Class PnPModelItemsHelper
Inheritance
PnPModelItemsHelper
Assembly: CAMAPI.DotnetHelper.dll
Syntax
public static class PnPModelItemsHelper
Methods
Axes mode for the clearance move (all axes, position only, etc.).
Declaration
public static TModelFormerPnPAxesMode GetAxesMode(this ComWrapper<ICamApiPnPClearanceItem> c)
Parameters
Returns
Returns the clearance item associated with the pick point.
Declaration
public static ComWrapper<ICamApiPnPClearanceItem> GetClearanceItem(this ComWrapper<ICamApiPnPPickItem> c)
Parameters
Returns
Returns the clearance item associated with the place point.
Declaration
public static ComWrapper<ICamApiPnPClearanceItem> GetClearanceItem(this ComWrapper<ICamApiPnPPlaceItem> c)
Parameters
Returns
When true, the move uses 6D positioning (position + orientation).
Declaration
public static bool GetIs6D(this ComWrapper<ICamApiPnPMoveItem> c)
Parameters
Returns
Returns the machine configuration (axes, flips) for the move point.
Declaration
public static ComWrapper<ICamApiMachineConfiguration> GetMachineConfiguration(this ComWrapper<ICamApiPnPMoveItem> c)
Parameters
Returns
Returns the machine configuration (axes, flips) for the pick point.
Declaration
public static ComWrapper<ICamApiMachineConfiguration> GetMachineConfiguration(this ComWrapper<ICamApiPnPPickItem> c)
Parameters
Returns
Returns the machine configuration (axes, flips) for the place point.
Declaration
public static ComWrapper<ICamApiMachineConfiguration> GetMachineConfiguration(this ComWrapper<ICamApiPnPPlaceItem> c)
Parameters
Returns
Position and orientation of the end (return) point (4×4 homogeneous matrix).
Declaration
public static TST3DMatrix GetMatrix(this ComWrapper<ICamApiPnPEndItem> c)
Parameters
Returns
Position and orientation of the intermediate move point (4×4 homogeneous matrix).
Declaration
public static TST3DMatrix GetMatrix(this ComWrapper<ICamApiPnPMoveItem> c)
Parameters
Returns
Position and orientation of the pick point (4×4 homogeneous matrix).
Declaration
public static TST3DMatrix GetMatrix(this ComWrapper<ICamApiPnPPickItem> c)
Parameters
Returns
Position and orientation of the start point (4×4 homogeneous matrix).
Declaration
public static TST3DMatrix GetMatrix(this ComWrapper<ICamApiPnPStartItem> c)
Parameters
Returns
Motion type for the clearance move.
Declaration
public static TModelFormerPnPMotionType GetMotionType(this ComWrapper<ICamApiPnPClearanceItem> c)
Parameters
Returns
Motion type (linear, circular, etc.) for this intermediate point.
Declaration
public static TModelFormerPnPMotionType GetMotionType(this ComWrapper<ICamApiPnPMoveItem> c)
Parameters
Returns
When true, the robot only picks (no placement).
Declaration
public static bool GetPickOnly(this ComWrapper<ICamApiPnPPickItem> c)
Parameters
Returns
When true, the robot returns to the end point after placing.
Declaration
public static bool GetPointEnabled(this ComWrapper<ICamApiPnPEndItem> c)
Parameters
Returns
Clearance distance along the axis (used when PositionType is AlongAxis).
Declaration
public static double GetPosLength(this ComWrapper<ICamApiPnPClearanceItem> c)
Parameters
Returns
How the clearance position is calculated (along axis, custom point, etc.).
Declaration
public static TModelFormerPnPClearanceType GetPositionType(this ComWrapper<ICamApiPnPClearanceItem> c)
Parameters
Returns
Specifies what the intermediate point is relative to (world, pick, place, etc.).
Declaration
public static TModelFormerPnPRelativeType GetRelativeTo(this ComWrapper<ICamApiPnPMoveItem> c)
Parameters
Returns
Returns the workpiece setup for the place point (connector, offset).
Declaration
public static ComWrapper<ICamApiWorkpieceSetup> GetWorkpieceSetup(this ComWrapper<ICamApiPnPPlaceItem> c)
Parameters
Returns
Sets the axes mode for the clearance move.
Declaration
public static void SetAxesMode(this ComWrapper<ICamApiPnPClearanceItem> c, TModelFormerPnPAxesMode value)
Parameters
Sets whether 6D positioning is used for this move point.
Declaration
public static void SetIs6D(this ComWrapper<ICamApiPnPMoveItem> c, bool value)
Parameters
Sets the position and orientation of the intermediate move point.
Declaration
public static void SetMatrix(this ComWrapper<ICamApiPnPMoveItem> c, TST3DMatrix value)
Parameters
Sets the position and orientation of the pick point.
Declaration
public static void SetMatrix(this ComWrapper<ICamApiPnPPickItem> c, TST3DMatrix value)
Parameters
Sets the motion type for the clearance move.
Declaration
public static void SetMotionType(this ComWrapper<ICamApiPnPClearanceItem> c, TModelFormerPnPMotionType value)
Parameters
Sets the motion type for this intermediate point.
Declaration
public static void SetMotionType(this ComWrapper<ICamApiPnPMoveItem> c, TModelFormerPnPMotionType value)
Parameters
Sets whether the operation is pick-only (no placement).
Declaration
public static void SetPickOnly(this ComWrapper<ICamApiPnPPickItem> c, bool value)
Parameters
Sets whether the end (return) point is active.
Declaration
public static void SetPointEnabled(this ComWrapper<ICamApiPnPEndItem> c, bool value)
Parameters
Sets the clearance distance along the axis.
Declaration
public static void SetPosLength(this ComWrapper<ICamApiPnPClearanceItem> c, double value)
Parameters
Sets how the clearance position is calculated.
Declaration
public static void SetPositionType(this ComWrapper<ICamApiPnPClearanceItem> c, TModelFormerPnPClearanceType value)
Parameters
Sets what the intermediate point is relative to.
Declaration
public static void SetRelativeTo(this ComWrapper<ICamApiPnPMoveItem> c, TModelFormerPnPRelativeType value)
Parameters