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MechanicalUnitSetUserDefIncStepSize Method

Sets 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 void SetUserDefIncStepSize(
	UserDefIncStepSizeMode mode,
	double stepSize
)

Parameters

mode
Type: ABB.Robotics.Controllers.MotionDomainUserDefIncStepSizeMode
A user defined incremental step size mode.
stepSize
Type: SystemDouble
The user defined incremental step size of the mechanical unit.
Exceptions
ExceptionCondition
InvalidOperationExceptionThe mechanical unit is not of correct type, i.e. MechanicalUnitType.TCPRobot.
ResourceHeldExceptionWe are unable to take mastership.
Remarks
Only supported by mechanical unit type TCPRobot.
Examples
This example sets the incremental step size for joint wise movement to 0.002 radians of the active mechanical unit.
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Controller c = new Controller();
MotionSystem motion = c.MotionSystem;
MechanicalUnit mech = motion.GetActiveMechanicalUnit();
try
{
   mech.SetUserDefIncStepSize(UserDefIncStepSizeMode.Joint, 0.002);
}
catch (ArgumentOutOfRangeException)
{
    // Error handling, argument out of range.
}
See Also