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Get X coordinate.
[Example]
olpPosition = teachHandler.GetTpElementPosition(tpElement, POSRELATION_BASEFRAME)
xValue = olpPosition.X()
Get y coordinate.
[Example]
olpPosition = teachHandler.GetTpElementPosition(tpElement, POSRELATION_BASEFRAME)
yValue = olpPosition.Y()
Get z coordinate.
[Example]
olpPosition = teachHandler.GetTpElementPosition(tpElement, POSRELATION_BASEFRAME)
zValue = olpPosition.Z()
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RX orientation in degrees
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Get RX orientation.
[Example]
olpPosition = teachHandler.GetTpElementPosition(tpElement, POSRELATION_BASEFRAME)
rxValue = olpPosition.RX()
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RY orientation in degrees
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Get RY orientation.
[Example]
olpPosition = teachHandler.GetTpElementPosition(tpElement, POSRELATION_BASEFRAME)
ryValue = olpPosition.RY()
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RZ orientation in degrees
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Get RZ orientation.
[Example]
olpPosition = teachHandler.GetTpElementPosition(tpElement, POSRELATION_BASEFRAME)
rzValue = olpPosition.RZ()
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List with X, Y and Z coordinates in meters
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Get toolpath element coordinates in a list.
[Example]
coordinates = olpPosition.GetCoordinates()
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SetCoordinates(x: float, y: float, z: float)
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x coordinate in meters
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y coordinate in meters
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z coordinate in meters
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Set toolpath element coordinates.
[Example]
olpPosition.SetCoordinates(-1, 2.2, 3)
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SetCoordinates([x: float, y: float, z: float])
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x coordinate in meters
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y coordinate in meters
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z coordinate in meters
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Set toolpath element coordinates using a list.
[Example]
olpPosition.SetCoordinates([-1, 2.2, 3])
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GetViaPointCoordinates(): list
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List with X, Y and Z coordinates in meters
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Get Via point coordinates in a list.
[Example]
coordinates = olpPosition.GetViaPointCoordinates()
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SetViaPointCoordinates(x: float, y: float, z: float)
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x coordinate in meters
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y coordinate in meters
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z coordinate in meters
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Set Via point coordinates.
[Example]
olpPosition.SetViaPointCoordinates(-1, 2.2, 3)
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SetViaPointCoordinates([x: float, y: float, z: float])
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x coordinate in meters
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y coordinate in meters
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z coordinate in meters
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Set Via point coordinates using a list.
[Example]
olpPosition.SetViaPointCoordinates([-1, 2.2, 3])
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List with RX, RY and RZ orientations in degrees
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Get toolpath element orientations in a list.
[Example]
coordinates = olpPosition.GetOrientation()
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SetOrientation(rx: float, ry: float, rz: float)
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RX orientation in degrees
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RY orientation in degrees
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RZ orientation in degrees
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Set toolpath element orientations.
[Example]
olpPosition.SetOrientation(10, 15, 30)
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SetOrientation([rx: float, ry: float, rz: float])
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RX orientation in degrees
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RY orientation in degrees
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RZ orientation in degrees
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Set toolpath element orientations using a list.
[Example]
olpPosition.SetOrientation([10, 15, 30])
Get the reference toolpath element stored in CENPyOlpPosition class.
[Example]
refTpe = olpPosition.GetRefTpElement()
Set the reference toolpath element in CENPyOlpPosition class.
[Example]
olpPosition.SetRefTpElement(refTpe)
Get the current relation of the position.
[Example]
posRelation = olpPosition.GetPositionRelation()
Set the new relation for the position.
[Example]
olpPosition.SetPositionRelation(POSRELATION_WORKPIECEROOT)
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SetPositionRelation(posRel: PosRelation, baseFrameIndex: int)
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Enum value of the PosRelation. In this case it should be POSRELATION_BASEFRAME
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Base frame index to set. The default value is the index of an active base frame
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Set the position relation to Base frame and the base frame index.
[Example]
olpPosition.SetPositionRelation(POSRELATION_BASEFRAME) #Index of an active base frame used
or
olpPosition.SetPositionRelation(POSRELATION_BASEFRAME, 1)
Get the represented toolpath element matrix. The matrix will always represent the current PosRelation
[Example]
tpeMatrix = olpPosition.GetMatrix()
Get the represented Via point matrix. The matrix will always represent the current PosRelation
[Example]
viaMatrix = olpPosition.GetViaPointMatrix()
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TranslatePosition(x: float, y: float, z: float, posRel: PosRelation)
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Direction in local X in meters
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Direction in local Y in meters
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Direction in local Z in meters
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Position relation the local translation should be done in
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Translates the toolpath element position locally in given direction.
[Example]
olpPosition.TranslatePosition(0.1, 0, 0.1, POSRELATION_WORKPIECEROOT)
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TranslatePosition(x: float, y: float, z: float, posRel: PosRelation, baseFrameIndex: int)
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Direction in local X in meters
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Direction in local Y in meters
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Direction in local Z in meters
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Position relation the local translation should be done in
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Index of the base frame to be used for translation. The default value is the index of an active base frame
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Translates the toolpath element position locally in given direction relative to the base frame, specified by its index.
[Example]
olpPosition.TranslatePosition(0, 0, 0.1, POSRELATION_BASEFRAME) #Index of an active base frame used
or
olpPosition.TranslatePosition(0, 0, 0.1, POSRELATION_BASEFRAME, 2)
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TranslateViaPointPosition(x: float, y: float, z: float, posRel: PosRelation)
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Direction in local X in meters
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Direction in local Y in meters
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Direction in local Z in meters
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Position relation the local translation should be done in
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Translates the Via point position locally in given direction.
[Example]
olpPosition.TranslateViaPointPosition(0.1, 0, 0.1, POSRELATION_WORKPIECEROOT)
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TranslateViaPointPosition(x: float, y: float, z: float, posRel: PosRelation, baseFrameIndex: int)
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Direction in local X in meters
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Direction in local Y in meters
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Direction in local Z in meters
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Position relation the local translation should be done in
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Index of the base frame to be used for translation. The default value is the index of an active base frame
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Translates the Via point position locally in given direction relative to the base frame, specified by its index.
[Example]
olpPosition.TranslateViaPointPosition(0, 0, 0.1, POSRELATION_BASEFRAME) #Index of an active base frame used
or
olpPosition.TranslateViaPointPosition(0, 0, 0.1, POSRELATION_BASEFRAME, 2)
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RotatePosition(rx: float, ry: float, rz: float, posRel: PosRelation)
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Rotation around local X in degrees
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Rotation around local Y in degrees
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Rotation around local Z in degrees
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Position relation the local translation should be done in
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Rotates the position locally around given direction.
[Example]
olpPosition.RotatePosition(0, 0, -45, POSRELATION_LOCALTOOLPATHELEMENT)
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RotatePosition(rx: float, ry: float, rz: float, posRel: PosRelation, baseFrameIndex: int)
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Rotation around local X in degrees
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Rotation around local Y in degrees
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Rotation around local Z in degrees
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Position relation the local translation should be done in
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Index of the base frame to be used for translation. The default value is the index of an active base frame
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Rotates the position locally around given direction relative to the base frame, specified by its index.
[Example]
olpPosition.RotatePosition(11, 22, 33, POSRELATION_BASEFRAME) #Index of an active base frame used
or
olpPosition.RotatePosition(11, 22, 33, POSRELATION_BASEFRAME, 3)
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GetViaPointName(): string
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Get the name of the Via point if it exists, None otherwise.
[Example]
viaPointName = olpPosition.GetViaPointName()
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List with joint values in degrees
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Get all toolpath element joint values in a list.
[Example]
jointValues = olpPosition.GetJointValues()
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SetJointValues([j1: float, j2: float,.. jn: float])
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Value of the first joint in degrees
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Value of the second joint in degrees
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Value of the n joint in degrees
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Set all toolpath element joint values using a list.
[Example]
jointValues = olpPosition.GetJointValues()
jointValues[0] = -10
jointValues[3] = 45
olpPosition.SetJointValues(jointValues)
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GetExternalJointValues(): list
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List with joint values in degrees
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Get all toolpath element external joint values in a list.
[Example]
extJointValues = olpPosition.GetExternalJointValues()
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SetExternalJointValues([e1: float, e2: float,.. en: float])
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Value of the first external joint in degrees
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Value of the second external joint in degrees
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Value of the n external joint in degrees
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Set all toolpath element external joint values using a list.
[Example]
extJointValues = olpPosition.GetExternalJointValues()
extJointValues[0] = 0.135
extJointValues[1] = -10
olpPosition.SetExternalJointValues(extJointValues)
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