

queue_motion_stop_not_power_off_robot()

EXPORT_API Result queue_motion_stop_not_power_off_robot	(	SOCKETFD	socketFd,
		int	robotNum )

queue_motion_stop_robot()

EXPORT_API Result queue_motion_stop_robot	(	SOCKETFD	socketFd,
		int	robotNum )

queue_motion_suspend()

EXPORT_API Result queue_motion_suspend

(

SOCKETFD

socketFd

)

暂停连续运动

queue_motion_suspend_robot()

EXPORT_API Result queue_motion_suspend_robot	(	SOCKETFD	socketFd,
		int	robotNum )