Task Class |
This class represents a Task Rapid object.
Inheritance HierarchySystemObject
ABB.Robotics.ControllersSDKDisposeBase
ABB.Robotics.ControllersSDKBase
ABB.Robotics.Controllers.RapidDomainRapidSymbol
ABB.Robotics.Controllers.RapidDomainTask
ABB.Robotics.ControllersSDKDisposeBase
ABB.Robotics.ControllersSDKBase
ABB.Robotics.Controllers.RapidDomainRapidSymbol
ABB.Robotics.Controllers.RapidDomainTask
Namespace: ABB.Robotics.Controllers.RapidDomain
Assembly: ABB.Robotics.Controllers (in ABB.Robotics.Controllers.dll) Version: 6.5.129.0
SyntaxC#
public sealed class Task : RapidSymbol, IDisposable
The Task type exposes the following members.
Properties| Name | Description | |
|---|---|---|
 | ControllerType |
Gets the ControllerType.
(Inherited from SDKBase.) |
 | Enabled |
Gets or sets a value indicating if the task will start when RAPID execution is started.
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| ExecutionState |
Gets the current execution state of the task.
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| ExecutionType |
Gets the current execution type of the task.
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| MotionPointer |
Gets the position of the motion pointer (MP) in the task.
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| Name |
Gets the name of the RapidSymbol.
(Inherited from RapidSymbol.) |
| ProgramName |
Gets or sets the name of the program currently loaded in the Task.
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| ProgramPointer |
Gets the position of the program pointer (PP) in the task.
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| Scope |
Gets the scope of the RapidSymbol, i.e. TASK,MODULE,ROUTINE,...
(Inherited from RapidSymbol.) |
| TaskType |
Gets the type of the current task.
|
| Type |
Get the type of the RapidSymbol.
(Inherited from RapidSymbol.) |
Methods| Name | Description | |
|---|---|---|
 | CallRoutine(String) |
Executes the specified routine.
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| CallRoutine(String, RegainMode) |
Starts executing the specified routine.
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| CallServiceRoutine | Obsolete.
Executes the specified service routine.
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| CancelRoutine |
Cancels any current execution of a routine called with CallRoutine(String, RegainMode) and restores the execution stack.
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| CancelServiceRoutine | Obsolete.
Cancels any current execution of a service routine and restores the execution stack.
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| DeleteProgram |
Deletes the RAPID program of the task from the controller program memory.
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| Dispose |
Disposes the managed resources of the instance.
(Inherited from SDKDisposeBase.) |
| Equals | (Inherited from Object.) |
| GetHashCode | Serves as a hash function for a particular type. (Inherited from Object.) |
| GetJointTarget |
Get the current position for mechanical unit connected to task as JointTarget.
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| GetModule |
Gets a Module object that refers to a specific RAPID module.
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| GetModules | Gets the modules defined in the task. |
| GetRapidData |
Gets a RapidData object that references a RAPID data
instance in the robot controller.
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| GetRobTarget |
Get the current position for mechanical unit connected to task as RobTarget, using tool and workobject active for jogging.
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| GetRobTarget(String, String) |
Get the current position for mechanical unit connected to task as RobTarget.
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| GetType | Gets the type of the current instance. (Inherited from Object.) |
| LoadModuleFromFile |
Loads a RAPID module to the task.
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| LoadProgramFromFile |
Loads a RAPID program into the robot controller program memory.
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| ModifyPosition(String, TextRange) |
Modifies the data of the first rob target found in the context of the TextRange parameter.
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| ModifyPosition(String, Int32) |
Modifies the data of the first rob target found in the specified row.
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| ModifyPosition(String, TextRange, ModPosExternalAxis) |
Modifies the data of the first rob target found in the context of the TextRange parameter.
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| ModifyPosition(String, Int32, ModPosExternalAxis) |
Modifies the data of the first rob target found in the specified row.
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| ResetProgramPointer |
Resets the program pointer of this task to its main routine.
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| SaveProgramToFile |
Saves the current program at the provided location.
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| SearchRapidSymbol |
General RapidSymbol search method. Searches the task for symbols that match the specified criteria.
(Overrides RapidSymbolSearchRapidSymbol(RapidSymbolSearchProperties, String, String).) |
| SetProgramPointer(ProgramPointer) |
Sets PP to a position in a RAPID module.
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| SetProgramPointer(String, Int32) |
Sets PP to a specific row of the current routine.
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| SetProgramPointer(String, String) |
Sets program pointer to the first instruction of a routine (global or local).
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| ToString | Returns a string that represents the current object. (Inherited from Object.) |
Events| Name | Description | |
|---|---|---|
 | ExecutionStateChanged |
This event is raised when the execution state of the task is changed.
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| MotionPointerChanged |
This event is raised when the task's motion pointer (MP) is changed.
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| ProgramChanged |
This event is raised when the task's program is changed.
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| ProgramPointerChanged |
This event is raised when the task's program pointer (PP) is changed.
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See Also