Struct RobotAxisValues
Represents the axis positions in radians of the robot axes. This class contains the same information as the RAPID data type robjoint.
Namespace: ABB.Robotics.RobotStudio.Stations
Assembly: ABB.Robotics.RobotStudio.Stations.dll
Syntax
public struct RobotAxisValues
Constructors
RobotAxisValues(Double[])
Declaration
public RobotAxisValues(double[] axisValues)
Parameters
Type | Name | Description |
---|---|---|
Double[] | axisValues |
Properties
Rax_1
Gets/sets the position for robot axis 1.
Declaration
public double Rax_1 { get; set; }
Property Value
Type | Description |
---|---|
Double | The position for robot axis 1 in radians. |
Rax_2
Gets/sets the position for robot axis 2.
Declaration
public double Rax_2 { get; set; }
Property Value
Type | Description |
---|---|
Double | The position for robot axis 2 in radians. |
Rax_3
Gets/sets the position for robot axis 3.
Declaration
public double Rax_3 { get; set; }
Property Value
Type | Description |
---|---|
Double | The position for robot axis 3 in radians. |
Rax_4
Gets/sets the position for robot axis 4.
Declaration
public double Rax_4 { get; set; }
Property Value
Type | Description |
---|---|
Double | The position for robot axis 4 in radians. |
Rax_5
Gets/sets the position for robot axis 5.
Declaration
public double Rax_5 { get; set; }
Property Value
Type | Description |
---|---|
Double | The position for robot axis 5 in radians. |
Rax_6
Gets/sets the position for robot axis 6.
Declaration
public double Rax_6 { get; set; }
Property Value
Type | Description |
---|---|
Double | The position for robot axis 6 in radians. |
Methods
GetAxisValues()
Returns the axes values in Rax_1 to Rax_6 as an array.
Declaration
public double[] GetAxisValues()
Returns
Type | Description |
---|---|
Double[] |
GetAxisValues(Int32[])
Returns the axes values for the active axes in Rax_1 to Rax_6 as an array. This method is used when getting axes values for robots that has less than 6 axes.
Declaration
public double[] GetAxisValues(int[] activeJoints)
Parameters
Type | Name | Description |
---|---|---|
Int32[] | activeJoints | An array of int that specifies for which positions (Rax_1 to Rax_6) the values shall be get. |
Returns
Type | Description |
---|---|
Double[] |
SetAxisValues(ref RobotAxisValues, Double[])
Sets the values of the specified RobotAxisValues, given the specified array of doubles.
Declaration
public static void SetAxisValues(ref RobotAxisValues robotAxes, double[] axisValues)
Parameters
Type | Name | Description |
---|---|---|
RobotAxisValues | robotAxes | |
Double[] | axisValues |
Remarks
The length of axisValues must be 6.
Exceptions
Type | Condition |
---|---|
ArgumentException | The axisValue array is not of length 6. |
SetAxisValues(ref RobotAxisValues, Double[], Int32[])
Sets only the values of the active axes. One array contains the values for the active axes, and another arrays specifies the position in the RobotAxisValues, where the values will be set. This method is used when setting axes values for robots that has less than 6 axes.
Declaration
public static void SetAxisValues(ref RobotAxisValues robotAxes, double[] activeAxisValues, int[] activeJoints)
Parameters
Type | Name | Description |
---|---|---|
RobotAxisValues | robotAxes | The RobotAxisValues which values shall be set. Which axes (Rax_1 - Rax_6), that will be affected depends on activeJoints. |
Double[] | activeAxisValues | An array of double that contains the values to set. |
Int32[] | activeJoints | An array of int that specifies in which positions (Rax_1 to Rax_6) the values shall be set. |
Exceptions
Type | Condition |
---|---|
ArgumentException | The different reasons are: The axisValue is not of the same length as the activeJoints array. The arrays have a length that is not between 1 and 6. The values in the activeJoints array are not in the range 1 to 6. Since they are used to define which values from Rax_1 to Rax_6 that are set, it must be in the range 1 to 6. |
ToString()
Declaration
public override string ToString()
Returns
Type | Description |
---|---|
String |