Class Conveyor
Assembly: ABB.Robotics.RobotStudio.Stations.dll
Syntax
sistent("Conveyor")]
public class Conveyor : GraphicComponent, IHasTransform, IHasFrames, IAttachableChild, ISupportCopy, IGfxObject, IHasGraphicComponents, IHasIOSignals
Constructors
Conveyor(PimDocument)
Only for use by persistence system.
Declaration
protected Conveyor(PimDocument doc)
Parameters
Type |
Name |
Description |
RobotStudio.API.Persistence.PimDocument |
doc |
|
Properties
Acceleration
The acceleration/deceleration used when changing velocity. If zero, the velocity is reached instantly.
Declaration
public double Acceleration { get; set; }
Property Value
BeltReference
Declaration
public Matrix4 BeltReference { get; set; }
Property Value
ConveyorObjects
Gets a readonly list of conveyor objects that are moved by the conveyor.
Declaration
public ReadOnlyCollection<ConveyorObject> ConveyorObjects { get; }
Property Value
ConveyorParameterization
Declaration
public IConveyorParameterization ConveyorParameterization { get; set; }
Property Value
CurrentVelocity
The current velocity of the conveyor. This value is only valid during simulation.
Declaration
public double CurrentVelocity { get; }
Property Value
GraphicComponents
Gets a GraphicComponentCollection object that represents all the graphic components on this conveyor mechanism.
Declaration
public GraphicComponentCollection GraphicComponents { get; }
Property Value
IOSignals
Declaration
public IOSignalCollection IOSignals { get; }
Property Value
IsRotational
Declaration
public bool IsRotational { get; }
Property Value
Layout
Declaration
public ConveyorLayout Layout { get; }
Property Value
Type |
Description |
RobotStudio.API.Internal.ConveyorLayout |
|
Stop
Declaration
public bool Stop { get; set; }
Property Value
TargetVelocity
The target velocity of the Conveyor. It is the velocity the conveyor will
accelerate to if not stopped.
Declaration
public double TargetVelocity { get; set; }
Property Value
TravelDistance
Length along the motion path or rotation indicating how far the conveyor has travelled.
Declaration
public double TravelDistance { get; }
Property Value
Methods
AfterLoad(PimDocument)
Declaration
protected override void AfterLoad(PimDocument doc)
Parameters
Type |
Name |
Description |
RobotStudio.API.Persistence.PimDocument |
doc |
|
Overrides
BeforeSave(PimDocument)
Declaration
protected override void BeforeSave(PimDocument doc)
Parameters
Type |
Name |
Description |
RobotStudio.API.Persistence.PimDocument |
doc |
|
Overrides
GetGfxChildren()
Declaration
protected override IEnumerable<IGfxObject> GetGfxChildren()
Returns
Type |
Description |
IEnumerable<RobotStudio.API.Internal.IGfxObject> |
|
Overrides
GetGlobalBeltFrame(Double)
Calculates the global transformation matrix of the belt after a specific travel distance along the conveyor.
Declaration
public Matrix4 GetGlobalBeltFrame(double travelDistance)
Parameters
Type |
Name |
Description |
Double |
travelDistance |
Distance from ReferenceFrame.
|
Returns
GetTravelDistance(Vector3)
Calculates the closest travel distance from ReferenceFrame, along the motion path or rotation of the conveyor.
Declaration
public double GetTravelDistance(Vector3 globalPosition)
Parameters
Type |
Name |
Description |
Vector3 |
globalPosition |
Position vector in the global coordinate system.
|
Returns
Exceptions
Type |
Condition |
NotSupportedException |
Indicates that the motion is too complex to handle this calculation and does not support this feature.
|
MoveBeltTo(Double)
Sets the new target travel distance, along the motion path of the conveyor, and moves the belt accordingly.
Declaration
public bool MoveBeltTo(double travelDistance)
Parameters
Type |
Name |
Description |
Double |
travelDistance |
The travel distance to be applied.
|
Returns
OnCreatingObject()
Declaration
protected override void OnCreatingObject()
Overrides
OnDelete()
Declaration
protected override void OnDelete()
Overrides
PlaceObject(GraphicComponent)
Place one object on the conveyor. Moves the object to the conveyor reference frame.
Declaration
public ConveyorObject PlaceObject(GraphicComponent movedObject)
Parameters
Type |
Name |
Description |
GraphicComponent |
movedObject |
The object to place on the conveyor.
|
Returns
Type |
Description |
RobotStudio.API.Internal.ConveyorObject |
|
PlaceObject(GraphicComponent, Double)
Place one single object onto the conveyor at the specified distance along the conveyor belt. Moves the object to the conveyor.
Declaration
public ConveyorObject PlaceObject(GraphicComponent movedObject, double distance)
Parameters
Type |
Name |
Description |
GraphicComponent |
movedObject |
The object to place on the conveyor.
|
Double |
distance |
The distance along the conveyor to place the object.
|
Returns
Type |
Description |
RobotStudio.API.Internal.ConveyorObject |
|
PlaceObject(GraphicComponent, Double, Matrix4)
Place an object on the conveyor. Moves the object to the offset relative its conveyor position.
Declaration
public ConveyorObject PlaceObject(GraphicComponent movedObject, double distance, Matrix4 offsetFrame)
Parameters
Type |
Name |
Description |
GraphicComponent |
movedObject |
The object to place on the conveyor.
|
Double |
distance |
The distance along the conveyor to place the object.
|
Matrix4 |
offsetFrame |
The offset that should be applied to the moved object.
|
Returns
Type |
Description |
RobotStudio.API.Internal.ConveyorObject |
|
RemoveObject(GraphicComponent)
Removes an object from the conveyor.
Declaration
public void RemoveObject(GraphicComponent workpiece)
Parameters
RemoveObject(ConveyorObject)
Removes a single object from the conveyor
Declaration
public void RemoveObject(ConveyorObject conveyorObject)
Parameters
Type |
Name |
Description |
RobotStudio.API.Internal.ConveyorObject |
conveyorObject |
The conveyor object to be removed.
|
ResetTravelDistance()
Sets TravelDistance to zero without affecting motion and recalculates relations of objects. To be able to start over
easily for closed conveyors where same positions eventually will reach ReferencePosition again.
Declaration
public void ResetTravelDistance()
Events
IOSignalChanged
Declaration
public event IOSignalChangedEventHandler IOSignalChanged
Event Type
IOSignalValueChanged
Declaration
public event IOSignalChangedEventHandler IOSignalValueChanged
Event Type
Implements