MechanicalUnit Class

This class represents a mechanical unit in the robot controller.

Inheritance Hierarchy

Namespace: ABB.Robotics.Controllers.MotionDomain
Assembly: ABB.Robotics.Controllers (in ABB.Robotics.Controllers.dll) Version: 6.5.129.0

Syntax

public sealed class MechanicalUnit : SDKBase, 
	IDisposable

The MechanicalUnit type exposes the following members.

Properties

	Name	Description
	ControllerType	Gets the ControllerType. (Inherited from SDKBase.)
	CoordinateSystem	Gets or sets the coordinate system mode for jogging of the active mechanical unit.
	IsCalibrated	Specifies whether the mechanical unit is calibrated or not.
	MotionMode	Gets or sets the motion mode type for jogging of the robot.
	Name	Gets the name of the mechanical unit.
	NoOfAxes	Gets the number of axes of the mechanical unit.
	Task	Returns the name of the task of the mechanical unit.
	Tool	Gets or sets the active tool.
	Type	Gets the mechanical unit type.
	WorkObjectName	Gets or sets the active work object.

Methods

	Name	Description
	Dispose	Disposes the managed resources of the instance. (Inherited from SDKDisposeBase.)
	Equals	Determines whether the specified Object is equal to the current Object. (Inherited from Object.)
	GetHashCode	Serves as a hash function for a particular type. (Inherited from Object.)
	GetPosition	Gets the joint target position of the mechanical unit.
	GetPosition(CoordinateSystemType)	Gets the robtarget position of the mechanical unit.
	GetPosition2	Gets the joint target position of the mechanical unit.
	GetType	Gets the type of the current instance. (Inherited from Object.)
	GetUserDefIncStepSize	Gets the user defined incremental step size.
	SetUserDefIncStepSize	Sets the user defined incremental step size.
	ToString	Returns a string that represents the current object. (Inherited from Object.)

Events

	Name	Description
	DataChanged	This event is raised at any change of the mechanical unit data, e.g. tool changed, work object changed, coordinated system changed, motion mode changed or incremental step size changed. The event handler receives an event of the type MechanicalUnitDataEventArgs.