Struct Grant

Abstracts a controller grant.

Namespace: ABB.Robotics.Controllers

Assembly: ABB.Robotics.Controllers.PC.dll

Syntax

public struct Grant

Constructors

Grant(String)

Creates a Grant object.

Declaration

public Grant(string name)

Parameters

Type	Name	Description
System.String	name	name of grant

Grant(String, String)

Creates a Grant object.

Declaration

public Grant(string name, string value)

Parameters

Type	Name	Description
System.String	name	name of grant
System.String	value	value of grant

Fields

AdministrateSystem

Gives access to perform the following: Install new system, P-start, I-start, X-start, C-start, Select System, Install system from device. This grant gives full FTP access, that is, the grant gives the same rights as ReadFtp access to controller disks and WriteFtp access to controller disks.

Declaration

public static Grant AdministrateSystem

Field Value

Type	Description
Grant

AuthenticationSystemAdministration

Gives access to read and write the UAS configuration, that is to read, add, remove and modify UAS users and groups.

Declaration

public static Grant AuthenticationSystemAdministration

Field Value

Type	Description
Grant

BackupController

Gives access to perform a backup and to save modules, programs and configuration files.

Declaration

public static Grant BackupController

Field Value

Type	Description
Grant

CalibrateRobot

Gives access to perform the following: Fine calibrate mechanical unit, Calibrate base frame, Update/clear SMB data. Note! Frame calibration (tool, wobj) requires the grant RAPID code. Manual offset of mechanical unit calibration data and loading new calibration data from file require grant Modify configuration.

Declaration

public static Grant CalibrateRobot

Field Value

Type	Description
Grant

ClearEventLog

Gives access to delete messages in the controller Event Log.

Declaration

public static Grant ClearEventLog

Field Value

Type	Description
Grant

DebugRapid

Gives access to perform the following: Move PP to routine, Move PP to cursor, HoldToRun, Activate/deactivate RAPID tasks, Request write access from the FlexPendant, Acknowledge Auto mode without restoring simulated I/O signals or deactivated tasks, Enable/disable non-motion execution

Declaration

public static Grant DebugRapid

Field Value

Type	Description
Grant

DecreaseProductionSpeed

Gives acces to decrease speed from 100% in Auto mode. This grant is not required if speed already is below 100%, or controller is in Manual mode.

Declaration

public static Grant DecreaseProductionSpeed

Field Value

Type	Description
Grant

EditRapidModule

Gives access to perform the following: Modify code in existing RAPID modules, Frame calibration (tool, workobj), Commit ModPos/HotEdit positions to current values, Rename program.

Declaration

public static Grant EditRapidModule

Field Value

Type	Description
Grant

ExecuteRapid

Gives access to perform the following: Start/step program (stop is always allowed), Move PP to Main, Execute service routines.

Declaration

public static Grant ExecuteRapid

Field Value

Type	Description
Grant

FullAccess

This grant includes all controller grants, also new grants added in future RobotWare versions. The grant does not include any application grants, nor the "Safety Controller configuration" grant.

Declaration

public static Grant FullAccess

Field Value

Type	Description
Grant

HotEditRapid

Hot Edit

Declaration

[Obsolete("This grant is included in the ModifyRapidPosition grant", true)]
public static Grant HotEditRapid

Field Value

Type	Description
Grant

LoadRapidProgram

Gives access to load/delete modules and program.

Declaration

public static Grant LoadRapidProgram

Field Value

Type	Description
Grant

ModifyRapidDataValue

Gives access to modify current value of any RAPID variable. The grant is a subset of grant "Perform ModPos and HotEdit".ModifyRapidPosition

Declaration

public static Grant ModifyRapidDataValue

Field Value

Type	Description
Grant

Remarks

Supported from RW 5.07.03

ModifyRapidPosition

Gives access to perform the following: Modify or teach positions in RAPID code (ModPos), During execution modify positions in RAPID code single points or as a path (HotEdit), Restore ModPos/HotEdit positions to original, Modify current value of any RAPID variable.

Declaration

public static Grant ModifyRapidPosition

Field Value

Type	Description
Grant

ModifyRapidProgram

Modify Rapid program

Declaration

[Obsolete("This grant is renamed to LoadRapidProgram", true)]
public static Grant ModifyRapidProgram

Field Value

Type	Description
Grant

ReadFtp

Gives external read access to controller disks. This grant is \only valid for explicit disk access, for example with an FTP client or the File Manager of RoboStudio Online.

Declaration

public static Grant ReadFtp

Field Value

Type	Description
Grant

Remarks

It is possible, for example, to load a program from /hd0a without this grant. To this effect the following grants also allow file system browsing; LoadRapidProgram, WriteConfiguration, BackupController and RestoreController.

RemoteLogin

Gives access to perform a remote login request.

Declaration

public static Grant RemoteLogin

Field Value

Type	Description
Grant

RemoteWarmStart

Gives access to perform warm start and shutdown (S-start) from a remote location. No grant is required to perform warm start via a local device, as for example the FlexPendant.

Declaration

public static Grant RemoteWarmStart

Field Value

Type	Description
Grant

RestoreController

Gives access to restore backup and perform B-start.

Declaration

public static Grant RestoreController

Field Value

Type	Description
Grant

SafetyControllerConfiguration

Gives access to perform a configuration of the Safety Controller. Only valid for the PSC-option. This grant is not included in the "Full access" grant. FullAccess

Declaration

public static Grant SafetyControllerConfiguration

Field Value

Type	Description
Grant

Remarks

Supported from RW 5.07

WriteConfiguration

Gives access to modify the configuration database, that is load configuration files, change system parameter values and add/delete instances.

Declaration

public static Grant WriteConfiguration

Field Value

Type	Description
Grant

WriteControllerProperty

Gives access to set controller name, controller ID and system clock.

Declaration

public static Grant WriteControllerProperty

Field Value

Type	Description
Grant

WriteFtp

Gives external write access to controller disks. This grant is only valid for explicit disk access, for example with an FTP client or the File Manager of RoboStudio Online. It is possible, for example, to save a program to the controller disk or perform a backup without this grant.

Declaration

public static Grant WriteFtp

Field Value

Type	Description
Grant

WriteIO

Gives access to perform the following: Set I/O signal value, Set signal as simulated and remove simulation, Set I/O unit and bus as enabled/disabled

Declaration

public static Grant WriteIO

Field Value

Type	Description
Grant

Properties

Name

Gets the name of the Grant.

Declaration

public readonly string Name { get; }

Property Value

Type	Description
System.String

Value

Gets the value of the Grant.

Declaration

public readonly string Value { get; }

Property Value

Type	Description
System.String

Methods

Equals(Grant)

Equalses the specified g.

Declaration

public bool Equals(Grant g)

Parameters

Type	Name	Description
Grant	g	The g.

Returns

Type	Description
System.Boolean

Equals(Object)

Determines whether the specified System.Object is equal to the current System.Object.

Declaration

public override bool Equals(object obj)

Parameters

Type	Name	Description
System.Object	obj	The System.Object to compare with the current System.Object.

Returns

Type	Description
System.Boolean	true if the specified System.Object is equal to the current System.Object; otherwise, false.

Overrides

System.ValueType.Equals(System.Object)

GetHashCode()

Serves as a hash function for a particular type, suitable for use in hashing algorithms and data structures like a hash table.

Declaration

public override int GetHashCode()

Returns

Type	Description
System.Int32	A hash code for the current System.Object.

Overrides

System.ValueType.GetHashCode()

Operators

Equality(Grant, Grant)

Operator ==s the specified g1.

Declaration

public static bool operator ==(Grant g1, Grant g2)

Parameters

Type	Name	Description
Grant	g1	The g1.
Grant	g2	The g2.

Returns

Type	Description
System.Boolean

Inequality(Grant, Grant)

Operator !=s the specified g1.

Declaration

public static bool operator !=(Grant g1, Grant g2)

Parameters

Type	Name	Description
Grant	g1	The g1.
Grant	g2	The g2.

Returns

Type	Description
System.Boolean