The interface for a fanuc robot. More...

#include <Fanuc.hpp>

Inherited by FanucDriver, and FanucVirtual.

Public Member Functions
virtual	~Fanuc ()
	destruct object

virtual void	setGlobalSpeed (int speed)=0
	sets the speed in percentage of the maximum speed. More...

virtual int	getGlobalSpeed ()=0
	gets the speed in percentage of the maximum speed. More...

virtual void	moveFineQ (rw::math::Q const &q)=0
	sends a move FINE command to the fanuc controller. The FINE command moves to the given Q and stops. More...

virtual void	moveCntQ (rw::math::Q const &q)=0
	sends a move CNT command to the fanuc controller. The CNT command moves toward the given Q and blends toward the next move command if any is given before q is reached. More...

virtual bool	isMoveComplete ()=0
	queries if the last move instuction is completed. Notice that the CNT move instruction completes before reaching the goal configuration. More...

virtual void	setCntQSpeed (int speed)=0
	sets the speed of the moveCntQ instruction in percentage of the globalspeed. More...

virtual void	setFineQSpeed (int speed)=0
	sets the speed of the moveFineQ instruction in percentage of the globalspeed. More...

virtual void	setCntQAcc (int acc)=0
	sets the acceleration override of the moveCntQ instruction in percentage of "normal" acceleration were normal is 100%. More...

virtual void	setFineQAcc (int acc)=0
	sets the acceleration override of the moveFineQ instruction in percentage of "normal" acceleration were normal is 100%. More...

virtual rw::math::Q	getQ ()=0
	gets the joint configuration of the robot. The configuration is only updated by calls to the update function. More...

virtual rw::math::Q	getdQ ()=0
	gets the joint velocities of the robot. The configuration is only updated by calls to the update function. More...

virtual void	update ()=0
	updates all internal registers and transmits commands to the robot controller.

virtual bool	connect ()=0
	connects to the robot controller More...

virtual bool	isConnected ()=0
	returns if connected to fanuc controller More...

virtual void	disconnect ()=0
	disconnects from the robot controller

virtual void	callRobotProgram (unsigned int progNr)=0
	calls a program on the robot controller.

virtual void	setCallArguments (float arg1, float arg2, float arg3)=0
	We allow 3 arguments to be setup before calling a robot program. More...

virtual bool	isCallFinished ()=0
	checks if a call to a robot program on the controller is finished

virtual bool	notifyProgram ()=0
	notifies the robot controller by setting the notify register to 1.0 More...

virtual bool	isCallWaiting ()=0
	checks if the robot controller is waiting for a notify. More...

virtual float	getLastError ()=0
	check last occored error More...

virtual void	resetError ()=0
	resets the error status

Detailed Description

The interface for a fanuc robot.

All internal values are updated using the update function. That means a call to moveCntQ(q) is first sent to the robot when update() is called.

Member Function Documentation

◆ connect()

virtual bool connect ( )

pure virtual

connects to the robot controller

Returns: true if connect is succesfull, false otherwise

Implemented in FanucVirtual, and FanucDriver.

◆ getdQ()

virtual rw::math::Q getdQ ( )

pure virtual

gets the joint velocities of the robot. The configuration is only updated by calls to the update function.

Returns: the current joint velocity.

Implemented in FanucVirtual, and FanucDriver.

◆ getGlobalSpeed()

virtual int getGlobalSpeed ( )

pure virtual

gets the speed in percentage of the maximum speed.

The speed is always in the interval [0;100]

Implemented in FanucVirtual, and FanucDriver.

◆ getLastError()

virtual float getLastError ( )

pure virtual

check last occored error

Returns: error code of last returned error

Implemented in FanucVirtual, and FanucDriver.

◆ getQ()

virtual rw::math::Q getQ ( )

pure virtual

gets the joint configuration of the robot. The configuration is only updated by calls to the update function.

Returns: the current joint configuration.

Implemented in FanucVirtual, and FanucDriver.

◆ isCallWaiting()

virtual bool isCallWaiting ( )

pure virtual

checks if the robot controller is waiting for a notify.

Returns: true if robot controller is waiting for notify false otherwise

Implemented in FanucVirtual, and FanucDriver.

◆ isConnected()

virtual bool isConnected ( )

pure virtual

returns if connected to fanuc controller

Returns: true if connected, false otherwise

Implemented in FanucVirtual, and FanucDriver.

◆ isMoveComplete()

virtual bool isMoveComplete ( )

pure virtual

queries if the last move instuction is completed. Notice that the CNT move instruction completes before reaching the goal configuration.

Returns: true if last move instruction is complete false otherwise.

Implemented in FanucVirtual, and FanucDriver.

◆ moveCntQ()

virtual void moveCntQ ( rw::math::Q const & q )

pure virtual

sends a move CNT command to the fanuc controller. The CNT command moves toward the given Q and blends toward the next move command if any is given before q is reached.

Parameters

q	[in] The joint configuration to move to.

Implemented in FanucVirtual, and FanucDriver.

◆ moveFineQ()

virtual void moveFineQ ( rw::math::Q const & q )

pure virtual

sends a move FINE command to the fanuc controller. The FINE command moves to the given Q and stops.

Parameters

q	[in] The joint configuration to move to.

Implemented in FanucVirtual, and FanucDriver.

◆ notifyProgram()

virtual bool notifyProgram ( )

pure virtual

notifies the robot controller by setting the notify register to 1.0

Returns: true if notify is posible, false otherwise.

Note: that the notification will happen at the next update

Implemented in FanucVirtual, and FanucDriver.

◆ setCallArguments()

virtual void setCallArguments	(	float	arg1,
		float	arg2,
		float	arg3
	)

pure virtual

We allow 3 arguments to be setup before calling a robot program.

Parameters

arg1	[in] first argument
arg2	[in] second argument
arg3	[in] third argument

Implemented in FanucVirtual, and FanucDriver.

◆ setCntQAcc()

virtual void setCntQAcc ( int acc )

pure virtual

sets the acceleration override of the moveCntQ instruction in percentage of "normal" acceleration were normal is 100%.

Parameters

acc	[in] the acceleration overide in percent ]0;500]

Implemented in FanucVirtual, and FanucDriver.

◆ setCntQSpeed()

virtual void setCntQSpeed ( int speed )

pure virtual

sets the speed of the moveCntQ instruction in percentage of the globalspeed.

Parameters

speed [in] the speed in percent ]0;100]

Implemented in FanucVirtual, and FanucDriver.

◆ setFineQAcc()

virtual void setFineQAcc ( int acc )

pure virtual

sets the acceleration override of the moveFineQ instruction in percentage of "normal" acceleration were normal is 100%.

Parameters

acc	[in] the acceleration overide in percent ]0;500]

Implemented in FanucVirtual, and FanucDriver.

◆ setFineQSpeed()

virtual void setFineQSpeed ( int speed )

pure virtual

sets the speed of the moveFineQ instruction in percentage of the globalspeed.

Parameters

speed [in] the speed in percent ]0;100]

Implemented in FanucVirtual, and FanucDriver.

◆ setGlobalSpeed()

virtual void setGlobalSpeed ( int speed )

pure virtual

sets the speed in percentage of the maximum speed.

The speed can be set in the interval [0;100]

Implemented in FanucVirtual, and FanucDriver.

The documentation for this class was generated from the following file:

Fanuc.hpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ connect()

◆ getdQ()

◆ getGlobalSpeed()

◆ getLastError()

◆ getQ()

◆ isCallWaiting()

◆ isConnected()

◆ isMoveComplete()

◆ moveCntQ()

◆ moveFineQ()

◆ notifyProgram()

◆ setCallArguments()

◆ setCntQAcc()

◆ setCntQSpeed()

◆ setFineQAcc()

◆ setFineQSpeed()

◆ setGlobalSpeed()