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MechanicalUnitTool Property

Gets or sets the active tool.

Namespace:  ABB.Robotics.Controllers.MotionDomain
Assembly:  ABB.Robotics.Controllers (in ABB.Robotics.Controllers.dll) Version: 6.5.129.0
Syntax
C#
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public string Tool { get; set; }

Property Value

Type: String
The name of the associated tool of the mechanical unit.
Exceptions
ExceptionCondition
InvalidOperationExceptionIf trying to set the Tool to a not valid tool.
ResourceHeldExceptionWe are unable to take mastership.
InvalidOperationExceptionThe mechanical unit is not of correct type, i.e. MechanicalUnitType.TCPRobot.
Remarks
Only supported by mechanical unit type TCPRobot.
Examples
This example sets the active tool to Tool0 for the active mechanical unit.
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Controller c = new Controller();
MotionSystem motion = c.MotionSystem;
MechanicalUnit mech = motion.GetActiveMechanicalUnit();
try
{
   mech.Tool = "Tool0";
}
catch (ArgumentException)
{
    // Error handling, invalid tool.
}
See Also