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Tool & Base Definition

Creator
Creator

Hi,

 

I have already found out that the tools are stored in the toolbox. Where can I find the bases (via API)? It's about the property "Base Type" (see picture).

Many thanks in advance

4 REPLIES

Betreff: Tool & Base Definition

Legend
Legend

Hi,

 

the class TxRobot has a method GetInstanceParameter. For the Base_Type you have to pass the string parameter KRC_BASE_TYPE_<no>, where <no> is the Base number.

 

Example with Base 1:

TxRoboticStringParam frameType = QueryRobotInstanceParameter(robot, "KRC_BASE_TYPE_1");

private TxRoboticStringParam QueryRobotInstanceParameter(TxRobot robot, string parameter)
{
    return robot.GetInstanceParameter(parameter) as TxRoboticStringParam;
}
 

Betreff: Tool & Base Definition

Creator
Creator

Yeah, this works.

 

Can you name other string parameters that can be used?
Is this parameter KUKA specifically because of "KRC"? What do I have to consider at FANUC or ABB?

 

Thanks.

Betreff: Tool & Base Definition

Siemens Phenom Siemens Phenom
Siemens Phenom

Hello,

 

You can use the "robotic parameter viewer" the get the parameter for a selected robot or location.

 

Best regards

Patrick

Betreff: Tool & Base Definition

Creator
Creator

Thanks,

 

robot.GetAllInstanceParameters() helps a lot!

 

Best regards

Steffi