Interface IConveyorParameterization
ABB Internal use only.
Namespace: ABB.Robotics.RobotStudio.Stations
Assembly: ABB.Robotics.RobotStudio.Stations.dll
Syntax
public interface IConveyorParameterization
Properties
BeltRange
Defines the total range of the parameterization.
Declaration
double BeltRange { get; set; }
Property Value
Type | Description |
---|---|
Double |
Remarks
The range of a closed belt shall never exceed the actual range of one complete lap. The range of a rotational parameterization is defined in radians, at a maximum of a complete circle (2 * PI).
IsRotational
If true, travel distance is an angle in radians.
Declaration
bool IsRotational { get; }
Property Value
Type | Description |
---|---|
Boolean |
ParameterizationType
Declaration
ConveyorParameterizationType ParameterizationType { get; set; }
Property Value
Type | Description |
---|---|
ConveyorParameterizationType |
Methods
GetBeltFrame(Double)
Calculates local transformation matrix after specified travel distance along the motion path or rotation of the conveyor.
Declaration
Matrix4 GetBeltFrame(double travelDistance)
Parameters
Type | Name | Description |
---|---|---|
Double | travelDistance | Distance from the conveyor's ReferenceFrame. |
Returns
Type | Description |
---|---|
Matrix4 | Matrix4 |
GetTravelDistance(Vector3)
Calculates the closest travel distance from ReferenceFrame, along the motion path or rotation of the conveyor.
Declaration
double GetTravelDistance(Vector3 position)
Parameters
Type | Name | Description |
---|---|---|
Vector3 | position | Position in local coordinate system. |
Returns
Type | Description |
---|---|
Double | double |