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(API) Moment Capacity Curve via API (nonlinear hinge, support, release example)

(API) Moment Capacity Curve via API (nonlinear hinge, support, release example)

Anonymous
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Message 1 of 16

(API) Moment Capacity Curve via API (nonlinear hinge, support, release example)

Anonymous
Not applicable
‎07-02-2013 05:45 PM

Hi,

 

Is it possible to access the following via API?

 

moment capacity.JPG

 

Thanks,

Tony

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Message 2 of 16

Rafal.Gaweda
Autodesk Support
Autodesk Support
‎07-03-2013 12:46 AM

Tony,

 

Have fun (these code copies hinges from robot kernel to Robot but it will give you idea how to access data):

 

Public Sub NonLinFunctionsHandle(ByVal r As RobotOM.RobotApplication, ByVal k As KernelOM.RobotKernel)

              FormMain.ProgressBarInit(1, "nonlinear functions")
              FormMain.log.AddComment("definition of nonlinear functions")

              Dim KnlL As KernelOM.RobotNonlinearLink
              Dim nlLP As RobotOM.IRobotNonlinearLinkParams
              Dim nlL As RobotOM.RobotNonlinearLink
              Dim i As Integer
              Dim j As Integer
              Dim q As Integer
              Dim f_ As Integer
              Dim t_ As Integer

              For i = 1 To r.Project.Structure.Nodes.NonlinearLinks.Count
                     nlL = r.Project.Structure.Nodes.NonlinearLinks.Get(i)
                     KnlL = k.Structure.Nodes.NonlinearLinks.Create(nlL.Name)
                     KnlL.ModelType = nlL.ModelType
                     If nlL.Symetry Then
                           f_ = RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_ANY
                           t_ = RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_ANY
                     Else
                           f_ = RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_POSITIVE
                           t_ = RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_NEGATIVE
                     End If

                     For j = f_ To t_
                           nlLP = nlL.GetParams(j)
                           KnlL.SetCurveType(nlLP.CurveType, j)
                           If nlLP.CurveType = RobotOM.IRobotNonlinearLinkCurveType.I_NLCT_B_LINEAR Then
                                  Dim KnnLP As KernelOM.RobotNonlinearLinkParamsBLinear
                                  Dim nllP_ As RobotOM.RobotNonlinearLinkParamsBLinear
                                  KnnLP = KnlL.GetParams(j)
                                  nllP_ = nlL.GetParams(j)
                                  KnnLP.K1 = nllP_.K1
                                  KnnLP.K2 = nllP_.K2
                                  KnnLP.d1 = nllP_.d1
                                  KnlL.SetParams(KnnLP)
                           ElseIf nlLP.CurveType = RobotOM.IRobotNonlinearLinkCurveType.I_NLCT_CUSTOM Then
                                  Dim KnnLP As KernelOM.RobotNonlinearLinkParamsCustom
                                  Dim nllP_ As RobotOM.RobotNonlinearLinkParamsCustom
                                  KnnLP = KnlL.GetParams(j)
                                  nllP_ = nlL.GetParams(j)
                                  For q = 1 To nllP_.Count
                                         Dim seg As RobotOM.RobotNonlinearLinkParamsCustomSegment
                                         Dim Kseg As KernelOM.RobotNonlinearLinkParamsCustomSegment
                                         seg = nllP_.Get(q)
                                         Kseg = KnnLP.[New]()
                                         Kseg.Constant = seg.Constant
                                         Kseg.Expression = seg.Expression
                                         Kseg.OriginPoint = seg.OriginPoint
                                         KnnLP.Set(q, Kseg)
                                  Next
                                  KnlL.SetParams(KnnLP)
                           ElseIf nlLP.CurveType = RobotOM.IRobotNonlinearLinkCurveType.I_NLCT_GAP_HOOK Then
                                  Dim KnnLP As KernelOM.RobotNonlinearLinkParamsGapHook
                                  Dim nllP_ As RobotOM.RobotNonlinearLinkParamsGapHook
                                  KnnLP = KnlL.GetParams(j)
                                  nllP_ = nlL.GetParams(j)
                                  KnnLP.K = nllP_.K
                                  KnnLP.D = nllP_.D
                                  KnlL.SetParams(KnnLP)
                           ElseIf nlLP.CurveType = RobotOM.IRobotNonlinearLinkCurveType.I_NLCT_LINEAR Then
                                  Dim KnnLP As KernelOM.RobotNonlinearLinkParamsLinear
                                  Dim nllP_ As RobotOM.RobotNonlinearLinkParamsLinear
                                  KnnLP = KnlL.GetParams(j)
                                  nllP_ = nlL.GetParams(j)
                                  KnnLP.K = nllP_.K
                                  KnlL.SetParams(KnnLP)
                           ElseIf nlLP.CurveType = RobotOM.IRobotNonlinearLinkCurveType.I_NLCT_PARABOLIC Then
                                  Dim KnnLP As KernelOM.RobotNonlinearLinkParamsParabolic
                                  Dim nllP_ As RobotOM.RobotNonlinearLinkParamsParabolic
                                  KnnLP = KnlL.GetParams(j)
                                  nllP_ = nlL.GetParams(j)
                                  KnnLP.Dlim = nllP_.Dlim
                                  KnnLP.Dmax = nllP_.Dmax
                                  KnnLP.Flim = nllP_.Flim
                                  KnnLP.K = nllP_.K
                                  KnlL.SetParams(KnnLP)
                           ElseIf nlLP.CurveType = RobotOM.IRobotNonlinearLinkCurveType.I_NLCT_PARABOLIC_EC2 Then       '?
                                  Dim KnnLP As KernelOM.RobotNonlinearLinkParamsParabolic
                                  Dim nllP_ As RobotOM.RobotNonlinearLinkParamsParabolic
                                  KnnLP = KnlL.GetParams(j)
                                  nllP_ = nlL.GetParams(j)
                                  KnnLP.Dlim = nllP_.Dlim
                                  KnnLP.Dmax = nllP_.Dmax
                                  KnnLP.Flim = nllP_.Flim
                                  KnnLP.K = nllP_.K
                                  KnlL.SetParams(KnnLP)
                           ElseIf nlLP.CurveType = RobotOM.IRobotNonlinearLinkCurveType.I_NLCT_PERFECTLY_PLASTIC Then
                                  Dim KnnLP As KernelOM.RobotNonlinearLinkParamsPlastic
                                  Dim nllP_ As RobotOM.RobotNonlinearLinkParamsPlastic
                                  KnnLP = KnlL.GetParams(j)
                                  nllP_ = nlL.GetParams(j)
                                  KnnLP.Dlim = nllP_.Dlim
                                  KnnLP.Flim = nllP_.Flim
                                  KnnLP.W = nllP_.W
                                  KnnLP.K = nllP_.K
                                  KnlL.SetParams(KnnLP)
                           ElseIf nlLP.CurveType = RobotOM.IRobotNonlinearLinkCurveType.I_NLCT_PLASTIC_WITH_HARDENING Then
                                  Dim KnnLP As KernelOM.RobotNonlinearLinkParamsPlasticHardening
                                  Dim nllP_ As RobotOM.RobotNonlinearLinkParamsPlasticHardening
                                  KnnLP = KnlL.GetParams(j)
                                  nllP_ = nlL.GetParams(j)
                                  KnnLP.Dlim = nllP_.Dlim
                                  KnnLP.Flim = nllP_.Flim
                                  KnnLP.W = nllP_.W
                                  KnnLP.K0 = nllP_.K0
                                  KnnLP.K1 = nllP_.K1
                                  KnlL.SetParams(KnnLP)
                           Else
                                  'not handled
                           End If

                     Next

              Next

              'non-linear hinge functions
              Dim nlHP As RobotOM.RobotNonlinearHingeModelAxisParams
              Dim KnlHP As KernelOM.RobotNonlinearHingeModelAxisParams
              Dim KnlHM As KernelOM.RobotNonlinearHingeModelPoints
              Dim nlHM As RobotOM.RobotNonlinearHingeModelPoints
              Dim nlH As RobotOM.RobotNonlinearHingeModel
              Dim KnlH As KernelOM.RobotNonlinearHingeModel

              For i = 1 To r.Project.Structure.Bars.NonlinearHingeModels.Count

                     nlH = r.Project.Structure.Bars.NonlinearHingeModels.Get(i)
                     KnlH = k.Structure.Bars.NonlinearHingeModels.Create(nlH.Name)

                     If nlH.Symetry Then
                           f_ = RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_ANY
                           t_ = RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_ANY
                     Else
                           f_ = RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_POSITIVE
                           t_ = RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_NEGATIVE
                     End If

                     KnlH.ModelType = nlH.ModelType
                     KnlH.UnloadingMethod = nlH.UnloadingMethod
                     If KnlH.UnloadingMethod = KernelOM.IRobotNonlinearHingeModelUnloadingType.I_NHMUT_MIXED Then
                           KnlH.MixedUnloadingValue = nlH.MixedUnloadingValue
                     End If
                     KnlH.LimitCoordX = nlH.LimitCoordX
                     If KnlH.LimitCoordX Then
                           KnlH.LimitCoordXValue = nlH.LimitCoordXValue
                     End If
                     KnlH.LimitCoordY = nlH.LimitCoordY
                     If KnlH.LimitCoordY Then
                           KnlH.LimitCoordYValue = nlH.LimitCoordYValue
                     End If

                     For j = f_ To t_
                           nlHP = nlH.GetAxisParams(j)
                           KnlHP = KnlH.GetAxisParams(j)
                           KnlHP.ImmediateOccupancy = nlHP.ImmediateOccupancy
                           KnlHP.LifeSafety = nlHP.LifeSafety
                           KnlHP.StructuralStability = nlHP.StructuralStability
                           KnlH.SetAxisParams(j, KnlHP)

                           KnlHM = KnlH.GetPoints(j)
                           nlHM = nlH.GetPoints(j)
                           For q = 1 To KnlHM.Count
                                  Dim Kgp2d As KernelOM.RobotGeoPoint2D
                                  Kgp2d = k.CmpntFactory.Create(KernelOM.IRobotComponentType.I_CT_GEO_POINT_2D)
                                  Kgp2d.Set(nlHM.Get(j).X, nlHM.Get(j).Y)
                                  KnlHM.Set(q, Kgp2d)
                           Next

                     Next

              Next
              FormMain.ProgressBarNextStep()

       End Sub

 

              'non-linear hinge functions
              Dim nlHP As RobotOM.RobotNonlinearHingeModelAxisParams
              Dim KnlHP As KernelOM.RobotNonlinearHingeModelAxisParams
              Dim KnlHM As KernelOM.RobotNonlinearHingeModelPoints
              Dim nlHM As RobotOM.RobotNonlinearHingeModelPoints
              Dim nlH As RobotOM.RobotNonlinearHingeModel
              Dim KnlH As KernelOM.RobotNonlinearHingeModel

              For i = 1 To r.Project.Structure.Bars.NonlinearHingeModels.Count

                     nlH = r.Project.Structure.Bars.NonlinearHingeModels.Get(i)
                     KnlH = k.Structure.Bars.NonlinearHingeModels.Create(nlH.Name)

                     If nlH.Symetry Then
                           f_ = RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_ANY
                           t_ = RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_ANY
                     Else
                           f_ = RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_POSITIVE
                           t_ = RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_NEGATIVE
                     End If

                     KnlH.ModelType = nlH.ModelType
                     KnlH.UnloadingMethod = nlH.UnloadingMethod
                     If KnlH.UnloadingMethod = KernelOM.IRobotNonlinearHingeModelUnloadingType.I_NHMUT_MIXED Then
                           KnlH.MixedUnloadingValue = nlH.MixedUnloadingValue
                     End If
                     KnlH.LimitCoordX = nlH.LimitCoordX
                     If KnlH.LimitCoordX Then
                           KnlH.LimitCoordXValue = nlH.LimitCoordXValue
                     End If
                     KnlH.LimitCoordY = nlH.LimitCoordY
                     If KnlH.LimitCoordY Then
                           KnlH.LimitCoordYValue = nlH.LimitCoordYValue
                     End If

                     For j = f_ To t_
                           nlHP = nlH.GetAxisParams(j)
                           KnlHP = KnlH.GetAxisParams(j)
                           KnlHP.ImmediateOccupancy = nlHP.ImmediateOccupancy
                           KnlHP.LifeSafety = nlHP.LifeSafety
                           KnlHP.StructuralStability = nlHP.StructuralStability
                           KnlH.SetAxisParams(j, KnlHP)

                           KnlHM = KnlH.GetPoints(j)
                           nlHM = nlH.GetPoints(j)
                           For q = 1 To KnlHM.Count
                                  Dim Kgp2d As KernelOM.RobotGeoPoint2D
                                  Kgp2d = k.CmpntFactory.Create(KernelOM.IRobotComponentType.I_CT_GEO_POINT_2D)
                                  Kgp2d.Set(nlHM.Get(j).X, nlHM.Get(j).Y)
                                  KnlHM.Set(q, Kgp2d)
                           Next

                     Next

              Next



       Private Function NLHinge(ByRef Klab As KernelOM.RobotLabel, ByVal lab As RobotOM.RobotLabel) As KernelOM.RobotLabel

              'todo - nl function def
              Dim KnlhData As KernelOM.RobotNonlinearHingeData
              Dim nlhData As RobotOM.RobotNonlinearHingeData

              KnlhData = Klab.Data
              nlhData = lab.Data

              KnlhData.NormalStress = nlhData.NormalStress
              If nlhData.IsActive(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_FX) Then
                     KnlhData.SetModel(KernelOM.IRobotNonlinearHingeComponentType.I_NHCT_FX, nlhData.GetModel(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_FX))
              End If
              If nlhData.IsActive(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_FY) Then
                     KnlhData.SetModel(KernelOM.IRobotNonlinearHingeComponentType.I_NHCT_FY, nlhData.GetModel(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_FY))
              End If
              If nlhData.IsActive(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_FZ) Then
                     KnlhData.SetModel(KernelOM.IRobotNonlinearHingeComponentType.I_NHCT_FZ, nlhData.GetModel(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_FZ))
              End If
              If nlhData.IsActive(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_MX) Then
                     KnlhData.SetModel(KernelOM.IRobotNonlinearHingeComponentType.I_NHCT_MX, nlhData.GetModel(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_MX))
              End If
              If nlhData.IsActive(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_MY) Then
                     KnlhData.SetModel(KernelOM.IRobotNonlinearHingeComponentType.I_NHCT_MY, nlhData.GetModel(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_MY))
              End If
              If nlhData.IsActive(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_MZ) Then
                     KnlhData.SetModel(KernelOM.IRobotNonlinearHingeComponentType.I_NHCT_MZ, nlhData.GetModel(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_MZ))
              End If
              If nlhData.IsActive(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_SX) Then
                     KnlhData.SetModel(KernelOM.IRobotNonlinearHingeComponentType.I_NHCT_SX, nlhData.GetModel(RobotOM.IRobotNonlinearHingeComponentType.I_NHCT_SX))
              End If

              NLHinge = Klab

       End Function

 

 



Rafal Gaweda
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Message 3 of 16

Rafal.Gaweda
Autodesk Support
Autodesk Support
in reply to Rafal.Gaweda
‎07-03-2013 01:06 AM

Nonlinear Support example

 

Private Function Support(ByRef Klab As KernelOM.RobotLabel, ByVal lab As RobotOM.RobotLabel) As KernelOM.RobotLabel

              Dim supData As RobotOM.RobotNodeSupportData
              Dim KsupData As KernelOM.RobotNodeSupportData

              KsupData = Klab.Data
              supData = lab.Data
              KsupData.UX = supData.UX
              KsupData.UY = supData.UY
              KsupData.UZ = supData.UZ
              KsupData.RX = supData.RX
              KsupData.RY = supData.RY
              KsupData.RZ = supData.RZ
              KsupData.HX = supData.HX
              KsupData.HY = supData.HY
              KsupData.HZ = supData.HZ
              KsupData.KX = supData.KX
              KsupData.KY = supData.KY
              KsupData.KZ = supData.KZ
              KsupData.AX = supData.AX
              KsupData.AY = supData.AY
              KsupData.AZ = supData.AZ
              KsupData.BX = supData.BX
              KsupData.BY = supData.BY
              KsupData.BZ = supData.BZ
              KsupData.GlobalCoordSystem = supData.GlobalCoordSystem
              KsupData.Alpha = supData.Alpha
              KsupData.Beta = supData.Beta
              KsupData.Gamma = supData.Gamma
              KsupData.Advanced.B = supData.Advanced.B
              KsupData.Advanced.D = supData.Advanced.D
              KsupData.Advanced.H = supData.Advanced.H
              KsupData.Advanced.Type = supData.Advanced.Type
              If supData.Advanced.IsEquivalentElasticity Then
                     KsupData.Advanced.EquivalentElasticity.E = supData.Advanced.EquivalentElasticity.E
                     KsupData.Advanced.EquivalentElasticity.E = supData.Advanced.EquivalentElasticity.PoissonRatio
              End If
              KsupData.ElasticLinear = supData.ElasticLinear
              KsupData.ElasticSurface = supData.ElasticSurface
              KsupData.SetOneDir(KernelOM.IRobotNodeSupportFixingDirection.I_NSFD_UX, supData.GetOneDir(RobotOM.IRobotNodeSupportFixingDirection.I_NSFD_UX))
              KsupData.SetOneDir(KernelOM.IRobotNodeSupportFixingDirection.I_NSFD_UY, supData.GetOneDir(RobotOM.IRobotNodeSupportFixingDirection.I_NSFD_UY))
              KsupData.SetOneDir(KernelOM.IRobotNodeSupportFixingDirection.I_NSFD_UZ, supData.GetOneDir(RobotOM.IRobotNodeSupportFixingDirection.I_NSFD_UZ))
              KsupData.SetOneDir(KernelOM.IRobotNodeSupportFixingDirection.I_NSFD_RX, supData.GetOneDir(RobotOM.IRobotNodeSupportFixingDirection.I_NSFD_RX))
              KsupData.SetOneDir(KernelOM.IRobotNodeSupportFixingDirection.I_NSFD_RY, supData.GetOneDir(RobotOM.IRobotNodeSupportFixingDirection.I_NSFD_RY))
              KsupData.SetOneDir(KernelOM.IRobotNodeSupportFixingDirection.I_NSFD_RZ, supData.GetOneDir(RobotOM.IRobotNodeSupportFixingDirection.I_NSFD_RZ))

              If supData.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_UX) Then
                     KsupData.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_UX, supData.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_UX))
              End If
              If supData.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_UY) Then
                     KsupData.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_UY, supData.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_UY))
              End If
              If supData.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_UZ) Then
                     KsupData.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_UZ, supData.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_UZ))
              End If
              If supData.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_RX) Then
                     KsupData.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_RX, supData.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_RX))
              End If
              If supData.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_RY) Then
                     KsupData.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_RY, supData.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_RY))
              End If
              If supData.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_RZ) Then
                     KsupData.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_RZ, supData.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_RZ))
              End If

              Support = Klab

       End Function

 



Rafal Gaweda
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Message 4 of 16

Rafal.Gaweda
Autodesk Support
Autodesk Support
in reply to Rafal.Gaweda
‎07-03-2013 01:07 AM
Accepted solution

Nonlinear Release example

 

       Private Function Release(ByRef Klab As KernelOM.RobotLabel, ByVal lab As RobotOM.RobotLabel) As KernelOM.RobotLabel

              Dim KrelData As KernelOM.RobotBarReleaseData
              Dim relData As RobotOM.RobotBarReleaseData

              KrelData = Klab.Data
              relData = lab.Data

              KrelData.StartNode.AX = relData.StartNode.AX
              KrelData.StartNode.AY = relData.StartNode.AY
              KrelData.StartNode.AZ = relData.StartNode.AZ
              KrelData.StartNode.BX = relData.StartNode.BX
              KrelData.StartNode.BY = relData.StartNode.BY
              KrelData.StartNode.BZ = relData.StartNode.BZ
              KrelData.StartNode.HX = relData.StartNode.HX
              KrelData.StartNode.HY = relData.StartNode.HY
              KrelData.StartNode.HZ = relData.StartNode.HZ
              KrelData.StartNode.KX = relData.StartNode.KX
              KrelData.StartNode.KY = relData.StartNode.KY
              KrelData.StartNode.KZ = relData.StartNode.KZ
              KrelData.StartNode.RX = relData.StartNode.RX
              KrelData.StartNode.RY = relData.StartNode.RY
              KrelData.StartNode.RZ = relData.StartNode.RZ
              KrelData.StartNode.UX = relData.StartNode.UX
              KrelData.StartNode.UY = relData.StartNode.UY
              KrelData.StartNode.UZ = relData.StartNode.UZ

              KrelData.EndNode.AX = relData.EndNode.AX
              KrelData.EndNode.AY = relData.EndNode.AY
              KrelData.EndNode.AZ = relData.EndNode.AZ
              KrelData.EndNode.BX = relData.EndNode.BX
              KrelData.EndNode.BY = relData.EndNode.BY
              KrelData.EndNode.BZ = relData.EndNode.BZ
              KrelData.EndNode.HX = relData.EndNode.HX
              KrelData.EndNode.HY = relData.EndNode.HY
              KrelData.EndNode.HZ = relData.EndNode.HZ
              KrelData.EndNode.KX = relData.EndNode.KX
              KrelData.EndNode.KY = relData.EndNode.KY
              KrelData.EndNode.KZ = relData.EndNode.KZ
              KrelData.EndNode.RX = relData.EndNode.RX
              KrelData.EndNode.RY = relData.EndNode.RY
              KrelData.EndNode.RZ = relData.EndNode.RZ
              KrelData.EndNode.UX = relData.EndNode.UX
              KrelData.EndNode.UY = relData.EndNode.UY
              KrelData.EndNode.UZ = relData.EndNode.UZ

              If relData.StartNode.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_RX) Then
                     KrelData.StartNode.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_RX, relData.StartNode.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_RX))
              End If
              If relData.StartNode.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_RY) Then
                     KrelData.StartNode.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_RY, relData.StartNode.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_RY))
              End If
              If relData.StartNode.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_RZ) Then
                     KrelData.StartNode.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_RZ, relData.StartNode.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_RZ))
              End If
              If relData.StartNode.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_UX) Then
                     KrelData.StartNode.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_UX, relData.StartNode.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_UX))
              End If
              If relData.StartNode.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_UY) Then
                     KrelData.StartNode.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_UY, relData.StartNode.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_UY))
              End If
              If relData.StartNode.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_UZ) Then
                     KrelData.StartNode.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_UZ, relData.StartNode.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_UZ))
              End If
              If relData.EndNode.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_RX) Then
                     KrelData.EndNode.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_RX, relData.EndNode.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_RX))
              End If
              If relData.EndNode.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_RY) Then
                     KrelData.EndNode.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_RY, relData.EndNode.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_RY))
              End If
              If relData.EndNode.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_RZ) Then
                     KrelData.EndNode.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_RZ, relData.EndNode.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_RZ))
              End If
              If relData.EndNode.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_UX) Then
                     KrelData.EndNode.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_UX, relData.EndNode.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_UX))
              End If
              If relData.EndNode.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_UY) Then
                     KrelData.EndNode.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_UY, relData.EndNode.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_UY))
              End If
              If relData.EndNode.NonlinearModel.IsDefined(RobotOM.IRobotDegreeOfFreedom.I_DOF_UZ) Then
                     KrelData.EndNode.NonlinearModel.Set(KernelOM.IRobotDegreeOfFreedom.I_DOF_UZ, relData.EndNode.NonlinearModel.Get(RobotOM.IRobotDegreeOfFreedom.I_DOF_UZ))
              End If

              Release = Klab

       End Function

 



Rafal Gaweda
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Message 5 of 16

Anonymous
Not applicable
in reply to Rafal.Gaweda
‎07-03-2013 06:54 AM
oh ****
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Message 6 of 16

Anonymous
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‎09-06-2013 10:42 AM

Thanks man :]

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Message 7 of 16

jokiller70
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‎10-09-2013 07:08 AM

I saw your code and at last made a function that enters the release functions into robot.

 

But they get jerky and Robot doesen´t calculate correctly. Tryed iterating more values but still wrong values at calculate.

 

Any ideas on what I am missing?

 

Dim segments As Integer
Dim segment(15, 2) As Double
Dim i As Integer
Dim n As Integer
Dim vinkel(15) As Double
Dim värdet(15) As Double
Dim KnlL As RobotOM.RobotNonlinearLink
Dim KnnLP As RobotOM.RobotNonlinearLinkParamsCustom
Dim Kseg As RobotOM.RobotNonlinearLinkParamsCustomSegment
Const I_NLCT_CUSTOM = 8

robapp.Project.Structure.Nodes.NonlinearLinks.Remove(robapp.Project.Structure.Nodes.NonlinearLinks.Find("AHMyD"))
KnlL = robapp.Project.Structure.Nodes.NonlinearLinks.Create("AHMyD")
KnlL.SetCurveType(I_NLCT_CUSTOM, RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_ANY)
KnlL.ModelType = RobotOM.IRobotNonlinearLinkModelType.I_NLMT_MOMENT_ROTATION
KnnLP = KnlL.GetParams(RobotOM.IRobotNonlinearLinkSemiAxisType.I_NLSAT_ANY)
n = 0
segments = 5
värdet(1) = 0
vinkel(1) = 0.0257
värdet(2) = 0.375
vinkel(2) = 0.0463
värdet(3) = 0.465
vinkel(3) = 0.0515
värdet(4) = 0.555
vinkel(4) = 0.0582
värdet(5) = 0.629
vinkel(5) = 0.0654
For i = 1 To segments - 1
For j = 1 To 1
Kseg = KnnLP.[New]()
Kseg.Expression = Str$((värdet(i) + (värdet(i + 1) - värdet(i)) / 10 * j) * 1000)
Kseg.OriginPoint = (vinkel(i) + (vinkel(i + 1) - vinkel(i)) / 10 * j)
n = n + 1
KnnLP.Set(n, Kseg)
KnlL.SetParams(KnnLP, IRobotNonlinearLinkSemiAxisType.I_NLSAT_ANY)
Next
Next
KnlL = Nothing
KnnLP = Nothing
Kseg = Nothing

 

And this is what i get 😞

release.jpg

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Message 8 of 16

Rafal.Gaweda
Autodesk Support
Autodesk Support
in reply to jokiller70
‎10-09-2013 07:19 AM
What do you expect to get ?


Rafal Gaweda
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Message 9 of 16

jokiller70
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in reply to Rafal.Gaweda
‎10-09-2013 07:29 AM

I am expecting a curve that robot uses. like when i input the values manually and not from api

release.jpg

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Message 10 of 16

Rafal.Gaweda
Autodesk Support
Autodesk Support
in reply to jokiller70
‎10-11-2013 07:44 AM 
Kseg.Constant = False

 then :

 

apinon.jpg



Rafal Gaweda
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Message 11 of 16

jokiller70
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in reply to Rafal.Gaweda
‎10-12-2013 12:25 AM

Super, many thanks!

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Message 12 of 16

Anonymous
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in reply to jokiller70
‎11-13-2014 02:48 PM

Hi All

 

I need to create a nonlinear release in a excel sheet to simulate headed studs in a composite beam but I'm not succeeding in...

 

I am not an advance programmer, and these codes are a little bit confused for me.

 

I tried to copie yours codes into my excel but they didn't work. When i 'm setting the curve type the line code stays red and it shows a worning saying :"Expected :="

 

What i'm doing wrong?

Preview file
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Message 13 of 16

Anonymous
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in reply to Anonymous
‎11-17-2014 05:09 PM

Hi All Again,

 

I've been trying some codes and the best was this one:

 

    Dim RLabel As RobotLabel
    Dim relData As RobotBarReleaseData
    Dim EndData As RobotBarEndReleaseData
    Dim KnlL As RobotNonlinearLink
    Dim KnnLP As RobotNonlinearLinkParamsBLinear
    Set KnlL = str.Nodes.NonlinearLinks.Create("ConectorBiLinear")
    Const I_NLCT_B_LINEAR = 2
    KnlL.ModelType = IRobotNonlinearLinkModelType.I_NLMT_FORCE_DISPLACEMENT
    KnlL.SetCurveType (I_NLCT_B_LINEAR)
    Set KnnLP = KnlL.GetParams(I_NLSAT_POSITIVE)
    KnnLP.d1 = 1
    KnnLP.K1 = 54000
    KnnLP.K2 = 10000

    Set RLabel = str.labels.Create(I_LT_BAR_RELEASE, "CONECTOR")
    Set relData = RLabel.Data
'    Set EndData = relData.StartNode
'    EndData.UX = I_BERV_NONLINEAR
'    EndData.UX = I_BERV_STD

    Set EndData = relData.EndNode
    EndData.UX = I_BERV_NONLINEAR
    EndData.UX = I_BERV_STD
    

    str.labels.Store RLabel
    str.Bars.SetLabel selectionBars, I_LT_BAR_RELEASE, "CONECTOR"

 

By the way, when i try to set the parameters d1 K1 and K2, the code doesn't assume that.

 

What i'm doing wrong?

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Message 14 of 16

marcinrakus
Autodesk
Autodesk
in reply to Anonymous
‎11-18-2014 12:03 AM

1. Try set params after definition

KnlL.SetParams KnnLP

and

2. Assign nonlinear model to desired direction

EndData.NonlinearModel.Set I_DOF_UX, "ConectorBiLinear"

 

fuul code:

 

Dim robapp As RobotApplication
Set robapp = New RobotApplication
Dim RLabel As RobotLabel
Dim relData As RobotBarReleaseData
Dim EndData As RobotBarEndReleaseData
Dim KnlL As RobotNonlinearLink
Dim KnnLP As RobotNonlinearLinkParamsBLinear
Set KnlL = robapp.Project.Structure.Nodes.NonlinearLinks.Create("ConectorBiLinear")
Const I_NLCT_B_LINEAR = 2
KnlL.ModelType = IRobotNonlinearLinkModelType.I_NLMT_FORCE_DISPLACEMENT
KnlL.SetCurveType (I_NLCT_B_LINEAR)
Set KnnLP = KnlL.GetParams(I_NLSAT_POSITIVE)
KnnLP.d1 = 1
KnnLP.K1 = 54000
KnnLP.K2 = 10000
KnlL.SetParams KnnLP

Set RLabel = robapp.Project.Structure.Labels.Create(I_LT_BAR_RELEASE, "CONECTOR")
Set relData = RLabel.Data
Set EndData = relData.StartNode
EndData.UX = I_BERV_NONLINEAR
EndData.NonlinearModel.Set I_DOF_UX, "ConectorBiLinear"
EndData.UX = I_BERV_STD

Set EndData = relData.EndNode
EndData.UX = I_BERV_NONLINEAR
EndData.UX = I_BERV_STD

robapp.Project.Structure.Labels.Store RLabel

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Message 15 of 16

marcinrakus
Autodesk
Autodesk
in reply to Anonymous
‎11-18-2014 12:04 AM

I tried to copie yours codes into my excel but they didn't work. When i 'm setting the curve type the line code stays red and it shows a worning saying :"Expected :="

 

What i'm doing wrong?

 

Try without brackets

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Message 16 of 16

Anonymous
Not applicable
in reply to marcinrakus
‎11-18-2014 02:58 PM

Thank you very much!

 

It works fine..

 

 

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