MechanicalUnitCoordinateSystem Property |
Gets or sets the coordinate system mode for jogging of the active mechanical unit.
Namespace: ABB.Robotics.Controllers.MotionDomain
Assembly: ABB.Robotics.Controllers (in ABB.Robotics.Controllers.dll) Version: 6.5.129.0
SyntaxC#
public CoordinateSystemType CoordinateSystem { get; set; }
Property Value
Type: CoordinateSystemTypeThe associated coordinated system of the mechanical unit.
Exceptions| Exception | Condition |
|---|---|
| ResourceHeldException | We are unable to take mastership. |
| InvalidOperationException | The mechanical unit is not of correct type, i.e. MechanicalUnitType.TCPRobot. |
RemarksOnly supported by mechanical unit type TCPRobot. A robot supports all coordinates modes.
ExamplesThis example sets the coordinate system to world for the active mechanical unit.
Controller c = new Controller();
MotionSystem motion = c.MotionSystem;
MechanicalUnit mech = motion.GetActiveMechanicalUnit();
mech.CoordinateSystem = CoordinateSystemType.World;See Also