Role: This interface provides methods to get/set data related to Accuracy Profile.
Methods
- Sub GetAccelerationValue( value)
-
Retrieves acceleration value of the Profile.
- Parameters:
-
- value
- This out parameter contains motion acceleration of the Profile.
- Returns:
- an HRESULT value.
Legal values:- S_OK if the operation succeeds
- E_FAIL otherwise .
- Sub GetAngularAccelerationValue( value)
-
Get Angular acceleration value of the Profile.
- Parameters:
-
- value
- Percentage of max angular acceleration of robot. The value is used when robot TCP rotate against a axis.
- Returns:
- an HRESULT value.
Legal values:- S_OK if the operation succeeds
- E_FAIL otherwise .
- Sub GetAngularSpeedValue( value)
-
Retrieves Angular Speed value of the Profile.
- Parameters:
-
- value
- This out parameter contains Angular Speed of the Profile.
- Returns:
- an HRESULT value.
Legal values:- S_OK if the operation succeeds
- E_FAIL otherwise .
- Sub GetController( oController)
-
Retrieves controller owning the profile.
- Parameters:
-
- oController
- This parameter contains pointer to controller.
- Returns:
- An HRESULT.
Legal values:- S_OK if the operation succeeds
- E_FAIL otherwise .
- Sub GetMotionBasis( basis)
-
Retrieves motion basis of the Profile.
- Parameters:
-
- basis
- motion basis, one of following: MOTION_ABSOLUTE, MOTION_PERCENT, MOTION_TIME
- Returns:
- an HRESULT value.
Legal values:- S_OK if the operation succeeds
- E_FAIL otherwise .
- Sub GetName( oName)
-
Gets name of the Motion Profile.
- Parameters:
-
- oName
- Name of the required Motion Profile.
- Returns:
- an HRESULT value.
Legal values:- S_OK if the operation succeeds
- E_FAIL otherwise .
- Sub GetSpeedValue( value)
-
Retrieves speed value of the Profile.
- Parameters:
-
- value
- This out parameter contains motion speed of the Profile.
- Returns:
- an HRESULT value.
Legal values:- S_OK if the operation succeeds
- E_FAIL otherwise .
- Sub SetAccelerationValue( value)
-
Set acceleration value of the Profile.
- Parameters:
-
- value
- meaning of the value is based on the motion basis: MOTION_ABSOLUTE : absolute acceleration value. MOTION_PERCENT : 0-1, percent of max acceleration of the device MOTION_TIME : percent of total move time used on acceleration/deceleration
- Returns:
- an HRESULT value.
Legal values:- S_OK if the operation succeeds
- E_FAIL otherwise .
- Sub SetAngularAccelerationValue( value)
-
Set Angular acceleration value of the Profile.
- Parameters:
-
- value
- Percentage of max angular acceleration of robot. The value is used when robot TCP rotate against a axis.
- Returns:
- an HRESULT value.
Legal values:- S_OK if the operation succeeds
- E_FAIL otherwise .
- Sub SetAngularSpeedValue( value)
-
Set Angular Speed value of the Profile.
- Parameters:
-
- value
- Percentage of max angular speed of robot. The value is used when robot TCP rotate against a axis.
- Returns:
- an HRESULT value.
Legal values:- S_OK if the operation succeeds
- E_FAIL otherwise .
- Sub SetMotionBasis( basis)
-
Set motion basis of the Profile.
- Parameters:
-
- basis
- motion basis, one of following: MOTION_ABSOLUTE, MOTION_PERCENT, MOTION_TIME
- Returns:
- an HRESULT value.
Legal values:- S_OK if the operation succeeds
- E_FAIL otherwise .
- Sub SetName( iName)
-
Set name of the Motion Profile.
- Parameters:
-
- iName
- Name of the Motion Profile to be set.
- Returns:
- an HRESULT value.
Legal values:- S_OK if the operation succeeds
- E_FAIL otherwise .
- Sub SetSpeedValue( value)
-
Set speed value of the Profile.
- Parameters:
-
- value
- meaning of the value is based on the motion basis: MOTION_ABSOLUTE : absolute speed value. MOTION_PERCENT : 0-1, percent of max speed of the device MOTION_TIME : in seconds
- Returns:
- an HRESULT value.
Legal values:- S_OK if the operation succeeds
- E_FAIL otherwise .