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MountManager (Object)

Represents the Mount Manger of a Robot.

Role: Mount Manager is the object used to access and manage the devices mounted on the robot.
The following code snippet can be used to obtain the Mount Manager from the robot product. 
   Dim objMountManager As MountManager
   Dim objRobot as Product
   
   Set objMountManager = objRobot.GetTechnologicalObject("MountManager" )

Method Index

GetMountedDevices
Retrieves the list of mounted devices on the Robot
IsDeviceMounted
Checks if the device is mounted or not on a robot.
MountDevice
Mounts the device on to the Robot
ReMountDevice
Remounts the device on the Robot
UnMountDevice
Unmounts the device from the Robot
UnSetDevice
Unsets the device from the Robot

Methods


o Sub GetMountedDevices(CATSafeArrayVariant oDeviceList)
Retrieves the list of mounted devices on the Robot
Parameters:
oDeviceList
Retrieved list of Mounted devices
Returns:
An HRESULT.
Legal values:
S_OK
The list of mounted devices could be successfully retrieved from the robot.
E_FAIL
TThe list of mounted devices could be not be obtained from the robot
Example:
The following example retrieves the list of mounted devices on the Robot. 
   Dim objMountManager As MountManager
   Dim DeviceList(3) As Product
   ..
   objMountManager.GetMountedDevices DeviceList
o Sub IsDeviceMounted(Product iDevice,
boolean iIsMounted)
Checks if the device is mounted or not on a robot.
Parameters:
iDevice
Device for which mount status needs to be checked
iIsMounted
Retrieved result for the mount status- Mounted(1), Not Mounted(0)
Returns:
An HRESULT.
Legal values:
S_OK
The status could be successfully queried from the mount manager
E_FAIL
The query failed.
Example:
The following example retrieves the list of mounted devices on the Robot. 
   Dim objMountManager As MountManager
   Dim Device As Product
   Dim IsMounted As Boolean
   ..
   objMountManager.IsDeviceMounted Device,IsMounted
o Sub MountDevice(Product iDevice,
CATBSTR iToolProfileName,
CATSafeArrayVariant iMountOffset,
boolean iToolMobility,
Tag iToolTag,
Tag iBaseTag)
Mounts the device on to the Robot
Parameters:
iDevice
The Device to mount
iToolProfileName
Name of the Tool Profile
iMountOffset
Offset required from the mount plate of the robot to base part of the device including position and orientation. If a Base Tag is selected then its the offset of MountPlate of the Robot to the Base Tag
iToolMobility
The Tool Mobility.
iToolTag
The Tool Tag
iBaseTag
The Base Tag
Returns:
An HRESULT.
Legal values:
S_OK
The device is successfully mounted on the Robot.
E_FAIL
The device could not be mounted to the robot.
Example:
The following example mounts a device to a robot. 
   Dim objMountManager As MountManager
   Dim Device As Product
   ...
   Dim ToolMobility As Boolean
   ToolMobility = TRUE   
   Dim TCPMatrix(5) As List
   TCPMatrix(0)=0
   TCPMatrix(1)=0
   TCPMatrix(2)=0
   TCPMatrix(3)=0
   TCPMatrix(4)=0
   TCPMatrix(5)=0
   Dim ToolProfileName As String
   ToolProfileName = "Tool.1"
   Dim BaseTag as Tag
   Dim ToolTag as Tag
   ...
   objMountManager.MountDevice object,name2,TCPMatrix,ModifyRef,ToolTag,Nothing
o Sub ReMountDevice(Product iDevice)
Remounts the device on the Robot
Parameters:
iDevice
The device to be remount.
Returns:
An HRESULT.
Legal values:
S_OK
The device is successfully remounted on the Robot.
E_FAIL
The device could not be remounted.
Example:
The following example remounts a device on a robot. 
   Dim objMountManager As MountManager
   Dim Device As Product
   ..
   objMountManager.ReMountDevice Device
o Sub UnMountDevice(Product iDevice)
Unmounts the device from the Robot
Parameters:
iDevice
The device to be unmount.
Returns:
An HRESULT.
Legal values:
S_OK
The device is successfully unmounted from the Robot.
E_FAIL
The device could not be unmounted.
Example:
The following example unmounts a device from a robot. 
   Dim objMountManager As MountManager
   Dim Device As Product
   ..
   objMountManager.UnMountDevice Device
o Sub UnSetDevice(Product iDevice)
Unsets the device from the Robot
Parameters:
iDevice
The device to be unset.
Returns:
An HRESULT.
Legal values:
S_OK
The device is successfully unset from the Robot.
E_FAIL
The device could not be unset.
Example:
The following example unsets a device from a robot. 
   Dim objMountManager As MountManager
   Dim Device As Product
   ..
   objMountManager.UnSetDevice Device

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