UnderAutomation.Fanuc 2.0.0.1__py3-none-any.whl

underautomation/fanuc/ftp/variables/rspace_variable_type.py

@@ -0,0 +1,116 @@
+import typing
+from underautomation.fanuc.ftp.variables.cartesian_position_variable import CartesianPositionVariable
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import RspaceVariableType as rspace_variable_type
+
+class RspaceVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rspace_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def comment(self) -> str:
+		return self._instance.Comment
+	@property
+	def usage(self) -> int:
+		return self._instance.Usage
+	@property
+	def enabled(self) -> bool:
+		return self._instance.Enabled
+	@property
+	def in_exterior(self) -> bool:
+		return self._instance.InExterior
+	@property
+	def entry(self) -> bool:
+		return self._instance.Entry
+	@property
+	def ent_sign_on(self) -> bool:
+		return self._instance.EntSignOn
+	@property
+	def priority(self) -> bool:
+		return self._instance.Priority
+	@property
+	def priorwrk(self) -> bool:
+		return self._instance.Priorwrk
+	@property
+	def dout_type(self) -> int:
+		return self._instance.DoutType
+	@property
+	def dout_indx(self) -> int:
+		return self._instance.DoutIndx
+	@property
+	def din_type(self) -> int:
+		return self._instance.DinType
+	@property
+	def din_indx(self) -> int:
+		return self._instance.DinIndx
+	@property
+	def friend_grp(self) -> int:
+		return self._instance.FriendGrp
+	@property
+	def ufram_num(self) -> int:
+		return self._instance.UframNum
+	@property
+	def utool_num(self) -> int:
+		return self._instance.UtoolNum
+	@property
+	def myhold(self) -> int:
+		return self._instance.Myhold
+	@property
+	def length_vtex(self) -> int:
+		return self._instance.LengthVtex
+	@property
+	def first_vtex(self) -> typing.List[float]:
+		return self._instance.FirstVtex
+	@property
+	def secnd_vtex(self) -> typing.List[float]:
+		return self._instance.SecndVtex
+	@property
+	def ufinv_post(self) -> CartesianPositionVariable:
+		return CartesianPositionVariable(self._instance.UfinvPost)
+	@property
+	def margin(self) -> float:
+		return self._instance.Margin
+	@property
+	def waiting(self) -> int:
+		return self._instance.Waiting
+	@property
+	def first_vtx2(self) -> typing.List[float]:
+		return self._instance.FirstVtx2
+	@property
+	def secnd_vtx2(self) -> typing.List[float]:
+		return self._instance.SecndVtx2
+	@property
+	def g2entry(self) -> bool:
+		return self._instance.G2entry
+	@property
+	def g1ent_intr(self) -> bool:
+		return self._instance.G1entIntr
+	@property
+	def g2ent_intr(self) -> bool:
+		return self._instance.G2entIntr
+	@property
+	def pre_ufram(self) -> int:
+		return self._instance.PreUfram
+	@property
+	def no_use_di(self) -> bool:
+		return self._instance.NoUseDi
+	@property
+	def hold_req(self) -> bool:
+		return self._instance.HoldReq
+	@property
+	def cspace_num(self) -> int:
+		return self._instance.CspaceNum
+	@property
+	def cur_tcp(self) -> typing.List[float]:
+		return self._instance.CurTcp
+	@property
+	def pre_tcp(self) -> typing.List[float]:
+		return self._instance.PreTcp
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/rspaceg_variable_type.py

@@ -0,0 +1,27 @@
+import typing
+from underautomation.fanuc.ftp.variables.com_space_variable_type import ComSpaceVariableType
+from underautomation.fanuc.ftp.variables.gp_hold_variable_type import GpHoldVariableType
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import RspacegVariableType as rspaceg_variable_type
+
+class RspacegVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rspaceg_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def com_space(self) -> typing.List[ComSpaceVariableType]:
+		return [ComSpaceVariableType(x) for x in self._instance.ComSpace]
+	@property
+	def gp_hold(self) -> typing.List[GpHoldVariableType]:
+		return [GpHoldVariableType(x) for x in self._instance.GpHold]
+	@property
+	def spare_int(self) -> typing.List[int]:
+		return self._instance.SpareInt
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/rspacesr_variable_type.py

@@ -0,0 +1,58 @@
+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import RspacesrVariableType as rspacesr_variable_type
+
+class RspacesrVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rspacesr_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def sr_enb_typ(self) -> typing.List[int]:
+		return self._instance.SrEnbTyp
+	@property
+	def runner_axs(self) -> bool:
+		return self._instance.RunnerAxs
+	@property
+	def hand_lngth(self) -> float:
+		return self._instance.HandLngth
+	@property
+	def hand_thick(self) -> float:
+		return self._instance.HandThick
+	@property
+	def flip_enb(self) -> bool:
+		return self._instance.FlipEnb
+	@property
+	def intference(self) -> bool:
+		return self._instance.Intference
+	@property
+	def hand_if_chk(self) -> bool:
+		return self._instance.HandIfChk
+	@property
+	def handi_type(self) -> int:
+		return self._instance.HandiType
+	@property
+	def handi_indx(self) -> int:
+		return self._instance.HandiIndx
+	@property
+	def sr_g1pos(self) -> typing.List[float]:
+		return self._instance.SrG1pos
+	@property
+	def sr_g1pos_in(self) -> typing.List[float]:
+		return self._instance.SrG1posIn
+	@property
+	def sr_g1ang(self) -> typing.List[float]:
+		return self._instance.SrG1ang
+	@property
+	def sr_g1ang_jf(self) -> typing.List[float]:
+		return self._instance.SrG1angJf
+	@property
+	def sr_prm(self) -> typing.List[int]:
+		return self._instance.SrPrm
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/sbr2_variable_type.py

@@ -0,0 +1,19 @@
+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import Sbr2VariableType as sbr2_variable_type
+
+class Sbr2VariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = sbr2_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def param(self) -> typing.List[int]:
+		return self._instance.Param
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/sbr_variable_type.py

@@ -0,0 +1,43 @@
+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import SbrVariableType as sbr_variable_type
+
+class SbrVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = sbr_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def svmtr_id(self) -> int:
+		return self._instance.SvmtrId
+	@property
+	def robot_id(self) -> str:
+		return self._instance.RobotId
+	@property
+	def grp_num(self) -> int:
+		return self._instance.GrpNum
+	@property
+	def axis_num(self) -> int:
+		return self._instance.AxisNum
+	@property
+	def mtr_id(self) -> str:
+		return self._instance.MtrId
+	@property
+	def mtr_inf_id(self) -> str:
+		return self._instance.MtrInfId
+	@property
+	def sv_param_id(self) -> str:
+		return self._instance.SvParamId
+	@property
+	def param(self) -> typing.List[int]:
+		return self._instance.Param
+	@property
+	def mot_spd_lim(self) -> int:
+		return self._instance.MotSpdLim
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/scr_grp_variable_type.py

@@ -0,0 +1,417 @@
+import typing
+from underautomation.fanuc.common.configuration import Configuration
+from underautomation.fanuc.ftp.variables.ax_ofs_variable_type import AxOfsVariableType
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ScrGrpVariableType as scr_grp_variable_type
+
+class ScrGrpVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = scr_grp_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def arm_type(self) -> int:
+		return self._instance.ArmType
+	@property
+	def dummy127(self) -> int:
+		return self._instance.Dummy127
+	@property
+	def arm_type_b(self) -> int:
+		return self._instance.ArmTypeB
+	@property
+	def num_axes(self) -> int:
+		return self._instance.NumAxes
+	@property
+	def num_rob_axs(self) -> int:
+		return self._instance.NumRobAxs
+	@property
+	def num_red_axs(self) -> int:
+		return self._instance.NumRedAxs
+	@property
+	def wrst_axis_s(self) -> int:
+		return self._instance.WrstAxisS
+	@property
+	def wrst_axis_e(self) -> int:
+		return self._instance.WrstAxisE
+	@property
+	def sync_m_axis(self) -> int:
+		return self._instance.SyncMAxis
+	@property
+	def sync_s_axis(self) -> int:
+		return self._instance.SyncSAxis
+	@property
+	def wrist_type(self) -> int:
+		return self._instance.WristType
+	@property
+	def hw_strt_axs(self) -> int:
+		return self._instance.HwStrtAxs
+	@property
+	def axisorder(self) -> typing.List[int]:
+		return self._instance.Axisorder
+	@property
+	def dummy128(self) -> int:
+		return self._instance.Dummy128
+	@property
+	def brk_number(self) -> typing.List[int]:
+		return self._instance.BrkNumber
+	@property
+	def dummy129(self) -> int:
+		return self._instance.Dummy129
+	@property
+	def dd_motor(self) -> typing.List[bool]:
+		return self._instance.DdMotor
+	@property
+	def rotary_axs(self) -> typing.List[bool]:
+		return self._instance.RotaryAxs
+	@property
+	def loadratio(self) -> typing.List[float]:
+		return self._instance.Loadratio
+	@property
+	def config_mask(self) -> Configuration:
+		return Configuration(None, None, None, None, None, None, None, self._instance.ConfigMask)
+	@property
+	def link_length(self) -> typing.List[float]:
+		return self._instance.LinkLength
+	@property
+	def ext_order(self) -> typing.List[int]:
+		return self._instance.ExtOrder
+	@property
+	def dummy130(self) -> int:
+		return self._instance.Dummy130
+	@property
+	def ext_xyz_map(self) -> typing.List[int]:
+		return self._instance.ExtXyzMap
+	@property
+	def dummy131(self) -> int:
+		return self._instance.Dummy131
+	@property
+	def ext_offset(self) -> typing.List[float]:
+		return self._instance.ExtOffset
+	@property
+	def ext_length(self) -> typing.List[float]:
+		return self._instance.ExtLength
+	@property
+	def robot_id(self) -> str:
+		return self._instance.RobotId
+	@property
+	def robot_model(self) -> str:
+		return self._instance.RobotModel
+	@property
+	def robot_file(self) -> str:
+		return self._instance.RobotFile
+	@property
+	def robot_int(self) -> int:
+		return self._instance.RobotInt
+	@property
+	def sv_code_id(self) -> str:
+		return self._instance.SvCodeId
+	@property
+	def joglim_jnt(self) -> typing.List[int]:
+		return self._instance.JoglimJnt
+	@property
+	def coord_mask(self) -> int:
+		return self._instance.CoordMask
+	@property
+	def op_brk_num(self) -> typing.List[int]:
+		return self._instance.OpBrkNum
+	@property
+	def dummy132(self) -> int:
+		return self._instance.Dummy132
+	@property
+	def use_tbjnt(self) -> bool:
+		return self._instance.UseTbjnt
+	@property
+	def use_tbcart(self) -> bool:
+		return self._instance.UseTbcart
+	@property
+	def num_dual(self) -> int:
+		return self._instance.NumDual
+	@property
+	def dummy133(self) -> int:
+		return self._instance.Dummy133
+	@property
+	def turn_axis(self) -> typing.List[int]:
+		return self._instance.TurnAxis
+	@property
+	def axs_amp_num(self) -> typing.List[int]:
+		return self._instance.AxsAmpNum
+	@property
+	def flextooltyp(self) -> int:
+		return self._instance.Flextooltyp
+	@property
+	def axs_xyz_map(self) -> typing.List[int]:
+		return self._instance.AxsXyzMap
+	@property
+	def dummy134(self) -> int:
+		return self._instance.Dummy134
+	@property
+	def ofst(self) -> typing.List[AxOfsVariableType]:
+		return [AxOfsVariableType(x) for x in self._instance.Ofst]
+	@property
+	def kinem_enb(self) -> int:
+		return self._instance.KinemEnb
+	@property
+	def dummy135(self) -> int:
+		return self._instance.Dummy135
+	@property
+	def update_map(self) -> int:
+		return self._instance.UpdateMap
+	@property
+	def torqctrl(self) -> int:
+		return self._instance.Torqctrl
+	@property
+	def dsp_num(self) -> typing.List[int]:
+		return self._instance.DspNum
+	@property
+	def dummy136(self) -> int:
+		return self._instance.Dummy136
+	@property
+	def m_pos_enb(self) -> bool:
+		return self._instance.MPosEnb
+	@property
+	def m_dst_enb(self) -> bool:
+		return self._instance.MDstEnb
+	@property
+	def move_dst(self) -> float:
+		return self._instance.MoveDst
+	@property
+	def mch_pos_x(self) -> float:
+		return self._instance.MchPosX
+	@property
+	def mch_pos_y(self) -> float:
+		return self._instance.MchPosY
+	@property
+	def mch_pos_z(self) -> float:
+		return self._instance.MchPosZ
+	@property
+	def mch_pos_w(self) -> float:
+		return self._instance.MchPosW
+	@property
+	def mch_pos_p(self) -> float:
+		return self._instance.MchPosP
+	@property
+	def mch_pos_r(self) -> float:
+		return self._instance.MchPosR
+	@property
+	def mch_ang(self) -> typing.List[float]:
+		return self._instance.MchAng
+	@property
+	def mch_spd(self) -> float:
+		return self._instance.MchSpd
+	@property
+	def dst_mir_p(self) -> int:
+		return self._instance.DstMirP
+	@property
+	def dpos_dst(self) -> float:
+		return self._instance.DposDst
+	@property
+	def dst_pos_x(self) -> float:
+		return self._instance.DstPosX
+	@property
+	def dst_pos_y(self) -> float:
+		return self._instance.DstPosY
+	@property
+	def dst_pos_z(self) -> float:
+		return self._instance.DstPosZ
+	@property
+	def dsp_ercnt(self) -> typing.List[int]:
+		return self._instance.DspErcnt
+	@property
+	def dest_data_p(self) -> typing.List[int]:
+		return self._instance.DestDataP
+	@property
+	def robot_func(self) -> int:
+		return self._instance.RobotFunc
+	@property
+	def proc_axs(self) -> typing.List[bool]:
+		return self._instance.ProcAxs
+	@property
+	def dac_mode(self) -> int:
+		return self._instance.DacMode
+	@property
+	def dac_axmode(self) -> typing.List[int]:
+		return self._instance.DacAxmode
+	@property
+	def dac_rate1(self) -> typing.List[float]:
+		return self._instance.DacRate1
+	@property
+	def dac_rate2(self) -> typing.List[float]:
+		return self._instance.DacRate2
+	@property
+	def dac_rate3(self) -> typing.List[float]:
+		return self._instance.DacRate3
+	@property
+	def dac_rate4(self) -> typing.List[float]:
+		return self._instance.DacRate4
+	@property
+	def dac_rate5(self) -> typing.List[float]:
+		return self._instance.DacRate5
+	@property
+	def dac_rate6(self) -> typing.List[float]:
+		return self._instance.DacRate6
+	@property
+	def dac_rate7(self) -> typing.List[float]:
+		return self._instance.DacRate7
+	@property
+	def dac_rate8(self) -> typing.List[float]:
+		return self._instance.DacRate8
+	@property
+	def dac_rate9(self) -> typing.List[float]:
+		return self._instance.DacRate9
+	@property
+	def dac_rate10(self) -> typing.List[float]:
+		return self._instance.DacRate10
+	@property
+	def dac_lmt1(self) -> typing.List[float]:
+		return self._instance.DacLmt1
+	@property
+	def dac_lmt2(self) -> typing.List[float]:
+		return self._instance.DacLmt2
+	@property
+	def dac_lmt3(self) -> typing.List[float]:
+		return self._instance.DacLmt3
+	@property
+	def dac_lmt4(self) -> typing.List[float]:
+		return self._instance.DacLmt4
+	@property
+	def dac_lmt5(self) -> typing.List[float]:
+		return self._instance.DacLmt5
+	@property
+	def dac_lmt6(self) -> typing.List[float]:
+		return self._instance.DacLmt6
+	@property
+	def dac_lmt7(self) -> typing.List[float]:
+		return self._instance.DacLmt7
+	@property
+	def dac_lmt8(self) -> typing.List[float]:
+		return self._instance.DacLmt8
+	@property
+	def dac_lmt9(self) -> typing.List[float]:
+		return self._instance.DacLmt9
+	@property
+	def dac_lmt10(self) -> typing.List[float]:
+		return self._instance.DacLmt10
+	@property
+	def dac_flt_len(self) -> int:
+		return self._instance.DacFltLen
+	@property
+	def dac_debug(self) -> typing.List[int]:
+		return self._instance.DacDebug
+	@property
+	def func_sw(self) -> typing.List[int]:
+		return self._instance.FuncSw
+	@property
+	def func_val(self) -> typing.List[float]:
+		return self._instance.FuncVal
+	@property
+	def abc_enb(self) -> bool:
+		return self._instance.AbcEnb
+	@property
+	def hbk_enbl(self) -> bool:
+		return self._instance.HbkEnbl
+	@property
+	def mv_diag(self) -> typing.List[float]:
+		return self._instance.MvDiag
+	@property
+	def abc_mode1(self) -> float:
+		return self._instance.AbcMode1
+	@property
+	def abc_mode2(self) -> float:
+		return self._instance.AbcMode2
+	@property
+	def abc_mode3(self) -> float:
+		return self._instance.AbcMode3
+	@property
+	def abc_mode4(self) -> float:
+		return self._instance.AbcMode4
+	@property
+	def abc_mode5(self) -> float:
+		return self._instance.AbcMode5
+	@property
+	def abc_mode6(self) -> float:
+		return self._instance.AbcMode6
+	@property
+	def abc_mode7(self) -> float:
+		return self._instance.AbcMode7
+	@property
+	def abc_mode8(self) -> float:
+		return self._instance.AbcMode8
+	@property
+	def abc_mode9(self) -> float:
+		return self._instance.AbcMode9
+	@property
+	def safe_jntspd(self) -> typing.List[float]:
+		return self._instance.SafeJntspd
+	@property
+	def robot_label(self) -> str:
+		return self._instance.RobotLabel
+	@property
+	def dsp_num_flg(self) -> int:
+		return self._instance.DspNumFlg
+	@property
+	def group_num(self) -> int:
+		return self._instance.GroupNum
+	@property
+	def comp_sw(self) -> typing.List[int]:
+		return self._instance.CompSw
+	@property
+	def amb_temp(self) -> float:
+		return self._instance.AmbTemp
+	@property
+	def dsp_strt_ax(self) -> int:
+		return self._instance.DspStrtAx
+	@property
+	def tot_sbr_num(self) -> int:
+		return self._instance.TotSbrNum
+	@property
+	def tot_dsp_num(self) -> int:
+		return self._instance.TotDspNum
+	@property
+	def tot_atr_num(self) -> int:
+		return self._instance.TotAtrNum
+	@property
+	def tandem_sub(self) -> typing.List[int]:
+		return self._instance.TandemSub
+	@property
+	def dsp_order(self) -> typing.List[int]:
+		return self._instance.DspOrder
+	@property
+	def atr_order(self) -> typing.List[int]:
+		return self._instance.AtrOrder
+	@property
+	def ampinf_ordr(self) -> typing.List[int]:
+		return self._instance.AmpinfOrdr
+	@property
+	def ampcur_ordr(self) -> typing.List[int]:
+		return self._instance.AmpcurOrdr
+	@property
+	def fix_ornt_wr(self) -> bool:
+		return self._instance.FixOrntWr
+	@property
+	def jnt_vel_lim(self) -> typing.List[float]:
+		return self._instance.JntVelLim
+	@property
+	def jnt_acc_lim(self) -> typing.List[float]:
+		return self._instance.JntAccLim
+	@property
+	def joglimrot(self) -> int:
+		return self._instance.Joglimrot
+	@property
+	def robot_name(self) -> str:
+		return self._instance.RobotName
+	@property
+	def axis_cat(self) -> typing.List[int]:
+		return self._instance.AxisCat
+	@property
+	def dummy137(self) -> int:
+		return self._instance.Dummy137
+	@property
+	def dummy138(self) -> int:
+		return self._instance.Dummy138
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName