GenericToolProfile (Object)

Interface to manage Generic Tool Profile of Robot controller.

Role: This interface provides methods to get/set data related to Tool Profile.

Methods


Sub GetCentroid( cx, cy, cz)
Retrieve the underlying x,y,z of the Tool centroid.
Parameters:
cx,
The out parameter contains X Coordinate of the Tool centroid.
cy,
The out parameter contains Y Coordinate of the Tool centroid.
cz,
The out parameter contains Z Coordinate of the Tool centroid.
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 GetInertia( Ixx, Iyy, Izz, Ixy, Iyz, Izx)
Get the underlying coefficient of the tool inertia.
Parameters:
Ixx,
The Ixx coefficient.
Iyy,
The Ixx coefficient.
Izz,
The Ixx coefficient.
Ixy,
The Ixx coefficient.
Iyz,
The Ixx coefficient.
Izx,
The Ixx coefficient.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub GetMass( mass)
Retrieves the mass of the tool.
Parameters:
mass
This out parameter contains mass of the tool.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub GetName( oName)
Gets name of the Tool Profile.
Parameters:
oName
Name of the required Tool Profile.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub GetTCPOffset( x, y, z, roll, pitch, yaw)
Retrieve the underlying x,y,z, roll, pitch, yaw of the Tool TCP offset.
Parameters:
x,
The out parameter contains X Coordinate.
y,
The out parameter contains Y Coordinate.
z,
The out parameter contains Z Coordinate.
roll,
The out parameter contains roll Coordinate.
pitch,
The out parameter contains pitch Coordinate.
yaw,
The out parameter contains yaw Coordinate.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub GetToolMobility( oMobile)
Retrieves tool mobility.
Parameters:
oMobile
This out parameter contains whether tool is mobiled.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub SetCentroid( cx, cy, cz)
Set the tool centroid of Profile.
Parameters:
cx,
The X Coordinate of tool centroid.
cy,
The Y Coordinate of tool centroid.
cz,
The Z Coordinate of tool centroid.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub SetInertia( Ixx, Iyy, Izz, Ixy, Iyz, Izx)
Set the underlying coefficient of the tool inertia.
Parameters:
Ixx,
The Ixx coefficient.
Iyy,
The Ixx coefficient.
Izz,
The Ixx coefficient.
Ixy,
The Ixx coefficient.
Iyz,
The Ixx coefficient.
Izx,
The Ixx coefficient.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub SetMass( mass)
Set tool mass.
Parameters:
mass
set mass of tool .
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub SetName( iName)
Set name of the Tool Profile.
Parameters:
iName
Name of the Tool Profile to be set.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub SetTCPOffset( x, y, z, roll, pitch, yaw)
Set the underlying x,y,z, roll, pitch, yaw of the tool TCP offset.
Parameters:
x,
The X Coordinate.
y,
The Y Coordinate.
z,
The Z Coordinate.
roll,
The roll Coordinate.
pitch,
The pitch Coordinate.
yaw,
The yaw Coordinate.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .
Sub SetToolMobility( iMobile)
Set tool mobility.
Parameters:
iMobile
set whether tool is mobile or not.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
    • .