Data Structures
struct	AMOR_JOINT_INFO
	Representation of joint limit information. More...
struct	AMOR_JOINT_VERSION
	Representation of joint firmware version. More...
struct	AMOR_MATRIX44
	Struct representing a 4x4 matrix. More...
Defines
#define	AMOR_SUCCESS 0
	Represents successfull excution of a function.
#define	AMOR_FAILED -1
	Represents unsuccessfull excution of a function. See amor_errno and amor_error for details.
#define	AMOR_INVALID_HANDLE 0
	Returned from amor_connect if the function call fails. See amor_errno and amor_error for details.
#define	AMOR_NO_WARNING 0
	There is currently no warning.
#define	AMOR_WARN_TEMPERATURE 1
	The joint temperature is too high/low.
#define	AMOR_WARN_LOWER_END_SWITCH 2
	The joint has reached the lower end-switch.
#define	AMOR_WARN_UPPER_END_SWITCH 3
	The joint has reached the upper end-switch.
#define	AMOR_WARN_BUFFER_EMPTY 5
	The setpoint buffer is empty.
#define	AMOR_NUM_JOINTS 7
	AMOR amount of joints.
#define	AMOR_ERROR_NONE 0
	Returned from amor_error when no error is.
#define	AMOR_ERROR_UNKNOWN 1
	An unknown error has occured.
#define	AMOR_ERROR_CONNECTION_FAILURE 2
	Returned when the connection with the AMOR failed.
#define	AMOR_ERROR_INVALID_ARGUMENT 3
	Returned when an invalid argument has been supplied.
#define	AMOR_ERROR_COMMUNICATION 4
	Returned when there are communication problems.
#define	AMOR_ERROR_CAN_DRIVER 5
	Returned when the CAN driver fails.
Typedefs
typedef void *	AMOR_HANDLE
	Represents a handle to the AMOR API.
typedef int	AMOR_RESULT
	Represents the result from calling an AMOR API library function.
typedef double	real
	In the AMOR API library, reals are represented as doubles.
typedef real	AMOR_VECTOR7 [AMOR_NUM_JOINTS]
	Representation of a 7 dimensional real vector.
Enumerations
enum	amor_movement_status { AMOR_MOVEMENT_STATUS_MOVING, AMOR_MOVEMENT_STATUS_PENDING, AMOR_MOVEMENT_STATUS_FINISHED }
	Current status of the movement. More...
Functions
void	amor_get_library_version (int major, int minor, int *build)
	Request AMOR API library version information.
AMOR_HANDLE	amor_connect (char *libraryName, int can_port)
	Open/initiate a connection to AMOR.
AMOR_RESULT	amor_set_currents (AMOR_HANDLE handle, AMOR_VECTOR7 currents)
	Specify the currents that should be applied to each joint motor.
AMOR_RESULT	amor_get_req_currents (AMOR_HANDLE handle, AMOR_VECTOR7 *currents)
	Retrieve the requested motor currents.
AMOR_RESULT	amor_get_actual_currents (AMOR_HANDLE handle, AMOR_VECTOR7 *currents)
	Retrieve the currents that are currently measured at the joint motors.
AMOR_RESULT	amor_set_voltages (AMOR_HANDLE handle, AMOR_VECTOR7 voltages)
	Specify the voltages that should be applied to each joint motor.
AMOR_RESULT	amor_get_req_voltages (AMOR_HANDLE handle, AMOR_VECTOR7 *voltages)
	Retrieve the requested motor voltages.
AMOR_RESULT	amor_get_actual_voltages (AMOR_HANDLE handle, AMOR_VECTOR7 *voltages)
	Retrieve the voltages that are currently measured at the joint motors.
AMOR_RESULT	amor_set_positions (AMOR_HANDLE handle, AMOR_VECTOR7 positions)
	Specify the joints angles the robot should try to move to.
AMOR_RESULT	amor_get_req_positions (AMOR_HANDLE handle, AMOR_VECTOR7 *positions)
	Request the joints angles the robot was last commanded to move to.
AMOR_RESULT	amor_get_actual_positions (AMOR_HANDLE handle, AMOR_VECTOR7 *positions)
	Retrieve the actual joints angles of the robot.
AMOR_RESULT	amor_set_velocities (AMOR_HANDLE handle, AMOR_VECTOR7 velocities)
	Specify the joint velocities the robot should try achieve.
AMOR_RESULT	amor_get_req_velocities (AMOR_HANDLE handle, AMOR_VECTOR7 *velocities)
	Request the joint velocities the robot was last commanded to achieve.
AMOR_RESULT	amor_get_actual_velocities (AMOR_HANDLE handle, AMOR_VECTOR7 *velocities)
	Retrieve the actual joints angles of the robot.
AMOR_RESULT	amor_emergency_stop (AMOR_HANDLE handle)
	Command an emergency stop to the robot.
AMOR_RESULT	amor_controlled_stop (AMOR_HANDLE handle)
	Command a controlled stop to the robot.
AMOR_RESULT	amor_release (AMOR_HANDLE handle)
	Release the handle to the AMOR robot.
AMOR_RESULT	amor_get_status (AMOR_HANDLE handle, int joint, int *status)
AMOR_RESULT	amor_get_joint_info (AMOR_HANDLE handle, int joint, AMOR_JOINT_INFO *parameters)
	Retrieve limit information of an AMOR joint.
AMOR_RESULT	amor_get_movement_status (AMOR_HANDLE handle, amor_movement_status *status)
	Retrieve current position and velocity movement status.
AMOR_RESULT	amor_set_cartesian_velocities (AMOR_HANDLE handle, AMOR_VECTOR7 velocities)
	Specify the cartesian joint velocities the robot should try achieve.
AMOR_RESULT	amor_set_cartesian_positions (AMOR_HANDLE handle, AMOR_VECTOR7 positions)
	Specify the cartesian position the robot should try to move to.
AMOR_RESULT	amor_get_cartesian_position (AMOR_HANDLE handle, AMOR_VECTOR7 &positions)
	Retrieve the actual cartesian position of the robot.
unsigned int	amor_errno ()
const char *	amor_error ()

Enumeration Type Documentation

enum amor_movement_status

Current status of the movement.

Enumerator:

AMOR_MOVEMENT_STATUS_MOVING	AMOR is moving.
AMOR_MOVEMENT_STATUS_PENDING	Movement is pending.
AMOR_MOVEMENT_STATUS_FINISHED	AMOR reached the requested position.

Function Documentation

AMOR_HANDLE amor_connect	(	char *	libraryName,
		int	can_port
	)

Open/initiate a connection to AMOR.

Before it is possible to control AMOR with this API, a connection needs to be initiated. This function will open and initiate the connection to AMOR. The handle that is returned should be stored and supplied to all functions of this API. It is possible to open multiple connections to multiple AMOR connected to the PC, however it is not possible to open multiple connections to a single AMOR.

Note:: Make sure AMOR is powered before calling this function.

Parameters:

[in]	libraryName	a null terminated string referring to the canlib dll driver that should be used to connect to the CAN interface.
[in]	can_port	CAN device net number to which AMOR is connected Please refer to the manual of the CAN interface device for information about installing and using the CAN device.

Returns:: If successful, a valid AMOR_HANDLE is returned. In case of an error AMOR_INVALID_HANDLE is returned. Use amor_errno() for requesting the corresponding error code, and amor_error() for a textual representation of the error.

AMOR_RESULT amor_controlled_stop ( AMOR_HANDLE handle )

Command a controlled stop to the robot.

The robot will decelerate to zero velocity as fast as permissible by the joint acceleration limits. Note that this function does not aim to make all joints stop simultaneously. Each joint is stopped as quick as possible. After stopping, the robot remains in NORMAL_POSITION_MODE. Thus, no brakes will be applied and the robot will aim to keep the position reached after stopping.

Note:: This function is not a replacement for any safety related equipment such as an emergency switch.

Parameters:

[in] handle handle to the AMOR robot

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_emergency_stop ( AMOR_HANDLE handle )

Command an emergency stop to the robot.

This function is almost equal to amor_controlled stop. The robot will decelerate to zero velocity as fast as permissible by the joint acceleration limits. Note that this function does not aim to make all joints stop simultaneously. Each joint is stopped as quick as possible. This function differs from amor_controlled_stop in that it will command all joints to go to MODE_IDLE approx. 250 milliseconds after calling this function.

Warning:: Even while the robot may not have reached zero velocity within this time interval brakes will be applied to the joints equipped with a braking system. Depending on the payload joints without a brake may continue moving as a result of their angular momentum.

Note:: This function is not a replacement for any safety related equipment such as an emergency switch.

Parameters:

[in] handle handle to the AMOR robot

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

unsigned int amor_errno ( )

Returns:: The error number describing the error reported from the last erroneous function call

const char* amor_error ( )

Returns:: A null-terminated string describing the error reported from the last erroneous function call

AMOR_RESULT amor_get_actual_currents	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7 *	currents
	)

Retrieve the currents that are currently measured at the joint motors.

AMOR is requested to send the currents that have been measured at the joint motors.

Parameters:

[in]	handle	handle to the AMOR robot
[out]	currents	motor currents measured by the robot [mA] units

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_get_actual_positions	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7 *	positions
	)

Retrieve the actual joints angles of the robot.

Retrieve the actual joint angles of the robot. Depending on the mode of operation of the robot two methods may be used to retreive the actual joint angles. In MODE_IDLE, this function returns the angle from the optical angle measurement system. Otherwise, it will return the angle calculated from an initial optical angle encoders read-out and subsequent pulses from the incremental angle encoders.

Parameters:

[in]	handle	handle to the AMOR robot
[out]	positions	joint angles measured by the robot

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_get_actual_velocities	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7 *	velocities
	)

Retrieve the actual joints angles of the robot.

Retrieve the actual joint angles of the robot. Depending on the mode of operation of the robot two methods may be used to retreive the actual joint angles. In MODE_IDLE, this function returns the angle from the optical angle measurement system. Otherwise, it will return the angle calculated from an initial optical angle encoders and subsequent pulses from the incremental angle encoders.

Parameters:

[in]	handle	handle to the AMOR robot
[out]	velocities	joint velocities measured by the robot

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_get_actual_voltages	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7 *	voltages
	)

Retrieve the voltages that are currently measured at the joint motors.

AMOR is requested to send the voltages that have been measured at the joint motors.

Parameters:

[in]	handle	handle to the AMOR robot
[out]	voltages	motor voltages measured by the robot in [mV] units

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_get_cartesian_position	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7 &	positions
	)

Retrieve the actual cartesian position of the robot.

Calculates the actual cartesian position of the robot. The output vector contains the X, Y, Z position in mm. and the Yaw, Pitch and Roll angles in radians.

Parameters:

[in]	handle	handle to the AMOR robot
[out]	positions	actual position of the robot in [mm] for positions and [rad] units for angle

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_get_joint_info	(	AMOR_HANDLE	handle,
		int	joint,
		AMOR_JOINT_INFO *	parameters
	)

Retrieve limit information of an AMOR joint.

Every AMOR joint has a maximum velocity, maximum acceleration, maximum voltage/current and angle limits (see the Instructions for Use for details). This function can be used to retrieve these values for a specific joint.

Parameters:

[in]	handle	handle to the AMOR robot
[in]	joint	index of the joint of interest (0 = A1, 1 = A2, 2 = A2.5, 3=A3, ...)
[out]	parameters	joint limit information

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

void amor_get_library_version	(	int *	major,
		int *	minor,
		int *	build
	)

Request AMOR API library version information.

This function can be used to request version information of the AMOR library. The version number is constructed by a triplet consisting of a major, minor, and build number.

Parameters:

[out]	major	major part of version number
[out]	minor	minor part of version number
[out]	build	build part of version number

AMOR_RESULT amor_get_movement_status	(	AMOR_HANDLE	handle,
		amor_movement_status *	status
	)

Retrieve current position and velocity movement status.

When using joint position function, this function tells when all corresponding setpoints are sent to the AMOR. When using controlled stop, this function can be used to see if the AMOR has already stopped moving.

Parameters:

[in]	handle	handle to the AMOR robot
[out]	status	AMOR movement status

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_get_req_currents	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7 *	currents
	)

Retrieve the requested motor currents.

Basically, this function returns the currents requested using the amor_set_currents function.

Parameters:

[in]	handle	handle to the AMOR robot
[out]	currents	requested motor currents in [mA] units

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_get_req_positions	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7 *	positions
	)

Request the joints angles the robot was last commanded to move to.

Parameters:

[in]	handle	handle to the AMOR robot
[out]	positions	the last commanded joint angles

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_get_req_velocities	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7 *	velocities
	)

Request the joint velocities the robot was last commanded to achieve.

Parameters:

[in]	handle	handle to the AMOR robot
[out]	velocities	the last commanded joint velocities

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_get_req_voltages	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7 *	voltages
	)

Retrieve the requested motor voltages.

Basically this function returns the voltages requested using the amor_set_voltages function.

Parameters:

[in]	handle	handle to the AMOR robot
[out]	voltages	requested motor voltages in [mV] units

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_get_status	(	AMOR_HANDLE	handle,
		int	joint,
		int *	status
	)

Parameters:

[in]	handle	handle to the AMOR robot
[in]	joint	index of the joint of interest (0 = A1, 1 = A2, 2 = A2.5, 3=A3, ...)
[out]	status

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_release ( AMOR_HANDLE handle )

Release the handle to the AMOR robot.

Always call this function before closing your application.

Parameters:

[in] handle handle to the AMOR robot

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_set_cartesian_positions	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7	positions
	)

Specify the cartesian position the robot should try to move to.

If applicable, sets all AMOR joints in NORMAL_POSITION_MODE and generates a trajectory for the given positions. The generated trajectory has a trapezoidal velocity profile computed using the joint velocity and acceleration limits. The trajectory is generated online and trajectory points are sent to the robot each time the robot performs a PID control cycle. See the Instructions for Use document for details.

Parameters:

[in]	handle	handle to the AMOR robot
[in]	positions	target position of the robot in [mm] for positions and [rad] units for angles

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_set_cartesian_velocities	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7	velocities
	)

Specify the cartesian joint velocities the robot should try achieve.

If applicable, sets all AMOR joints in NORMAL_POSITION_MODE and generates a trajectory using the given velocites. The generated trajectory has a trapezoidal velocity profile computed using the joint velocity and acceleration limits. The trajectory is generated online and trajectory points are sent to the robot each time the robot performs a PID control cycle. See the Instructions for Use document for details.

Parameters:

[in]	handle	handle to the AMOR robot
[in]	velocities	target velocities of the robot joints in [mm] for positions and [rad] units for angles

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_set_currents	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7	currents
	)

Specify the currents that should be applied to each joint motor.

If applicable, sets all AMOR joints in NORMAL_CURRENT_MODE and applies the given currents to the joints.

Parameters:

[in]	handle	handle to the AMOR robot
[in]	currents	currents that should be applied to the motor joints in [mA] units

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_set_positions	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7	positions
	)

Specify the joints angles the robot should try to move to.

If applicable, sets all AMOR joints in NORMAL_POSITION_MODE and generates a trajectory for the given positions. The generated trajectory has a trapezoidal velocity profile computed using the joint velocity and acceleration limits. The trajectory is generated online and trajectory points are sent to the robot each time the robot performs a PID control cycle. See the Instructions for Use document for details.

Parameters:

[in]	handle	handle to the AMOR robot
[in]	positions	target position of the robot in [rad] units

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_set_velocities	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7	velocities
	)

Specify the joint velocities the robot should try achieve.

If applicable, sets all AMOR joints in NORMAL_POSITION_MODE and generates a trajectory using the given velocites. The generated trajectory has a trapezoidal velocity profile computed using the joint velocity and acceleration limits. The trajectory is generated online and trajectory points are sent to the robot each time the robot performs a PID control cycle. See the Instructions for Use document for details.

Parameters:

[in]	handle	handle to the AMOR robot
[in]	velocities	target velocities of the robot joints in [rad] units

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

AMOR_RESULT amor_set_voltages	(	AMOR_HANDLE	handle,
		AMOR_VECTOR7	voltages
	)

Specify the voltages that should be applied to each joint motor.

Sets all AMOR joints in NORMAL_VOLTAGE_MODE and applies the given voltages to the joints.

Parameters:

[in]	handle	handle to the AMOR robot
[in]	voltages	voltages that should be applied to the motor joints in [mV] units

Returns:: AMOR_SUCCESS if succesfull, AMOR_FAILED otherwise

Data Structures

Defines

Typedefs

Enumerations

Functions

Enumeration Type Documentation

Function Documentation