Class IOSystem

This class represents the IOSystem domain of a robot controller.

Inheritance
System.Object
NamedObject
SDKBase
SDKControllerBoundBase
IOSystem
Implements
System.IComparable
System.IDisposable
Inherited Members
Namespace: ABB.Robotics.Controllers.IOSystemDomain
Assembly: ABB.Robotics.Controllers.PC.dll
Syntax
public sealed class IOSystem : SDKControllerBoundBase, IComparable, INamedObject, IDisposable

Methods

GetBus(String)

Returns an IO bus object.

Declaration
public Bus GetBus(string name)
Parameters
Type Name Description
System.String name

Name of the bus.
Returns
Type Description
Bus

A Bus object.
Examples

This example gets the bus named "Virtual1" from the robot controller.

using ABB.Robotics;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.RapidDomain;
...
Controller c = new Controller();
Bus virtualBus = c.IOSystem.GetBus("Virtual1");
IOBusPhysicalState physState = virtualBus.PhysicalState;
IOBusLogicalState logState = virtualBus.LogicalState;

GetBuses()

Gets buses from the robot controller.

Declaration
public BusCollection GetBuses()
Returns
Type Description
BusCollection

A collection of Bus objects. If no bus is retrieved the method still returns a BusCollection object, but its Count is 0.
Examples

This example gets all buses of the controller.

using ABB.Robotics;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.RapidDomain;
...
Controller c = new Controller();
BusCollection buses = c.IOSystem.GetBuses();
IOBusPhysicalState physState = buses[0].PhysicalState;
IOBusLogicalState logState = buses[0].LogicalState;

GetSignal(String)

Returns a signal object.

Declaration
public Signal GetSignal(string name)
Parameters
Type Name Description
System.String name

The name of the signal.
Returns
Type Description
Signal

A Signal object.

GetSignals(IOFilterTypes)

Gets signals that match a defined filter from the robot controller.

Declaration
public SignalCollection GetSignals(IOFilterTypes filter)
Parameters
Type Name Description
IOFilterTypes filter

Defines the kind of signals to retrieve.
Returns
Type Description
SignalCollection

A collection of Signal objects. If no signal is retrieved the method still returns a SignalCollection object, but its Count is 0.
Remarks

GetSignals accepts a combination of several IOFilterTypes flags as input parameter. The retrieved signals meet all of the criteria.

GetSignals(IOFilterTypes, String)

Gets signals that match a defined filter from the robot controller.

Declaration
public SignalCollection GetSignals(IOFilterTypes filter, string unit)
Parameters
Type Name Description
IOFilterTypes filter

Defines the kind of signals to retrieve.
System.String unit

Defines the Unit to retrieve.
Returns
Type Description
SignalCollection

A collection of Signal objects. If no signal is retrieved the method still returns a SignalCollection object, but its Count is 0.
Remarks

GetSignals accepts a combination of several IOFilterTypes flags as input parameter. The retrieved signals meet all of the criteria.

GetUnit(String)

Returns an IO unit object.

Declaration
public Unit GetUnit(string name)
Parameters
Type Name Description
System.String name

Name of the unit.
Returns
Type Description
Unit

A Unit object.
Examples

This example gets the unit named "PANEL".

using ABB.Robotics;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.RapidDomain;
...
Controller c = new Controller();
Unit panelUnit = c.IOSystem.GetUnit("PANEL");
string address = panelUnit.Address;
string bus = panelUnit.Bus;
IOUnitLogicalState logState = panelUnit.LogicalState;
IOUnitPhysicalState physState = panelUnit.PhysicalState;
string type = panelUnit.Type;

GetUnits()

Gets all IO units from the robot controller.

Declaration
public UnitCollection GetUnits()
Returns
Type Description
UnitCollection

A collection of Unit objects. If no unit is retrieved the method still returns a UnitCollection object, but its Count is 0.
Examples

This example gets the unit named "PANEL".

using ABB.Robotics;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.RapidDomain;
...
Controller c = new Controller();
UnitCollection units = _controller.IOSystem.GetUnits();
string address = units[0].Address;
string bus = units[0].Bus;
IOUnitLogicalState ulogState = units[0].LogicalState;
IOUnitPhysicalState uphysState = units[0].PhysicalState;
string type = units[0].Type;

Implements

System.IComparable
System.IDisposable