Struct ToolData

Represents a rapid data of type tooldata.

Implements

IRapidData

Namespace: ABB.Robotics.Controllers.RapidDomain

Assembly: ABB.Robotics.Controllers.PC.dll

Syntax

public struct ToolData : IRapidData

Fields

Tframe

Gets or sets the value of Tframe.

Declaration

public Pose Tframe

Field Value

Type	Description
Pose	A Pose that represents the Tframe value.

Tload

Gets or sets the value of Tload.

Declaration

public LoadData Tload

Field Value

Type	Description
LoadData	A LoadData that represents the Tload value.

Properties

Empty

Gets an empty ToolData object.

Declaration

public static ToolData Empty { get; }

Property Value

Type	Description
ToolData

Robhold

Gets or sets the value of Robhold.

Declaration

public bool Robhold { get; set; }

Property Value

Type	Description
bool	A bool that represents the Robhold value.

Methods

Fill(DataNode)

Fills the RapidData object from the specified parser root. This is Obsolete, use Fill2(DataNode) instead.

Declaration

[Obsolete("Use Fill2(DataNode) instead.")]
public void Fill(DataNode root)

Parameters

Type	Name	Description
DataNode	root	Root of data.

Fill(string)

Fills the structure with the new value. This is Obsolete, use Fill2(string) instead.

Declaration

[Obsolete("Use Fill2(string) instead.")]
public void Fill(string value)

Parameters

Type	Name	Description
string	value	Value to fill structure with.

Fill2(DataNode)

Fills the RapidData object from the specified parser root.

Declaration

public void Fill2(DataNode root)

Parameters

Type	Name	Description
DataNode	root	Root of data.

Exceptions

Type	Condition
RapidDataFormatException	root does not represent the ToolData data type.

Fill2(string)

Fills the structure with the new value.

Declaration

public void Fill2(string value)

Parameters

Type	Name	Description
string	value	Value to fill structure with.

Exceptions

Type	Condition
RapidDataFormatException	value does not represent the ToolData data type.

FillFromString(string)

Fills the struct with a valid rapid string representation. This is Obsolete, use FillFromString2(string) instead.

Declaration

[Obsolete("Use FillFromString2 instead.")]
public void FillFromString(string newValue)

Parameters

Type	Name	Description
string	newValue	The new value stored by the struct.

FillFromString2(string)

Fills the struct with a valid rapid string representation.

Declaration

public void FillFromString2(string newValue)

Parameters

Type	Name	Description
string	newValue	The new value stored by the struct.

Exceptions

Type	Condition
RapidDataFormatException	newValue does not represent the ToolData data type.

GetDataType(Controller)

Gets the datatype object for this type from the supplied controller.

Declaration

public static RapidDataType GetDataType(Controller controller)

Parameters

Type	Name	Description
Controller	controller	Controller containing the datatype.

Returns

Type	Description
RapidDataType	A valid datatype object if it exist on the controller.

Parse(string)

Parses the string into a ToolData object.

Declaration

public static ToolData Parse(string value)

Parameters

Type	Name	Description
string	value	Value to parse into object.

Returns

Type	Description
ToolData	The ToolData object.

ToString()

Returns the string representation of the tooldata rapid data.

Declaration

public override string ToString()

Returns

Type	Description
string	The string representation with the value of the tooldata rapid data.

Overrides

System.ValueType.ToString()

ToStructure()

Converts the datastructure into a DataNode tree.

Declaration

public DataNode ToStructure()

Returns

Type	Description
DataNode	The root of the corresponding data tree.

TryParse(string, out ToolData)

Attempts to parse the string into object.

Declaration

public static bool TryParse(string value, out ToolData result)

Parameters

Type	Name	Description
string	value	Value to parse.
ToolData	result	The result of the parse operation.

Returns

Type	Description
bool	True if parse succeeded.

Implements

IRapidData