Interface ICLDMultiMotionCommand

Common ancestor for all multi-axis movement commands (MULTIGOTO, PHYSICGOTO, GOHOME, ORIGIN, FROM).

Inherited Members
Namespace: SprutTechnology.SCPostprocessor
Assembly: SCPostprocessor.dll
Syntax
public interface ICLDMultiMotionCommand : ICLDMotionCommand, ICLDCommand, INamedProperty, ISTGeWatchable

Properties

Axes

Axes' enumerator object for the movement to be possible to use covenient foreach syntax.

Declaration
IEnumerable Axes { get; }
Property Value
Type Description
System.Collections.IEnumerable

AxesCount

The count of axes that the movement contains inside the Axis[] list.

Declaration
int AxesCount { get; }
Property Value
Type Description
System.Int32

Axis

The list of the movement's axes [0..(AxesCount-1)].

Declaration
ICLDMultiMotionAxesIndexer Axis { get; }
Property Value
Type Description
ICLDMultiMotionAxesIndexer

EN

End normal or orientation of the movement in cartesian coordinate system. It can be normal vector, euler angles, quaternion etc. depend on the current machine schema settings.

Declaration
TInpRotation EN { get; }
Property Value
Type Description
TInpRotation

MSFlags

Machine state flags or robot flips which can help to define (together with cartesian coordinates) the specific state of the mechanism in case of redundancy. Which bit is responsible for which flag depends on the type and configuration of the equipment.

Declaration
BitArray MSFlags { get; }
Property Value
Type Description
System.Collections.BitArray

Time

Duration of the movement in minutes.

Declaration
double Time { get; }
Property Value
Type Description
System.Double

Methods

HasAxis(String)

Returns "true" if the movement contains axis with the speciefed textual ID. Otherwise returns "false".

Declaration
bool HasAxis(string ID)
Parameters
Type Name Description
System.String ID

Textual ID of the axis as it is defined inside machine schema.
Returns
Type Description
System.Boolean