pycatia.kinematics_interfaces.mechanism

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.kinematics_interfaces.mechanism.Mechanism(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

Mechanism

Interface to access the Mechanism object.

add_command(i_cmd_type: str, i_joint: Joint) → MechanismCommand

Note

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

o Func AddCommand(CATBSTR iCmdType,

Joint iJoint) As MechanismCommand

Adds a command in the mechanism, on a joint.

Parameters:

iCmdType

The command type.

iJoint

The joint to be driven.

oNewCommand

The newly created command.

Parameters:

• i_cmd_type (str) –

• i_joint (Joint) –

Return type:

MechanismCommand

add_joint(i_joint_type: str, i_list_elem: tuple) → Joint

Note

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

o Func AddJoint(CATBSTR iJointType,

CATSafeArrayVariant iListElem) As Joint

Adds a joint in the mechanism.

Parameters:

iJointType

The joint type.

iListElem

The list of elements expected to locate the joint, depending on the

type.

oNewJoint

The newly created joint.

Parameters:

• i_joint_type (str) –

• i_list_elem (tuple) –

Return type:

Joint

property commands: MechanismCommands

Note

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

o Property Commands() As MechanismCommands (Read Only)

Returns the collection of commands in the mechanism.

Parameters:

oCommands

The collection of commands. This property is read only because

because list is aggregated in the Mechanism

Return type:

MechanismCommands

property fixed_part: Product

Note

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

o Property FixedPart() As Product

Returns or sets the fixed part of the mechanism.

Parameters:

oFixedPart

The fixed part.

Return type:

Product

get_command_values(io_cmd_values: tuple) → None

Note

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

o Sub GetCommandValues(CATSafeArrayVariant ioCmdValues)

Allows to retrieve current state of the mechanism.

Parameters:

ioCmdValues

current command values

Parameters:

io_cmd_values (tuple) –

Return type:

None

get_product(i_index: int) → Product

Note

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

o Func GetProduct(long iIndex) As Product

Returns an item from the list of the products involved in the

mechanism.

Parameters:

iIndex

The index for the product.

oProduct

The product at that index.

Returns:

HRESULT

Parameters:

i_index (int) –

Return type:

Product

get_product_motion(i_product: Product, io_motion: tuple) → None

Note

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

o Sub GetProductMotion(Product iProduct,

CATSafeArrayVariant ioMotion)

Retrieves motion from initial state to current state for a part of the

mechanism.

Parameters:

iProduct

The moving product

ioMotion

The motion matrix (12 real values, compatible with the Move object)

See also:

Move

Parameters:

• i_product (Product) –

• io_motion (tuple) –

Return type:

None

property joints: Joints

Note

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

o Property Joints() As Joints (Read Only)

Returns the collection of joints in the mechanism.

Parameters:

oJoints

The collection of joints. This property is read only because

because list is aggregated in the Mechanism

Return type:

Joints

property nb_commands: int

Note

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

o Property NbCommands() As long (Read Only)

Returns the number of commands in the mechanism.

Parameters:

oNbCommands

The number of commands. This property is read only because number

depends on commands creation/destruction

Return type:

int

property nb_dof: int

Note

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

o Property NbDof() As long (Read Only)

Returns the degree of freedom of the mechanism.

Parameters:

oNbDof

The degree of freedom. This property is read only because because

it depends on joints and commands

Return type:

int

property nb_joints: int

Note

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

o Property NbJoints() As long (Read Only)

Returns the number of joints in the mechanism.

Parameters:

oNbJoints

The number of joints. This property is read only because number

depends on joints creation/destruction

Return type:

int

property nb_products: int

Note

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

o Property NbProducts() As long (Read Only)

Returns the number of products (i.e. bodies) involved in the

mechanism.

Parameters:

oNbProducts

The number of products. This property is read only because number

depends on joints creation/destruction

Return type:

int

put_command_values(i_cmd_values: tuple) → None

Note

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

o Sub PutCommandValues(CATSafeArrayVariant iCmdValues)

Triggers immediate mechanism solving (motion is NOT applied to the

model).

Parameters:

iCmdValues

command values to be solved for

Parameters:

i_cmd_values (tuple) –

Return type:

None

put_command_values_with_multi_steps(i_cmd_values: tuple, i_nb_steps: int, o_step_reached: int) → None

Note

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

o Sub PutCommandValuesWithMultiSteps(CATSafeArrayVariant

iCmdValues,

long iNbSteps,

long oStepReached)

Puts command values in given number of steps. Visualization is updated

after every step.

Parameters:

iCmdValues

Array of target command values (position to achieve)

inbSteps

Number of steps in witch the target command value is to be

reached.

Legal values

inbSteps greater than 0

Number of step must be greater than zero.

oStepReached

Number of steps reached successfully.

Parameters:

• i_cmd_values (tuple) –

• i_nb_steps (int) –

• o_step_reached (int) –

Return type:

None

reset_cmd_value_to_zero(i_command: MechanismCommand) → None

Note

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

o Sub ResetCmdValueToZero(MechanismCommand iCommand)

Sets the command value to zero for the given command without disturbing

part positions.

Parameters:

iCommand

The command to reset to zero

Parameters:

i_command (MechanismCommand) –

Return type:

None

update() → None

Note

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

o Sub Update()

Reassembles the mechanism after dimension changes in the parts.

Return type:

None