All Frameworks  Object Hierarchy  This Framework  Previous  Next  Indexes  

GenericMotionProfile (Object)

IUnknown
  |
  +---IDispatch
    |
    +---CATBaseUnknown
      |
      +---CATBaseDispatch
        |
        +---AnyObject
          |
          +---GenericMotionProfile
 


Interface to manage Generic Motion Profile of Robot controller.

Role: This interface provides methods to get/set data related to Accuracy Profile.

Method Index

GetAccelerationValue
Retrieves acceleration value of the Profile.
GetAngularAccelerationValue
Get Angular acceleration value of the Profile.
GetAngularSpeedValue
Retrieves Angular Speed value of the Profile.
GetController
Retrieves controller owning the profile.
GetMotionBasis
Retrieves motion basis of the Profile.
GetName
Gets name of the Motion Profile.
GetSpeedValue
Retrieves speed value of the Profile.
SetAccelerationValue
Set acceleration value of the Profile.
SetAngularAccelerationValue
Set Angular acceleration value of the Profile.
SetAngularSpeedValue
Set Angular Speed value of the Profile.
SetMotionBasis
Set motion basis of the Profile.
SetName
Set name of the Motion Profile.
SetSpeedValue
Set speed value of the Profile.

Methods


o Sub GetAccelerationValue(double value)
Retrieves acceleration value of the Profile.
Parameters:
value
This out parameter contains motion acceleration of the Profile.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub GetAngularAccelerationValue(double value)
Get Angular acceleration value of the Profile.
Parameters:
value
Percentage of max angular acceleration of robot. The value is used when robot TCP rotate against a axis.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub GetAngularSpeedValue(double value)
Retrieves Angular Speed value of the Profile.
Parameters:
value
This out parameter contains Angular Speed of the Profile.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub GetController(DNBIARobGenericController 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
  • .
o Sub GetMotionBasis(MotionBasis basis)
Retrieves motion basis of the Profile.
Parameters:
basis
motion basis, one of following: MOTION_ABSOLUTE, MOTION_PERCENT, MOTION_TIME
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub GetName(CATBSTR oName)
Gets name of the Motion Profile.
Parameters:
oName
Name of the required Motion Profile.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub GetSpeedValue(double value)
Retrieves speed value of the Profile.
Parameters:
value
This out parameter contains motion speed of the Profile.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub SetAccelerationValue(double value)
Set acceleration value of the Profile.
Parameters:
value
meaning of the value is based on the motion basis: MOTION_ABSOLUTE : absolute acceleration value. MOTION_PERCENT : 0-1, percent of max acceleration of the device MOTION_TIME : percent of total move time used on acceleration/deceleration
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub SetAngularAccelerationValue(double value)
Set Angular acceleration value of the Profile.
Parameters:
value
Percentage of max angular acceleration of robot. The value is used when robot TCP rotate against a axis.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub SetAngularSpeedValue(double value)
Set Angular Speed value of the Profile.
Parameters:
value
Percentage of max angular speed of robot. The value is used when robot TCP rotate against a axis.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub SetMotionBasis(MotionBasis basis)
Set motion basis of the Profile.
Parameters:
basis
motion basis, one of following: MOTION_ABSOLUTE, MOTION_PERCENT, MOTION_TIME
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub SetName(CATBSTR iName)
Set name of the Motion Profile.
Parameters:
iName
Name of the Motion Profile to be set.
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .
o Sub SetSpeedValue(double value)
Set speed value of the Profile.
Parameters:
value
meaning of the value is based on the motion basis: MOTION_ABSOLUTE : absolute speed value. MOTION_PERCENT : 0-1, percent of max speed of the device MOTION_TIME : in seconds
Returns:
an HRESULT value.
Legal values:
  • S_OK if the operation succeeds
  • E_FAIL otherwise
  • .

Copyright © 2003, Dassault Systèmes. All rights reserved.