Class MachineCLDReceiverHelper

Helper methods for ICamApiMachineCLDReceiver - the machine-side aspect of the CLData receiver a solver receives when the operation type declares MachineCLData. Obtained by QueryInterface on ICamApiCLDReceiver: cldFormer as ICamApiMachineCLDReceiver, null on the geometric CLData path.

Both the receiver and the evaluator behind it are valid for the duration of the solver call only - do not store either past MakeWorkPath.

Inheritance

object

MachineCLDReceiverHelper

Inherited Members

object.GetType()

object.MemberwiseClone()

object.ToString()

object.Equals(object)

object.Equals(object, object)

object.ReferenceEquals(object, object)

object.GetHashCode()

Namespace: CAMAPI.DotnetHelper

Assembly: CAMAPI.DotnetHelper.dll

Syntax

public static class MachineCLDReceiverHelper

Methods

AddAxisBrake(ComWrapper<ICamApiMachineCLDReceiver>, int, bool)

Apply or release the brake of the axis at the given index (AXESBRAKE)

Declaration

public static void AddAxisBrake(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, int axisIndex, bool applied)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
int	axisIndex
bool	applied

AddCallSub(ComWrapper<ICamApiMachineCLDReceiver>, int)

Append a call of the subroutine with the given identifier (CALLSUB)

Declaration

public static void AddCallSub(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, int subId)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
int	subId

AddClamp(ComWrapper<ICamApiMachineCLDReceiver>, int, bool)

Append a clamp command (CLAMP): true clamps, false releases

Declaration

public static void AddClamp(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, int clampId, bool clamped)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
int	clampId
bool	clamped

AddFrom(ComWrapper<ICamApiMachineCLDReceiver>, TST3DPoint)

Append a start-point command (FROM) at the given point

Declaration

public static void AddFrom(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, TST3DPoint fromPoint)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
TST3DPoint	fromPoint

AddGoHome(ComWrapper<ICamApiMachineCLDReceiver>, TST3DPoint)

Append a go-home command (GOHOME) to the given point in machine coordinates

Declaration

public static void AddGoHome(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, TST3DPoint homePoint)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
TST3DPoint	homePoint

AddMotion(ComWrapper<ICamApiMachineCLDReceiver>, int, double)

Set the value of one machine axis in the open frame

Declaration

public static void AddMotion(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, int axisIndex, double value)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
int	axisIndex
double	value

AddOrigin(ComWrapper<ICamApiMachineCLDReceiver>, TST3DMatrix, TCamApiLocalCSPositioningMode)

Append a local coordinate system (ORIGIN) given by its matrix

Declaration

public static void AddOrigin(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, TST3DMatrix m, TCamApiLocalCSPositioningMode positioningMode)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
TST3DMatrix	m
TCamApiLocalCSPositioningMode	positioningMode

AddOriginByShift(ComWrapper<ICamApiMachineCLDReceiver>, TST3DMatrix)

Append a local coordinate system (ORIGIN) given as a shift of the current one (G52)

Declaration

public static void AddOriginByShift(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, TST3DMatrix shiftMatrix)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
TST3DMatrix	shiftMatrix

AddPPFun(ComWrapper<ICamApiMachineCLDReceiver>, int, IReadOnlyDictionary<int, double>)

Append a postprocessor-function command (PPFUN) with the given subcode and parameters, indexed from 1 as the postprocessor numbers them

Declaration

public static void AddPPFun(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, int subCode, IReadOnlyDictionary<int, double> parameters)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
int	subCode
IReadOnlyDictionary<int, double>	parameters

AddPartNo(ComWrapper<ICamApiMachineCLDReceiver>, string)

Append a program-name command (PARTNO)

Declaration

public static void AddPartNo(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, string name)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
string	name

AddRapid(ComWrapper<ICamApiMachineCLDReceiver>)

Switch the following moves to the rapid feed (RAPID)

Declaration

public static void AddRapid(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom

AddRotaryTable(ComWrapper<ICamApiMachineCLDReceiver>, bool, double, bool, int)

Append a rotary-table positioning command (ROTABLE) for the given plane

Declaration

public static void AddRotaryTable(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, bool incremental, double position, bool counterClockwise, int plane)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
bool	incremental
double	position
bool	counterClockwise
int	plane

AddSafePos(ComWrapper<ICamApiMachineCLDReceiver>, int, TST3DPoint)

Append a safe-position command (SAFPOS): the numbered safe point, or the coordinates when the machine has no numbered points

Declaration

public static void AddSafePos(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, int pointNumber, TST3DPoint safePoint)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
int	pointNumber
TST3DPoint	safePoint

AddSelWorkpiece(ComWrapper<ICamApiMachineCLDReceiver>, string)

Append an active-workpiece command (SELWORKPIECE) for the given holder

Declaration

public static void AddSelWorkpiece(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, string workpieceHolderId)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
string	workpieceHolderId

AddStop(ComWrapper<ICamApiMachineCLDReceiver>)

Append an unconditional program stop (STOP)

Declaration

public static void AddStop(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom

AddSyncAxes(ComWrapper<ICamApiMachineCLDReceiver>, bool, string, string)

Turn synchronization of the two axes on or off (SYNCAXES)

Declaration

public static void AddSyncAxes(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, bool isOn, string axisId1, string axisId2)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
bool	isOn
string	axisId1
string	axisId2

AddTakeover(ComWrapper<ICamApiMachineCLDReceiver>, int, string)

Append a workpiece-takeover command (TAKEOVER)

Declaration

public static void AddTakeover(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, int partIndex, string workpieceHolderId)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
int	partIndex
string	workpieceHolderId

AddThread(ComWrapper<ICamApiMachineCLDReceiver>, int, int, double, double)

Append a single-pass thread command (THREAD)

Declaration

public static void AddThread(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, int orient, int leadType, double step, double startAngle)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
int	orient
int	leadType
double	step
double	startAngle

CloseMultiMotion(ComWrapper<ICamApiMachineCLDReceiver>)

Close the frame opened by OpenMultiMotion and append it to the toolpath

Declaration

public static void CloseMultiMotion(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom

EndMakeWorkPath(ComWrapper<ICamApiMachineCLDReceiver>)

Tell the host that nothing more will be appended. Only needed by an external application that got the receiver through the machine CLData event

Declaration

public static void EndMakeWorkPath(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom

LoadTool(ComWrapper<ICamApiMachineCLDReceiver>, int)

Append a tool-load command for the tool with the given number in the program

Declaration

public static void LoadTool(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, int toolNumber)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
int	toolNumber

MachineEvaluator(ComWrapper<ICamApiMachineCLDReceiver>)

The live machine evaluator of the former: kinematics, axis state, robot configuration

Declaration

public static ComWrapper<ICamApiMachineEvaluator> MachineEvaluator(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom

Returns

Type	Description
ComWrapper<ICamApiMachineEvaluator>

OpenMultiMotion(ComWrapper<ICamApiMachineCLDReceiver>, TCamApiGotoMode)

Begin a frame whose axis values are supplied by the caller via AddMotion

Declaration

public static void OpenMultiMotion(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, TCamApiGotoMode mode)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
TCamApiGotoMode	mode

OutEvaluatorState(ComWrapper<ICamApiMachineCLDReceiver>, TCamApiGotoMode)

Append one frame built from the current state of the machine evaluator

Declaration

public static void OutEvaluatorState(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, TCamApiGotoMode mode)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
TCamApiGotoMode	mode

OutInterpolation(ComWrapper<ICamApiMachineCLDReceiver>, bool)

Append the switch of the control system to the mode asked for (INTERP)

Declaration

public static void OutInterpolation(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, bool enable)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
bool	enable

ResetOrigin(ComWrapper<ICamApiMachineCLDReceiver>)

Drop the local coordinate system appended last

Declaration

public static void ResetOrigin(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom

SetInterpolationMode(ComWrapper<ICamApiMachineCLDReceiver>, TCamApiInterpolationMode)

Ask for the interpolation mode the following moves are output in

Declaration

public static void SetInterpolationMode(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, TCamApiInterpolationMode mode)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
TCamApiInterpolationMode	mode

SetTCPM(ComWrapper<ICamApiMachineCLDReceiver>, bool)

Turn the tool centre point management of the control system on or off (RTCP)

Declaration

public static void SetTCPM(this ComWrapper<ICamApiMachineCLDReceiver> receiverCom, bool isOn)

Parameters

Type	Name	Description
ComWrapper<ICamApiMachineCLDReceiver>	receiverCom
bool	isOn