Class MechanicalUnit

Defines a mechanical unit object.

Inheritance
object
NamedObject
SDKBase
SDKControllerBoundBase
MechanicalUnit
Implements
Inherited Members
Namespace: ABB.Robotics.Controllers.MotionDomain
Assembly: ABB.Robotics.Controllers.PC.dll
Syntax
public class MechanicalUnit : SDKControllerBoundBase, IComparable, INamedObject, IDisposable

Properties

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DriveModule

Gets the current drive module for the mechanical unit.

Declaration
public int DriveModule { get; }
Property Value
Type Description
int
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IsCalibrated

Checks if the mech is calibrated.

Declaration
public bool IsCalibrated { get; }
Property Value
Type Description
bool
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Model

Gets the model of the mechanical unit, or string.Empty if no model is available.

Declaration
public string Model { get; }
Property Value
Type Description
string
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NumberOfAxes

Gets the number of axes for the mechanical unit.

Declaration
public int NumberOfAxes { get; }
Property Value
Type Description
int
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PayLoad

Gets the current payload object.

Declaration
public PayLoad PayLoad { get; }
Property Value
Type Description
PayLoad
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SerialNumber

Gets the serial number from the mech if it is a robot, otherwise it will return an empty string.

Declaration
public string SerialNumber { get; }
Property Value
Type Description
string
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ServiceInfo

Gets service info for this unit. This property is not valid for a Virtual Controller.

Declaration
public MechanicalUnitServiceInfo ServiceInfo { get; }
Property Value
Type Description
MechanicalUnitServiceInfo
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Task

Gets the task for this mech unit

Declaration
public Task Task { get; }
Property Value
Type Description
Task
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Tool

Gets the current tool object.

Declaration
public Tool Tool { get; }
Property Value
Type Description
Tool
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Type

Gets the type of mechanical unit.

Declaration
public MechanicalUnitType Type { get; }
Property Value
Type Description
MechanicalUnitType
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WorkObject

Gets the current work object for the mechanical unit.

Declaration
public WorkObject WorkObject { get; }
Property Value
Type Description
WorkObject

Methods

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FineCalibrate(int)

Fine calibrate specified TCP mechanical unit and axis. The current position of the axis will be the new calibration value.

Declaration
public void FineCalibrate(int axis)
Parameters
Type Name Description
int axis

Axis to calibrate
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GetMechanicalUnitStatus()

Get status of all mechanical unit axis

Declaration
public MechanicalUnitStatus GetMechanicalUnitStatus()
Returns
Type Description
MechanicalUnitStatus
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GetPosition()

Gets the jointtarget position of the mechanical unit.

Declaration
public JointTarget GetPosition()
Returns
Type Description
JointTarget

The position of the mechanical unit as a JointTarget.
Remarks

Supports all mechanical unit types, including external axis.

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GetPosition(CoordinateSystemType)

Gets the robtarget position of the mechanical unit.

Declaration
public RobTarget GetPosition(CoordinateSystemType coordinateSystem)
Parameters
Type Name Description
CoordinateSystemType coordinateSystem
Returns
Type Description
RobTarget

The position of the mechanical unit as a RobTarget.
Remarks

Supports mechanical unit type TCP Robot only.

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GetSingleAxisStatus(int)

Get status for mechanical unit axis

Declaration
public MechanicalUnitStatus GetSingleAxisStatus(int axis)
Parameters
Type Name Description
int axis
Returns
Type Description
MechanicalUnitStatus
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SetRevolutionCounter(int)

Set revolution counter on a specified TCP mechanical unit and axis.

Declaration
public void SetRevolutionCounter(int axis)
Parameters
Type Name Description
int axis

Implements