CalibOffsets (Object)

Interface to set Robot base/Tool offsets based on Calibration.

Role: This interface provides methods to get/set calibration offsets related to Robot base and Robot tool position.

Methods


Sub ApplyCorrectedBaseOffset()
Applies corrected base offset.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub ApplyCorrectedToolOffset()
Applies corrected tool offset.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub ApplyNominalBaseOffset()
Applies the nominal base offset.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub ApplyNominalToolOffset()
Applies nominal tool offset.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub GetCalibReferenceFile( oCalibReferenceFile)
Retrieve the reference calibration file.
Parameters:
iCalibReferenceFile
Full path of reference calibration file.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub GetCorrectedBaseOffset( x, y, z, roll, pitch, yaw)
Retrieve corrected base offset for the robot base wrt robot base reference position.
Parameters:
x
X coordinate of the Corrected robot base offset(in m).
y
Y coordinate of the Corrected robot base offset(in m).
z
Z coordinate of the Corrected robot base offset(in m).
roll
Roll angle of the Corrected robot base offset(in deg).
pitch
Pitch angle of the Corrected robot base offset(in deg).
yaw
Pitch angle of the Corrected robot base offset(in deg).
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub GetCorrectedToolOffset( x, y, z, roll, pitch, yaw)
Retrieve corrected tool offset for the robot wrt robot mount position.
Parameters:
x
X coordinate of the Corrected tool offset(in m).
y
Y coordinate of the Corrected tool offset(in m).
z
Z coordinate of the Corrected tool offset(in m).
roll
Roll angle of the Corrected tool offset(in deg).
pitch
Pitch angle of the Corrected tool offset(in deg).
yaw
Pitch angle of the Corrected tool offset(in deg).
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub GetNominalBaseOffset( x, y, z, roll, pitch, yaw)
Retrieve nominal base offset for the robot base wrt robot base reference position.
Parameters:
x
X coordinate of the Nominal robot base offset(in m).
y
Y coordinate of the Nominal robot base offset(in m).
z
Z coordinate of the Nominal robot base offset(in m).
roll
Roll angle of the Nominal robot base offset(in deg).
pitch
Pitch angle of the Nominal robot base offset(in deg).
yaw
Pitch angle of the Nominal robot base offset(in deg).
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub GetNominalToolOffset( x, y, z, roll, pitch, yaw)
Retrieve nominal tool offset for the robot wrt robot mount position.
Parameters:
x
X coordinate of the Nominal tool offset(in m).
y
Y coordinate of the Nominal tool offset(in m).
z
Z coordinate of the Nominal tool offset(in m).
roll
Roll angle of the Nominal tool offset(in deg).
pitch
Pitch angle of the Nominal tool offset(in deg).
yaw
Pitch angle of the Nominal tool offset(in deg).
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub GetReferenceBasePosition( x, y, z, roll, pitch, yaw)
Retrieve current reference base position of robot.
Parameters:
x
X coordinate of the reference base position(in m).
y
Y coordinate of the reference base position(in m).
z
Z coordinate of the reference base position(in m).
roll
Roll angle of the reference base position(in deg).
pitch
Pitch angle of the reference base position(in deg).
yaw
Yaw angle of the reference base position(in deg).
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub SetCalibReferenceFile( iCalibReferenceFile)
Set the reference calibration file.
Parameters:
iCalibReferenceFile
Full path of reference calibration file.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub SetCorrectedBaseOffset( x, y, z, roll, pitch, yaw)
Set corrected base offset for the robot base wrt robot base reference position.
Parameters:
x
X coordinate of the Corrected robot base offset(in m).
y
Y coordinate of the Corrected robot base offset(in m).
z
Z coordinate of the Corrected robot base offset(in m).
roll
Roll angle of the Corrected robot base offset(in deg).
pitch
Pitch angle of the Corrected robot base offset(in deg).
yaw
Pitch angle of the Corrected robot base offset(in deg).
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub SetCorrectedToolOffset( x, y, z, roll, pitch, yaw)
Set corrected tool offset for the robot wrt robot mount position.
Parameters:
x
X coordinate of the Corrected tool offset(in m).
y
Y coordinate of the Corrected tool offset(in m).
z
Z coordinate of the Corrected tool offset(in m).
roll
Roll angle of the Corrected tool offset(in deg).
pitch
Pitch angle of the Corrected tool offset(in deg).
yaw
Pitch angle of the Corrected tool offset(in deg).
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub SetNominalBaseOffset( x, y, z, roll, pitch, yaw)
Set nominal base offset for the robot base wrt robot base reference position.
Parameters:
x
X coordinate of the Nominal robot base offset(in m).
y
Y coordinate of the Nominal robot base offset(in m).
z
Z coordinate of the Nominal robot base offset(in m).
roll
Roll angle of the Nominal robot base offset(in deg).
pitch
Pitch angle of the Nominal robot base offset(in deg).
yaw
Pitch angle of the Nominal robot base offset(in deg).
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub SetNominalToolOffset( x, y, z, roll, pitch, yaw)
Set nominal tool offset for the robot wrt robot mount position.
Parameters:
x
X coordinate of the Nominal tool offset(in m).
y
Y coordinate of the Nominal tool offset(in m).
z
Z coordinate of the Nominal tool offset(in m).
roll
Roll angle of the Nominal tool offset(in deg).
pitch
Pitch angle of the Nominal tool offset(in deg).
yaw
Pitch angle of the Nominal tool offset(in deg).
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub SetReferenceBasePosition( x, y, z, roll, pitch, yaw)
Set reference base position of robot.
Parameters:
x
X coordinate of the Robot base position(in m).
y
Y coordinate of the Robot base position(in m).
z
Z coordinate of the Robot base position(in m).
roll
Roll angle of the Robot Base position(in deg).
pitch
Pitch angle of the Robot Base position(in deg).
yaw
Pitch angle of the Robot Base position(in deg).
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .