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MechanicalUnitGetUserDefIncStepSize Method

Gets the user defined incremental step size.

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 double GetUserDefIncStepSize(
	UserDefIncStepSizeMode mode
)

Parameters

mode
Type: ABB.Robotics.Controllers.MotionDomainUserDefIncStepSizeMode
A user defined incremental step size mode.

Return Value

Type: Double
The user defined incremental step size of the mechanical unit.
Exceptions
ExceptionCondition
InvalidOperationExceptionThe mechanical unit is not of correct type, i.e. MechanicalUnitType.TCPRobot.
Remarks
Only supported by mechanical unit type TCPRobot.
Examples
This example gets the incremental step size for joint wise movement of the active mechanical unit.
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Controller c = new Controller();
MotionSystem motion = c.MotionSystem;
MechanicalUnit mech = motion.GetActiveMechanicalUnit();
float val = mech.GetUserDefIncStepSize(UserDefIncStepSizeMode.Joint);
See Also