Machina

Robot

The core Class in Machina. Represents a state and action-based virtual robot, and exposes the public API for robot manipulation and control.

public class Machina.Robot

Properties

Type	Name	Summary
String	Name	A nickname for this Robot.

Events

Type	Name	Summary
BufferEmptyHandler	BufferEmpty

Methods

Type	Name	Summary
Boolean	Attach(Tool tool)	Attach a Tool to the flange of this Robot. From this moment, all Actions like Move or Rotate will refer to the Tool Center Point (TCP).
Boolean	Comment(String comment)	Display an internal comment in the compilation code. Useful for internal annotations, reminders, etc.
Boolean	Connect(Int32 robotId)	Scans the network for robotic devices, real or virtual, and performs all necessary operations to connect to it. This is necessary for 'online' modes such as 'execute' and 'stream.'
Boolean	Connect()	Scans the network for robotic devices, real or virtual, and performs all necessary operations to connect to it. This is necessary for 'online' modes such as 'execute' and 'stream.'
ReferenceCS	Coordinates()	Gets current ReferenceCS setting.
void	Coordinates(ReferenceCS refcs)	Gets current ReferenceCS setting.
void	Coordinates(String type)	Gets current ReferenceCS setting.
void	DebugBuffer()	Dumps a list of the remaining buffered actions.
void	DebugDump()	Dumps a bunch of information to the console about the controller, the main task, etc.
void	DebugRobotCursors()	Dumps the state of the internal RobotPointers
void	DebugSettingsBuffer()	Dumps current Settings values
Boolean	Detach()	Detach all Tools from the flange of this Robot. From this moment, all Actions like Move or Rotate will refer to the Flange Center Point (FCP).
Boolean	Disconnect()	Performs all necessary instructions to disconnect from and dispose a robot device, real or virtual. This is necessary before leaving current execution thread.
Boolean	Do(Action action)	Applies an action to this robot.
void	Execute()	In 'execute' mode, flushes all pending actions, creates a program, uploads it to the controller and runs it.
List<String>	Export()	Create a program with all the buffered actions and return it as a string List. Note all buffered actions will be removed from the queue.
List<String>	Export(Boolean inlineTargets)	Create a program with all the buffered actions and return it as a string List. Note all buffered actions will be removed from the queue.
Boolean	Export(String filepath)	Create a program with all the buffered actions and return it as a string List. Note all buffered actions will be removed from the queue.
Boolean	Export(String filepath, Boolean inlineTargets)	Create a program with all the buffered actions and return it as a string List. Note all buffered actions will be removed from the queue.
Joints	GetCurrentJoints()	Returns a Joint object representing the current angular rotations of the robot's 6 axes.
Orientation	GetCurrentOrientation()	Returns a Rotation representation of the Robot's TCP orientation in quaternions.
Point	GetCurrentPosition()	Returns a Point representation of the Robot's TCP position in mm and World coordinates.
String	GetIP()	Returns a string representation of the IP of the currently connected robot device.
Joints	GetJoints()	Returns a Joint object representing the rotations in the robot axes.
Orientation	GetOrientation()	Return a Orientation object representing the current orientation of the Tool Center Point (if there is a Tool attached) or the Flange Center Point (if there isn't).
Point	GetPosition()	Returns a Point represnting the current location of the Tool Center Point (if there is a Tool attached) or the Flange Center Point (if there isn't).
Rotation	GetRotation()	Return a Rotation object representing the current rotation of the Tool Center Point (if there is a Tool attached) or the Flange Center Point (if there isn't).
Tool	GetTool()	Returns the Tool object currently attached to this Robot, null if none.
Boolean	IsBrand(String brandName)
Boolean	Joints(Joints incJoints)	Issue a request to increment the angular values of the robot joint rotations. Values expressed in degrees.
Boolean	Joints(Double incJ1, Double incJ2, Double incJ3, Double incJ4, Double incJ5, Double incJ6)	Issue a request to increment the angular values of the robot joint rotations. Values expressed in degrees.
Boolean	JointsTo(Joints joints)	Issue a request to set the angular values of the robot joint rotations. Values expressed in degrees.
Boolean	JointsTo(Double j1, Double j2, Double j3, Double j4, Double j5, Double j6)	Issue a request to set the angular values of the robot joint rotations. Values expressed in degrees.
Boolean	LoadProgram(String filepath)	Loads a program to the robot from a local file.
Boolean	LoadProgram(List<String> code)	Loads a program to the robot from a local file.
Boolean	Message(String message)	Send a string message to the device, to be displayed based on device's capacities.
Boolean	Mode(ControlMode mode)	Sets the control mode the robot will operate under.
Boolean	Mode(String mode)	Sets the control mode the robot will operate under.
MotionType	Motion()	Gets the current MotionType setting.
void	Motion(MotionType type)	Gets the current MotionType setting.
void	Motion(String type)	Gets the current MotionType setting.
Boolean	Move(Vector direction)	Issue a relative movement action request on current coordinate system.
Boolean	Move(Double incX, Double incY, Double incZ = 0)	Issue a relative movement action request on current coordinate system.
Boolean	MoveTo(Point position)	Issue an absolute movement action request.
Boolean	MoveTo(Double x, Double y, Double z)	Issue an absolute movement action request.
void	OnBufferEmpty(EventArgs e)
void	PopSettings()	Reverts the state settings (speed, zone, motion type...) to the previously buffered state by PushSettings().
void	PushSettings()	Buffers current state settings (speed, zone, motion type...), and opens up for temporary settings changes to be reverted by PopSettings().
Boolean	Rotate(Rotation rotation)	Issue a RELATIVE rotation action request according to the current reference system.
Boolean	Rotate(Vector vector, Double angDegs)	Issue a RELATIVE rotation action request according to the current reference system.
Boolean	Rotate(Double rotVecX, Double rotVecY, Double rotVecZ, Double angDegs)	Issue a RELATIVE rotation action request according to the current reference system.
Boolean	RotateTo(Rotation rotation)	Issue an ABSOLUTE reorientation request according to the current reference system.
Boolean	RotateTo(Orientation cs)	Issue an ABSOLUTE reorientation request according to the current reference system.
Boolean	RotateTo(Vector vecX, Vector vecY)	Issue an ABSOLUTE reorientation request according to the current reference system.
Boolean	RotateTo(Double x0, Double x1, Double x2, Double y0, Double y1, Double y2)	Issue an ABSOLUTE reorientation request according to the current reference system.
Boolean	RunMode(RunMode mode)	Sets the cycle the robot will run program in (Once or Loop).
Boolean	RunMode(String mode)	Sets the cycle the robot will run program in (Once or Loop).
Int32	Speed()	Gets the current speed setting.
void	Speed(Int32 speedInc)	Gets the current speed setting.
void	SpeedTo(Int32 speed)	Sets the default velocity new actions will be run at.
Boolean	Start()	Starts execution of the current module/s in the controller. @TODO: The behavior of this method will change depending based on Off/Online mode
Boolean	Stop()	Immediately stops execution of the current program/s in the connected robot.
String	ToString()
Boolean	Transform(Vector direction, Rotation rotation)	Issue a compound RELATIVE local Translation + Rotation request according to the current reference system. Note that, if using local coordinates, order of actions will matter. // TODO: wouldn't they matter too if the are in global coordinates?
Boolean	Transform(Rotation rotation, Vector direction)	Issue a compound RELATIVE local Translation + Rotation request according to the current reference system. Note that, if using local coordinates, order of actions will matter. // TODO: wouldn't they matter too if the are in global coordinates?
Boolean	TransformTo(Point position, Orientation orientation)	Issue a compound ABSOLUTE global Translation + Rotation request according to the current reference system.
Boolean	TransformTo(Orientation orientation, Point position)	Issue a compound ABSOLUTE global Translation + Rotation request according to the current reference system.
Boolean	Wait(Int64 timeMillis)	Issue a request to wait idle before moving to next action.
Int32	Zone()	Gets the current zone setting.
void	Zone(Int32 zoneInc)	Gets the current zone setting.
void	ZoneTo(Int32 zone)	Sets the default zone value new actions will be given.

Static Fields

Type	Name	Summary
Int32	Build	Build number.
String	Version	Version number.

Tool

Represents a tool object that can be attached to the end effector of the robot. This class is public and will be used directly by the user, so careful design of the API vs. internal methods will be relevant.

public class Machina.Tool

Fields

Type	Name	Summary
Boolean	translationFirst

Properties

Type	Name	Summary
Vector	centerOfGravity
String	name
Orientation	TCPOrientation
Point	TCPPosition
Double	weight

Methods

Type	Name	Summary
String	ToString()