Axis Class Reference

Inherits ScriptObject, and UnitConsumer.

Public Member Functions
	Axis ()
	Axis (Boolean _table, Vector _axis, Vector _offset, Integer _coordinate)
	Axis (Boolean _table, Vector _axis, Vector _offset, Integer _coordinate, Range _range)
String	getName ()
	setName (String name)
Integer	getActuator ()
	setActuator (Integer actuator)
Boolean	isLinear ()
Boolean	isRotational ()
Boolean	isAggregate ()
Number	getResolution ()
	setResolution (Number resolution)
Number	clampToResolution (Number _value)
Number	getResolutionError (Number _value)
Number	getMaximumFeed ()
	setMaximumFeed (Number _maximumFeed)
Number	getRapidFeed ()
	setRapidFeed (Number _rapidFeed)
Integer	getPreference ()
	setPreference (Integer preference)
Integer	getReset ()
	setReset (Integer reset)
Boolean	isEnabled ()
Boolean	isHead ()
Boolean	isTable ()
Vector	getEffectiveAxis ()
Vector	getAxis ()
Vector	getOffset ()
Number	getHomePosition ()
Number	getDisplacement ()
Boolean	isCyclic ()
Boolean	isTCPEnabled ()
Range	getRange ()
Integer	getCoordinate ()
Boolean	isSupported (Number value)
Number	clamp (Number value)
Number	reduce (Number value)
Number	remapToRange (Number angle)
Number	remapToRange2 (Number angle, Number current)
Matrix	getAxisRotation (Number position)

Detailed Description

Machine axis specification.

Constructor & Destructor Documentation

Axis() [1/3]

Axis

(

)

Constructs an invalid axis.

Axis() [2/3]

Axis	(	Boolean	_table,
		Vector	_axis,
		Vector	_offset,
		Integer	_coordinate
	)

Constructs a rotational axis.

Parameters

_table	Specifies the axis is located in the table as opposed to the head.
_axis	The axis vector.
_offset	The axis offset.
_coordinate	The coordinate to which the axis coordinate is bound (0:X, 1:Y, 2:Z).

Axis() [3/3]

Axis	(	Boolean	_table,
		Vector	_axis,
		Vector	_offset,
		Integer	_coordinate,
		Range	_range
	)

Constructs a rotational axis.

Parameters

_table	Specifies the axis is located in the table as opposed to the head.
_axis	The axis vector.
_offset	The axis offset.
_coordinate	The coordinate to which the axis coordinate is bound (0:X, 1:Y, 2:Z).
_range	The valid range.

Member Function Documentation

clamp()

Number clamp

(

Number

value

)

Returns the closest valid angle/offset.

Parameters

value

The coordinate (angular for rotational axis and spatial for linear axis).

clampToResolution()

Number clampToResolution

(

Number

_value

)

Returns the axis value clamped to the resolution.

getActuator()

Integer getActuator

(

)

Returns the actuator type.

0: linear actuator. 1: rotational actuator.

getAxis()

Vector getAxis

(

)

Returns the axis direction.

getAxisRotation()

Matrix getAxisRotation

(

Number

position

)

Returns the rotation for the given axis position. Returns the identity matrix for a linear axis.

getCoordinate()

Integer getCoordinate

(

)

Returns the coordinate to which the axis coordinate is bound (0:X, 1:Y, 2:Z). Returns -1 if the axis is invalid.

getDisplacement()

Number getDisplacement

(

)

Returns the axis displacement.

getEffectiveAxis()

Vector getEffectiveAxis

(

)

Returns the effective axis direction. Flipped for head.

getHomePosition()

Number getHomePosition

(

)

Returns the axis home position.

getMaximumFeed()

Number getMaximumFeed

(

)

Returns the maximum feed of the axis.

getName()

String getName

(

)

Returns the identifier for the axis.

getOffset()

Vector getOffset

(

)

Returns the axis offset.

getPreference()

Integer getPreference

(

)

Returns the angle/offset preference.

0: don't care. 1: prefer positive angles/offsets. -1: prefer negative angles/offsets.

getRange()

Range getRange

(

)

Returns the range of the axis coordinate.

getRapidFeed()

Number getRapidFeed

(

)

Returns the rapid feed of the axis.

getReset()

Integer getReset

(

)

Returns the axis reset behavior.

0: disabled. 1: reset to 0 at new operation. 2: reset to 0 at rewind.. 3: reset to 0 at new operation and at rewind.

getResolution()

Number getResolution

(

)

Returns the resolution of the axis.

getResolutionError()

Number getResolutionError

(

Number

_value

)

Returns the signed resolution error for the specified axis value.

isAggregate()

Boolean isAggregate

(

)

Returns true if the axes is a fixed aggregate. That is, the axis is fixed at the given position.

isCyclic()

Boolean isCyclic

(

)

Returns true if the axis is cyclic. Only supported for rotational axes.

isEnabled()

Boolean isEnabled

(

)

Returns true if the axis is valid.

1. The axis is non-degenerate.
2. The coordinate is in the range [0; 2].
3. The resolution must be >= 0.

isHead()

Boolean isHead

(

)

Returns true if the axis is a head axis.

isLinear()

Boolean isLinear

(

)

Returns true if the actuator is linear.

isRotational()

Boolean isRotational

(

)

Returns true if the actuator is rotational.

isSupported()

Boolean isSupported

(

Number

value

)

Returns true if the specified angle/offset is within the required range.

Parameters

value

The coordinate (angular for rotational axis and spatial for linear axis).

isTable()

Boolean isTable

(

)

Returns true if the axis is a table axis.

isTCPEnabled()

Boolean isTCPEnabled

(

)

Returns true if TCP is enabled for the rotary axis.

reduce()

Number reduce

(

Number

value

)

Returns the reduced angle closest to 0 but restricted to the supported range. Actuator must be rotational.

Parameters

value

The axis coordinate.

Returns

The output is in the range ]-PI; PI] unless axis is restricted to range.

remapToRange()

Number remapToRange

(

Number

angle

)

Returns the preferred angle in the allowed range. An exception is raised if no valid angle exists. Actuator must be rotational.

remapToRange2()

Number remapToRange2	(	Number	angle,
		Number	current
	)

Returns the preferred angle in the allowed range closest to the current angle. An exception is raised if no valid angle exists. Actuator must be rotational.

setActuator()

setActuator

(

Integer

actuator

)

Sets the actuator type.

0: linear actuator. 1: rotational actuator.

setMaximumFeed()

setMaximumFeed

(

Number

_maximumFeed

)

Sets the maximum feed of the axis.

setName()

setName

(

String

name

)

Sets the identifier for the axis.

setPreference()

setPreference

(

Integer

preference

)

Sets the angle/offset preference.

0: don't care -1: prefer negative angles/offsets. 1: prefer positive angles/offsets.

Parameters

preference

The preference.

setRapidFeed()

setRapidFeed

(

Number

_rapidFeed

)

Sets the rapid feed of the axis.

setReset()

setReset

(

Integer

reset

)

Sets the axis reset behavior.

0: disabled. 1: reset to 0 at new operation. 2: reset to 0 at rewind.. 3: reset to 0 at new operation and at rewind.

Parameters

reset

The reset behavior.

setResolution()

setResolution

(

Number

resolution

)

Sets the resolution of the axis. Radians for rotational axis.