GetTeachPoints method

Description

VWorks software calls the GetTeachPoints method to get the names of all of the robot’s teachpoints from the plugin.

Syntax

 

HRESULT GetTeachpoints( [in] BSTR XML, [out] BSTR *returnedXML, [out,retval] enum ReturnCode *retVal );

Parameters

 

XML	[in] A string that contains an empty IRobotDriver_GetTeachpoints_Input XML element.
returnedXML	[out] An IRobotDriver_GetTeachpoints_Output XML block that contains a list of teachpoint names.
retVal	[out, retval] Returns an error code. Possible values: 0 = The request was completed (RETURN_SUCCESS) 1 = Something was wrong with the input, so the request was not completed (RETURN_BAD_ARGS) 2 = The request was not completed (RETURN_FAIL) For more information, see “ReturnCode enumerated type” .

GetTeachPoints method input

VWorks software passes an empty IRobotDriver_GetTeachpoints_Input XML element into the XML parameter of the GetTeachPoints method.

Example of GetTeachPoints method input

The following sample code is an empty IRobotDriver_GetTeachpoints_Input XML element that is received by the plugin from VWorks software as a string in the XML parameter of the GetTeachPoints method. VWorks software asks the plugin for the names of all the teachpoints for the 3-Axis Robot.

 

<?xml version='1.0' encoding='ASCII' ?> <Velocity11 file='MetaData' md5sum='1741399628c5cfaebce951e6e26821b3' version='1.0' > <IRobotDriver_GetTeachpoints_Input /> </Velocity11>

GetTeachPoints method output

The plugin returns an IRobotDriver_GetTeachpoints_Output XML block in the returnedXML parameter of the GetTeachPoints method.

IRobotDriver_GetTeachpoints_Output XML block

The IRobotDriver_GetTeachpoints_Output XML block contains the IRobotDriver_GetTeachpoints_Output element and all its children. This XML block provides a list of all of the robot’s teachpoints.

XML structure

The value of the file attribute for the Velocity11 element is MetaData. See “Velocity11 element” .

 

<?xml version='1.0' encoding='ASCII' ?> <Velocity11> <IRobotDriver_GetTeachpoints_Output> <Teachpoints > <Value /> ... </Teachpoints> </IRobotDriver_GetTeachpoints_Output> </Velocity11>

IRobotDriver_GetTeachpoints_Output XML block

The IRobotDriver_GetTeachpoints_Output element contains one Teachpoints element.

Teachpoints element

The Teachpoints element contains one or more Value elements.

Value element

Each Value element contains the name of a teachpoint. This element has the following attribute:

 

Name	Value
Value	The name of the teachpoint. Required: Yes

Example of GetTeachPoints method output

The following sample code is an IRobotDriver_GetTeachpoints_Output XML block that is returned by the plugin to VWorks software as a string in the returnedXML parameter of the GetTeachPoints method. The plugin returns all the names of the 3-Axis Robot’s teachpoints to VWorks software.

 

<?xml version='1.0' encoding='ASCII' ?> <Velocity11 file='MetaData' md5sum='c806278dab427bf154e0d2bf56f4aa18' version='1.0' > <IRobotDriver_GetTeachpoints_Output > <Teachpoints > <Value Value='Robot Teachpoint 1' /> <Value Value='Robot Teachpoint 2' /> <Value Value='Robot Teachpoint 3' /> <Value Value='Robot Teachpoint 4' /> </Teachpoints> </IRobotDriver_GetTeachpoints_Output> </Velocity11>

Related information

 

For information about...	See...
CheckPlatePresent method	“CheckPlatePresent method”
DelidRelid method	“DelidRelid method”
GetPlatePresentResult method	“GetPlatePresentResult method”
GetSimulationTimes method	“GetSimulationTimes method”
Move method	“Move method”
ReturnCode enumerated type	“ReturnCode enumerated type”
SetSpeed method	“SetSpeed method”