Class MachineConfigurationRobot6thAxisControlHelper

Helper methods for ICamApiMachineConfigurationRobot6thAxisControl

Inheritance

object

MachineConfigurationRobot6thAxisControlHelper

Inherited Members

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object.MemberwiseClone()

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object.Equals(object)

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Namespace: CAMAPI.DotnetHelper

Assembly: CAMAPI.DotnetHelper.dll

Syntax

public static class MachineConfigurationRobot6thAxisControlHelper

Methods

IsLeadDir(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, out bool, out TRobot6thAxisLeadDirType)

Returns true if lead direction uses a preset axis (not Custom). Fills enabled and dirType.

Declaration

public static bool IsLeadDir(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, out bool enabled, out TRobot6thAxisLeadDirType dirType)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
bool	enabled
TRobot6thAxisLeadDirType	dirType

Returns

Type	Description
bool

IsLeadDirCustom(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, out bool, out TST3DPoint, out TST3DPoint)

Returns true if lead direction uses a custom vector. Fills enabled, fromPoint, toPoint.

Declaration

public static bool IsLeadDirCustom(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, out bool enabled, out TST3DPoint fromPoint, out TST3DPoint toPoint)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
bool	enabled
TST3DPoint	fromPoint
TST3DPoint	toPoint

Returns

Type	Description
bool

IsPoint(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, out TRobot6thAxisPointType)

Returns true if mode is Point with a preset (not Custom). Fills pointType.

Declaration

public static bool IsPoint(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, out TRobot6thAxisPointType pointType)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
TRobot6thAxisPointType	pointType

Returns

Type	Description
bool

IsPointCustom(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, out TST3DPoint)

Returns true if mode is Point with a custom position. Fills customPoint.

Declaration

public static bool IsPointCustom(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, out TST3DPoint customPoint)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
TST3DPoint	customPoint

Returns

Type	Description
bool

IsToolPath(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, out double, out TRobot6thAxisTangentApproxType, out double)

Returns true if mode is ToolPath. Fills angle, tangentApproxType, tangentApproxValue.

Declaration

public static bool IsToolPath(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, out double angle, out TRobot6thAxisTangentApproxType tangentApproxType, out double tangentApproxValue)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
double	angle
TRobot6thAxisTangentApproxType	tangentApproxType
double	tangentApproxValue

Returns

Type	Description
bool

IsVector(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, out TRobot6thAxisVecType)

Returns true if mode is Vector with a preset (not Custom). Fills vecType.

Declaration

public static bool IsVector(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, out TRobot6thAxisVecType vecType)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
TRobot6thAxisVecType	vecType

Returns

Type	Description
bool

IsVectorCustom(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, out TST3DPoint)

Returns true if mode is Vector with a custom direction. Fills customVec.

Declaration

public static bool IsVectorCustom(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, out TST3DPoint customVec)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
TST3DPoint	customVec

Returns

Type	Description
bool

Mode(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>)

Current 6th axis control mode

Declaration

public static TRobot6thAxisMode Mode(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com

Returns

Type	Description
TRobot6thAxisMode

SetLeadDir(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, bool, TRobot6thAxisLeadDirType)

Set fixed lead direction with a preset axis (X/Y/Z)

Declaration

public static void SetLeadDir(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, bool enabled, TRobot6thAxisLeadDirType dirType)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
bool	enabled
TRobot6thAxisLeadDirType	dirType

SetLeadDirCustom(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, bool, TST3DPoint, TST3DPoint)

Set fixed lead direction with a custom vector (fromPoint to toPoint)

Declaration

public static void SetLeadDirCustom(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, bool enabled, TST3DPoint fromPoint, TST3DPoint toPoint)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
bool	enabled
TST3DPoint	fromPoint
TST3DPoint	toPoint

SetModePoint(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, TRobot6thAxisPointType)

Set mode to Point with a preset

Declaration

public static void SetModePoint(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, TRobot6thAxisPointType pointType)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
TRobot6thAxisPointType	pointType

SetModePointCustom(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, TST3DPoint)

Set mode to Point with a custom position

Declaration

public static void SetModePointCustom(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, TST3DPoint customPoint)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
TST3DPoint	customPoint

SetModeToolPath(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, double, TRobot6thAxisTangentApproxType, double)

Set mode to ToolPath. Angle is angular deviation in degrees. TangentApproxValue is percent (r6tatPercent) or distance (r6tatDistance)

Declaration

public static void SetModeToolPath(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, double angle, TRobot6thAxisTangentApproxType tangentApproxType, double tangentApproxValue)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
double	angle
TRobot6thAxisTangentApproxType	tangentApproxType
double	tangentApproxValue

SetModeVector(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, TRobot6thAxisVecType)

Set mode to Vector with a preset direction

Declaration

public static void SetModeVector(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, TRobot6thAxisVecType vecType)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
TRobot6thAxisVecType	vecType

SetModeVectorCustom(ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>, TST3DPoint)

Set mode to Vector with a custom direction vector

Declaration

public static void SetModeVectorCustom(this ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl> com, TST3DPoint customVec)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineConfigurationRobot6thAxisControl>	com
TST3DPoint	customVec