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(Int32[])
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 |
---|---|---|
Int32[] | 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[], Int32[])
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. |
Int32[] | 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
ToString()
Declaration
public override string ToString()
Returns
Type | Description |
---|---|
String |