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CalibOffsets (Object)

IUnknown
  |
  +---IDispatch
    |
    +---CATBaseUnknown
      |
      +---CATBaseDispatch
        |
        +---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.

Method Index

ApplyCorrectedBaseOffset
Applies corrected base offset.
ApplyCorrectedToolOffset
Applies corrected tool offset.
ApplyNominalBaseOffset
Applies the nominal base offset.
ApplyNominalToolOffset
Applies nominal tool offset.
GetCalibReferenceFile
Retrieve the reference calibration file.
GetCorrectedBaseOffset
Retrieve corrected base offset for the robot base wrt robot base reference position.
GetCorrectedToolOffset
Retrieve corrected tool offset for the robot wrt robot mount position.
GetNominalBaseOffset
Retrieve nominal base offset for the robot base wrt robot base reference position.
GetNominalToolOffset
Retrieve nominal tool offset for the robot wrt robot mount position.
GetReferenceBasePosition
Retrieve current reference base position of robot.
SetCalibReferenceFile
Set the reference calibration file.
SetCorrectedBaseOffset
Set corrected base offset for the robot base wrt robot base reference position.
SetCorrectedToolOffset
Set corrected tool offset for the robot wrt robot mount position.
SetNominalBaseOffset
Set nominal base offset for the robot base wrt robot base reference position.
SetNominalToolOffset
Set nominal tool offset for the robot wrt robot mount position.
SetReferenceBasePosition
Set reference base position of robot.

Methods


o Sub ApplyCorrectedBaseOffset()
Applies corrected base offset.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub ApplyCorrectedToolOffset()
Applies corrected tool offset.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub ApplyNominalBaseOffset()
Applies the nominal base offset.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub ApplyNominalToolOffset()
Applies nominal tool offset.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
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
  • .
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
  • .
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
  • .
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
  • .
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
  • .
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
  • .
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
  • .
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
  • .
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
  • .
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
  • .
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
  • .
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
  • .

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