Controller Class

This class represents a Robot controller. This class has to be created prior of any access to the robot controller.

Inheritance Hierarchy

SystemObject
  ABB.Robotics.ControllersSDKDisposeBase
    ABB.Robotics.ControllersSDKBase
      ABB.Robotics.ControllersController

Namespace: ABB.Robotics.Controllers
Assembly: ABB.Robotics.Controllers (in ABB.Robotics.Controllers.dll) Version: 6.5.129.0

Syntax

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public sealed class Controller : SDKBase, 
	IDisposable

The Controller type exposes the following members.

Constructors

	Name	Description
	Controller	Initializes a new instance of the Controller class, which is used to access the different domains of the controller.
	Controller(String)	Initializes a new instance of the Controller class connected to a specific Robot Controller.

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Properties

	Name	Description
	AuthorizationSystem	Gets the AuthorizationSystem
	BackupInProgress	Checks if the controller is busy finishing a backup.
	Configuration	Gets the ConfigurationDatabase class of the controller
	ControllerType	Gets the ControllerType. (Inherited from SDKBase.)
	CurrentUser	Returns the name of the current user, eg. "Default User".
	DateTime	Gets or sets current date and time in the controller.
	EventLog	Gets the EventLog class of the controller.
	FileSystem	Gets the FileSystem class of the controller.
	GateWay	Returns the Gateway address of the robot controller.
	IOSystem	Gets the IOSystem class of the controller
	IpAddress	Returns the IP address of the robot controller.
	IsVirtual	Returns true if the controller is a virtual controller.
	MacAddress	Returns the mac address of the controller.
	MotionSystem	Gets the MotionSystem class of the controller
	Name	Returns the name of the robot controller.
	OperatingMode	Gets the controller operating mode.
	Rapid	Gets the Rapid class of the controller
	RobotWareVersionName	RobotWare Version Name
	State	Gets the state of the controller.
	SubnetMask	Returns the Subnet mask address of the robot controller.

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Methods

	Name	Description
	Backup	This method starts a backup of the current robot system.
	Dispose	Disposes the managed resources of the instance. (Inherited from SDKDisposeBase.)
	Equals	Determines whether the specified Object is equal to the current Object. (Inherited from Object.)
	GetCurrentMaster	Gets the mastership status of a robot controller resource that is managed by means of mastership control.
	GetHashCode	Serves as a hash function for a particular type. (Inherited from Object.)
	GetType	Gets the type of the current instance. (Inherited from Object.)
	IsMaster	Specifies whether we have mastership of a specific mastership resource.
	Restart	Warmstart the controller
	Restart(RestartMode)	Restart the controller
	Restore	This method starts restoring a backup.
	ToString	Returns a string that represents the current object. (Inherited from Object.)

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Events

	Name	Description
	BackupFinished	This event is generated when a backup is done.
	MastershipChanged	Occurs when MasterShip has changed.
	OperatingModeChanged	Occurs when the value of the controller OperatingMode has changed.
	StateChanged	Occurs when the value of the controller State has changed.

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Remarks

This class is used to access the different domains of the controller. If you create an instance of this class you are expected to call its Dispose(Boolean) method in order to free resources when you have finished using the class. A good rule is to create one instance of this class and use that instance throughout your application.

Examples

This example creates a Controller instance in the constructor of the application. At places where a Controller is needed a reference to the instance created in the constructor is used.

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private Controller myControllerRef = null;
   public TpsViewRefDoc()
{
       // 
       // Required for Windows Form Designer support
       // 
       InitializeComponent();

       // Create Controller instance, that can be used all over my 
       // application
       myControllerRef = new Controller();

       // Init rapid data, provide reference to Controller
       this.InitRapidData(myControllerRef);
}

Reference

ABB.Robotics.Controllers Namespace