Struct ExternalAxisValues

Represents the axis positions in radians of the robots external axes.

Namespace: ABB.Robotics.RobotStudio.Stations

Assembly: ABB.Robotics.RobotStudio.Stations.dll

Syntax

public struct ExternalAxisValues

Properties

Eax_a

Gets the position for robot external axis a.

Declaration

public double Eax_a { get; set; }

Property Value

Type	Description
double	The position for robot external axis a in radians. The special value 9E9 means that no position is defined for this axis. A typical reason is that the axis is not used.returned.

Eax_b

Gets the position for robot external axis b.

Declaration

public double Eax_b { get; set; }

Property Value

Type	Description
double	The position for robot external axis b in radians. The special value 9E9 means that no position is defined for this axis. A typical reason is that the axis is not used.returned.

Eax_c

Gets the position for robot external axis c.

Declaration

public double Eax_c { get; set; }

Property Value

Type	Description
double	The position for robot external axis c in radians. The special value 9E9 means that no position is defined for this axis. A typical reason is that the axis is not used.returned.

Eax_d

Gets the position for robot external axis d.

Declaration

public double Eax_d { get; set; }

Property Value

Type	Description
double	The position for robot external axis d in radians. The special value 9E9 means that no position is defined for this axis. A typical reason is that the axis is not used.returned.

Eax_e

Gets the position for robot external axis e.

Declaration

public double Eax_e { get; set; }

Property Value

Type	Description
double	The position for robot external axis e in radians. The special value 9E9 means that no position is defined for this axis. A typical reason is that the axis is not used.returned.

Eax_f

Gets the position for robot external axis f.

Declaration

public double Eax_f { get; set; }

Property Value

Type	Description
double	The position for robot external axis f in radians. The special value 9E9 means that no position is defined for this axis. A typical reason is that the axis is not used.returned.

Methods

GetAxisValues()

Returns the external axes values in Eax_1 to Eax_6 as an array.

Declaration

public double[] GetAxisValues()

Returns

Type	Description
double[]

GetAxisValues(int[])

Returns the axes values for the active external axes in Eax_1 to Eax_6 as an array.

Declaration

public double[] GetAxisValues(int[] logicalAxis)

Parameters

Type	Name	Description
int[]	logicalAxis	An array of integers that specifies for the positions (Eax_1 to Eax_6) to get the values for.

Returns

Type	Description
double[]

SetAxisValues(ref ExternalAxisValues, double[])

Sets the values of the specified ExternalAxisValues, given the specified array of doubles.

Declaration

public static void SetAxisValues(ref ExternalAxisValues externalAxes, double[] values)

Parameters

Type	Name	Description
ExternalAxisValues	externalAxes
double[]	values

Remarks

The length of axisValues must be 6.

Exceptions

Type	Condition
ArgumentException	The axisValue array is not of length 6.

SetAxisValues(ref ExternalAxisValues, double[], int[])

Sets only the values of the active external axes. One array contains the values for the active axes, and another arrays specifies the positions in the ExternalAxisValues, where the values will be set. A RAPID robtarget specifies the axis positions for six robot axes and six external axes. More than 6 external axes can be controlled, but not simultaneously. Behind the scenes, all the axes position values are treated as an array of length 12. The first six elements contains the position values for the robot axes, and the last six, contains the position values for the external axes. Please refer to RsMechanicalUnit for more information about logical axis, and activation/deactivation of external axes. It is common that none, or only a few of the external axes are used. If for example two axes are used, the two array parameters shall have the lenght two.

Declaration

public static void SetAxisValues(ref ExternalAxisValues externalAxes, double[] activeAxisValues, int[] logicalAxis)

Parameters

Type	Name	Description
ExternalAxisValues	externalAxes	The ExternalAxisValues which values shall be set. Which axes (Eax_1 - Eax_6), that will be affected depends on the logicalAxis
double[]	activeAxisValues	An array of double that contains the values to set.
int[]	logicalAxis	An array of integers that specifies in which positions (Eax_1 to Eax_6) the values shall be set.

Exceptions

Type	Condition
ArgumentException	The different reasons are: The axisValue is not of the same length as the logicalAxis array. The arrays have a length that is not between 1 and 6. The values in the logicalAxis array are not in the range 7 to 12.

See Also

RsMechanicalUnit

ToString()

Declaration

public override string ToString()

Returns

Type	Description
string

Overrides

ValueType.ToString()

See Also

RobotAxisValues

RsRobTarget