pycatia.dnb_robot_interfaces.generic_tool_profile

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.generic_tool_profile.GenericToolProfile(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

GenericToolProfile

Interface to manage Generic Tool Profile of Robot controller.

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

Profile.

get_centroid(cx: float, cy: float, cz: float) → None

Note

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

o Sub GetCentroid(double cx,

double cy,

double 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

Parameters:

• cx (float) –

• cy (float) –

• cz (float) –

Return type:

None

get_controller(o_controller: RobGenericController) → None

Note

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

o Sub GetController(RobGenericController 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

Parameters:

o_controller (RobGenericController) –

Return type:

None

get_inertia(ixx: float, iyy: float, izz: float, ixy: float, iyz: float, izx: float) → None

Note

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

o Sub GetInertia(double Ixx,

double Iyy,

double Izz,

double Ixy,

double Iyz,

double 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

Parameters:

• ixx (float) –

• iyy (float) –

• izz (float) –

• ixy (float) –

• iyz (float) –

• izx (float) –

Return type:

None

get_mass(mass: float) → None

Note

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

o Sub GetMass(double 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

Parameters:

mass (float) –

Return type:

None

get_name(o_name: str) → None

Note

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

o Sub GetName(CATBSTR 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

Parameters:

o_name (str) –

Return type:

None

get_tcp_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 GetTCPOffset(double x,

double y,

double z,

double roll,

double pitch,

double 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

Parameters:

• x (float) –

• y (float) –

• z (float) –

• roll (float) –

• pitch (float) –

• yaw (float) –

Return type:

None

get_tool_mobility(o_mobile: bool) → None

Note

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

o Sub GetToolMobility(boolean 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

.

Parameters:

o_mobile (bool) –

Return type:

None

set_centroid(cx: float, cy: float, cz: float) → None

Note

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

o Sub SetCentroid(double cx,

double cy,

double 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

Parameters:

• cx (float) –

• cy (float) –

• cz (float) –

Return type:

None

set_inertia(ixx: float, iyy: float, izz: float, ixy: float, iyz: float, izx: float) → None

Note

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

o Sub SetInertia(double Ixx,

double Iyy,

double Izz,

double Ixy,

double Iyz,

double 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

Parameters:

• ixx (float) –

• iyy (float) –

• izz (float) –

• ixy (float) –

• iyz (float) –

• izx (float) –

Return type:

None

set_mass(mass: float) → None

Note

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

o Sub SetMass(double 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

Parameters:

mass (float) –

Return type:

None

set_name(i_name: str) → None

Note

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

o Sub SetName(CATBSTR 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

Parameters:

i_name (str) –

Return type:

None

set_tcp_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 SetTCPOffset(double x,

double y,

double z,

double roll,

double pitch,

double 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

Parameters:

• x (float) –

• y (float) –

• z (float) –

• roll (float) –

• pitch (float) –

• yaw (float) –

Return type:

None

set_tool_mobility(i_mobile: bool) → None

Note

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

o Sub SetToolMobility(boolean 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

Parameters:

i_mobile (bool) –

Return type:

None