Constants

Constant

Value

Description

ATTRIB_STANDARD

0

Standard

ATTRIB_LENGTH

1

Measured in meter (float/double)

ATTRIB_MASS

2

Measured in kilogram (float/double)

ATTRIB_TIME

3

Measured in seconds (float/double)

ATTRIB_AREA

4

Measured in m2 (float/double)

ATTRIB_VOLUME

5

Measured in m3 (float/double)

ATTRIB_DENSITY

6

Measured in kg/m3 (float/double)

ATTRIB_SPEED

7

Measured in m/s (float/double)

ATTRIB_POWER

8

Measured in Watt=kg*m2/s3 (float/double)

ATTRIB_ENERGY

9

Measured in Joule=Newtonmeter=kg*m2/s2 (float/double)

ATTRIB_FORCE

10

Measured in Newton=kg*m/s2 (float/double)

ATTRIB_PRESSURE

11

Measured in Pascal=kg/(m*s2) (float/double)

ATTRIB_FREQUENCY

12

Measured in Hertz=1/s (float/double)

ATTRIB_TEMPERATURE

13

Measured in Kelvin (float/double)

ATTRIB_LUMINOUS_INTENSITY

14

Measured in Candela (float/double)

ATTRIB_LUMINANCE

15

Measured in cd/m2 (float/double)

ATTRIB_ANGLE

16

Measured in radian (float/double)

ATTRIB_ACCELERATION

17

Measured in m/s2 (float/double)

ATTRIB_ELECTRIC_CURRENT

18

Measured in Ampere (float/double)

ATTRIB_ELECTRIC_CHARGE

19

Measured in Coulomb=A*s (float/double)

ATTRIB_ELECTRIC_RESIST

20

Measured in Ohm=kg*m2/(A2*s3) (float/double)

ATTRIB_ELECTRIC_CAP

21

Measured in Farad=s4*A2/(m2*kg) (float/double)

ATTRIB_VOLTAGE

22

Measured in Volt=kg*m2/(A*s3) (float/double)

ATTRIB_MAGNETIC_FLUX

23

Measured in Weber=kg*m2/(A*s2) (float/double)

ATTRIB_MAGNETIC_FIELD

24

Measured in Tesla=kg/(A*s2) (float/double)

ATTRIB_INDUCTION

25

Measured in Henry=kg*m2/(A2*s2) (float/double)

ATTRIB_ANGULAR_SPEED

26

Measured in rad/s (float/double)

ATTRIB_ANGULAR_ACCEL

27

Measured in rad/s2 (float/double)

ATTRIB_PERCENT

28

Measured in percent

Constant

Value

Description

OLP_NONE

0

USER_ATTRIBUTE

1<<0

bit 0

PROCESS_ATTRIBUTE

1<<1

bit 1

OPERATION_ATTRIBUTE

1<<2

bit 2

OPERATION_GROUP_ATTRIBUTE

1<<3

bit 3

GLOBAL_ATTRIBUTE

1<<4

bit 4

READONLY_ATTRIBUTE

1<<5

bit 5

Constant

Value

Description

TEACHFLAGS_NONE

0

no teach changes

TEACHFLAGS_POSITION

1<<1

position changed

TEACHFLAGS_ROTATION

1<<2

rotation changed

TEACHFLAGS_TURNBEHAVIOUR

1<<3

turn behavior changed

TEACHFLAGS_CONFIGBEHAVIOR

1<<4

config behavior changed

TEACHFLAGS_SINGULARITY

1<<5

singularity management changed

TEACHFLAGS_MOTIONTYPE

1<<6

motion type changed

TEACHFLAGS_VIAPOSITION

1<<7

via position changed

TEACHFLAGS_JOINTS

1<<8

main joints were changed

TEACHFLAGS_EXTERNALJOINTS

1<<9

external joints were changed

TEACHFLAGS_TARGETTYPE

1<<12

target type changed

TEACHFLAGS_NAME

1<<13

name changed

Constant

Value

Description

REGSHAPE_UNKNOWN

0

unknown regshape

REGSHAPE_CIRCLE

1

circle regshape

REGSHAPE_SLOT

2

slot regshape

REGSHAPE_HEXAGON

3

hexagon regshape

REGSHAPE_RECTANGLE

4

rectangle regshape

REGSHAPE_QUADRILATERAL

5

quadrilateral regshape

REGSHAPE_PARALLELOGRAM

6

parallelogram regshape

REGSHAPE_SQUARE

7

square regshape

REGSHAPE_RHOMBUS

8

rhombus regshape

REGSHAPE_KEYHOLE

9

keyhole regshape

Constant

Value

Description

ROTATIONAXES_XY

0

XY axis

ROTATIONAXES_YZ

1

YZ axis

ROTATIONAXES_ZY

2

ZY axis

Constant

Value

PROCGEO_NONE

0

PROCGEO_POINT

1

PROCGEO_CONTOUR

2

PROCGEO_SURFACE

3

Constant

Value

CONTOURAPPROX_NONE

0

CONTOURAPPROX_LIN

1

CONTOURAPPROX_CIRCLIN

2

CONTOURAPPROX_LINCIRC

3

Constant

Value

EVENTPROCESS_NONE

0

EVENTPROCESS_LEADIN

1

EVENTPROCESS_LEADOUT

2

EVENTPROCESS_GAPSTART

3

EVENTPROCESS_GAPEND

4

EVENTPROCESS_CONNECT

5

EVENTPROCESS_INPROCESS

6

EVENTPROCESS_TECHEVENT

7

EVENTPROCESS_APPROACH

8

EVENTPROCESS_RETRACT

9

Constant

Value

OLPEVENT_NONE

0

OLPEVENT_OLP

1

OLPEVENT_APPROACH

2

OLPEVENT_RETRACT

3

OLPEVENT_CONNECT

4

OLPEVENT_TOOLCHANGE

5

OLPEVENT_PROCESS

6

OLPEVENT_LEADIN

7

OLPEVENT_LEADOUT

8

OLPEVENT_GAPBEGIN

9

OLPEVENT_GAPEND

10

Constant

Value

Description

OLPPROGRAMCOMPONENTTYPE_PROGRAM

1

OLPPROGRAMCOMPONENTTYPE_OPERATIONGROUP

2

OLPPROGRAMCOMPONENTTYPE_OPERATION

3

OLPPROGRAMCOMPONENTTYPE_EVENT

4

OLPPROGRAMCOMPONENTTYPE_EVENTRULE

5

Constant

Value

Description

TPINSERTPOS_INSERTBEFORE

0

TPINSERTPOS_INSERTAFTER

1

TPINSERTPOS_INSERTNONE

2

TPINSERTPOS_INHERIT

3

Use this only in sub events to inherit the insertposition from the parent event.

Constant

Value

CYCLE_EXPLODEALLOWED

0

CYCLE_EXPLODEFORBIDDEN

1

CYCLE_EXPLODEIMMEDIATELY

2

Constant

Value

CYCLEEXPLODESTATUS_NO

0

CYCLEEXPLODESTATUS_YES

1

Constant

Value

EVENTPATHTYPE_CONTOUR

0

EVENTPATHTYPE_POINTTOPOINT

1

Constant

Value

EVENT_NONE

0

Default

EVENT_TEACH

1

Not implemented

EVENT_FLOATARRAYACTOR

2

Deprecated, superseded by SetResourcePort event

EVENT_BOOLACTOR

3

Deprecated, replaced by EVENT_ADAPTER type

EVENT_SPEED

4

EVENT_ACCURACY

5

EVENT_TOOL

6

EVENT_INTERPOL

7

Deprecated

EVENT_SUPPRESS

8

Not implemented

EVENT_DWELL

9

EVENT_ACCELERATION

10

EVENT_SETSIGNALBOOL

11

Deprecated, superseded by LogicPort event

EVENT_SETSIGNALINT

12

Deprecated, superseded by LogicPort event

EVENT_SETSIGNALFLOAT

13

Deprecated, superseded by LogicPort event

EVENT_WAITFORSIGNALBOOL

14

Deprecated, superseded by LogicPort event

EVENT_WAITFORSIGNALINT

15

Deprecated, superseded by LogicPort event

EVENT_WAITFORSIGNALFLOAT

16

Deprecated, superseded by LogicPort event

EVENT_WAITFORSENSORBOOL

17

Deprecated, superseded by WaitForResourcePort event

EVENT_WAITFORSENSORINT

18

Deprecated, superseded by WaitForResourcePort event

EVENT_WAITFORSENSORFLOAT

19

Deprecated, superseded by WaitForResourcePort event

EVENT_OPTIMIZE

20

Deprecated, for optimize algorithms that were user interacted created

EVENT_PAINTBRUSHACTOR

21

Deprecated

EVENT_OPTIMIZATION

22

Not implemented

EVENT_SYNCROBOTS

23

EVENT_SETRESOURCEPORT

24

EVENT_WAITFORRESOURCEPORT

25

EVENT_LOGICPORT

26

Constant

Value

BUILTINEVENTOUTPUT_ALWAYS

0

BUILTINEVENTOUTPUT_SIMULATIONONLY

1

BUILTINEVENTOUTPUT_NOOUTPUT

2

Constant

Value

Description

ACCURACY_OFF

0

Deactivate all previous accuracy events. This means that no contour approximation is done from this point onward

ACCURACY_ON

1

Deactivate the previous off event (if any)

ACCURACY_JOINTDISTANCE

2

Sets an accuracy criteria of joint distance type (the accuracy is measured as a percent from the joint angle deviation)

ACCURACY_DISTANCE

3

Sets an accuracy criteria of type distance (the accuracy is measured regarding the distance from the contour)

ACCURACY_ORIENTATION

4

Sets an accuracy criteria of type orientation (the accuracy is measured regarding the difference to the orientation at the contour)

ACCURACY_VELOCITY

5

Sets an accuracy criteria of type velocity (the accuracy is measured regarding as a percent from the  TCP speed).

Constant

Value

FSITEMTYPE_NONE

0

FSITEMTYPE_PRODUCTION

1

FSITEMTYPE_LOGISTIC

2

FSITEMTYPE_PERIPHERAL

4

FSITEMTYPE_HUMANS

8

FSITEMTYPE_MISCELLANEOUS

16

Constant

Value

Description

SUBITEM_NONE

0

ITEM_MACHINE_ROBOT

1001

Production

ITEM_RAIL_GENTRY

1002

Production

ITEM_WP_POSITIONER

1003

Production

ITEM_END_EFFECTOR

1004

Production

ITEM_SOURCE

2001

Logistic

ITEM_TRANSPORT

2002

Logistic

ITEM_BUFFER

2003

Logistic

ITEM_STORAGE

2004

Logistic

ITEM_TOOL

3001

Peripheral

ITEM_FIXTURE

3002

Peripheral

ITEM_JIG

3003

Peripheral

ITEM_DRESS_UP

3004

Peripheral

ITEM_TOOL_MAGAZINE

3005

Peripheral

ITEM_HUMAN_1

4001

Human

ITEM_PROTECTION

5001

Miscellaneous

ITEM_BUILD_PART

5002

Miscellaneous

ITEM_FURNITURE

5003

Miscellaneous

ITEM_CHASSIS

5004

Miscellaneous

ITEM_FLOORPLAN

5005

Miscellaneous

ITEM_SWEPT_VOLUME

5006

Miscellaneous

Constant

Value

FSACTOR_NONE

0

FSACTOR_EXTJOINTVALUE

1

FSACTOR_EXTJOINTHOME

2

FSACTOR_EXTJOINTSWITCHHOME

3

FSACTOR_ADAPTER

4

FSACTOR_VISUALSWITCHSTATE

6

FSACTOR_VISUALSTATE

7

FSACTOR_TOOLONOFF

8

FSACTOR_PAINTBRUSH

9

Constant

Value

USETANGENTOF_START

0

USETANGENTOF_END

1

Constant

Value

FSSENSOR_NONE

0

FSSENSOR_HOMEPOSITION

1

FSSENSOR_JOINTVALUE

2

Constant

Value

CYCLEROTATION_ROTNO

0

CYCLEROTATION_ROTPATH

1

CYCLEROTATION_ROTPATHTOOL

2

CYCLEROTATION_ROTTOOL

3

Constant

Value

CYCLETRANSLATION_TRANSNO

0

CYCLETRANSLATION_TRANSYES

1

Constant

Value

ENTERSTATE_NORECOMPUTE

0

ENTERSTATE_COMPLETE

1

ENTERSTATE_STARTWITHALIGNMENT

2

ENTERSTATE_STARTWITHTRANSFORMATION

3

ENTERSTATE_STARTWITHOPTIMIZE

4

ENTERSTATE_STARTMANUALCOMPUTE

5

ENTERSTATE_STARTPOSTOPTIMIZE

6

ENTERSTATE_STARTWITHRULEEVENTS

7

ENTERSTATE_STARTWITHINTERPOLATION

8

ENTERSTATE_STARTWITHMANUALEVENTS

9

ENTERSTATE_STARTWITHTEACHCOMPUTE

10

ENTERSTATE_DECORATE

11

ENTERSTATE_TOOLCHANGE

12

ENTERSTATE_TEAMSYNCHRONIZATION

13

ENTERSTATE_STARTWITHPOSTTHIRDPARTYCOMPUTE

14

ENTERSTATE_LINKOPERATIONS

15

ENTERSTATE_STARTWITHLOCALTRANSFORMATION

16

ENTERSTATE_STARTWITHQUALITYASSESSMENT

18

ENTERSTATE_STARTWITHAUTOPATHOPTIMIZATION

19

Constant

Value

CYCLEREFBEHAVIOR_HIDDEN

0

CYCLEREFBEHAVIOR_TEACHABLE

1

CYCLEREFBEHAVIOR_NORMAL

2

Constant

Value

Description

VALUETYPE_BOOL

0

Boolean

VALUETYPE_INT

1

32-bit integer

VALUETYPE_FLOAT

2

Floating point

VALUETYPE_BYTE

3

Byte

VALUETYPE_INT16

4

16-bit integer

Constant

Value

Description

RES_INPORTS

0

Input ports, currently named RES because it is only used in resource context

RES_OUTPORTS

1

Output ports, currently named RES because it is only used in resource context

Constant

Value

REGSHAPESTYLE_NOTDEFINED

0

REGSHAPESTYLE_MITSUBISHILIKE

1

REGSHAPESTYLE_PRIMALIKE

2

REGSHAPESTYLE_TRUMPFLIKE

3

REGSHAPESTYLE_LASERDYNELIKE

4

REGSHAPESTYLE_UNIVERSALCLIKE

5

REGSHAPESTYLE_JENOPTIKLIKE

6

Constant

Value

COMPUTESTATEMATRIX_INITIAL

0

COMPUTESTATEMATRIX_ALIGNED

1

COMPUTESTATEMATRIX_GLOBALTRANSFORMED

2

COMPUTESTATEMATRIX_TRANSFORMED

3

COMPUTESTATEMATRIX_OPTIMIZED

4

COMPUTESTATEMATRIX_MANUAL_BEFORE_INTERPOLATION

5

COMPUTESTATEMATRIX_MANUAL_AFTER_INTERPOLATION

6

COMPUTESTATEMATRIX_MATRIX_BEFORE_DECORATE

7

COMPUTESTATEMATRIX_PRESENT

8

Constant

Value

ATTRIBOVERRIDEMODE_DEFAULT

0

ATTRIBOVERRIDEMODE_OPERATIONLEVEL

1

ATTRIBOVERRIDEMODE_OPERATIONGROUPLEVEL

2

ATTRIBOVERRIDEMODE_CHECKLEVEL

3

Constant

Value

FRAMETYPE_NORMAL

0

FRAMETYPE_BASE

1

FRAMETYPE_TOOL  

2

FRAMETYPE_NOZZLE

3

FRAMETYPE_GEO

4

FRAMETYPE_BASE_OFFSET

5

FRAMETYPE_TOOL_OFFSET

6

Constant

Value

MOTIONTYPE_LIN

1

MOTIONTYPE_CIR

2

MOTIONTYPE_PTP

3

Constant

Value

TARGETTYPE_CARTESIAN

0

TARGETTYPE_JOINT

1

Constant

Value

Description

CONFIGBEHAVIOR_MINCHANGE

0

CONFIGBEHAVIOR_INHERIT

1

CONFIGBEHAVIOR_SET

2

CONFIGBEHAVIOR_NOTSET

3

Initial behavior value before the computation. The real initial value of the toolpath element will be written by the decorate.

Constant

Value

Description

TURNBEHAVIOR_MINCHANGE

0

TURNBEHAVIOR_INHERIT

1

TURNBEHAVIOR_SET

2

TURNBEHAVIOR_NOTSET

3

Initial behavior value before the computation. The real initial value of the toolpath element will be written by the decorate.

Constant

Value

COLLISIONSTATUS_NOTCHECKED

0

COLLISIONSTATUS_NOCOLLISION

1

COLLISIONSTATUS_COLLISION

2

Constant

Value

REACHABILITYSTATUS_NOTREACHABLE

0

REACHABILITYSTATUS_STATICREACHABLE

1

REACHABILITYSTATUS_SIMULATIONREACHABLE

2

Constant

Value

REACHABLE

False

UNREACHABLE

True

Constant

Value

SINGULARITYSTATUS_NOTCHECKED

0

SINGULARITYSTATUS_NOSINGULARITY

1

SINGULARITYSTATUS_WEAKSINGULARITY

2

SINGULARITYSTATUS_STRONGSINGULARITY

3

Constant

Value

POSRELATION_WORKPIECEROOT

0

POSRELATION_BASEFRAME

1

POSRELATION_LOCALTPELEMENT

2

POSRELATION_REFERENCEEVENTROOTPOINT

3

Constant

Value

TPPROCESSTYPE_NONE

0

TPPROCESSTYPE_PROCESSPOINT

1

TPPROCESSTYPE_TEACHINSERT

2

TPPROCESSTYPE_PROCESSCURVE

3

TPPROCESSTYPE_APPROACH

4

TPPROCESSTYPE_RETRACT

5

TPPROCESSTYPE_TRACKLINK

6

TPPROCESSTYPE_CYCLE

7

TPPROCESSTYPE_AUXILIARY

8

TPPROCESSTYPE_TOOLCHANGE

9

TPPROCESSTYPE_LEADIN

10

TPPROCESSTYPE_LEADOUT

11

TPPROCESSTYPE_GAP

12

TPPROCESSTYPE_EXPLODEDCYCLE

3

TPPROCESSTYPE_PROCESSSURFACE

14

TPPROCESSTYPE_PROCESSINSERT

15

TPPROCESSTYPE_VIAPOINT

16

TPPROCESSTYPE_TPLINK

17

TPPROCESSTYPE_TPLINKVIA

18

Constant

Value

COLUMNTYPE_INT

0

COLUMNTYPE_DOUBLE

1

COLUMNTYPE_BOOL

2

COLUMNTYPE_STRING

3

Constant

Value

ERR_NO_ERROR

0

ERR_NULL_POINTER

10001

Constant

Value

ERRDOWNLOAD_NOERROR

0

ERRDOWNLOAD_EMPTYPROGRAMNAME

10002

ERRDOWNLOAD_UNKNOWNOUTPUTDIRECTORYPATH

10055

ERRDOWNLOAD_PROGRAMNOTFOUND

10080

ERRDOWNLOAD_TRANSLATORNOTSET

10097

ERRDOWNLOAD_NOLICENCE

10218

ERRDOWNLOAD_PROGRAMDOWNLOADFAILED

10400

Constant

Value

ERRINTERPOLATION_MISSING_START

10251

ERRINTERPOLATION_MISSING_END

10252

ERRINTERPOLATION_INTERVAL_DEFINITION

10253

ERRINTERPOLATION_INPUT

10254

ERRINTERPOLATION_CREATE_EVENT

10255

ERRINTERPOLATION_UNEXPECTED_SUPPORT

10256

ERRINTERPOLATION_MISSING_INTERVAL

10257

ERRINTERPOLATION_NO_JOINTS

10258

ERRINTERPOLATION_TYPE_WRONG

10259

ERRINTERPOLATION_RESSOURCE_WRONG

10260

ERRINTERPOLATION_MISSING_SUPPORT

10261

ERRINTERPOLATION_LINK_DEFINITION

10262

ERRINTERPOLATION_GEOMETRY_TYPE_WRONG

10263

ERRINTERPOLATION_MISSING_EXTERNAL

10264

ERRINTERPOLATION_SURFACE_START_OR_END

10265

Constant

Value

CONTROLLERTYPE_MOTION

1

CONTROLLERTYPE_LOGIC

2

CONTROLLERTYPE_TEAM

3

Constant

Value

INTERPOLATIONTYPE_NORMALABSOLUTE

0

INTERPOLATIONTYPE_NORMALRELATIVE

1

INTERPOLATIONTYPE_TANGENTABSOLUTE

2

INTERPOLATIONTYPE_TANGENTRELATIVE

3

INTERPOLATIONTYPE_OFFSETABSOLUTE

4

INTERPOLATIONTYPE_OFFSETRELATIVE

5

INTERPOLATIONTYPE_EXTERNALAXIS1ABSOLUTE

6

INTERPOLATIONTYPE_EXTERNALAXIS1RELATIVE

7

INTERPOLATIONTYPE_EXTERNALAXIS2ABSOLUTE

8

INTERPOLATIONTYPE_EXTERNALAXIS2RELATIVE

9

INTERPOLATIONTYPE_EXTERNALAXIS3ABSOLUTE

10

INTERPOLATIONTYPE_EXTERNALAXIS3RELATIVE

11

INTERPOLATIONTYPE_EXTERNALAXIS4ABSOLUTE

12

INTERPOLATIONTYPE_EXTERNALAXIS4RELATIVE

13

INTERPOLATIONTYPE_EXTERNALAXIS5ABSOLUTE

14

INTERPOLATIONTYPE_EXTERNALAXIS5RELATIVE

15

INTERPOLATIONTYPE_EXTERNALAXIS6ABSOLUTE

16

INTERPOLATIONTYPE_EXTERNALAXIS6RELATIVE

17

INTERPOLATIONTYPE_JOLTSMOOTH

18

INTERPOLATIONTYPE_JOLTFIX

19

Constant

Value

JOINTKINEMATICTYPE_UNSET

-1

JOINTKINEMATICTYPE_PRISMATIC

0

JOINTKINEMATICTYPE_REVOLUTE

1

Constant

Value

JOINTTYPES_UNSET

-1

JOINTTYPES_DRIVEN

1

Main robot joints

JOINTTYPES_UNDRIVEN

2

Are completely dependent on the values of the other joints of the item they are on.

JOINTTYPES_ASYNCHRONOUS

3

The joints of this type can only be controlled through Actors.

JOINTTYPES_SYNCHRONOUS

4

The joints of this type can only be controlled only through Joint teaching.