pycatia.dnb_igp_setup_interfaces.robot_motion

Module initially auto generated using V5Automation files from CATIA V5 R28 on 2020-09-25 14:34:21.593357

Warning

The notes denoted “CAA V5 Visual Basic Help” are to be used as reference only. They are there as a guide as to how the visual basic / catscript functions work and thus help debugging in pycatia.

class pycatia.dnb_igp_setup_interfaces.robot_motion.RobotMotion(com_object)

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357)

System.IUnknown
System.IDispatch
System.CATBaseUnknown
System.CATBaseDispatch
System.AnyObject
DMAPSInterfaces.Activity
RobotMotion

Represents a Robot Motion.

Role: The interface is used to retrieve and set the motion attributes of a
Robot Motion.
The following code snippet can be used to obtain the Robot Motion from a
Operation aggreagted under a Robot Task.

Dim objOpr as Operation
…
Dim objRobotmotion as RobotMotion
objOpr.GetRobotMotion objRobotmotion



The Robot Motion can also be obtained from an activity of the type
RobotMotion.

Dim objActivity as Activity
…
Dim objRobotmotion as RobotMotion
Set objRobotmotion = objActivity.GetTechnologicalObject(“RobotMotion” )
get_accuracy_profile(o_accuracy_profile: AnyObject) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetAccuracyProfile(AnyObject oAccuracyProfile)

Retrieves Accuracy profile.

Parameters:

oAccuracyProfile
The retrieved profile.

Returns:
An HRESULT.
Legal values:

S_OK
The Accuracy Profile was successfully set.
E_FAIL
The Accuracy Profile could not be set.

Example:
The following example retrieves the Accuracy Profile for the robot
Accuracy.

Dim objRobotMotion as RobotMotion
Dim AccuracyProfile As String
objRobotMotion.GetAccuracyProfile
AccuracyProfile
Parameters:

o_accuracy_profile (AnyObject) –

Return type:

None

get_auxillary_axis_home(i_device: AnyObject, i_auxillary_axis: str, o_home_name: str) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetAuxillaryAxisHome(AnyObject iDevice,
CATBSTR iAuxillaryAxis,
CATBSTR oHomeName)

Retrieves the underlying Auxillary device Home.

Parameters:

iDevice
The Auxillary Device.
iAuxillaryAxis
Name of the Auxillary Device.
oHomeName
Home name retrieved for the given Auxillary device.

Returns:
An HRESULT.
Legal values:

S_OK
The auxillary device target was successfully
retrieved.
E_FAIL
The auxillary device target could not be
retrieved.

Example:
The following example retrives the home name correspoding to the
target of the auxillary device in a robot motion.

Dim objRobotmotion as RobotMotion
Dim Device As Product
…
Dim DeviceName As String
DeviceName = “Mechanism.1”
Dim HomeName As String
objRobotmotion.GetAuxillaryAxisHome HomeName
Parameters:

  • i_device (AnyObject) –

  • i_auxillary_axis (str) –

  • o_home_name (str) –

Return type:

None

get_auxillary_axis_values(i_device: AnyObject, i_auxillary_axis: str, o_auxillary_axis_values: tuple) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetAuxillaryAxisValues(AnyObject iDevice,
CATBSTR iAuxillaryAxis,
CATSafeArrayVariant oAuxillaryAxisValues)

Retrieves the underlying Auxillary device Joint values.

Parameters:

iDevice
Auxillary device (Mechanism)
iAuxillaryAxis
Name of the auxillary device.
oAuxillaryAxisValues
List of Joint values retrieved for the given Auxillary device.

Returns:
An HRESULT.
Legal values:

S_OK
The auxillary device target was successfully
retrieved.
E_FAIL
The auxillary device target could not be
retrieved.

Example:
The following example sets the joint values correspoding to the
target of the auxillary device in a robot motion.

Dim objRobotmotion as RobotMotion
Dim Device As Product
…
Dim DeviceName As String
DeviceName = “Mechanism.1”
Dim JointTarget(1)
objRobotmotion.GetAuxillaryAxisValues
Device,DeviceName,JointTarget
Parameters:

  • i_device (AnyObject) –

  • i_auxillary_axis (str) –

  • o_auxillary_axis_values (tuple) –

Return type:

None

get_cartesian_target(o_cartesian_target: tuple) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetCartesianTarget(CATSafeArrayVariant
oCartesianTarget)

Retrieves the Robot Cartesian target.

Parameters:

oCartesianTarget
Cartesian Target(The Variant array containing the values in the
sequence X,Y,Z,Yaw,Pitch,Roll)

Returns:
An HRESULT.
Legal values:

S_OK
The cartesian target was successfully retrieved.
E_FAIL
The cartesian target could not be retrieved.

Example:
The following example gets the cartesian target for a robot
motion.

Dim objRobotmotion as RobotMotion
Dim CartesianTarget(5)
objRobotmotion.GetCartesianTarget
CartesianTarget
Parameters:

o_cartesian_target (tuple) –

Return type:

None

get_config(o_config_number: int) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetConfig(short oConfigNumber)

Retreives the Configuration.

Parameters:

oConfigNumber
The Config as a Number.

Returns:
An HRESULT.
Legal values:

S_OK
The Configuration was successfully retreived.
E_FAIL
The Configuration could not be retreived.

Example:
The following example retreives the Configuration for the robot
motion.

Dim objRobotmotion as RobotMotion
Dim Config
objRobotmotion.GetConfig Config
Parameters:

o_config_number (int) –

Return type:

None

get_joint_target(o_joint_target: tuple) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetJointTarget(CATSafeArrayVariant oJointTarget)

Retrieves the Robot Joint target.

Parameters:

oJointTarget
The List of Joint DOF values.

Returns:
An HRESULT.
Legal values:

S_OK
The joint target was successfully retrieved.
E_FAIL
The joint target could not be retrieved.

Example:
The following example retrieves the joint target of a robot
motion.

Dim objRobotmotion as RobotMotion
Dim JointTarget(5)
objRobotmotion.GetJointTarget JointTarget
Parameters:

o_joint_target (tuple) –

Return type:

None

get_motion_profile(o_motion_profile: AnyObject) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetMotionProfile(AnyObject oMotionProfile)

Retrieves Motion profile.

Parameters:

oMotionProfile
The retrieved profile.

Returns:
An HRESULT.
Legal values:

S_OK
The Motion Profile was successfully retrieved.
E_FAIL
The Motion Profile could not be retrieved.

Example:
The following example retrieves the Motion Profile for the robot
motion.

Dim objRobotmotion as RobotMotion
Dim MotionProfile As String
objRobotmotion.GetMotionProfile MotionProfile
Parameters:

o_motion_profile (AnyObject) –

Return type:

None

get_motion_type(index: int) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetMotionType(short index)

Retrieves the type of Motion.

Parameters:

index
The Motion Type
JointMOVE = 0,
LINEARMOVE = 1 ,
PREDEFINED = 2,
CIRCULAR = 3,
CIRCULARVIA = 4,
SLEW = 5

Returns:
An HRESULT.
Legal values:

S_OK
The motion type was successfully obtained from the robot
motion.
E_FAIL
The motion type could not be obtained.

Example:
The following example retrieves the motion type for a robot
motion.

Dim objRobotmotion as RobotMotion
Dim MotionType
objRobotmotion.GetMotionType MotionType
Parameters:

index (int) –

Return type:

None

get_object_profile(o_obj_profile: AnyObject) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetObjectProfile(AnyObject oObjProfile)

Retrieves Object profile.

Parameters:

oObjProfile
The retrieved profile.

Returns:
An HRESULT.
Legal values:

S_OK
The object Profile was successfully retrieved.
E_FAIL
The object Profile could not be retrieved.

Example:
The following example retrieves the object Profile for the robot
motion.

Dim objrobotmotion as robotmotion
Dim objectProfile As String
objrobotmotion.GetobjectProfile objectProfile
Parameters:

o_obj_profile (AnyObject) –

Return type:

None

get_orientation_mode(index: int) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetOrientationMode(short index)

Retrieves the TCP Orientation Mode.

Parameters:

index
Orientation Mode (OneAxis = 0, TwoAxis = 1, ThreeAxis = 2, WristAxis = 3)

Returns:
An HRESULT.
Legal values:

S_OK
The Orientation Mode was successfully retrieved.
E_FAIL
The Orientation Mode could not be retrieved.

Example:
The following example sets the orientation mode for the robot
motion.

Dim objRobotmotion as RobotMotion
Dim OrientationMode
objRobotmotion.GetOrientationMode
OrientationMode
Parameters:

index (int) –

Return type:

None

get_tag_target(o_tag: Tag) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetTagTarget(Tag oTag)

Retrieves the underlying Tag Target.

Parameters:

oTag
The underlying Tag.

Returns:
An HRESULT.
Legal values:

S_OK
The tag target was successfully retrieved.
E_FAIL
The tag target could not be retrieved.

Example:
The following example retrives the tag target for a robot
motion.

Dim objRobotmotion as RobotMotion
Dim objTag as Tag
objRobotmotion.GetTagTarget objTag
Parameters:

o_tag (Tag) –

Return type:

None

get_target_type(index: int) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetTargetType(short index)

Retrieves the Target Type.

Parameters:

index
Type of the Target (Cartesian = 0, Joint = 1, Tag = 2, Home = 3).

Returns:
An HRESULT.
Legal values:

S_OK
The target type was successfully obtained from the robot
motion.
E_FAIL
The target type could not be obtained.

Example:
The following example retrieves the target type for a robot
motion.

Dim objRobotmotion as RobotMotion
Dim TargetType
objRobotmotion.GetTargetType TargetType
Parameters:

index (int) –

Return type:

None

get_tool_profile(o_tool_profile: AnyObject) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetToolProfile(AnyObject oToolProfile)

Retrieves tool profile.

Parameters:

oToolProfile
The retrieved tool profile.

Returns:
An HRESULT.
Legal values:

S_OK
The Tool Profile was successfully retrieved.
E_FAIL
The Tool Profile could not be retrieved.

Example:
The following example retrieves the Tool Profile for the robot
motion.

Dim objRobotmotion as RobotMotion
Dim ToolProfile As String
objRobotmotion.GetToolProfile ToolProfile
Parameters:

o_tool_profile (AnyObject) –

Return type:

None

get_turn_numbers(o_turn_numbers: tuple) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub GetTurnNumbers(CATSafeArrayVariant oTurnNumbers)

Retrieves the Turn Numbers(or Turn signs) of the robot
motion.

Parameters:

oTurnNumbers
The underlying List of TurnNumbers (or turn signs).


Returns:
An HRESULT.
Legal values:

S_OK
The turn numbers were successfully obtained.
E_FAIL
The turn numbers could not be obtained.

Example:
The following example retrives the turn numbers for a robot
motion.

Dim objRobotmotion as RobotMotion
Dim TurnNumbers(4)
objRobotmotion.GetTurnNumbers TurnNumbers
Parameters:

o_turn_numbers (tuple) –

Return type:

None

set_accuracy_profile(i_accuracy_profile: AnyObject) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub SetAccuracyProfile(AnyObject iAccuracyProfile)

Sets the Accuracy profile.

Parameters:

iAccuracyProfile
The Accuracy profile.

Returns:
An HRESULT.
Legal values:

S_OK
The Accuracy Profile was successfully set.
E_FAIL
The Accuracy Profile could not be set.

Example:
The following example retrieves the Accuracy Profile for the robot
Accuracy.

Dim objRobotMotion as RobotMotion
objRobotMotion.SetAccuracyProfile “Default”
Parameters:

i_accuracy_profile (AnyObject) –

Return type:

None

set_auxillary_axis_home(i_device: AnyObject, i_auxillary_axis: str, i_home_name: str) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub SetAuxillaryAxisHome(AnyObject iDevice,
CATBSTR iAuxillaryAxis,
CATBSTR iHomeName)

Sets the underlying Auxillary device Home.

Parameters:

iDevice
The Auxillary Device.
iAuxillaryAxis
Name of the Auxillary Device.
iHomeName
Home name set for the given Auxillary device.

Returns:
An HRESULT.
Legal values:

S_OK
The auxillary device target was successfully set.
E_FAIL
The auxillary device target could not be set.

Example:
The following example sets the home name correspoding to the target
of the auxillary device in a robot motion.

Dim objRobotmotion as RobotMotion
Dim Device As Product
…
Dim DeviceName As String
DeviceName = “Mechanism.1”
Dim HomeName As String
HomeName = “Home.1”
objRobotmotion.SetAuxillaryAxisHome HomeName
Parameters:

  • i_device (AnyObject) –

  • i_auxillary_axis (str) –

  • i_home_name (str) –

Return type:

None

set_auxillary_axis_values(i_device: AnyObject, i_auxillary_axis: str, i_auxillary_axis_values: tuple) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub SetAuxillaryAxisValues(AnyObject iDevice,
CATBSTR iAuxillaryAxis,
CATSafeArrayVariant iAuxillaryAxisValues)

Sets the Auxillary device Joint values.

Parameters:

iDevice
Auxillary device (Mechanism)
iAuxillaryAxis
Name of the Auxillary Device.
iAuxillaryAxisValues
List of joint values of the device.

Returns:
An HRESULT.
Legal values:

S_OK
The auxillary device target was successfully set.
E_FAIL
The auxillary device target could not be set.

Example:
The following example sets the joint values correspoding to the
target of the auxillary device in a robot motion.

Dim objRobotmotion as RobotMotion
Dim Device As Product
…
Dim DeviceName As String
DeviceName = “Mechanism.1”
Dim JointTarget(1)
JointTarget(0)=1.571
JointTarget(1)=-0.785
objRobotmotion.SetAuxillaryAxisValues
Device,DeviceName,JointTarget
Parameters:

  • i_device (AnyObject) –

  • i_auxillary_axis (str) –

  • i_auxillary_axis_values (tuple) –

Return type:

None

set_cartesian_target(i_cartesian_target: tuple) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub SetCartesianTarget(CATSafeArrayVariant
iCartesianTarget)

Sets the Robot Cartesian target.

Parameters:

iCartesianTarget
Cartesian Target(The Variant array should contain the values in the
sequence X,Y,Z,Yaw,Pitch,Roll)

Returns:
An HRESULT.
Legal values:

S_OK
The cartesian target was successfully set.
E_FAIL
The cartesian target could not be set.

Example:
The following example Sets the cartesian target for a robot
motion.

Dim objRobotmotion as RobotMotion
Dim CartesianTarget(5)
CartesianTarget(0)=150
CartesianTarget(1)=200
CartesianTarget(2)=350
CartesianTarget(3)=1.571
CartesianTarget(4)=3.142
CartesianTarget(5)=-0.785
objRobotmotion.SetCartesianTarget
CartesianTarget
Parameters:

i_cartesian_target (tuple) –

Return type:

None

set_config(i_config_number: int) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub SetConfig(short iConfigNumber)

Sets the Configuration for the robot motion.

Parameters:

iConfigNumber
The Config as a Number.

Returns:
An HRESULT.
Legal values:

S_OK
The Configuration was successfully set.
E_FAIL
The Configuration could not be set.

Example:
The following example sets the configuration for the robot
motion.

Dim objRobotmotion as RobotMotion
objRobotmotion.SetConfig 1
Parameters:

i_config_number (int) –

Return type:

None

set_joint_target(i_joint_target: tuple) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub SetJointTarget(CATSafeArrayVariant iJointTarget)

Sets the Robot Joint target.

Parameters:

iJointTarget
The List of Joint DOF values.

Returns:
An HRESULT.
Legal values:

S_OK
The joint target was successfully set.
E_FAIL
The joint target could not be set.

Example:
The following example sets the joint target for a robot
motion.

Dim objRobotmotion as RobotMotion
Dim JointTarget(5)
JointTarget(0)=1.571
JointTarget(1)=-0.785
JointTarget(2)=3.142
JointTarget(3)=0.38
JointTarget(4)=1.57
JointTarget(5)=0.6
objRobotmotion.SetJointTarget JointTarget
Parameters:

i_joint_target (tuple) –

Return type:

None

set_motion_profile(i_motion_profile: AnyObject) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub SetMotionProfile(AnyObject iMotionProfile)

Sets the Motion profile.

Parameters:

iMotionProfile
The Motion profile.

Returns:
An HRESULT.
Legal values:

S_OK
The Motion Profile was successfully set.
E_FAIL
The Motion Profile could not be set.

Example:
The following example retrieves the Motion Profile for the robot
motion.

Dim objRobotmotion as RobotMotion
objRobotmotion.SetMotionProfile “Default”
Parameters:

i_motion_profile (AnyObject) –

Return type:

None

set_motion_type(index: int) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub SetMotionType(short index)

Sets the type of Motion.

Parameters:

index
The Motion Type
JointMOVE = 0,
LINEARMOVE = 1 ,
PREDEFINED = 2,
CIRCULAR = 3,
CIRCULARVIA = 4, SLEW = 5

Returns:
An HRESULT.
Legal values:

S_OK
The motion type was successfully set to the robot
motion.
E_FAIL
The motion type could not be set.

Example:
The following example Sets the motion type for a robot
motion.

Dim objRobotmotion as RobotMotion
objRobotmotion.SetMotionType 1
Parameters:

index (int) –

Return type:

None

set_object_profile(i_obj_profile: AnyObject) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub SetObjectProfile(AnyObject iObjProfile)

Sets the Object profile.

Parameters:

iObjProfile
The Object profile.

Returns:
An HRESULT.
Legal values:

S_OK
The Object Profile was successfully set.
E_FAIL
The Object Profile could not be set.

Example:
The following example retrieves the Object Profile for the robot
Object.

Dim objRobotMotion as RobotMotion
Dim ObjectProfile As String
objRobotMotion.SetObjectProfile “Default”
Parameters:

i_obj_profile (AnyObject) –

Return type:

None

set_orientation_mode(index: int) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub SetOrientationMode(short index)

Sets the TCP Orientation Mode.

Parameters:

index
Orientation Mode (OneAxis = 0, TwoAxis = 1, ThreeAxis = 2, WristAxis = 3)

Returns:
An HRESULT.
Legal values:

S_OK
The Orientation Mode was successfully set.
E_FAIL
The Orientation Mode could not be set.

Example:
The following example sets the orientation mode for the robot
motion.

Dim objRobotmotion as RobotMotion
objRobotmotion.SetOrientationMode 1
Parameters:

index (int) –

Return type:

None

set_tag_target(i_tag: Tag) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub SetTagTarget(Tag iTag)

Sets the Robot Tag target.

Parameters:

iTag
The Tag to Set as the target.

Returns:
An HRESULT.
Legal values:

S_OK
The tag target was successfully set.
E_FAIL
The tag target could not be set.

Example:
The following example sets the tag target for a robot
motion.

Dim objRobotmotion as RobotMotion
Dim objTag as Tag
…
objRobotmotion.SetTagTarget objTag
Parameters:

i_tag (Tag) –

Return type:

None

set_tool_profile(i_tool_profile: AnyObject) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub SetToolProfile(AnyObject iToolProfile)

Sets the Tool profile.

Parameters:

iToolProfile
The Tool profile.

Returns:
An HRESULT.
Legal values:

S_OK
The Tool Profile was successfully set.
E_FAIL
The Tool Profile could not be set.

Example:
The following example retrieves the Tool Profile for the robot
motion.

Dim objRobotmotion as RobotMotion
objRobotmotion.SetToolProfile “Default”
Parameters:

i_tool_profile (AnyObject) –

Return type:

None

set_turn_numbers(i_turn_numbers: tuple) → None

Note

CAA V5 Visual Basic Help (2020-09-25 14:34:21.593357))
o Sub SetTurnNumbers(CATSafeArrayVariant iTurnNumbers)

Sets Turn Numbers or Turn signs for the robot motion.

Parameters:

iTurnNumbers
The List of Turn numbers (or turn signs) to be set.


Returns:
An HRESULT.
Legal values:

S_OK
The turn numbers were successfully set.
E_FAIL
The turn numbers could not be set.

Example:
The following example sets the turn numbers for a robot
motion.

Dim objRobotmotion as RobotMotion
Dim TurnNumbers(4)
TurnNumbers(0)=1
TurnNumbers(1)=-1
TurnNumbers(2)=0
TurnNumbers(3)=2
objRobotmotion.SetTurnNumbers TurnNumbers
Parameters:

i_turn_numbers (tuple) –

Return type:

None