Class Rapid
This class represents the RAPID
domain of a Robot controller.
Inherited Members
Namespace: ABB.Robotics.Controllers.RapidDomain
Assembly: ABB.Robotics.Controllers.PC.dll
Syntax
public sealed class Rapid : SDKControllerBoundBase, IComparable, INamedObject, IDisposable, IMastershipResource
Properties
Cycle
Get/sets the behavior of the execution cycle. It can also be used to set the remaining cycle counter, even though it is recommended to control this by using the RemaningCycles property.
Declaration
public ExecutionCycle Cycle { get; set; }
Property Value
Type | Description |
---|---|
ExecutionCycle |
Remarks
Execution cycle is normally set through the Start( ... ) method. Setting this property is only applicable to running RAPID programs.
Set Requires Mastership of Rapid domain. Set Requires UAS_RAPID_EXECUTE grant. Set Requires Auto mode.
ExecutionStatus
Gets the execution status of the controller.
Declaration
public ExecutionStatus ExecutionStatus { get; }
Property Value
Type | Description |
---|---|
ExecutionStatus |
IsMaster
gets the current mastership state.
Declaration
public bool IsMaster { get; }
Property Value
Type | Description |
---|---|
System.Boolean |
IsRobotWare7
Declaration
public bool IsRobotWare7 { get; }
Property Value
Type | Description |
---|---|
System.Boolean |
MaximumIdentifierLength
Gets the maximum length of an identifier.
Declaration
public int MaximumIdentifierLength { get; }
Property Value
Type | Description |
---|---|
System.Int32 | The maximum length of an identifier. |
RemainingCycles
Gets/Sets the remaining cycle counter.
Declaration
public int RemainingCycles { get; set; }
Property Value
Type | Description |
---|---|
System.Int32 |
Remarks
This is normally set through the Start( ... ) method. Setting this property is only applicable to running RAPID programs.
Set Requires Mastership of Rapid domain. Set Requires UAS_RAPID_EXECUTE grant. Set Requires Auto mode.
UIInstruction
Get UIInstruction object. Supported from RW5.12
Declaration
public UIInstruction UIInstruction { get; set; }
Property Value
Type | Description |
---|---|
UIInstruction |
Methods
GetRapidData(String[])
Gets a Rapid object that reference a Rapid data instance in the robot controller.
Declaration
public RapidData GetRapidData(params string[] rapidData)
Parameters
Type | Name | Description |
---|---|---|
System.String[] | rapidData | The path represented as a sets of strings, which locates the Rapid data declaration. |
Returns
Type | Description |
---|---|
RapidData | The RapidData object. If the Rapid data doesn't exists null is returned. |
GetRapidDataType(RapidSymbol)
Gets the datatype for a specific symbol. The symbol has to have a data type for this to work.
Declaration
public RapidDataType GetRapidDataType(RapidSymbol symbol)
Parameters
Type | Name | Description |
---|---|---|
RapidSymbol | symbol | The rapid symbol. |
Returns
Type | Description |
---|---|
RapidDataType | The data type. |
GetRapidDataType(String[])
Gets an instance of the RadidDataType object for the specified data.
Declaration
public RapidDataType GetRapidDataType(params string[] rapidData)
Parameters
Type | Name | Description |
---|---|---|
System.String[] | rapidData | The path represented as a sets of strings, which locates the Rapid type declaration. |
Returns
Type | Description |
---|---|
RapidDataType | The Data type. |
GetTask(String)
Gets the task with the specified name.
Declaration
public Task GetTask(string taskName)
Parameters
Type | Name | Description |
---|---|---|
System.String | taskName | The task name. |
Returns
Type | Description |
---|---|
Task | The task object |
GetTasks()
Gets all tasks on the controller.
Declaration
public Task[] GetTasks()
Returns
Type | Description |
---|---|
Task[] | The array of task objects. |
IsValidIdentifier(String)
Gets if a string is a valid RAPID identifier.
Declaration
public bool IsValidIdentifier(string name)
Parameters
Type | Name | Description |
---|---|---|
System.String | name | The string to be checked. |
Returns
Type | Description |
---|---|
System.Boolean | True if the string is a valid RAPID identifier. |
Start()
Starts RAPID program execution.
Declaration
public StartResult Start()
Returns
Type | Description |
---|---|
StartResult | Start result. |
Remarks
Requires mastership of Rapid domain. Requires ExecuteRapid grant. Requires Auto mode.
Start(RegainMode, ExecutionMode)
Starts RAPID program execution.
Declaration
public StartResult Start(RegainMode regain, ExecutionMode execution)
Parameters
Type | Name | Description |
---|---|---|
RegainMode | regain | Regain mode. |
ExecutionMode | execution | Execution mode. |
Returns
Type | Description |
---|---|
StartResult | Start result. |
Remarks
Requires mastership of Rapid domain. Requires ExecuteRapid grant. Requires Auto mode.
Start(RegainMode, ExecutionMode, ExecutionCycle)
Starts RAPID program execution
Declaration
public StartResult Start(RegainMode regain, ExecutionMode execution, ExecutionCycle cycle)
Parameters
Type | Name | Description |
---|---|---|
RegainMode | regain | Regain mode. |
ExecutionMode | execution | Execution mode. |
ExecutionCycle | cycle | The number of cycles to execute the program. |
Returns
Type | Description |
---|---|
StartResult | Start result. |
Remarks
Requires mastership of Rapid domain. Requires ExecuteRapid grant. Requires Auto mode.
Start(RegainMode, ExecutionMode, ExecutionCycle, StartCheck)
Starts RAPID program execution.
Declaration
public StartResult Start(RegainMode regain, ExecutionMode execution, ExecutionCycle cycle, StartCheck check)
Parameters
Type | Name | Description |
---|---|---|
RegainMode | regain | Regain mode. |
ExecutionMode | execution | Execution mode. |
ExecutionCycle | cycle | The number of cycles to execute the program. |
StartCheck | check | Check to perform prior to start. |
Returns
Type | Description |
---|---|
StartResult | Start result. |
Remarks
Requires mastership of Rapid domain. Requires ExecuteRapid grant. Requires Auto mode.
Start(RegainMode, ExecutionMode, ExecutionCycle, StartCheck, Boolean)
Starts RAPID program execution.
Declaration
public StartResult Start(RegainMode regain, ExecutionMode execution, ExecutionCycle cycle, StartCheck check, bool throwOnError)
Parameters
Type | Name | Description |
---|---|---|
RegainMode | regain | Regain mode. |
ExecutionMode | execution | Execution mode. |
ExecutionCycle | cycle | The number of cycles to execute the program. |
StartCheck | check | Check to perform prior to start. |
System.Boolean | throwOnError | True to get exception instead of just Error for "unmapped" results. |
Returns
Type | Description |
---|---|
StartResult | Start result. |
Remarks
Requires mastership of Rapid domain. Requires ExecuteRapid grant. Requires Auto mode.
Start(RegainMode, ExecutionMode, ExecutionCycle, StartCheck, Boolean, TaskPanelExecutionMode)
Starts RAPID program execution.
Declaration
public StartResult Start(RegainMode regain, ExecutionMode execution, ExecutionCycle cycle, StartCheck check, bool throwOnError, TaskPanelExecutionMode taskPanelExecutionMode)
Parameters
Type | Name | Description |
---|---|---|
RegainMode | regain | Regain mode. |
ExecutionMode | execution | Execution mode. |
ExecutionCycle | cycle | The number of cycles to execute the program. |
StartCheck | check | Check to perform prior to start. |
System.Boolean | throwOnError | True to get exception instead of just Error for "unmapped" results. |
TaskPanelExecutionMode | taskPanelExecutionMode | Determines how static/semiStatic tasks should be affected |
Returns
Type | Description |
---|---|
StartResult | Start result. |
Remarks
Requires mastership of Rapid domain. Requires ExecuteRapid grant. Requires Auto mode.
Start(Boolean)
Starts RAPID program execution.
Declaration
public StartResult Start(bool throwOnError)
Parameters
Type | Name | Description |
---|---|---|
System.Boolean | throwOnError | True to get exception instead of just Error for "unmapped" results. |
Returns
Type | Description |
---|---|
StartResult | Start result. |
Remarks
Requires mastership of Rapid domain. Requires ExecuteRapid grant. Requires Auto mode.
Stop()
Stops RAPID execution when the current cycle has completed.
Declaration
public void Stop()
Stop(StopMode)
Stops RAPID execution according to the mode.
Declaration
public void Stop(StopMode mode)
Parameters
Type | Name | Description |
---|---|---|
StopMode | mode | The stop mode. |
Stop(StopMode, TaskPanelExecutionMode)
Stops RAPID execution.
Declaration
public void Stop(StopMode mode, TaskPanelExecutionMode taskPanelExecutionMode)
Parameters
Type | Name | Description |
---|---|---|
StopMode | mode | The stop mode. |
TaskPanelExecutionMode | taskPanelExecutionMode | Determines how static/semiStatic tasks should be affected |
Events
ExecutionCycleChanged
Raised when the execution cycle is changed. Supported from RW5.09.
Declaration
public event EventHandler<EventArgs> ExecutionCycleChanged
Event Type
Type | Description |
---|---|
System.EventHandler<System.EventArgs> |
ExecutionStatusChanged
Raised when the program execution status of the controller changes. The execution status corresponds to the CycleOn system output, i.e. whether any normal task is executing or a regain is under way. In other words, if the robot(s) may be moving.
Declaration
public event EventHandler<ExecutionStatusChangedEventArgs> ExecutionStatusChanged
Event Type
Type | Description |
---|---|
System.EventHandler<ExecutionStatusChangedEventArgs> |
Remarks
The event does NOT react to start or stop of RAPID event routines, such as RESET, START, STOP, POWER_ON etc.
MastershipChanged
This event is raised then the mastership of the resource is changed.
Declaration
public event EventHandler<MastershipChangedEventArgs> MastershipChanged
Event Type
Type | Description |
---|---|
System.EventHandler<MastershipChangedEventArgs> |
RapidDataResolve
This event is raised prior when a IRapidData object shall be created as the value for a RapidData object. Any listener shall, if possible, return a fresh instance of a corresponding type that implements IRapidData. This event will be raised until a instance is created or all listeners have been called. If resolve wasn't possible a UserDefined instance will be created for the data.
Declaration
public event RapidDataResolveEventHandler RapidDataResolve
Event Type
Type | Description |
---|---|
RapidDataResolveEventHandler |
TaskEnabledChanged
This event is raised when the task enabled property changes.
Declaration
public event EventHandler<TaskEnabledChangedEventArgs> TaskEnabledChanged
Event Type
Type | Description |
---|---|
System.EventHandler<TaskEnabledChangedEventArgs> |
Explicit Interface Implementations
IMastershipResource.Ensure()
Call this method to ensure the mastership of the resource.
Declaration
void IMastershipResource.Ensure()
IMastershipResource.Release()
call this method to release the mastership of the resource.
Declaration
void IMastershipResource.Release()
IMastershipResource.Request()
Call this method to request the mastership of the resource.
Declaration
void IMastershipResource.Request()