The new TxCableRetractSystemAttachmentType3 class is available in addition to TxCableRetractSystemAttachmentType1 and TxCableRetractSystemAttachmentType2. The new class represents a new retract system. It extends the base TxCableRetractSystemAttachment class with SecondaryFixedFrame and SecondaryLengthFromStart properties.
Another new class, TxCableRotatingAttachment, represents the rotating attachment released in V15.0.1. The RotationAxis property defines the frame’s axis around which the attachment can rotate (either x or y).
.Net API users can now get or set the direction of the force of gravity that is applied on the cable using the GravityDirection property of TxCableSettings.
Starting this version, ITxGeometryCreation interface exposes CreatePoint and CreateGroup methods that create a geometric point and a group accordingly. A geometric point is presented with the TxPoint class and is created providing the TxPointCreationData creation data. A group, which is a block under a component, is presented with the TxGroup class and requires TxGroupCreationData creation data.
TxPlacementmanipulator class provides the ability to change the reference frame of the manipulator movement. To change the reference frame of the placement manipulator, add a reference frame using the AddReferenceFrame method and then select it with the SelectReferenceFrame method. To update the location of an existing reference frame, use the UpdateReferenceFrame method.
The TxPlacementManipulatorParameters class allows API users to dim non-manipulated objects selectively. The new NonDimmableObjects properties allow defining which objects will not be dimmed if EnableDimOtherObjects is enabled.
Use the ResetEvaluation method of the TxPlcExpression class to clear expression variable data and set an expression to its initial state - all values of the expression members are reset.
Simulation Active Instructions
The ITxRobotSimulationController interface exposes a new GetActiveInstruction method which, during the controller's simulation execution, returns the ITxActiveInstruction object that is currently being executed or was last executed. The active instruction represents an action that can be executed from the simulation such as a robotic command, a robotic location operation, a simulation layer location, etc.
Different types of active instructions are represented with the following interfaces:
ITxActiveInstruction – the base interface that represents an active instruction.
ITxLocationActiveInstruction – represents a location that can be the currently active (executed) location.
ITxRoboticCommandActiveInstruction – represents a command that can be the currently active (executed) command.
ITxCustomizedLocationSimulationLayerActiveInstruction – represents a customized simulation layer location that can be the currently active (executed) location.
ITxCustomizedCommandSimulationLayerActiveInstruction – represents a customized simulation layer command that can be the currently active (executed) command.