Interface ICamApiMachineEvaluator
Machine evaluator - stores state of machine and can solve kinematic problems
Namespace: CAMAPI.Machine
Assembly: CAMAPI.Machine.dll
Syntax
[Guid("B14BEFD9-E63F-4E87-BA5B-0AEC1AA97F46")]
[InterfaceType(ComInterfaceType.InterfaceIsIUnknown)]
public interface ICamApiMachineEvaluator
Properties
ActiveSpindleIndex
Index of the currently active spindle, or -1 if no spindle is active.
Declaration
int ActiveSpindleIndex { get; }
Property Value
AxisCount
Number of axes in the machine schema. Axes are shared across all channels;
per-channel state of an axis can be read with GetAxisValue.
Declaration
Property Value
ChannelCount
Number of simulation channels addressed by ChannelFeed.
Declaration
int ChannelCount { get; }
Property Value
IsRobot
Whether the machine schema is a robot (robot flips and rails apply).
Declaration
Property Value
NextPosOutOfLimits
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
bool NextPosOutOfLimits { get; }
Property Value
RailCount
Number of redundant robot rail axes.
Declaration
Property Value
SpindleCount
Number of spindles in the machine schema.
Declaration
int SpindleCount { get; }
Property Value
TCPMEnabled
Current state of the Tool center point management (TCPM) mode
Declaration
bool TCPMEnabled { get; set; }
Property Value
Methods
CalcNextPos(TST5DPoint, bool, bool, bool)
Declaration
bool CalcNextPos(TST5DPoint p, bool Alternate, bool CheckAllVariants, bool IgnoreRailsLimits)
Parameters
Returns
CalcNextPos5D(TST5DPoint, bool, bool, bool)
Declaration
bool CalcNextPos5D(TST5DPoint p, bool Alternate, bool CheckAllVariants, bool IgnoreRailsLimits)
Parameters
Returns
CalcNextPos6D(TST3DMatrix, bool, bool)
Declaration
bool CalcNextPos6D(TST3DMatrix p, bool Alternate, bool CheckAllVariants)
Parameters
Returns
GeomToNC(TST3DMatrix)
Declaration
TST3DMatrix GeomToNC(TST3DMatrix matrix)
Parameters
Returns
GetAbsoluteMatrix()
Get the absolute position of the current tool's coordinate system relative to the current workpiece coordinate system
Declaration
TST3DMatrix GetAbsoluteMatrix()
Returns
GetAxisDefined(int)
Declaration
bool GetAxisDefined(int Index)
Parameters
| Type |
Name |
Description |
| int |
Index |
|
Returns
GetAxisInfo(int)
Declaration
TCamApiMachineAxisInfo GetAxisInfo(int Index)
Parameters
| Type |
Name |
Description |
| int |
Index |
|
Returns
GetAxisValue(int)
Declaration
double GetAxisValue(int Index)
Parameters
| Type |
Name |
Description |
| int |
Index |
|
Returns
GetChannelFeed(int)
Declaration
TCamApiChannelFeedState GetChannelFeed(int ChannelIndex)
Parameters
| Type |
Name |
Description |
| int |
ChannelIndex |
|
Returns
GetCurrentWorkpieceCSID()
Returns the current workpiece CS (G54) identifier, "G54" for example.
Declaration
string GetCurrentWorkpieceCSID()
Returns
GetCurrentWorkpieceCSMatrix()
Returns the current workpiece CS (G54) matrix relative to the workpiece connector.
Declaration
TST3DMatrix GetCurrentWorkpieceCSMatrix()
Returns
GetCurrentWorkpieceCSWorldMatrix()
Returns the current workpiece CS (G54) matrix relative to the world CS. The result depends on TCPM mode.
Declaration
TST3DMatrix GetCurrentWorkpieceCSWorldMatrix()
Returns
GetFlip(TCamApiRobotFlip)
Declaration
bool GetFlip(TCamApiRobotFlip Flip)
Parameters
Returns
GetRailControlMode(int)
Declaration
TCamApiRailControlMode GetRailControlMode(int Index)
Parameters
| Type |
Name |
Description |
| int |
Index |
|
Returns
GetSpindleSpeed(int)
Declaration
TCamApiSpindleSpeedState GetSpindleSpeed(int SpindleIndex)
Parameters
| Type |
Name |
Description |
| int |
SpindleIndex |
|
Returns
GetWorldWorkpieceConnectorMatrix(int)
Declaration
TST3DMatrix GetWorldWorkpieceConnectorMatrix(int WorkpieceConnectorIndex)
Parameters
| Type |
Name |
Description |
| int |
WorkpieceConnectorIndex |
|
Returns
NCToGeom(TST3DMatrix)
Declaration
TST3DMatrix NCToGeom(TST3DMatrix matrix)
Parameters
Returns
PutNextPosInLimits()
Bring the position computed by CalcNextPos into the axis travel limits, choosing
full turns for periodic axes. Returns false if no in-limits solution exists.
Declaration
bool PutNextPosInLimits()
Returns
SetAxisDefined(int, bool)
Declaration
void SetAxisDefined(int Index, bool Defined)
Parameters
| Type |
Name |
Description |
| int |
Index |
|
| bool |
Defined |
|
SetAxisValue(int, double)
Declaration
void SetAxisValue(int Index, double Value)
Parameters
SetFlip(TCamApiRobotFlip, bool)
Declaration
void SetFlip(TCamApiRobotFlip Flip, bool Value)
Parameters
SetNextPos(bool)
Declaration
void SetNextPos(bool RotaryOnly)
Parameters
| Type |
Name |
Description |
| bool |
RotaryOnly |
|
SetRailControlMode(int, TCamApiRailControlMode)
Declaration
void SetRailControlMode(int Index, TCamApiRailControlMode Mode)
Parameters