Click or drag to resize

MechanicalUnitGetPosition Method (CoordinateSystemType)

Gets the robtarget position of the mechanical unit.

Namespace:  ABB.Robotics.Controllers.MotionDomain
Assembly:  ABB.Robotics.Controllers (in ABB.Robotics.Controllers.dll) Version: 6.5.129.0
Syntax
C#
Copy
public RobTarget GetPosition(
	CoordinateSystemType coordSystem
)

Parameters

coordSystem
Type: ABB.Robotics.Controllers.RapidDomainCoordinateSystemType
The coordinate system in which the coordinates are calculated.

Return Value

Type: RobTarget
The position of the mechanical unit as a RobTarget.
Exceptions
ExceptionCondition
InvalidOperationExceptionThe mechanical unit is not of correct type, i.e. MechanicalUnitType.TCPRobot.
Remarks
Only supported by mechanical unit type TCPRobot. External axes values are not valid.
Examples
This example gets the current position of the active mechanical unit.
Copy
Controller c = new Controller();
MotionSystem motion = c.MotionSystem;
MechanicalUnit mech = motion.GetActiveMechanicalUnit();
RobTarget robP;
robP = mech.GetPosition(CoordinateSystemType.Base);
// Do something
See Also