com.github.wshackle.fanuc.robotserver.ISysPosition Maven / Gradle / Ivy
package com.github.wshackle.fanuc.robotserver ;
import com4j.*;
/**
* Provides access to a single controller system position.
*/
@IID("{6055D698-FFAE-11D0-B6F4-00C04FB9C401}")
public interface ISysPosition extends com.github.wshackle.fanuc.robotserver.IRobotObject {
// Methods:
/**
*
* Returns the position identification number for the position.
*
*
* Getter method for the COM property "Id"
*
* @return Returns a value of type int
*/
@DISPID(201) //= 0xc9. The runtime will prefer the VTID if present
@VTID(8)
int id();
/**
*
* Returns whether the specified group is supported on the controller.
*
*
* Getter method for the COM property "GroupMask"
*
* @param groupNum Mandatory short parameter.
* @return Returns a value of type boolean
*/
@DISPID(202) //= 0xca. The runtime will prefer the VTID if present
@VTID(9)
boolean groupMask(
short groupNum);
/**
*
* Returns a FRCSysGroupPosition object representing the system position in the specified motion group.
*
*
* Getter method for the COM property "Group"
*
* @param groupNum Mandatory short parameter.
* @return Returns a value of type com.github.wshackle.fanuc.robotserver.ISysGroupPosition
*/
@DISPID(203) //= 0xcb. The runtime will prefer the VTID if present
@VTID(10)
com.github.wshackle.fanuc.robotserver.ISysGroupPosition group(
short groupNum);
/**
*
* Returns whether the robot is currently at the position.
*
*
* Getter method for the COM property "IsAtCurPosition"
*
* @return Returns a value of type boolean
*/
@DISPID(204) //= 0xcc. The runtime will prefer the VTID if present
@VTID(11)
boolean isAtCurPosition();
/**
*
* Moves the robot to this position for all groups defined on the controller.
*
*/
@DISPID(251) //= 0xfb. The runtime will prefer the VTID if present
@VTID(12)
void moveto();
/**
*
* Records the current position of the robot to this position for all groups defined on the controller.
*
*/
@DISPID(252) //= 0xfc. The runtime will prefer the VTID if present
@VTID(13)
void record();
/**
*
* Uninitializes the position for all groups defined on the controller.
*
*/
@DISPID(253) //= 0xfd. The runtime will prefer the VTID if present
@VTID(14)
void uninitialize();
/**
*
* Returns whether the position is initialized.
*
*
* Getter method for the COM property "IsInitialized"
*
* @return Returns a value of type boolean
*/
@DISPID(205) //= 0xcd. The runtime will prefer the VTID if present
@VTID(15)
boolean isInitialized();
/**
*
* Reads fresh values for a position register, tool frame, user frame, or jog frame from the robot.
*
*/
@DISPID(254) //= 0xfe. The runtime will prefer the VTID if present
@VTID(16)
void refresh();
/**
*
* Sends the local copy of a position register, tool frame, user frame, or jog frame to the robot.
*
*/
@DISPID(255) //= 0xff. The runtime will prefer the VTID if present
@VTID(17)
void update();
/**
*
* Returns a Boolean indicating if the robot can reach the position or not.
*
*
* Getter method for the COM property "IsReachable"
*
* @param from Optional parameter. Default value is com4j.Variant.getMissing()
* @param moType Optional parameter. Default value is 6
* @param orientType Optional parameter. Default value is 2
* @param destination Optional parameter. Default value is com4j.Variant.getMissing()
* @param motionErrorInfo Optional parameter. Default value is 0
* @return Returns a value of type boolean
*/
@DISPID(256) //= 0x100. The runtime will prefer the VTID if present
@VTID(18)
boolean isReachable(
@Optional @MarshalAs(NativeType.VARIANT) java.lang.Object from,
@Optional @DefaultValue("6") com.github.wshackle.fanuc.robotserver.FREMotionTypeConstants moType,
@Optional @DefaultValue("2") com.github.wshackle.fanuc.robotserver.FREOrientTypeConstants orientType,
@Optional @MarshalAs(NativeType.VARIANT) java.lang.Object destination,
@Optional @DefaultValue("0") Holder motionErrorInfo);
/**
*
* Copies the positional data from another object into this one.
*
* @param position Mandatory com4j.Com4jObject parameter.
*/
@DISPID(257) //= 0x101. The runtime will prefer the VTID if present
@VTID(19)
void copy(
@MarshalAs(NativeType.Dispatch) com4j.Com4jObject position);
/**
*
* Returns the bit mask representation of the groups supported by this position.
*
*
* Getter method for the COM property "GroupBitMask"
*
* @return Returns a value of type com.github.wshackle.fanuc.robotserver.FREGroupBitMaskConstants
*/
@DISPID(258) //= 0x102. The runtime will prefer the VTID if present
@VTID(20)
com.github.wshackle.fanuc.robotserver.FREGroupBitMaskConstants groupBitMask();
/**
*
* Returns a Boolean indicating if the robot can reach the position or not.
*
* @param from Optional parameter. Default value is com4j.Variant.getMissing()
* @param moType Optional parameter. Default value is 6
* @param orientType Optional parameter. Default value is 2
* @param destination Optional parameter. Default value is com4j.Variant.getMissing()
* @param motionErrorInfo Optional parameter. Default value is 0
* @return Returns a value of type boolean
*/
@DISPID(259) //= 0x103. The runtime will prefer the VTID if present
@VTID(21)
boolean checkReach(
@Optional @MarshalAs(NativeType.VARIANT) java.lang.Object from,
@Optional @DefaultValue("6") com.github.wshackle.fanuc.robotserver.FREMotionTypeConstants moType,
@Optional @DefaultValue("2") com.github.wshackle.fanuc.robotserver.FREOrientTypeConstants orientType,
@Optional @MarshalAs(NativeType.VARIANT) java.lang.Object destination,
@Optional @DefaultValue("0") Holder motionErrorInfo);
// Properties:
}