Teach Handler

Quick Facts

Property	Value
Class	`CENPyOlpTeachHandler`
Module	`cenpylib.CENPyOlpTeachHandler`
Package	`cenpylib`
Release	R2026.1
Methods	15

Quick Start


# Boilerplate Example
teachHandler = ...  # obtained from the runtime context
result = teachHandler.GetTpElementPosition(tpElement, 0)

Method Index

Method	Returns	Summary
`GetTpElementPosition`	`CENPyOlpPosition`	Get position of the toolpath element.
`GetTpElementPosition`	`CENPyOlpPosition`	Get position of the toolpath element relative to the given base frame, specified by its index.
`ModifyTpElement`	`bool`	Apply the current position values to the reference toolpath element.
`InsertNewTpElement`	`CENPyOlpTpElement`	Insert a new toolpath element.
`RemoveTpElement`	`—`	Remove the given toolpath element.
`SetTpElementName`	`—`	Set the name of the toolpath element.
`SetTpElementMotionType`	`—`	Set the new motion type of the toolpath element.
`SetTpElementTargetType`	`—`	Sets the new target type of the underlying toolpath element.
`SetTpElementConfigBehavior`	`—`	Sets the config behavior for the given toolpath elements.
`SetTpElementTurnBehavior`	`—`	Sets the turn behavior for the given toolpath elements.
`RemoveTeachFlags`	`bool`	Removes all teach flags and resets the toolpath element properties to their initial values.
`RemoveTeachFlags`	`bool`	Removes the specified teach flags and resets their properties to the initial values.
`InsertAuxiliaryOperation`	`CENPyOlpOperation`	Inserts a new auxiliary operation relative to a reference operation.
`InsertAuxiliaryOperation`	`CENPyOlpOperation`	Inserts a new auxiliary operation relative to a reference operation group.
`GetCycleReferenceToolpathElement`	`CENPyOlpTpElement`	Gets the reference toolpath element of a cycle toolpath element.

Query Methods

`GetTpElementPosition`


def GetTpElementPosition(tpElement: CENPyOlpTpElement, posRelation: int) -> CENPyOlpPosition

Get position of the toolpath element.

Parameters:

Name	Type	Description
`tpElement`	`CENPyOlpTpElement`	Reference toolpath element.
`posRelation`	`int`	Relation of the position.

Returns: CENPyOlpPosition — Toolpath element position.

`GetTpElementPosition`


def GetTpElementPosition(tpElement: CENPyOlpTpElement, posRelation: int, baseFrameIndex: int) -> CENPyOlpPosition

Get position of the toolpath element relative to the given base frame, specified by its index.

Parameters:

Name	Type	Description
`tpElement`	`CENPyOlpTpElement`	Reference toolpath element.
`posRelation`	`int`	Relation of the position.
`baseFrameIndex`	`int`	Base frame index.

Returns: CENPyOlpPosition — Toolpath element position.

Mutation Methods

`ModifyTpElement`


def ModifyTpElement(olpPosition: CENPyOlpPosition) -> bool

Apply the current position values to the reference toolpath element. Currently, only an active program is allowed to be modified.

Parameters:

Name	Type	Description
`olpPosition`	`CENPyOlpPosition`	Olp position to take current values from and that holds the reference toolpath element.

Returns: bool — True if modification was successful, False otherwise.

`InsertNewTpElement`


def InsertNewTpElement(olpPosition: CENPyOlpPosition, motionType: int, insertPosition: int) -> CENPyOlpTpElement

Insert a new toolpath element. Currently, only PTP and LIN motion types can be inserted and only an active program is allowed to be modified.

Parameters:

Name	Type	Description
`olpPosition`	`CENPyOlpPosition`	Olp position of the toolpath element to be created. Olp position also contains reference toolpath element.
`motionType`	`int`	Motion type of the toolpath element to be created.
`insertPosition`	`int`	Insert position in relation to the reference toolpath element.

Returns: CENPyOlpTpElement — Newly created toolpath element. None, if failed to insert the new toolpath element.

`RemoveTpElement`


def RemoveTpElement(toolpathElement: CENPyOlpTpElement)

Remove the given toolpath element. Currently, only an active program is allowed to be modified. Toolpath elements with the process type ProcessInsert, Auxiliary and TeachInsert will be deleted, and all other types will be suppressed.

Parameters:

Name	Type	Description
`toolpathElement`	`CENPyOlpTpElement`	Toolpath element to remove.

`SetTpElementName`


def SetTpElementName(tpElement: CENPyOlpTpElement, name: str)

Set the name of the toolpath element. The Teach Flag for Name will be set.

Parameters:

Name	Type	Description
`tpElement`	`CENPyOlpTpElement`	Reference toolpath element.
`name`	`str`	New toolpath element name.

`SetTpElementMotionType`


def SetTpElementMotionType(tpElement: CENPyOlpTpElement, iMotionType: int)

Set the new motion type of the toolpath element. The Teach Flag for MotionType will be set. If the motion type cannot be set because of restrictions, the element will be skipped.

Parameters:

Name	Type	Description
`tpElement`	`CENPyOlpTpElement`	Reference toolpath element.
`iMotionType`	`int`	Motion type to set.

`SetTpElementTargetType`


def SetTpElementTargetType(tpElement: CENPyOlpTpElement, iTargetType: int)

Sets the new target type of the underlying toolpath element. The Teach Flag for TargetType will be set.

Parameters:

Name	Type	Description
`tpElement`	`CENPyOlpTpElement`	Reference toolpath element.
`iTargetType`	`int`	Target type to set.

`SetTpElementConfigBehavior`


def SetTpElementConfigBehavior(tpElement: CENPyOlpTpElement, iConfigBehavior: int)

Sets the config behavior for the given toolpath elements. The Teach Flag for Config will be set.

Parameters:

Name	Type	Description
`tpElement`	`CENPyOlpTpElement`	Reference toolpath element.
`iConfigBehavior`	`int`	Config behavior to set.

`SetTpElementTurnBehavior`


def SetTpElementTurnBehavior(tpElement: CENPyOlpTpElement, iTurnBehavior: int)

Sets the turn behavior for the given toolpath elements. The Teach Flag for Turn will be set.

Parameters:

Name	Type	Description
`tpElement`	`CENPyOlpTpElement`	Reference toolpath element.
`iTurnBehavior`	`int`	Turn behavior to set.

`RemoveTeachFlags`


def RemoveTeachFlags(tpElement: CENPyOlpTpElement) -> bool

Removes all teach flags and resets the toolpath element properties to their initial values.

Parameters:

Name	Type	Description
`tpElement`	`CENPyOlpTpElement`	Reference toolpath element.

Returns: bool — True if successful, otherwise False.

`InsertAuxiliaryOperation`


def InsertAuxiliaryOperation(targetProgram: CENPyOlpProgram, referenceOperation: CENPyOlpOperation, iInsertPosition: int) -> CENPyOlpOperation

Inserts a new auxiliary operation into the specified target program relative to a reference operation within the same group.

Parameters:

Name	Type	Description
`targetProgram`	`CENPyOlpProgram`	Target program in which the auxiliary operation will be inserted.
`referenceOperation`	`CENPyOlpOperation`	Reference operation used to determine the insertion location.
`iInsertPosition`	`int`	Insert position in relation to the reference operation.

Returns: CENPyOlpOperation — Newly created auxiliary operation, or None if insertion failed.

`InsertAuxiliaryOperation`


def InsertAuxiliaryOperation(targetProgram: CENPyOlpProgram, referenceOperationGroup: CENPyOlpOperationGroup, iInsertPosition: int) -> CENPyOlpOperation

Inserts a new auxiliary operation into the specified target program relative to a reference operation group, into a new group.

Parameters:

Name	Type	Description
`targetProgram`	`CENPyOlpProgram`	Target program in which the auxiliary operation will be inserted.
`referenceOperationGroup`	`CENPyOlpOperationGroup`	Reference operation group used to determine the insertion location.
`iInsertPosition`	`int`	Insert position in relation to the reference operation group.

Returns: CENPyOlpOperation — Newly created auxiliary operation, or None if insertion failed.

`GetCycleReferenceToolpathElement`


def GetCycleReferenceToolpathElement(tpElement: CENPyOlpTpElement) -> CENPyOlpTpElement

Gets reference toolpath element of a cycle toolpath element.

Parameters:

Name	Type	Description
`tpElement`	`CENPyOlpTpElement`	Cycle toolpath element.

Returns: CENPyOlpTpElement — Reference toolpath element of a cycle toolpath element, or None.

`RemoveTeachFlags`


def RemoveTeachFlags(tpElement: CENPyOlpTpElement, teachFlags: int) -> bool

Removes the specified teach flags and resets their properties to the initial values.

Parameters:

Name	Type	Description
`tpElement`	`CENPyOlpTpElement`	Reference toolpath element.
`teachFlags`	`int`	Teach flags to reset.

Returns: bool — True if successful, otherwise False.

Changes in R2026.1.1

Compared to R2026.1:

Method count increased from 13 to 15
[NEW] InsertAuxiliaryOperation: New method added
[NEW] GetCycleReferenceToolpathElement: New method added

Version Notes

This class is documented as of release R2026.1.1.

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Teach Handler

Quick Facts

Quick Start

Method Index

Query Methods

GetTpElementPosition

GetTpElementPosition

Mutation Methods

ModifyTpElement

InsertNewTpElement

RemoveTpElement

SetTpElementName

SetTpElementMotionType

SetTpElementTargetType

SetTpElementConfigBehavior

SetTpElementTurnBehavior

RemoveTeachFlags

InsertAuxiliaryOperation

InsertAuxiliaryOperation

GetCycleReferenceToolpathElement

RemoveTeachFlags

Related Types

Changes in R2026.1.1

Version Notes

`GetTpElementPosition`

`GetTpElementPosition`

`ModifyTpElement`

`InsertNewTpElement`

`RemoveTpElement`

`SetTpElementName`

`SetTpElementMotionType`

`SetTpElementTargetType`

`SetTpElementConfigBehavior`

`SetTpElementTurnBehavior`

`RemoveTeachFlags`

`InsertAuxiliaryOperation`

`InsertAuxiliaryOperation`

`GetCycleReferenceToolpathElement`

`RemoveTeachFlags`