Class Controller

The main entry point for any operation against the controller.

Inheritance

object

NamedObject

SDKBase

Controller

Implements

IComparable

INamedObject

IController

IDisposable

IServiceProvider

IMastershipResourceController

IMastershipResource

Inherited Members

NamedObject.Equals(string)

NamedObject.Equals(NamedObject)

NamedObject.Equals(object)

NamedObject.CompareTo(string)

NamedObject.CompareTo(NamedObject)

NamedObject.CompareTo(object)

NamedObject.GetHashCode()

NamedObject.ToString()

Namespace: ABB.Robotics.Controllers

Assembly: ABB.Robotics.Controllers.PC.dll

Syntax

public sealed class Controller : SDKBase, IComparable, INamedObject, IController, IDisposable, IServiceProvider, IMastershipResourceController, IMastershipResource

Constructors

Controller()

Creates a controller from the defaultController id in the capi section of the App.config file.

Declaration

[Obsolete("Use Controller.Connect(Controller.DefaultSystemId,...)")]
public Controller()

Controller(ControllerInfo)

Creates a controller from a controller info object.

Declaration

[Obsolete("Use Controller.Connect()")]
public Controller(ControllerInfo controller)

Parameters

Type	Name	Description
ControllerInfo	controller	Info object from NetworkScanner.

Controller(ControllerInfo, bool)

Creates a controller from a controller info object.

Declaration

[Obsolete("Use Controller.Connect()")]
public Controller(ControllerInfo controller, bool validateServerCertificate)

Parameters

Type	Name	Description
ControllerInfo	controller	Info object from NetworkScanner.
bool	validateServerCertificate	Validate the SSL certificate when connecting to a 7.x controller.

Controller(Guid)

Creates a controller instance from a system id.

Declaration

[Obsolete("Use Controller.Connect()")]
public Controller(Guid systemId)

Parameters

Type	Name	Description
Guid	systemId	System id.

Controller(Guid, bool)

Creates a controller instance from a system id.

Declaration

[Obsolete("Use Controller.Connect()")]
public Controller(Guid systemId, bool validateServerCertificate)

Parameters

Type	Name	Description
Guid	systemId	System id.
bool	validateServerCertificate	Validate the SSL certificate when connecting to a 7.x controller.

Controller(string)

Not for public use.

Declaration

[Obsolete("Use Controller.Connect()")]
public Controller(string controllerID)

Parameters

Type	Name	Description
string	controllerID	Not for public use.

Controller(string, bool)

Not for public use.

Declaration

[Obsolete("Use Controller.Connect()")]
public Controller(string controllerID, bool validateServerCertificate)

Parameters

Type	Name	Description
string	controllerID	Not for public use.
bool	validateServerCertificate	Validate the SSL certificate when connecting to a 7.x controller.

Properties

AuthenticationSystem

Gets the user authentication subsystem.

Declaration

public UserAuthorizationSystem AuthenticationSystem { get; }

Property Value

Type	Description
UserAuthorizationSystem

BackupInProgress

Gets a flag that indicates if a backup is in progress or not.

Declaration

public bool BackupInProgress { get; }

Property Value

Type	Description
bool

Configuration

Gets the controller configuration.

Declaration

public ConfigurationDatabase Configuration { get; }

Property Value

Type	Description
ConfigurationDatabase

Connected

Indicates whether the controller is connected or not.

Declaration

public bool Connected { get; }

Property Value

Type	Description
bool

CurrentUser

Gets the currently logged on user.

Declaration

public UserInfo CurrentUser { get; }

Property Value

Type	Description
UserInfo

DateTime

Gets/Sets the time of the controller.

Declaration

public DateTime DateTime { get; set; }

Property Value

Type	Description
DateTime

Remarks

Grant: UAS_CONTROLLER_PROPERTIES_WRITE, not supported by boot server or Virtual Controller.

The System.DateTimeKind used by this property is System.DateTimeKind.Utc (Coordinated Universal Time). To set current datetime use DateTime.UtcNow.

DateTimeKind UtcNow

DefaultSystemId

Gets the configured default system id.

Declaration

public static Guid DefaultSystemId { get; }

Property Value

Type	Description
Guid

EventLog

Gets the event log of the controller.

Declaration

public EventLog EventLog { get; }

Property Value

Type	Description
EventLog

FileSystem

Gets the controller file system.

Declaration

public FileSystem FileSystem { get; }

Property Value

Type	Description
FileSystem

HasUnicodeSupport

Gets if the controller supports Unicode in RAPID.

Declaration

public bool HasUnicodeSupport { get; }

Property Value

Type	Description
bool

IOSystem

Gets the IOSystem of the controller.

Declaration

public IOSystem IOSystem { get; }

Property Value

Type	Description
IOSystem

IPAddress

Gets the IPAddress of the controller.

Declaration

public IPAddress IPAddress { get; }

Property Value

Type	Description
IPAddress

Remarks

For a virtual controller the value is the loopback address i.e. 127.0.0.1.

Ipc

Gets a reference to the Ipc class of the controller.

Declaration

public Ipc Ipc { get; }

Property Value

Type	Description
Ipc	A Ipc reference that can be used to access the Ipc functionality of the controller.

IsMaster

Gets the current mastership state.

Declaration

public bool IsMaster { get; }

Property Value

Type	Description
bool

IsVirtual

Gets a flag that indicates if the controller is virtual or not.

Declaration

public bool IsVirtual { get; }

Property Value

Type	Description
bool

MacAddress

Gets the MAC address of the controller.

Declaration

public string MacAddress { get; }

Property Value

Type	Description
string

MainComputerServiceInfo

Gets service information for the main computer. This property is not valid for Virtual Controllers.

Declaration

public MainComputerServiceInfo MainComputerServiceInfo { get; }

Property Value

Type	Description
MainComputerServiceInfo

MastershipPolicy

Specifies how mastership should be handled by a GUI client

Declaration

public ControllerMastershipPolicy MastershipPolicy { get; set; }

Property Value

Type	Description
ControllerMastershipPolicy

MotionSystem

Gets the motions system domain of the controller.

Declaration

public MotionSystem MotionSystem { get; }

Property Value

Type	Description
MotionSystem

Name

Gets the name of the controller.

Declaration

public override string Name { get; }

Property Value

Type	Description
string

Overrides

NamedObject.Name

NetworkSettings

Gets the network settings of the controller.

Declaration

public NetworkSettingsInfo NetworkSettings { get; }

Property Value

Type	Description
NetworkSettingsInfo

Remarks

Not supported by Virtual Controller.

OperatingMode

Gets the current operating mode of the controller.

Declaration

public ControllerOperatingMode OperatingMode { get; }

Property Value

Type	Description
ControllerOperatingMode

Rapid

Gets the Rapid Domain of the controller.

Declaration

public Rapid Rapid { get; }

Property Value

Type	Description
Rapid

RemoteLogin

Gets the RemoteLogin which allosw a certain type of users to request a remote login/logout of a TPU user.

Declaration

public RemoteLogin RemoteLogin { get; }

Property Value

Type	Description
RemoteLogin

RobotWare

Gets information about the current system and options.

Declaration

public SystemRobotWare RobotWare { get; }

Property Value

Type	Description
SystemRobotWare

RobotWareVersion

Gets the version of the robotware the current system uses.

Declaration

public Version RobotWareVersion { get; }

Property Value

Type	Description
Version

RunLevel

Gets the current run level of the controller.

Declaration

public Level RunLevel { get; }

Property Value

Type	Description
Level

StartTime

Gets the system clock at the last startup of the controller.

Declaration

public DateTime StartTime { get; }

Property Value

Type	Description
DateTime

State

Gets/Sets the current state of the controller.

Declaration

public ControllerState State { get; set; }

Property Value

Type	Description
ControllerState

Remarks

Set requires Auto mode. Can only be used to change between MotorsOn and MotorsOff respectively. You can not change from MotorsOn to MotorsOff while a RAPID program is executing.

SystemId

Gets the id of the current system of the controller.

Declaration

public Guid SystemId { get; }

Property Value

Type	Description
Guid

SystemName

Gets the name of the current system of the controller.

Declaration

public string SystemName { get; }

Property Value

Type	Description
string

TimeServer

Gets or sets the NTP time server of the controller.

Declaration

public string TimeServer { get; set; }

Property Value

Type	Description
string

Remarks

Value may be IP, DNS name or null/empty.

TimeZone

Gets or sets the time zone of the controller.

Declaration

public string TimeZone { get; set; }

Property Value

Type	Description
string

Remarks

Value may be a time zone as specified in the time zone database (also known as Olson database) or null/empty. For example: Europe/Stockholm.

UICulture

Gets the UI Culture.

Declaration

public CultureInfo UICulture { get; }

Property Value

Type	Description
CultureInfo

Methods

Backup(string)

Initiates a new backup operation. This operation stores the backup in the specified directory on the controller file system.

Declaration

public void Backup(string path)

Parameters

Type	Name	Description
string	path	Output path for backup operation.

Remarks

This method is asynchronous, wait for the BackupCompleted event.

CheckAvailability(IEnumerable<string>, IEnumerable<MastershipResource>, bool, bool, bool)

Checks Availability preconditions for performing an action on the controller.

Declaration

public void CheckAvailability(IEnumerable<string> requiredGrants, IEnumerable<MastershipResource> requiredMastership, bool allowedInSysFail, bool allowedInExecuting, bool requiresLogon)

Parameters

Type	Name	Description
IEnumerable<string>	requiredGrants	Required UAS grants (can be null)
IEnumerable<MastershipResource>	requiredMastership	Required mastership resources (can be null)
bool	allowedInSysFail
bool	allowedInExecuting
bool	requiresLogon

Remarks

Mastership is only checked for a connection with MastershipPolicy.Manual.

CheckRestore(string)

Checks for possible mismatches and other problems with a backup.

Declaration

public bool CheckRestore(string path)

Parameters

Type	Name	Description
string	path	Path of directory.

Returns

Type	Description
bool	True if restore will complete successfully.

CheckRestore(string, RestoreIncludes)

Checks for possible mismatches and other problems with a backup.

Declaration

public bool CheckRestore(string path, RestoreIncludes includes)

Parameters

Type	Name	Description
string	path	Path of directory.
RestoreIncludes	includes	What to include from backup.

Returns

Type	Description
bool	True if restore will complete successfully.

CheckRestore(string, RestoreIncludes, RestoreIgnores)

Checks for possible mismatches and other problems with a backup.

Declaration

public bool CheckRestore(string path, RestoreIncludes includes, RestoreIgnores ignores)

Parameters

Type	Name	Description
string	path	Path of directory.
RestoreIncludes	includes	What to include from backup.
RestoreIgnores	ignores	What errors to ignore.

Returns

Type	Description
bool	True if restore will complete successfully.

CheckRestore2(string, RestoreIncludes, RestoreIgnores, RestoreIncludeSafetySettings, RestoreIncludeUasSettings)

Checks for possible mismatches and other problems with a backup.

Declaration

public RestoreInfo CheckRestore2(string path, RestoreIncludes includes, RestoreIgnores ignores, RestoreIncludeSafetySettings includeSafetySettings, RestoreIncludeUasSettings includeUasSettings)

Parameters

Type	Name	Description
string	path	Path to the backup.
RestoreIncludes	includes	What to include from backup.
RestoreIgnores	ignores	What errors to ignore.
RestoreIncludeSafetySettings	includeSafetySettings	Include safety settings. Supported from RobotWare 6.05.
RestoreIncludeUasSettings	includeUasSettings	Include UAS settings. Supported from RobotWare 7.15.

Returns

Type	Description
RestoreInfo	A RestoreInfo object with information about the operation.

Remarks

This method is supported for all RobotWare versions, but provides additional functionality for 7.17 and later.

Connect(ControllerInfo, ConnectionType, bool)

Creates a Controller object with a connection to a controller.

Declaration

public static Controller Connect(ControllerInfo controllerInfo, ConnectionType connectionType, bool validateServerCertificate = false)

Parameters

Type	Name	Description
ControllerInfo	controllerInfo	The controller info from NetScan
ConnectionType	connectionType	ABB.Robotics.Controllers.Controller.ConnectionType
bool	validateServerCertificate	Validate the SSL certificate when connecting to a 7.x controller.

Returns

Type	Description
Controller

Connect(Guid, ConnectionType, bool)

Creates a Controller object with a connection to a controller.

Declaration

public static Controller Connect(Guid systemId, ConnectionType connectionType, bool validateServerCertificate = false)

Parameters

Type	Name	Description
Guid	systemId	The system id of the controller
ConnectionType	connectionType	ABB.Robotics.Controllers.Controller.ConnectionType
bool	validateServerCertificate	Validate the SSL certificate when connecting to a 7.x controller.

Returns

Type	Description
Controller

Dispose(bool)

Disposes the current controller object.

Declaration

protected override void Dispose(bool disposing)

Parameters

Type	Name	Description
bool	disposing	Flag that indicates the origin of the call, true indicates a dispose false indicates a finalizer.

Overrides

SDKBase.Dispose(bool)

ExpandEnvironmentVariables(string)

Substitutes environment variables in a string with their values.

Declaration

public string ExpandEnvironmentVariables(string s)

Parameters

Type	Name	Description
string	s

Returns

Type	Description
string	The value.

~Controller()

Declaration

protected ~Controller()

GetEnvironmentVariable(string)

Gets the value of an environment variable.

Declaration

public string GetEnvironmentVariable(string name)

Parameters

Type	Name	Description
string	name	The name.

Returns

Type	Description
string	The value.

Logoff()

Logs off the current user.

Declaration

public void Logoff()

Remarks

RobotStudio addins may not manually log on or off. RobotStudio will handle the same. See also Logon(UserInfo).

Logon(UserInfo)

Logon as the specified user.

Declaration

public void Logon(UserInfo user)

Parameters

Type	Name	Description
UserInfo	user	The user.

Remarks

RobotStudio addins may not manually log on or off. RobotStudio will handle the same. See HostingServices.

ReleaseUnmanagedResources()

Releases unmanaged resources, thus preventing memory leaks. If the PC SDK application is running in a Single Threaded Apartment (STA), the Dispose call will dispose of managed objects, but native objects created internally by the PC SDK will remain. To release these unmanaged resources, this method should be called periodically.

Declaration

[Obsolete("The method Controller.ReleaseUnmanagedResources is not valid from PC SDK 5.60 onwards.")]
public static void ReleaseUnmanagedResources()

Remarks

For an application running in a Multi Threaded Apartment (MTA) the Dispose call will remove both managed and native objects.

Restart()

Performs a warm restart of the controller.

Declaration

public void Restart()

Remarks

On a Virtual Controller the content of the temporary folder (TEMP)$ will be deleted. GetEnvironmentVariable(string)

Restart(ControllerStartMode)

Restarts the controller.

Declaration

public void Restart(ControllerStartMode mode)

Parameters

Type	Name	Description
ControllerStartMode	mode	The startup mode.

Remarks

On a Virtual Controller the content of the temporary folder (TEMP)$ will be deleted. GetEnvironmentVariable(string)

RestartAndWaitForReconnect(ControllerStartMode)

Restarts the controller and does not return until it has restarted and reconnected again.

Declaration

public void RestartAndWaitForReconnect(ControllerStartMode mode)

Parameters

Type	Name	Description
ControllerStartMode	mode	The startup mode.

Remarks

On a Virtual Controller the content of the temporary folder (TEMP)$ will be deleted. GetEnvironmentVariable(string)

Restore(string)

Performs a Restore operation of a controller system.

Declaration

public void Restore(string path)

Parameters

Type	Name	Description
string	path	Path to the backup.

Remarks

Requires mastership of Rapid and Configuration domains. Requires UAS_RESTORE grant. Requires Auto mode.

Restore(string, RestoreIncludes)

Performs a Restore operation of a controller system.

Declaration

public void Restore(string path, RestoreIncludes includes)

Parameters

Type	Name	Description
string	path	Path to the backup.
RestoreIncludes	includes	Defines what to restore from the backup.

Remarks

Requires mastership of Rapid and Configuration domains. Requires UAS_RESTORE grant. Requires Auto mode.

Restore(string, RestoreIncludes, RestoreIgnores)

Performs a Restore operation of a controller system.

Declaration

public void Restore(string path, RestoreIncludes includes, RestoreIgnores ignores)

Parameters

Type	Name	Description
string	path	Path to the backup.
RestoreIncludes	includes	Defines what to restore from the backup.
RestoreIgnores	ignores	Defines what mismatches between current system and backup to ignore.

Remarks

Requires mastership of Rapid and Configuration domains. Requires UAS_RESTORE grant. Requires Auto mode.

Restore(string, RestoreIncludes, RestoreIgnores, RestoreIncludeSafetySettings, RestoreIncludeUasSettings, bool)

Performs a Restore operation of a controller system.

Declaration

public void Restore(string path, RestoreIncludes includes, RestoreIgnores ignores, RestoreIncludeSafetySettings includeSafetySettings, RestoreIncludeUasSettings includeUasSettings, bool removeBackup)

Parameters

Type	Name	Description
string	path	Path to the backup.
RestoreIncludes	includes	Defines what to restore from the backup.
RestoreIgnores	ignores	Defines what mismatches between current system and backup to ignore.
RestoreIncludeSafetySettings	includeSafetySettings	Include safety settings. Supported from RobotWare 6.05.
RestoreIncludeUasSettings	includeUasSettings	Include UAS settings. Supported from RobotWare 7.15.
bool	removeBackup	Flag to indicate if the backup folder shall be removed.

Remarks

Requires mastership of Rapid and Configuration domains. Requires UAS_RESTORE grant. Requires Auto mode.

On a Virtual Controller the restore operation will delete the content of the temporary folder (TEMP)$. Restart()

Restore(string, RestoreIncludes, RestoreIgnores, bool)

Performs a Restore operation of a controller system.

Declaration

public void Restore(string path, RestoreIncludes includes, RestoreIgnores ignores, bool removeBackup)

Parameters

Type	Name	Description
string	path	Path to the backup.
RestoreIncludes	includes	Defines what to restore from the backup.
RestoreIgnores	ignores	Defines what mismatches between current system and backup to ignore.
bool	removeBackup	Flag to indicate if the backup folder shall be removed.

Remarks

Requires mastership of Rapid and Configuration domains. Requires UAS_RESTORE grant. Requires Auto mode.

On a Virtual Controller the restore operation will delete the content of the temporary folder (TEMP)$. Restart()

SaveDiagnosticsInfoToController(string)

Creates a file with RobotWare diagnostics information on the controllers file system

Declaration

public void SaveDiagnosticsInfoToController(string dignosticsFileName)

Parameters

Type	Name	Description
string	dignosticsFileName

SendHeartBeat()

Send a heartbeat to the controller to show presence while executing.

Declaration

public void SendHeartBeat()

Remarks

Depending on controller version and configuration, a client that holds mastership must send a heartbeat to the controller to show presence during execution.
If the client does not send a heartbeat with a specified interval, execution will stop and the controller will go to motors off.
This functionality is availabe in RobotWare 7.8 and later and is controlled via the configuration instance SYS/MASTER_BOOL/HeartBeat:

• If the parameter Select is true, a client that holds mastership must send heartbeats or program execution will stop.
• The parameter Timeout corresponds to the maximum heartbeat interval.

This is required for standalone applications, but not for RobotStudio add-ins.

SetNetworkSettings(bool, string, string, string)

Sets the controller LAN adaptor settings.

Declaration

public void SetNetworkSettings(bool isDhcp, string ipAddress, string subnetMask, string gateway)

Parameters

Type	Name	Description
bool	isDhcp	True when using DHCP, false for fixed IP. When using DHCP the remaining parameters will have no effect.
string	ipAddress	IP to use when FixIP is configured.
string	subnetMask	Subnet mask to use when FixIP is configured.
string	gateway	Default gateway to use when FixIP is configured. May be left empty.

Events

BackupCompleted

This event is raised when a backup operation completes, the event arguments hold information about the success of the backup operation.

Declaration

public event EventHandler<BackupEventArgs> BackupCompleted

Event Type

Type	Description
EventHandler<BackupEventArgs>

ConnectionChanged

This event is raised when the connection status to the controller has changed.

Declaration

public event EventHandler<ConnectionChangedEventArgs> ConnectionChanged

Event Type

Type	Description
EventHandler<ConnectionChangedEventArgs>

MastershipChanged

Please use MastershipChanged or MastershipChanged instead.

Declaration

[Obsolete("Use Controller.Rapid.MastershipChanged or Controller.Configuration.MastershipChanged instead.")]
public event EventHandler<MastershipChangedEventArgs> MastershipChanged

Event Type

Type	Description
EventHandler<MastershipChangedEventArgs>

OnCertificateError

Raised when connecting to an OmniCore controller with an untrusted SSL certificate.

Declaration

public static event EventHandler<CertificateErrorEventArgs> OnCertificateError

Event Type

Type	Description
EventHandler<CertificateErrorEventArgs>

Remarks

Will not be raised if running in RobotStudio or if passing validateServerCertificate = false when connecting.

OperatingModeChanged

This event is raised when the operation mode of the controller has changed.

Declaration

public event EventHandler<OperatingModeChangeEventArgs> OperatingModeChanged

Event Type

Type	Description
EventHandler<OperatingModeChangeEventArgs>

StateChanged

This event is raised when the current state of the controller has changed.

Declaration

public event EventHandler<StateChangedEventArgs> StateChanged

Event Type

Type	Description
EventHandler<StateChangedEventArgs>

Implements

IComparable

INamedObject

IController

IDisposable

IServiceProvider

IMastershipResourceController

IMastershipResource