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C# Класс ControlSystem.Robot

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Открытые методы

Метод	Описание
Robot ( ) : System	gets an instance of the wrapper, runs initialization method, enables movement control for the AXIS_Robot and homes the robot
Speed ( Wrapper _bGroup, long _mSpeed ) : bool
Time ( Wrapper _bGroup, long _mTime ) : bool
closeGripper ( ) : bool
defineRelativeVector ( RelCoordSirVector rel ) : bool
defineVector ( SIRVector sir ) : bool
getCurrentPosition ( ) : VecPoint
getCurrentPositionAsString ( ) : string
getJawOpeningWidthMilimeters ( ) : short
getJawOpeningWidthPercentage ( ) : short
getWeight ( ) : double
homeRobot ( ) : bool
isOnline ( ) : bool
moveBase ( int _iSpeed ) : bool
moveByAbsoluteCoordinates ( string vectorname, int _iX, int _iY, int _iZ, int _iPitch, int _iRoll ) : bool
moveByAbsoluteVector ( AbsCoordSirVector abs ) : bool
moveByPitch ( int _pitch ) : bool
moveByRelativeCoordinates ( string vectorname, int _iX, int _iY, int _iZ, int _iPitch, int _iRoll ) : bool
moveByRelativeVector ( RelCoordSirVector rel ) : bool
moveByRoll ( int _roll ) : bool
moveByXCoordinate ( int _iX ) : bool
moveByYCoordinate ( int _iY ) : bool
moveByZCoordinate ( int _iZ ) : bool
moveConveyerBelt ( int _iSpeed ) : bool
moveElbow ( int _iSpeed ) : bool
moveGripper ( int _iSpeed ) : bool
moveLinear ( string vectorname, int pointindex ) : bool
moveShoulder ( int _iSpeed ) : bool
moveToAPosition ( ) : bool
moveToCubePosition ( string vectorname, int _iCubeID ) : bool
moveWristPitch ( int _iSpeed ) : bool
moveWristRoll ( int _iSpeed ) : bool
openGripper ( ) : bool
stopAllMovement ( ) : bool
teach ( SIRVector vector ) : bool

Приватные методы

Метод	Описание
digitalInputChanged ( long l ) : void
homeEvent ( byte &_bArg ) : void
initError ( IntPtr _iptrArg ) : void
initSuccess ( IntPtr _iptrArg ) : void
initialization ( ) : void
releaseMovementLock ( byte &b ) : void	Method to be called when the robot stops its movement.
takeMovementLock ( byte &b ) : void	Method to be called when the robot starts its movement. EDIT: Implemented in each move-method instead (DUMMY)

Описание методов