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GenericToolProfile (Object)

Interface to manage Generic Tool Profile of Robot controller.

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

Method Index

GetCentroid
Retrieve the underlying x,y,z of the Tool centroid.
GetController
Retrieves controller owning the profile.
GetInertia
Get the underlying coefficient of the tool inertia.
GetMass
Retrieves the mass of the tool.
GetName
Gets name of the Tool Profile.
GetTCPOffset
Retrieve the underlying x,y,z, roll, pitch, yaw of the Tool TCP offset.
GetToolMobility
Retrieves tool mobility.
SetCentroid
Set the tool centroid of Profile.
SetInertia
Set the underlying coefficient of the tool inertia.
SetMass
Set tool mass.
SetName
Set name of the Tool Profile.
SetTCPOffset
Set the underlying x,y,z, roll, pitch, yaw of the tool TCP offset.
SetToolMobility
Set tool mobility.

Methods


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

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