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TaskModifyPosition Method (String, TextRange, ModPosExternalAxis)

Modifies the data of the first rob target found in the context of the TextRange parameter.

Namespace:  ABB.Robotics.Controllers.RapidDomain
Assembly:  ABB.Robotics.Controllers (in ABB.Robotics.Controllers.dll) Version: 6.5.129.0
Syntax
C#
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public void ModifyPosition(
	string module,
	TextRange range,
	ModPosExternalAxis external
)

Parameters

module
Type: SystemString
The RAPID module.
range
Type: ABB.Robotics.Controllers.RapidDomainTextRange
The position which defines the rob target to be modified.
external
Type: ABB.Robotics.Controllers.RapidDomainModPosExternalAxis
Defines if external axes shall be included.
Exceptions
ExceptionCondition
ArgumentExceptionIf no data that can be modified is found or the data is wrong. An exception is also thrown if the active tool and work object differ from the instruction.
Examples
This example modifies the first position in a specific area
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using ABB.Robotics;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.RapidDomain;
...
Controller c = new Controller();
Task[] allTasks = c.Rapid.GetTasks();
Task firstTask = allTasks[0];
TextRange tr = new TextRange(10,0,10,-1);
firstTask.ModifyPosition("MyTest", tr, ModPosExternalAxis.Always);
See Also