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GenericMotionProfile (Object)

Interface to manage Generic Motion Profile of Robot controller.

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

Method Index

GetAccelerationValue
Retrieves acceleration value of the Profile.
GetAngularAccelerationValue
Get Angular acceleration value of the Profile.
GetAngularSpeedValue
Retrieves Angular Speed value of the Profile.
GetController
Retrieves controller owning the profile.
GetMotionBasis
Retrieves motion basis of the Profile.
GetName
Gets name of the Motion Profile.
GetSpeedValue
Retrieves speed value of the Profile.
SetAccelerationValue
Set acceleration value of the Profile.
SetAngularAccelerationValue
Set Angular acceleration value of the Profile.
SetAngularSpeedValue
Set Angular Speed value of the Profile.
SetMotionBasis
Set motion basis of the Profile.
SetName
Set name of the Motion Profile.
SetSpeedValue
Set speed value of the Profile.

Methods


o 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
    • .
o 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
    • .
o 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
    • .
o 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
    • .
o 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
    • .
o 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
    • .
o 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
    • .
o 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
    • .
o 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
    • .
o 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
    • .
o 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
    • .
o 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
    • .
o 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
    • .

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