Class RapidDataType

RAPID data type descriptor.

Inheritance
System.Object
NamedObject
RapidSymbol
RapidDataType
Implements
System.IComparable
Inherited Members
Namespace: ABB.Robotics.Controllers.RapidDomain
Assembly: ABB.Robotics.Controllers.PC.dll
Syntax
public class RapidDataType : RapidSymbol, IComparable, IRapidSymbol, INamedObject

Constructors

RapidDataType(RapidSymbol)

Initializes a new instance of RapidDataType.

Declaration
public RapidDataType(RapidSymbol symbol)
Parameters
Type Name Description
RapidSymbol symbol

A rapid symbol.

Properties

IsAtomic

Whether the data type is atomic or not.

Declaration
public bool IsAtomic { get; }
Property Value
Type Description
System.Boolean

IsRecord

Whether the data type is a composite data type or not.

Declaration
public bool IsRecord { get; }
Property Value
Type Description
System.Boolean

Methods

GetComponents()

Gets the sub components of a composite data type.

Declaration
public RapidSymbol[] GetComponents()
Returns
Type Description
RapidSymbol[]

Sub components of the type. Returns an empty array if the type is atomic.
Examples

This example searches all the sub components (down to atomic types) of the robtarget data type and writes the names and the data type of each component to the console.

using ABB.Robotics;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.RapidDomain;
...
private void btnSearchRobtarget_Click_1(object sender, EventArgs e) 
{ 
   Controller c = new Controller();
   Task tRob1 = c.Rapid.GetTask("T_ROB1");
   RapidDataType theDataType; 

   RapidSymbol[] rsCol; 
   // define search properties 
   RapidSymbolSearchProperties sProp = RapidSymbolSearchProperties.CreateDefaultForData(true); 
   sProp.SearchMethod = SymbolSearchMethod.Block; 
   sProp.LocalSymbols = true; 

   // get all data of robtarget type 
   rsCol = tRob1.SearchRapidSymbol(sProp, "RAPID/robtarget", "");  
   // write the name of the first robtarget
   Console.WriteLine("Symbol name = " + rsCol[0].Name);
   // get data type 
   theDataType = RapidDataType.GetDataType(rsCol[0]); 
   Console.WriteLine("DataType = " + theDataType.Name);  //robtarget
   // get sub components of robtarget
   RapidSymbol[] symbols = theDataType.GetComponents(); 
   SearchRecordComponents(symbols); 
} 

private void SearchRecordComponents(RapidSymbol[] rsCol) 
{ 
   RapidDataType  theDataType; 
   foreach (RapidSymbol rs in rsCol) 
   { 
       Console.WriteLine("Symbol name = " + rs.Name); 
       theDataType = RapidDataType.GetDataType(rs); 
       Console.WriteLine("DataType = " + theDataType.Name); 
       if (theDataType.IsRecord) 
       { 
           RapidSymbol[] symbols = theDataType.GetComponents(); 
           //recursive until atomic type is found
           SearchRecordComponents(symbols); 
       } 
   } 
} 


When the button is clicked the following lines will be written to the console:

Symbol name = p10 
DataType = robtarget 

Symbol name = trans 
DataType = pos 
Symbol name = x 
DataType = num 
Symbol name = y 
DataType = num 
Symbol name = z 
DataType = num 

Symbol name = rot 
DataType = orient 
Symbol name = q1 
DataType = num 
Symbol name = q2 
DataType = num 
Symbol name = q3 
DataType = num 
Symbol name = q4 
DataType = num 

Symbol name = robconf 
DataType = confdata 
Symbol name = cf1 
DataType = num 
Symbol name = cf4 
DataType = num 
Symbol name = cf6 
DataType = num 
Symbol name = cfx 
DataType = num 

Symbol name = extax 
DataType = extjoint 
Symbol name = eax_a 
DataType = num 
Symbol name = eax_b 
DataType = num 
Symbol name = eax_c 
DataType = num 
Symbol name = eax_d 
DataType = num 
Symbol name = eax_e 
DataType = num 
Symbol name = eax_f 
DataType = num

GetDataType(RapidSymbol)

Gets the data type of a symbol. Exception if no data type is available, eg. for symbols such as Routine or Module.

Declaration
public static RapidDataType GetDataType(RapidSymbol symbol)
Parameters
Type Name Description
RapidSymbol symbol

Symbol to get datatype of.
Returns
Type Description
RapidDataType

The data type of the symbol.

Implements

System.IComparable