Safety objects present imaginary objects which the controller should take into account when executing an operation. For example, a controller of a certain vendor may support an imaginary sphere around the tcp of the robot so that no objects enter this sphere.
Starting from this version, .NET API users can create safety objects. They are components like objects that are created and managed only via the .NET API. They appear under the Robot Safety folder in the Object Tree. They can participate in collision sets and dimensions.
Safety objects are represented in the .NET API by the ITxSafetyObject interface and the TxSafetyObject class. To create a safety object, use the CreateSafetyObject method of the TxRobot class. The TxSafetyCreationData class allows users to define the name and the initial location of the new object as well as a custom icon – for the custom icon the API requires the full path to an embedded 16x16 .png resource file (including assembly name). The TxSafetyObject class implements the ITxGeometryCreation interface that enables the creation of various geometry elements. There is no need to open the safety object for modeling when adding/removing geometry elements. Safety objects also support creation of attributes ( SetAttribute, GetAttribute, RemoveAttribute methods) – this is a mechanism to save simple data types to a model object instance. The TxSafetyObject objects implement the ITxLocatableObject interface and can be attached to other objects using the .NET API.
The ITxGeometryCreation interface exposes the following new methods.
CreateSolidByUnite - creates a solid by uniting solids that are defined in the TxSolidByUniteCreationData class.
CreateSolidByRevolute - creates a solid by revolution of a curve around two points. Creation data is presented by the TxSolidByRevoluteCreationData class.
CreateCurveByProjectionOnFaces - creates one or more curve objects by projecting an input curve on a list of face objects. If the projected curve is not continuous, a separate curve is created for each part. Curves are not projected on hidden parts of the faces. Creation data is represented by the TxCurveProjectionOnFacesCreationData class.
There is a new CableStatus property of the TxCable class that returns the validity status of the cable object such as twist rate, contact force, etc. The status is represented by the TxCableStatus class and can be retrieved at any moment, for example at any simulation step. The status object also provides the Contacts property that returns information about contacts between the cable and any obstacles. There is also a new SetCableDataAndRegenerateCable method of the TxCable class that modifies the cable with the given parameters (cable shape is recomputed if parameters affecting the shape are modified).
Path Editor Viewer is now a multi-instance viewer. A new instance of the viewer can be opened using the OpenViewerInstance method of TxViewersManager class. The main Path Editor can be accessed by the PathEditorViewer property of TxViewersManager, while the list of all opened Path Editors is returned by the PathEditorViewers property. The viewer itself is represented with the ITxPathEditorViewer interface.
The ITxPlcSignal interface exposes the IECFormatAddress property that returns the IEC Format representation of the signal’s address and also the InternalNameSet event, that occurs when the internal name of a robot signal is changed.
In V14.1.2 the TxFolder class provides implementation for the Paste and CanPasteList methods.
Use the BranchExpression property of the TxOperationLink class to get or set the PLC expression of the operation link. To get or set the branch type of the link (simultaneous, alternative or undefined), refer to the BranchType property.
The TxSimulationPlayer class exposes the OperationEndedProcessingLocation event, that occurs when an operation reaches the actual destination and attached OLP commands have been simulated.
Also new in that class is the ability to use the TxSimulationErrorType parameter with the GetErrorsAndTraces method to get filtered messages from the forward simulation.
WPF UI Controls
Use the ConsiderPartAppearanceAndOriginalPartAsSeperateObjects property of Tecnomatix.Engineering.Ui.WPF.TxObjectGridControl class to indicate whether the part appearance should be considered the same object as the original part. The EnableRecurringObjects property value specifies whether the same model object may appear twice in the list.