Robot Class Summary

The following pages provide detailed information on the properties and methods of the global Robot Class. This class provides access to the features and status of each robot configured in the system, e.g. the current position of a robot, processes for establishing the position reference for each axes of each robot, functions for forcing an in-process motion to decelerate to a halt, methods for setting and getting the robot's base and tool offsets, etc.

The most important operations of the Robot Class are to associate a specific robot with a specific thread and to grant exclusive control of a robot to a thread. Most read-only robot operations require that a statement either explicitly specify a robot or have a previously Selected robot. For example, to read the current position of a robot, the Selected robot will be accessed if no robot is specified. More importantly, in order to control or move a robot, a thread must first be Attached to a robot in order to gain exclusive access to it.

As is standard in GPL, conversions between different arithmetic types, e.g. Integer, Single, Double, are automatically performed as required. So, for numeric properties and methods of the Robot Class, it is not necessary to have different variations of these members to deal with the different possible mixes of input parameter data types. Also, as appropriate, the properties and methods generally produce results that are formatted as Double’s. These results will automatically be converted to smaller data types as necessary, e.g. Double -> Integer, and will not generate an error so long as numeric overflow does not occur.

Table 19-77 summarizes the properties and methods that are described in greater detail in the following sections.

Table 19-77: Robot Class Summary
Member	Type	Description
Robot.Attached	Property	Sets and gets the number of the robot that is exclusively controlled by a thread.
Robot.Base	Property	Sets and gets the position and orientation offset for the base of the robot.
Robot.CartMode	Property	Gets an Integer that contains flag bits that indicate if any special Cartesian trajectory modes are active.
Robot.Custom	Property	Sets and gets elements of a parameter array whose interpretation is specific to each kinematic module.
Robot.DefLinComp	Method	Defines internal table of motor encoder "Linearity compensation" correction values that are automatically applied to encoder values.
Robot.Dest	Property	Returns a Cartesian Location whose value is equal to the originally planned final destination of the previously executed motion.
Robot.DestAngles	Property	Returns an Angles Location whose value is equal to the originally planned final destination of the previously executed motion.
Robot.Home	Method	Homes the Attached robot to establish the reference positions for each axes.
Robot.HomeAll	Method	Homes all robots to establish the reference positions for each of their axes.
Robot.JointToMotor	Method	Converts an array of axis joint angles (in degrees or millimeters) to an equivalent array of motor positions (in encoder counts)..
Robot.LastProfile	Property	Returns a Profile Object whose properties are equal to those of the currently executing motion or the last executed motion if no motion is active.
Robot.MotorTempStatus	Property	Returns a code that indicates the temperature status of a motor.
Robot.MotorToJoint	Method	Converts an array of motor positions (in encoder counts) to an equivalent array of axis joint angles (in degrees or millimeters).
Robot.Payload	Property	Asserts or retrieves the last asserted value that specifies the mass of the payload being carried by the robot.
Robot.RapidDecel	Property	Sets the Boolean flag that forces any in-process motion for a robot to be rapidly decelerated to a stop.
Robot.RealTimeModAcm	Property	Returns a Cartesian Location whose value is equal to the accumulated modifications generated by the Real-time Trajectory Modification mode.
Robot.RestartBase	Property	Gets the position and orientation offset for the base of the robot that was set when the controller was restarted.
Robot.RestartTool	Property	Gets the position and orientation offset for the tool or gripper of the robot that was set when the controller was restarted.
Robot.Selected	Property	Sets and gets the default robot number to be used when accessing a specific robot.
Robot.Source	Property	Returns a Cartesian Location whose value is equal to the initial position and orientation of the previously executed motion.
Robot.SourceAngles	Property	Returns an Angles Location whose value is equal to the initial axes positions of the previously executed motion.
Robot.SpeedAngles	Property	Returns an Angles Location whose components contain the instantaneous speed of each axis.
Robot.Tool	Property	Sets and gets the position and orientation offset for the tool or gripper of the robot.
Robot.TrajState	Property	Gets an Integer that indicates the current state of the Trajectory Generator for a given robot.
Robot.Where	Property	Gets a Cartesian Location whose value indicates the current position and orientation of a robot.
Robot.WhereAngles	Property	Gets an Angles Location whose value indicates the current position of each axes of a robot.