vcPathStatement

A vcPathStatement is a type of robot statement that can execute a set of positions. It allows you to manage a large amount of data used for robot motion planning.

Inherits: vcStatement

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Path Properties
Schema Properties
Methods
Examples

Path Properties

Name	Type	Access	Description
Base	vcBaseFrame	RW	Defines the base frame of the path statement.
FrameNameField	Integer	RW	Defines the index of schema property used for labeling position in 3D world. The schema property should be a string data type. The default is -1. This means the position will not be labeled with its custom name rather the number of position in path.
FrameNameVisibleField	Integer	RW	Defines the index of schema property used for controlling the visibility of position label in 3D world. The schema property should be a Boolean data type. The default is -1. This means the labels are visible.
ExternalTCP	Boolean	RW	Defines if external tcp mode is used for the path statement.
Positions	vcPositionFrameIterator	R	Gets an iterator for positions in the path statement. Each position is of type vcSchemaPositionFrame.
ProcessHandler	vcPythonProcessHandler	RW	Defines the process handler used by robot to execute path statement.
SchemaProperties	List of vcProperty	R	Gets a list of schema properties for path statement. See "Schema Properties" section for more information.
ShowReferenceFrames	Boolean	RW	Turns on/off visibility of positions marked as reference points.
Tool	vcBaseFrame	RW	Defines the tool frame of the path statement.

Schema Properties

The positions of a vcPathStatement are linear motions and defined using schema properties, which are fields in a schema database (table) unique to each vcPathStatement object.

Default

By default, each path position (record) is defined by seven, built-in schema properties as well additional properties for any external joint values. Each built-in property is mapped to an internal Field property, for example Position is mapped to PositionField. The mapping is done by referencing the index of a schema property. For example, PositionField has a default value of 0 since Position is the first property/field in schema of path position. We recommend that you do not modify any internal Field properties for built-in schema properties.

Name	Type	Access	Description
FrameVisible	Boolean	RW	Turns on/off the visibility of the position in 3D world.
IsContinuous	Boolean	RW	Defines if robot motion to and from position should be one continuous motion.
IsReference	Boolean	RW	Indicates if position is used as reference for calculating adjustments to path positions.
LineColor	vcVector	RW	Defines the color of line to position.
LineVisible	Boolean	RW	Defines if line to position is visible in 3D world.
Position	vcMatrix	RW	Defines the position matrix of position.
PositionStatus	Integer	RW	Indicates the status of position, for example whether or not it is unreachable. Status is determined by three flags. 1 Reachable 2 Within joint limits of robot 4 No singularity The default is 7. The status is not updated automatically by application. You would need to manually test the position as a vcMotionTarget object and evaluate configuration warnings. The configuration warning and position status values are flipped, so a configuration warning of 0 would be a status of 7. If you do not modify LineColor, the color of position in 3D world will automatically be updated based on PositionStatus. For example, green is reachable and red is unreachable. See Configuration Warnings constants for more information or review the example in vcSchemaPositionFrame.
E1 ... EN	Real	RW	Defines one or more external joint values for the position.

Optional

If you add any of the following schema properties by name, the property will automatically be mapped to an internal Field property and affect a robot motioning to positions. The same recommendation applies to not modify the internal Field property.

Note: If you create a Path statement using the GUI, MaxSpeed, Acceleration, Deceleration, AccuracyMethod and AccuracyValue will automatically be added as schema properties.

Name	Type	Access	Description
Acceleration	Real	RW	Defines the maximum Cartesian acceleration of motion (units/s^2) used to calculate target trajectory.
AccuracyMethod	Enumeration	RW	Defines the zone of accuracy type to use for the position, for example distance, time or velocity. See Motion Target Constants for more information.
AccuracyValue	Real	RW	Defines the limit used in AccuracyMethod.
AngularAcceleration	Real	RW	Defines the maximum angular acceleration of motion (degrees/s^2) used to calculate target trajectory.
AngularDeceleration	Real	RW	Defines the maximum angular deceleration of motion (degrees/s^2) used to calculate target trajectory.
Deceleration	Real	RW	Defines the maximum Cartesian deceleration of motion (units/s^2) used to calculate target trajectory.
MaxAngularSpeed	Real	RW	Defines the maximum angular speed (degrees/s^2) used to calculate target trajectory.
MaxSpeed	Real	RW	Defines the maximum Cartesian speed (units/s) used to calculate target trajectory.

Methods

Name	Return Type	Parameters	Description
addSchemaProperties	List of Integer	List of Object properties	Adds a list of custom properties for each position in path statement, and then returns a list of indices for the added properties in SchemaProperties. The list should contain one or more value pairs Enumeration type, String name. Each pair defines a single property to add.
beginBatchUpdate	None	Integer schema_size	Sets the initial amount of schema database entries, for example 100 entries for 100 path positions. This is done to allocate enough memory for storing schema property values for each path position. Note: This method is required if there is no existing schema database. If the database exists, this is optional. Note: Using size value -1 doesn't allocate space for new schema items and doesn't reset current data. It only blocks notify events when items are updated between this call and EndBatchUpdate.
clearPositions	None	None	Removes all positions from path statement, thereby removing all schema database entries.
endBatchUpdate	None	Integer schema_size	Sets the final amount of schema database entries, for example 96 entries for 96 path positions. This is done to not allocate more memory than is needed to store schema property values for each path position.
getSchemaSize	Integer	None	Returns the total amount of entries for schema database of path statement.
getSchemaValue	<Type>	Integer position_index, String property_name	Returns the value of schema property for path position.
setSchemaValues	None	Integer position_index, String property_name, <Type> value or Integer position_index, List of Integer property_indices, List of <Type> values	Sets one or more schema properties for path position. Note: The method should not be called when there are no rows in the schema database or if the row's index value does not exist.
removeSchemaProperties	None	List of String property_names or List of vcProperty properties	Removes properties referenced by property_names list or properties list arguments

Examples

Example. Add path statement and populate position table

from vcScript import *
import vcMatrix

comp = getComponent()
executor = comp.findBehaviour("Executor")
routine = executor.Program.MainRoutine

#add path statement
path_statement = routine.addStatement('Path', 0)

#clear path table
path_statement.clearPositions()

#add schema properties/fields for table
my_props = [VC_MATRIX, "Position",\
VC_INTEGER, "MotionType",\
VC_INTEGER, "OriginalIndex",\
VC_REAL, "Speed"]
prop_indices = path_statement.addSchemaProperties(my_props)

#add data to path table
path_statement.beginBatchUpdate(100)
for point_index in range(100):
  position = vcMatrix.new()
  motion_type = 1
  speed = 200.0
  position_values = (position, motion_type, point_index, speed)
  path_statement.setSchemaValues(point_index, prop_indices, position_values)
  path_statement.setSchemaValues(0, "IsReference", True)
  path_statement.setSchemaValues(99, "IsReference", True)
path_statement.endBatchUpdate(100)

path_handler = comp.getBehaviour("MyHandler")
path_statement.ProcessHandler = path_handler

app = getApplication()
app.SelectionManager.clear()
app.SelectionManager.setSelection(path_statement)
app.render()

Example. Customize name of positions

from vcScript import *
import vcMatrix

comp = getComponent()
rx = comp.findBehaviour("Executor")
mr = rx.Program.MainRoutine

mr.clear()
path = mr.addStatement("Path")

#add schema property for custom name
#assign the index of that property to FrameNameField
index = path.addSchemaProperties([VC_STRING,"ExampleName"])[0]
path.FrameNameField = index

#this will label positions P1...P10 i.e. default labeling of positions
#path.FrameNameField = -1

path.beginBatchUpdate(10)
for i in range(10):
  #define position
  position = vcMatrix.new()
  position.translateAbs(1000,i*100,1000)
  path.setSchemaValues(i,"Position",position)

  #frame of position must be visible, otherwise name is also hidden
  path.setSchemaValues(i,"FrameVisible",True)

  #will label positions T1...T10
  path.setSchemaValues(i,"ExampleName","T"+str(i+1))
path.endBatchUpdate(10)

app = getApplication()
app.render()

Example. Toggle visibility of position labels

from vcScript import *
import vcMatrix

comp = getComponent()
rx = comp.findBehaviour("Executor")
mr = rx.Program.MainRoutine

mr.clear()
path = mr.addStatement("Path")

index = path.addSchemaProperties([VC_BOOLEAN,"ExampleNameVisible"])[0]
path.FrameNameVisibleField = index

path.beginBatchUpdate(10)
for i in range(10):
  #define position
  position = vcMatrix.new()
  position.translateAbs(1000,i*100,1000)
  path.setSchemaValues(i,"Position",position)

  #frame of position must be visible, otherwise name is also hidden
  path.setSchemaValues(i,"FrameVisible",True)

  #frames are visible but not the labels
  path.setSchemaValues(i,"ExampleNameVisible",False)
path.endBatchUpdate(10)
app = getApplication()
app.render()