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

Type	Description
Double

BeltReference

Declaration

public Matrix4 BeltReference { get; set; }

Property Value

Type	Description
Matrix4

ConveyorObjects

Gets a readonly list of conveyor objects that are moved by the conveyor.

Declaration

public ReadOnlyCollection<ConveyorObject> ConveyorObjects { get; }

Property Value

Type	Description
ReadOnlyCollection<RobotStudio.API.Internal.ConveyorObject>

ConveyorParameterization

Declaration

public IConveyorParameterization ConveyorParameterization { get; set; }

Property Value

Type	Description
IConveyorParameterization

CurrentVelocity

The current velocity of the conveyor. This value is only valid during simulation.

Declaration

public double CurrentVelocity { get; }

Property Value

Type	Description
Double

GraphicComponents

Gets a GraphicComponentCollection object that represents all the graphic components on this conveyor mechanism.

Declaration

public GraphicComponentCollection GraphicComponents { get; }

Property Value

Type	Description
GraphicComponentCollection

IOSignals

Declaration

public IOSignalCollection IOSignals { get; }

Property Value

Type	Description
IOSignalCollection

IsRotational

Declaration

public bool IsRotational { get; }

Property Value

Type	Description
Boolean

Layout

ABB Internal Use only.

Declaration

public ConveyorLayout Layout { get; }

Property Value

Type	Description
RobotStudio.API.Internal.ConveyorLayout

Stop

Declaration

public bool Stop { get; set; }

Property Value

Type	Description
Boolean

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

Type	Description
Double

TravelDistance

Length along the motion path or rotation indicating how far the conveyor has travelled.

Declaration

public double TravelDistance { get; }

Property Value

Type	Description
Double

Methods

AfterLoad(PimDocument)

Declaration

protected override void AfterLoad(PimDocument doc)

Parameters

Type	Name	Description
RobotStudio.API.Persistence.PimDocument	doc

Overrides

GraphicComponent.AfterLoad(PimDocument)

BeforeSave(PimDocument)

Declaration

protected override void BeforeSave(PimDocument doc)

Parameters

Type	Name	Description
RobotStudio.API.Persistence.PimDocument	doc

Overrides

ProjectObject.BeforeSave(PimDocument)

GetGfxChildren()

Declaration

protected override IEnumerable<IGfxObject> GetGfxChildren()

Returns

Type	Description
IEnumerable<RobotStudio.API.Internal.IGfxObject>

Overrides

GraphicComponent.GetGfxChildren()

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

Type	Description
Matrix4

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

Type	Description
Double

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

Type	Description
Boolean

OnCreatingObject()

Declaration

protected override void OnCreatingObject()

Overrides

GraphicComponent.OnCreatingObject()

OnDelete()

Declaration

protected override void OnDelete()

Overrides

GraphicComponent.OnDelete()

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

Type	Name	Description
GraphicComponent	workpiece	Graphical object to be removed

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

Type	Description
IOSignalChangedEventHandler

IOSignalValueChanged

Declaration

public event IOSignalChangedEventHandler IOSignalValueChanged

Event Type

Type	Description
IOSignalChangedEventHandler

Implements

IHasTransform

IHasFrames

IAttachableChild

ISupportCopy

IHasGraphicComponents

IHasIOSignals