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 |
---|---|---|
String | name | name of grant |
Grant(String, String)
Creates a Grant object.
Declaration
public Grant(string name, string value)
Parameters
Type | Name | Description |
---|---|---|
String | name | name of grant |
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 |
---|---|
String |
Value
Gets the value of the Grant.
Declaration
public readonly string Value { get; }
Property Value
Type | Description |
---|---|
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 |
---|---|
Boolean |
Equals(Object)
Declaration
public override bool Equals(object obj)
Parameters
Type | Name | Description |
---|---|---|
Object | obj |
Returns
Type | Description |
---|---|
Boolean | true if the specified Object is equal to the current Object; otherwise, false. |
Overrides
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 |
---|---|
Int32 | A hash code for the current Object. |
Overrides
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 |
---|---|
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 |
---|---|
Boolean |