Class MachineEvaluatorHelper

Helper methods for ICamApiMachineEvaluator

Inheritance
object
MachineEvaluatorHelper
Inherited Members
Namespace: CAMAPI.DotnetHelper
Assembly: CAMAPI.DotnetHelper.dll
Syntax
public static class MachineEvaluatorHelper

Methods

AxisCount(ComWrapper<ICamApiMachineEvaluator>)

Number of machine axes

Declaration
public static int AxisCount(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
Returns
Type Description
int

CalcNextPos(ComWrapper<ICamApiMachineEvaluator>, TST5DPoint, bool, bool, bool)

Calculate machine position by 5D point and AngleAroundTool. Result in NextPos

Declaration
public static bool CalcNextPos(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, TST5DPoint p, bool alternate, bool checkAllVariants, bool ignoreRailsLimits)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom

Machine evaluator
TST5DPoint p

5D point
bool alternate

take alternative solution
bool checkAllVariants

check all solutions
bool ignoreRailsLimits

ignore rails limits
Returns
Type Description
bool

true if succeeded

CalcNextPos5D(ComWrapper<ICamApiMachineEvaluator>, TST5DPoint, bool, bool, bool)

Calculate machine position by 5D point. Result in NextPos

Declaration
public static bool CalcNextPos5D(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, TST5DPoint p, bool alternate, bool checkAllVariants, bool ignoreRailsLimits)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom

Machine evaluator
TST5DPoint p

5D point
bool alternate

take alternative solution
bool checkAllVariants

check all solutions
bool ignoreRailsLimits

ignore rails limits
Returns
Type Description
bool

true if succeeded

CalcNextPos6D(ComWrapper<ICamApiMachineEvaluator>, TST3DMatrix, bool, bool)

Calculate machine position by 6D point. Result in NextPos

Declaration
public static bool CalcNextPos6D(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, TST3DMatrix p, bool alternate, bool checkAllVariants)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom

Machine evaluator
TST3DMatrix p

6D point
bool alternate

take alternative solution
bool checkAllVariants

check all solutions
Returns
Type Description
bool

true if succeeded

GeomToNC(ComWrapper<ICamApiMachineEvaluator>, TST3DMatrix)

Convert matrix from geometry to NC coordinates

Declaration
public static TST3DMatrix GeomToNC(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, TST3DMatrix matrix)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
TST3DMatrix matrix
Returns
Type Description
TST3DMatrix

GetAbsoluteMatrix(ComWrapper<ICamApiMachineEvaluator>)

Get the absolute position of the current tool's coordinate system relative to the current workpiece coordinate system

Declaration
public static TST3DMatrix GetAbsoluteMatrix(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
Returns
Type Description
TST3DMatrix

GetAxisDefined(ComWrapper<ICamApiMachineEvaluator>, int)

Whether the axis at the given index has a defined value

Declaration
public static bool GetAxisDefined(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, int index)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
int index
Returns
Type Description
bool

GetAxisInfo(ComWrapper<ICamApiMachineEvaluator>, int)

Static information about the axis at the given index (0..AxisCount-1)

Declaration
public static TCamApiMachineAxisInfo GetAxisInfo(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, int index)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
int index
Returns
Type Description
TCamApiMachineAxisInfo

GetAxisValue(ComWrapper<ICamApiMachineEvaluator>, int)

Current value of the axis at the given index (0..AxisCount-1)

Declaration
public static double GetAxisValue(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, int index)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
int index
Returns
Type Description
double

GetCurrentWorkpieceCSID(ComWrapper<ICamApiMachineEvaluator>)

Returns the current workpiece CS (G54) identifier, e.g. "G54"

Declaration
public static string GetCurrentWorkpieceCSID(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
Returns
Type Description
string

GetCurrentWorkpieceCSMatrix(ComWrapper<ICamApiMachineEvaluator>)

Returns the current workpiece CS (G54) matrix relative to the workpiece connector

Declaration
public static TST3DMatrix GetCurrentWorkpieceCSMatrix(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
Returns
Type Description
TST3DMatrix

GetCurrentWorkpieceCSWorldMatrix(ComWrapper<ICamApiMachineEvaluator>)

Returns the current workpiece CS (G54) matrix relative to the world CS. The result depends on TCPM mode.

Declaration
public static TST3DMatrix GetCurrentWorkpieceCSWorldMatrix(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
Returns
Type Description
TST3DMatrix

GetFlip(ComWrapper<ICamApiMachineEvaluator>, TCamApiRobotFlip)

Robot joint configuration flag: false - direct, true - inverted

Declaration
public static bool GetFlip(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, TCamApiRobotFlip flip)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
TCamApiRobotFlip flip
Returns
Type Description
bool

GetRailControlMode(ComWrapper<ICamApiMachineEvaluator>, int)

How the redundant rail at the given index (0..RailCount-1) is resolved

Declaration
public static TCamApiRailControlMode GetRailControlMode(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, int index)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
int index
Returns
Type Description
TCamApiRailControlMode

GetWorldWorkpieceConnectorMatrix(ComWrapper<ICamApiMachineEvaluator>, int)

Get the world position of workpiece connector with specific index

Declaration
public static TST3DMatrix GetWorldWorkpieceConnectorMatrix(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, int workpieceConnectorIndex)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom

Machine evaluator
int workpieceConnectorIndex

Index of the workpiece connector
Returns
Type Description
TST3DMatrix

IsRobot(ComWrapper<ICamApiMachineEvaluator>)

Whether the machine schema is a robot (robot flips and rails apply)

Declaration
public static bool IsRobot(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
Returns
Type Description
bool

NCToGeom(ComWrapper<ICamApiMachineEvaluator>, TST3DMatrix)

Convert matrix from NC to geometry coordinates

Declaration
public static TST3DMatrix NCToGeom(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, TST3DMatrix matrix)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
TST3DMatrix matrix
Returns
Type Description
TST3DMatrix

NextPosOutOfLimits(ComWrapper<ICamApiMachineEvaluator>)

True when the position found by the last CalcNextPos call is unreachable: either no solution was found, or an axis, a robot joint or a positioner axis is beyond its limit. This is the same check that turns an axis value red in the machine control panel.

Declaration
public static bool NextPosOutOfLimits(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
Returns
Type Description
bool

PutNextPosInLimits(ComWrapper<ICamApiMachineEvaluator>)

Bring the position computed by CalcNextPos into the axis travel limits. False when no in-limits solution exists

Declaration
public static bool PutNextPosInLimits(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
Returns
Type Description
bool

RailCount(ComWrapper<ICamApiMachineEvaluator>)

Number of redundant robot rail axes

Declaration
public static int RailCount(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
Returns
Type Description
int

SetAxisDefined(ComWrapper<ICamApiMachineEvaluator>, int, bool)

Mark the axis at the given index as defined or undefined, without changing its value

Declaration
public static void SetAxisDefined(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, int index, bool defined)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
int index
bool defined

SetAxisValue(ComWrapper<ICamApiMachineEvaluator>, int, double)

Set the value of the axis at the given index (0..AxisCount-1) and mark it defined

Declaration
public static void SetAxisValue(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, int index, double value)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
int index
double value

SetFlip(ComWrapper<ICamApiMachineEvaluator>, TCamApiRobotFlip, bool)

Set the robot joint configuration flag. Affects the solution picked by CalcNextPos

Declaration
public static void SetFlip(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, TCamApiRobotFlip flip, bool value)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
TCamApiRobotFlip flip
bool value

SetNextPos(ComWrapper<ICamApiMachineEvaluator>, bool)

Set the machine to the position by the previous call of CalcNextPos

Declaration
public static void SetNextPos(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, bool rotaryOnly)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom

Machine evaluator
bool rotaryOnly

If true, only rotary axes are moved

SetRailControlMode(ComWrapper<ICamApiMachineEvaluator>, int, TCamApiRailControlMode)

Set how the redundant rail at the given index is resolved

Declaration
public static void SetRailControlMode(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, int index, TCamApiRailControlMode mode)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
int index
TCamApiRailControlMode mode

SetTCPMEnabled(ComWrapper<ICamApiMachineEvaluator>, bool)

Set state of the Tool center point management (TCPM) mode

Declaration
public static void SetTCPMEnabled(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom, bool value)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
bool value

TCPMEnabled(ComWrapper<ICamApiMachineEvaluator>)

Current state of the Tool center point management (TCPM) mode

Declaration
public static bool TCPMEnabled(this ComWrapper<ICamApiMachineEvaluator> evaluatorCom)
Parameters
Type Name Description
ComWrapper<ICamApiMachineEvaluator> evaluatorCom
Returns
Type Description
bool