pycatia.dnb_robot_interfaces.calib_offsets

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_robot_interfaces.calib_offsets.CalibOffsets(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

CalibOffsets

Interface to set Robot base/Tool offsets based on Calibration.

Role: This interface provides methods to get/set calibration offsets related to

Robot base and Robot tool position.

apply_corrected_base_offset() → None

Note

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

o Sub ApplyCorrectedBaseOffset()

Applies corrected base offset.

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Return type:

None

apply_corrected_tool_offset() → None

Note

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

o Sub ApplyCorrectedToolOffset()

Applies corrected tool offset.

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Return type:

None

apply_nominal_base_offset() → None

Note

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

o Sub ApplyNominalBaseOffset()

Applies the nominal base offset.

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Return type:

None

apply_nominal_tool_offset() → None

Note

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

o Sub ApplyNominalToolOffset()

Applies nominal tool offset.

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Return type:

None

get_calib_reference_file(o_calib_reference_file: str) → None

Note

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

o Sub GetCalibReferenceFile(CATBSTR oCalibReferenceFile)

Retrieve the reference calibration file.

Parameters:

iCalibReferenceFile

Full path of reference calibration file.

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Parameters:

o_calib_reference_file (str) –

Return type:

None

get_corrected_base_offset(x: float, y: float, z: float, roll: float, pitch: float, yaw: float) → None

Note

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

o Sub GetCorrectedBaseOffset(double x,

double y,

double z,

double roll,

double pitch,

double yaw)

Retrieve corrected base offset for the robot base wrt robot base reference

position.

Parameters:

x

X coordinate of the Corrected robot base offset(in m).

y

Y coordinate of the Corrected robot base offset(in m).

z

Z coordinate of the Corrected robot base offset(in m).

roll

Roll angle of the Corrected robot base offset(in deg).

pitch

Pitch angle of the Corrected robot base offset(in deg).

yaw

Pitch angle of the Corrected robot base offset(in deg).

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Parameters:

• x (float) –

• y (float) –

• z (float) –

• roll (float) –

• pitch (float) –

• yaw (float) –

Return type:

None

get_corrected_tool_offset(x: float, y: float, z: float, roll: float, pitch: float, yaw: float) → None

Note

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

o Sub GetCorrectedToolOffset(double x,

double y,

double z,

double roll,

double pitch,

double yaw)

Retrieve corrected tool offset for the robot wrt robot mount

position.

Parameters:

x

X coordinate of the Corrected tool offset(in m).

y

Y coordinate of the Corrected tool offset(in m).

z

Z coordinate of the Corrected tool offset(in m).

roll

Roll angle of the Corrected tool offset(in deg).

pitch

Pitch angle of the Corrected tool offset(in deg).

yaw

Pitch angle of the Corrected tool offset(in deg).

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Parameters:

• x (float) –

• y (float) –

• z (float) –

• roll (float) –

• pitch (float) –

• yaw (float) –

Return type:

None

get_nominal_base_offset(x: float, y: float, z: float, roll: float, pitch: float, yaw: float) → None

Note

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

o Sub GetNominalBaseOffset(double x,

double y,

double z,

double roll,

double pitch,

double yaw)

Retrieve nominal base offset for the robot base wrt robot base reference

position.

Parameters:

x

X coordinate of the Nominal robot base offset(in m).

y

Y coordinate of the Nominal robot base offset(in m).

z

Z coordinate of the Nominal robot base offset(in m).

roll

Roll angle of the Nominal robot base offset(in deg).

pitch

Pitch angle of the Nominal robot base offset(in deg).

yaw

Pitch angle of the Nominal robot base offset(in deg).

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Parameters:

• x (float) –

• y (float) –

• z (float) –

• roll (float) –

• pitch (float) –

• yaw (float) –

Return type:

None

get_nominal_tool_offset(x: float, y: float, z: float, roll: float, pitch: float, yaw: float) → None

Note

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

o Sub GetNominalToolOffset(double x,

double y,

double z,

double roll,

double pitch,

double yaw)

Retrieve nominal tool offset for the robot wrt robot mount

position.

Parameters:

x

X coordinate of the Nominal tool offset(in m).

y

Y coordinate of the Nominal tool offset(in m).

z

Z coordinate of the Nominal tool offset(in m).

roll

Roll angle of the Nominal tool offset(in deg).

pitch

Pitch angle of the Nominal tool offset(in deg).

yaw

Pitch angle of the Nominal tool offset(in deg).

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Parameters:

• x (float) –

• y (float) –

• z (float) –

• roll (float) –

• pitch (float) –

• yaw (float) –

Return type:

None

get_reference_base_position(x: float, y: float, z: float, roll: float, pitch: float, yaw: float) → None

Note

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

o Sub GetReferenceBasePosition(double x,

double y,

double z,

double roll,

double pitch,

double yaw)

Retrieve current reference base position of robot.

Parameters:

x

X coordinate of the reference base position(in m).

y

Y coordinate of the reference base position(in m).

z

Z coordinate of the reference base position(in m).

roll

Roll angle of the reference base position(in deg).

pitch

Pitch angle of the reference base position(in deg).

yaw

Yaw angle of the reference base position(in deg).

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Parameters:

• x (float) –

• y (float) –

• z (float) –

• roll (float) –

• pitch (float) –

• yaw (float) –

Return type:

None

set_calib_reference_file(i_calib_reference_file: str) → None

Note

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

o Sub SetCalibReferenceFile(CATBSTR iCalibReferenceFile)

Set the reference calibration file.

Parameters:

iCalibReferenceFile

Full path of reference calibration file.

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Parameters:

i_calib_reference_file (str) –

Return type:

None

set_corrected_base_offset(x: float, y: float, z: float, roll: float, pitch: float, yaw: float) → None

Note

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

o Sub SetCorrectedBaseOffset(double x,

double y,

double z,

double roll,

double pitch,

double yaw)

Set corrected base offset for the robot base wrt robot base reference

position.

Parameters:

x

X coordinate of the Corrected robot base offset(in m).

y

Y coordinate of the Corrected robot base offset(in m).

z

Z coordinate of the Corrected robot base offset(in m).

roll

Roll angle of the Corrected robot base offset(in deg).

pitch

Pitch angle of the Corrected robot base offset(in deg).

yaw

Pitch angle of the Corrected robot base offset(in deg).

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Parameters:

• x (float) –

• y (float) –

• z (float) –

• roll (float) –

• pitch (float) –

• yaw (float) –

Return type:

None

set_corrected_tool_offset(x: float, y: float, z: float, roll: float, pitch: float, yaw: float) → None

Note

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

o Sub SetCorrectedToolOffset(double x,

double y,

double z,

double roll,

double pitch,

double yaw)

Set corrected tool offset for the robot wrt robot mount

position.

Parameters:

x

X coordinate of the Corrected tool offset(in m).

y

Y coordinate of the Corrected tool offset(in m).

z

Z coordinate of the Corrected tool offset(in m).

roll

Roll angle of the Corrected tool offset(in deg).

pitch

Pitch angle of the Corrected tool offset(in deg).

yaw

Pitch angle of the Corrected tool offset(in deg).

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Parameters:

• x (float) –

• y (float) –

• z (float) –

• roll (float) –

• pitch (float) –

• yaw (float) –

Return type:

None

set_nominal_base_offset(x: float, y: float, z: float, roll: float, pitch: float, yaw: float) → None

Note

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

o Sub SetNominalBaseOffset(double x,

double y,

double z,

double roll,

double pitch,

double yaw)

Set nominal base offset for the robot base wrt robot base reference

position.

Parameters:

x

X coordinate of the Nominal robot base offset(in m).

y

Y coordinate of the Nominal robot base offset(in m).

z

Z coordinate of the Nominal robot base offset(in m).

roll

Roll angle of the Nominal robot base offset(in deg).

pitch

Pitch angle of the Nominal robot base offset(in deg).

yaw

Pitch angle of the Nominal robot base offset(in deg).

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Parameters:

• x (float) –

• y (float) –

• z (float) –

• roll (float) –

• pitch (float) –

• yaw (float) –

Return type:

None

set_nominal_tool_offset(x: float, y: float, z: float, roll: float, pitch: float, yaw: float) → None

Note

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

o Sub SetNominalToolOffset(double x,

double y,

double z,

double roll,

double pitch,

double yaw)

Set nominal tool offset for the robot wrt robot mount

position.

Parameters:

x

X coordinate of the Nominal tool offset(in m).

y

Y coordinate of the Nominal tool offset(in m).

z

Z coordinate of the Nominal tool offset(in m).

roll

Roll angle of the Nominal tool offset(in deg).

pitch

Pitch angle of the Nominal tool offset(in deg).

yaw

Pitch angle of the Nominal tool offset(in deg).

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Parameters:

• x (float) –

• y (float) –

• z (float) –

• roll (float) –

• pitch (float) –

• yaw (float) –

Return type:

None

set_reference_base_position(x: float, y: float, z: float, roll: float, pitch: float, yaw: float) → None

Note

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

o Sub SetReferenceBasePosition(double x,

double y,

double z,

double roll,

double pitch,

double yaw)

Set reference base position of robot.

Parameters:

x

X coordinate of the Robot base position(in m).

y

Y coordinate of the Robot base position(in m).

z

Z coordinate of the Robot base position(in m).

roll

Roll angle of the Robot Base position(in deg).

pitch

Pitch angle of the Robot Base position(in deg).

yaw

Pitch angle of the Robot Base position(in deg).

Returns:

an HRESULT value.

Legal values:

S_OK if the operation succeeds

E_FAIL otherwise

Parameters:

• x (float) –

• y (float) –

• z (float) –

• roll (float) –

• pitch (float) –

• yaw (float) –

Return type:

None