Class RapidData

This class represents a RAPID data.

Inheritance

System.Object

NamedObject

SDKBase

SDKControllerBoundBase

RapidData

Implements

System.IComparable

INamedObject

System.IDisposable

Inherited Members

SDKControllerBoundBase.Controller

SDKBase.Dispose()

SDKBase.Dispose(Boolean)

NamedObject.Equals(String)

NamedObject.Equals(NamedObject)

NamedObject.Equals(Object)

NamedObject.CompareTo(String)

NamedObject.CompareTo(NamedObject)

NamedObject.CompareTo(Object)

NamedObject.GetHashCode()

NamedObject.ToString()

NamedObject.Name

Namespace: ABB.Robotics.Controllers.RapidDomain

Assembly: ABB.Robotics.Controllers.PC.dll

Syntax

public sealed class RapidData : SDKControllerBoundBase, IComparable, INamedObject, IDisposable

Constructors

RapidData(Controller, RapidSymbol)

Initializes a RapidData instance.

Declaration

public RapidData(Controller controller, RapidSymbol symbol)

Parameters

Type	Name	Description
Controller	controller	Controller object.
RapidSymbol	symbol	Symbol to get data from.

Properties

BaseIndex

Gets or sets the base index of array.

Declaration

public int BaseIndex { get; set; }

Property Value

Type	Description
System.Int32

IsArray

Checks whether the RAPID data is an array (of one or several dimensions).

Declaration

public bool IsArray { get; }

Property Value

Type	Description
System.Boolean	true if the data is an array; otherwise false.

IsLocal

Checks whether the RAPID data is declared locally.

Declaration

public bool IsLocal { get; }

Property Value

Type	Description
System.Boolean	true if the RAPID data is not declared in a global module.

Remarks

Will always return false when used with RapidData of SymbolTypes Atomic, RecordComponent or Parameter.

IsTaskPers

Checks whether the RAPID data is declared PERS or TASKPERS. Only of interest for persistent data.

Declaration

public bool IsTaskPers { get; }

Property Value

Type	Description
System.Boolean	true if the RAPID data is declared TASKPERS; otherwise false.

Remarks

Will return false if used with RapidData that is not declared as persistent (but constant for example).

Log

Define if changes to the data value shall be logged in the controller event log. Supported from RW 6.06.

Declaration

public bool Log { get; set; }

Property Value

Type	Description
System.Boolean

RapidType

Gets the name of the RAPID data type, eg. "num".

Declaration

public string RapidType { get; }

Property Value

Type	Description
System.String

Remarks

Not valid for RapidData of Record. (Will return empty string)

StringValue

Reads/writes the value of the RAPID data in the form of a string. This property can be used instead of ToString() and FillFromString(String).

Declaration

public string StringValue { get; set; }

Property Value

Type	Description
System.String

Symbol

Gets the symbol for this data object.

Declaration

public RapidSymbol Symbol { get; }

Property Value

Type	Description
RapidSymbol

TypeUrl

Gets the URL to the type, eg. "RAPID/num".

Declaration

public string TypeUrl { get; }

Property Value

Type	Description
System.String

Remarks

Not valid for RapidData of Record. (Will return empty string)

Value

Gets or sets the value of the RapidData.

Declaration

public IRapidData Value { get; set; }

Property Value

Type	Description
IRapidData

Remarks

Consider using the StringValue property instead. It will often have better performance.

Methods

ComputeSize(String)

PDD1732 and WI 9170 - RAPID larger array

Declaration

public static int ComputeSize(string strDataType)

Parameters

Type	Name	Description
System.String	strDataType

Returns

Type	Description
System.Int32

ReadItem(Int32)

Reads an element of one dimensional RAPID data array.

Declaration

public IRapidData ReadItem(int x)

Parameters

Type	Name	Description
System.Int32	x	Index of the item to read.

Returns

Type	Description
IRapidData	Returns an IRapidData instance that contains the value of the item.

ReadItem(Int32, Int32)

Reads an element of a two dimensional RAPID data array.

Declaration

public IRapidData ReadItem(int y, int x)

Parameters

Type	Name	Description
System.Int32	y	Index, in the second dimension, of the item to read.
System.Int32	x	Index, in the first dimension, of the item to read.

Returns

Type	Description
IRapidData	Returns an IRapidData instance that contains the value of the item.

ReadItem(Int32, Int32, Int32)

Reads an element of a three dimensional RAPID data array.

Declaration

public IRapidData ReadItem(int z, int y, int x)

Parameters

Type	Name	Description
System.Int32	z	Index, in the third dimension, of the item to read.
System.Int32	y	Index, in the second dimension, of the item to read.
System.Int32	x	Index, in the first dimension, of the item to read.

Returns

Type	Description
IRapidData	Returns a IRapidData instance that contains the value of the item.

ReadItem(Int32[])

Reads an element of a RAPID data array (one, two or three dimensions)

Declaration

public IRapidData ReadItem(params int[] index)

Parameters

Type	Name	Description
System.Int32[]	index	Index of the item to read.

Returns

Type	Description
IRapidData	Returns an IRapidData instance that contains the value of the item.

Exceptions

Type	Condition
System.IndexOutOfRangeException	index The index is not valid for the data.
System.InvalidOperationException	Rapid data is not an array.

Subscribe(EventHandler<DataValueChangedEventArgs>, EventPriority)

Subscribes to changes of persistent RAPID data.

Declaration

public void Subscribe(EventHandler<DataValueChangedEventArgs> eventHandler, EventPriority priority)

Parameters

Type	Name	Description
System.EventHandler<DataValueChangedEventArgs>	eventHandler	EventHandler
EventPriority	priority	EventPriority

Unsubscribe(EventHandler<DataValueChangedEventArgs>)

Unsubscribes to changes of persistent RAPID data.

Declaration

public void Unsubscribe(EventHandler<DataValueChangedEventArgs> eventHandler)

Parameters

Type	Name	Description
System.EventHandler<DataValueChangedEventArgs>	eventHandler	EventHandler

WriteItem(IRapidData, Int32)

Writes to the specified element of a RAPID array.

Declaration

public void WriteItem(IRapidData newValue, int x)

Parameters

Type	Name	Description
IRapidData	newValue	An IRapidData instance that contains the value to write.
System.Int32	x	Index of the element.

WriteItem(IRapidData, Int32, Int32)

Writes to the specified element of a two dimensional RAPID array.

Declaration

public void WriteItem(IRapidData newValue, int y, int x)

Parameters

Type	Name	Description
IRapidData	newValue	An IRapidData instance that contains the value to write.
System.Int32	y	Index, in the second dimension, of the item to write.
System.Int32	x	Index, in the first dimension, of the item to write.

WriteItem(IRapidData, Int32, Int32, Int32)

Writes to the specified element of a three dimensional RAPID array.

Declaration

public void WriteItem(IRapidData newValue, int z, int y, int x)

Parameters

Type	Name	Description
IRapidData	newValue	An IRapidData instance that contains the value to write.
System.Int32	z	Index, in the third dimension, of the item to write.
System.Int32	y	Index, in the second dimension, of the item to write.
System.Int32	x	Index, in the first dimension, of the item to write.

WriteItem(IRapidData, Int32[])

Writes to the specified element of a RAPID data array of any number of dimensions.

Declaration

public void WriteItem(IRapidData newValue, params int[] index)

Parameters

Type	Name	Description
IRapidData	newValue	An IRapidData instance that contains the value to write.
System.Int32[]	index	Index of the item to write.

Exceptions

Type	Condition
System.IndexOutOfRangeException	index The index is not valid for the data.
System.InvalidOperationException	RAPID data is not an array.
System.ArgumentNullException	newValue is null or empty string.

Events

ValueChanged

Raised when the value of the data has changed.

Declaration

public event EventHandler<DataValueChangedEventArgs> ValueChanged

Event Type

Type	Description
System.EventHandler<DataValueChangedEventArgs>

Implements

System.IComparable

INamedObject

System.IDisposable