|
The RMP Motion Controller APIs
|
|
|
The RMP Motion Controller APIs
|
Represents a G-code program executor. This class provides an interface to load and run G-code programs with a callback interface for M-codes. An instance of this class is created by the Robot class, access it via the Robot.Gcode property. More...
Functions | |
| double | AccelerationRateGet ()=0 |
| Gets the target acceleration for the machine (GcodeUnitsGet()/minute^2). | |
| void | AccelerationRateSet (double programmingUnitsPerMinuteSquared)=0 |
| Sets the target acceleration for the machine (units/minute^2). Should be set apprpriately based on your hardware. | |
| GCodeWorkOffset | ActiveWorkOffsetGet ()=0 |
| Gets the enum representing the location where the current offset is saved. | |
| void | ActiveWorkOffsetSelect (GCodeWorkOffset workOffset)=0 |
| Apply the offset saved under the specified location. | |
| const Pose & | ActiveWorkOffsetValuesGet ()=0 |
| Gets the actual values of the currently applied offset. | |
| void | CallbackRegister (Cartesian::GcodeCallback *callback)=0 |
| G-code callback register. | |
| void | Cancel ()=0 |
| Cancel the currently running G-code program. | |
| uint64_t | DoneWait (uint64_t timeoutMilliseconds)=0 |
| Wait for the completion of G-code program execution with a timeout. | |
| double | DurationGet ()=0 |
| Get the time duration required to run the loaded G-Code program in seconds. | |
| int32_t | ExecutingLineNumberGet ()=0 |
| Get the currently executing line number. | |
| double | FeedRateGet ()=0 |
| Gets the target feed rate for the machine (GcodeUnitsGet()/minute). | |
| void | FeedRateSet (double programmingUnitsPerMinute)=0 |
| Sets the target feed rate for the machine (units/minute). | |
| void | FreeAxisLetterSet (const char gcodeLetter, const int freeAxisIndex)=0 |
| Map a letter in a Gcode file to a free axis. It will be used to specify the free axis' motion. | |
| bool | IsRunning ()=0 |
| Returns true if a Gcode program is executing, false otherwise. | |
| int32_t | LineCountGet ()=0 |
| Get the number of lines in the last loaded G-Code program. | |
| const char *const | LineTextGet (uint32_t lineNumber)=0 |
| Gives you the text of a specific line from the last loaded program excluding all comments and with only once space between chunks. | |
| RapidVector< RobotPosition > | PlannedPositionsGet (uint64_t startFrame, uint64_t frameCount)=0 |
| Get RobotPositions representing the planned G-Code motion in cartesian space that will happen when run is called. Also includes the positions of the free axes. | |
| const char *const | ProgramGet ()=0 |
| Gets the raw file contents of the last loaded program. | |
| void | ReloadLines (int32_t start=0, int32_t end=-1)=0 |
| Reloads the lines from the last call to GcodeStringLoad() but only between start line and end of file. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
| void | Run ()=0 |
| Run the loaded G-Code file (or string). The behavior is non-blocking. Use Robot.MotionDoneWait() to block. | |
| int32_t | SyntaxErrorLineNumberGet ()=0 |
| Gets the line number of any errors in the G-Code syntax. | |
| LinearUnits | UnitsGet ()=0 |
| Get the currently active unit as set by G20/G21. | |
| void | UnitsSet (LinearUnits units)=0 |
| Set the currently active unit (same as calling G20/G21) | |
| void | WorkOffsetConfigure (GCodeWorkOffset workOffset, Vector3d offsetValues)=0 |
| Save an XYZ offset to be used with specified G-Code work offset. | |
| const char *const | VersionGet () |
| Get the RSI RapidCode version. | |
| int32_t | MpiVersionMajor () |
| Get the major MPI version. | |
| int32_t | MpiVersionMinor () |
| Get the minor MPI version. | |
| int32_t | MpiVersionRelease () |
| Get the release MPI version. | |
| int32_t | RSIVersionMajor () |
| Get the major RSI version. | |
| int32_t | RSIVersionMinor () |
| Get the minor RSI version. | |
| int32_t | RSIVersionMicro () |
| Get the micro RSI version. | |
| int32_t | RSIVersionPatch () |
| Get the patch RSI version. | |
| int32_t | NumberGet () |
| Get the zero-based index of this object. | |
| int32_t | ErrorLogCountGet () |
| Get the number of software errors in the error log. | |
| const RsiError *const | ErrorLogGet () |
| Get the next RsiError in the log. | |
| void | ErrorLogClear () |
| Clear the error log. | |
| void | ThrowExceptions (bool state) |
| Configure a class to throw exceptions. | |
| const char *const | RsiErrorMessageGet (RSIErrorMessage msg) |
| Get the RSI-specific error message text for a specific RSIErrorMessage. | |
| const char *const | ErrorMessageGet (RSIErrorMessage msg) |
| Get the detailed text message for an RSIErrorMessage. | |
| bool | WarningMsgCheck (RSIErrorMessage msg) |
| Check to see if an RSIErrorMessage is a warning (true) or not (false). | |
| void | Trace (bool state) |
| Enables/Disables trace output. | |
| void | TraceMaskOnSet (RSITrace maskOn) |
| Turn on a particular trace output mask. | |
| bool | TraceMaskOnGet (RSITrace maskOn) |
| Check to see if a particular trace output mask is turned on. | |
| void | TraceMaskOffSet (RSITrace maskOff) |
| Turn off a particular trace output mask. | |
| void | TraceMaskClear () |
| Clear the trace output mask. | |
| void | TraceFileSet (const char *const fileName) |
| Channels Tracing messages to specified file. | |
| void | TraceFileClose () |
| Stops Logging to the file. | |
| void | TraceInjectMessage (RSITrace traceLevel, const char *const message) |
| Add a message to the Trace Log. | |
Definition at line 1468 of file cartesianrobot.h.
1.10.0