Class Attachment

You can attach an object (child) to another object (parent). Attachments can be created on part level and on mechanism level. When an object has been attached to a parent, moving the parent also moves the child. One of the most common attachments is to attach a tool to a robot

Inheritance
object
ProjectObject
Attachment
Inherited Members
Namespace: ABB.Robotics.RobotStudio.Stations
Assembly: ABB.Robotics.RobotStudio.Stations.dll
Syntax
[Persistent("Attachment")]
public sealed class Attachment : ProjectObject

Properties

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AttachmentChild

Gets the ProjectObject that is the child of this Attachment.

Declaration
public ProjectObject AttachmentChild { get; }
Property Value
Type Description
ProjectObject
Examples

Get AttachmentChild. 

Project.UndoContext.BeginUndoStep("Attachments Properties");
try
{
// Instance active station.
#region AttachmentsPropertiesStep1
Station stn = Station.ActiveStation;
#endregion

            // Enumerates the attachments in the station and outputs their info using the logger.
            Logger.AddMessage(new LogMessage("The station contains the following attachments:"));
            #region AttachmentsPropertiesStep2
            foreach (Attachment att in stn.Attachments)
            #endregion
            {
                // Get the attachments transform values.
                #region AttachmentsPropertiesStep3
                string transStr = $"X: {att.Offset.t.x} Y: {att.Offset.t.y} Z: {att.Offset.t.z} " +
                                  $"RX: {att.Offset.EulerZYX.x} RY: {att.Offset.EulerZYX.y} RZ: {att.Offset.EulerZYX.z}";
                #endregion

                // Output the AttachmentParent, the AttachmentChild and the transform.  
                #region AttachmentsPropertiesStep4
                Logger.AddMessage(new LogMessage(
                     $"Child: {att.AttachmentChild.Name} is attached to " +
                     $"Parent: {att.AttachmentParent.Name} and has transform: {transStr}"));
                #endregion
            }
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>
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AttachmentParent

Gets the ProjectObject that is the parent of this Attachment.

Declaration
public ProjectObject AttachmentParent { get; }
Property Value
Type Description
ProjectObject
Examples

Get AttachmentParent. 

Project.UndoContext.BeginUndoStep("Attachments Properties");
try
{
// Instance active station.
#region AttachmentsPropertiesStep1
Station stn = Station.ActiveStation;
#endregion

            // Enumerates the attachments in the station and outputs their info using the logger.
            Logger.AddMessage(new LogMessage("The station contains the following attachments:"));
            #region AttachmentsPropertiesStep2
            foreach (Attachment att in stn.Attachments)
            #endregion
            {
                // Get the attachments transform values.
                #region AttachmentsPropertiesStep3
                string transStr = $"X: {att.Offset.t.x} Y: {att.Offset.t.y} Z: {att.Offset.t.z} " +
                                  $"RX: {att.Offset.EulerZYX.x} RY: {att.Offset.EulerZYX.y} RZ: {att.Offset.EulerZYX.z}";
                #endregion

                // Output the AttachmentParent, the AttachmentChild and the transform.  
                #region AttachmentsPropertiesStep4
                Logger.AddMessage(new LogMessage(
                     $"Child: {att.AttachmentChild.Name} is attached to " +
                     $"Parent: {att.AttachmentParent.Name} and has transform: {transStr}"));
                #endregion
            }
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>
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Offset

Gets or sets the Offset of the Attachment, e.g the relative transform from parent to child.

Declaration
public Matrix4 Offset { get; set; }
Property Value
Type Description
Matrix4

Methods

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AfterLoad(PimDocument)

Declaration
protected override void AfterLoad(PimDocument doc)
Parameters
Type Name Description
PimDocument doc
Overrides
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ToString()

Declaration
public override string ToString()
Returns
Type Description
string
Overrides