vcMotionMonitor

A monitoring class that is associated with monitorable object e.g. a vcRobotics2.vcMotionController for acquiring velocity data.

See in: Overview

Module: vcRobotics2

Parent: -

Children -

Referenced by: -

Properties

Learn how to use properties here. The properties are also inherited from the parent class.

Name	Type	Access	Description
CollectDriverData	Boolean	RW	Gets or sets whether driver data should colected while monitoring, default = false. See more If true, the motion monitor will collect internal and external driver data. The data resolution is determined by the Interval property but only in certain conditions. The setting should be set to true only if the monitored object has a kinematics behavior and internal driver values are to be collected. Note: Up-to-date driver data is always available if the monitored object has no associated kinematics behavior. Even if this setting is false.
CollectTcpData	Boolean	RW	Gets or sets whether TCP frame data should colected while monitoring, default = false. If true, the motion monitor will collect TCP data.
Interval	Real	RW	Gets or sets the desired data resolution/availability interval in seconds. See more Value must be greater than zero. This is a maximum value and the effective interval can be less than the set value. The interval also affects to the OnDataUpdate event, which occurs at the specified interval or more frequently.

Methods

Learn how to use methods here. The methods are also inherited from the parent class.

Name	Return Type	Parameters	Description
getExternalDriverData	list[vcDriverKinematicData]	None	Returns the latest known kinematic data of the internal drivers. See more Parameters: None Returns: list[vcRobotics2.vcDriverKinematicData]: Driver data as a list.
getInternalDriverData	list[vcDriverKinematicData]	None	Returns the latest known kinematic data of the internal drivers. See more The list is sorted based on the driver index. Parameters: None Returns: list[vcRobotics2.vcDriverKinematicData]: Driver data as a list.
getTcpData	vcFrameKinematicData	None	Returns the latest known kinematic data of the currently active tool frame relative to simulation World. See more Parameters: None Returns: vcRobotics2.vcFrameKinematicData: Tcp linear and angular velocity data. Exceptions: RuntimeError: If kinematics is not available.
getTcpData	vcFrameKinematicData	Integer toolIndex	Returns the latest known kinematic data of the tcp frame relative to simulation World. See more Parameters: toolIndex (int): The index of the tool to get the data for. If not specified, the active tool is used. Returns: vcRobotics2.vcFrameKinematicData: Tcp linear and angular velocity data. Exceptions: IndexError: If the toolIndex is out of range. RuntimeError: If kinematics is not available.
new	vcMotionMonitor	vcMotionController controller	Initializes a new instance of the vcMotionMonitor class. See more Parameters: controller (vcRobotics2.vcMotionController): The motion controller to monitor.

Events

Learn how to use events here. The events are also inherited from the parent class.

Name	Parameters	Description
OnDataUpdate	vcMotionMonitor monitor, float time	Triggered when new data is available from the monitored object. The event is raised only when the monitored object has associated kinematics behavior and See more when conducting cartesian motions or when CollectTcpData is True. The event is raised latest at the specified interval, but can be raised more frequently. Parameters: monitor (vcRobotics2.vcMotionMonitor): Sender. time (float): The simulation timestamp for the data.