Class RsIrc5Controller
Implements
Inherited Members
Namespace: ABB.Robotics.RobotStudio.Stations
Assembly: ABB.Robotics.RobotStudio.Stations.dll
Syntax
sistent("IRC5Controller")]
public sealed class RsIrc5Controller : ProjectObject, IGfxObject, IHasSystemId
Constructors
RsIrc5Controller(String)
Creates a new RsIrc5Controller
Declaration
public RsIrc5Controller(string systemPath)
Parameters
Type | Name | Description |
---|---|---|
String | systemPath | Path to the Virtual Controller system directory |
Properties
BrushIndicatorColors
For ABB Internal use only.
Declaration
public BrushColorCollection BrushIndicatorColors { get; }
Property Value
Type | Description |
---|---|
BrushColorCollection |
ControllerConnection
Internal use only
Declaration
Compliant(false)]
public IApiControllerConnection ControllerConnection { get; set; }
Property Value
Type | Description |
---|---|
RobotStudio.API.Internal.IApiControllerConnection |
InformationStream
Gets the InformationStream objects which can be used to subscribe on events that are synchronized with robot motion.
Declaration
olete("Use ABB.Robotics.RobotStudio.Stations.Simulator.DataRecorder and ABB.Robotics.RobotStudio.Stations.BuiltInDataRecorderSignals instead")]
public InformationStream InformationStream { get; }
Property Value
Type | Description |
---|---|
InformationStream |
MappingState
Declaration
public ControllerMappingState MappingState { get; }
Property Value
Type | Description |
---|---|
ControllerMappingState |
MechanicalUnits
Gets the RsMechanicalUnits in this controller.
Declaration
public RsMechanicalUnitCollection MechanicalUnits { get; }
Property Value
Type | Description |
---|---|
RsMechanicalUnitCollection |
Name
Gets or set the name for this RsIrc5Controller object.
Declaration
public override string Name { get; set; }
Property Value
Type | Description |
---|---|
String | The name for this object. |
Overrides
NonMotionTasks
Gets the background RsTasks in this controller.
Declaration
public RsTaskCollection NonMotionTasks { get; }
Property Value
Type | Description |
---|---|
RsTaskCollection |
Parent
The Parent property returns a reference to the parent Station object.
Declaration
public override ProjectObject Parent { get; }
Property Value
Type | Description |
---|---|
ProjectObject |
Overrides
Remarks
You can use the Parent property to navigate up from the current object to the object one level higher.
ProcessTime
Gets the time in seconds since RAPID execution was started.
Declaration
public double ProcessTime { get; }
Property Value
Type | Description |
---|---|
Double |
RunMode
The number of execution cycles to be used when running a simulation.
Declaration
olete("Use ControllerSimulationConfiguration.RunMode instead")]
public int RunMode { get; set; }
Property Value
Type | Description |
---|---|
Int32 |
StopAtBreakpoints
Returns if program execution shall stop at breakpoints or not.
Declaration
public bool StopAtBreakpoints { get; set; }
Property Value
Type | Description |
---|---|
Boolean | True if execution stops at breakpoints, false if not. |
SuppressSimulationActions
Returns if some actions shall be ignored during simulations
Declaration
olete("Use ControllerSimulationConfiguration.AutoStartProgram/AutoStopSimulation instead")]
public bool SuppressSimulationActions { get; set; }
Property Value
Type | Description |
---|---|
Boolean | True if simulation actions are suppressed, false if not. |
Remarks
When simulation actions are suppressed, tasks will not be activated or deactivated when the simulation starts, and the RAPID program execution will not start when the siumulation starts, or stopped when the simulation stops.
SystemId
Gets the system id of the Virtual Controller instance that corresponds to this RsIrc5Controller.
Declaration
public string SystemId { get; }
Property Value
Type | Description |
---|---|
String |
SystemPath
Gets the path of the Virtual Controller that corresponds to this RsIrc5Controller.
Declaration
public string SystemPath { get; }
Property Value
Type | Description |
---|---|
String |
SystemState
Gets the SystemState of the Virtual Controller instance that corresponds to this RsIrc5Controller.
Declaration
public SystemState SystemState { get; }
Property Value
Type | Description |
---|---|
SystemState |
Tasks
Gets the motion RsTasks in this controller.
Declaration
public RsTaskCollection Tasks { get; }
Property Value
Type | Description |
---|---|
RsTaskCollection |
Visible
Gets or sets a value that indicates if the paths, targets and other frames in this controller should be visible in the graphics.
Declaration
public bool Visible { get; set; }
Property Value
Type | Description |
---|---|
Boolean |
Methods
AfterLoad(PimDocument)
Declaration
protected override void AfterLoad(PimDocument doc)
Parameters
Type | Name | Description |
---|---|---|
RobotStudio.API.Persistence.PimDocument | doc |
Overrides
Assert(Boolean)
Declaration
ditional("DEBUG")]
public void Assert(bool expr)
Parameters
Type | Name | Description |
---|---|---|
Boolean | expr |
AssociateMechanismWithMechanicalUnits(Mechanism, RsMechanicalUnit[], Boolean)
Associates a mechanism to one or several mechunits.
Declaration
public MappingResult AssociateMechanismWithMechanicalUnits(Mechanism mechanism, RsMechanicalUnit[] mechanicalUnits, bool updateTransform)
Parameters
Type | Name | Description |
---|---|---|
Mechanism | mechanism | The mechanism to be associated with the mechanical units |
RsMechanicalUnit[] | mechanicalUnits | An array with the affected mechanical units |
Boolean | updateTransform | Boolean to be set to true if the mechanism should be alogned with the baseframe of the mechanical unit |
Returns
Type | Description |
---|---|
RobotStudio.API.Internal.MappingResult |
BeforeSave(PimDocument)
Declaration
protected override void BeforeSave(PimDocument doc)
Parameters
Type | Name | Description |
---|---|---|
RobotStudio.API.Persistence.PimDocument | doc |
Overrides
ChangeMechanismInMechanicalUnits(Mechanism, RsMechanicalUnit[])
Changes the association from one or several mechunits from a mechanism to an other mechanism
Declaration
public MappingResult ChangeMechanismInMechanicalUnits(Mechanism mechanism, RsMechanicalUnit[] mechanicalUnits)
Parameters
Type | Name | Description |
---|---|---|
Mechanism | mechanism | The mechanism to be associated with the mechanical units |
RsMechanicalUnit[] | mechanicalUnits | An array with the affected mechanical units |
Returns
Type | Description |
---|---|
RobotStudio.API.Internal.MappingResult |
FindMechanicalUnitsByMechanism(Mechanism)
Declaration
public RsMechanicalUnit[] FindMechanicalUnitsByMechanism(Mechanism mechanism)
Parameters
Type | Name | Description |
---|---|---|
Mechanism | mechanism |
Returns
Type | Description |
---|---|
RsMechanicalUnit[] |
FindMechanicalUnitsByTask(RsTask)
Declaration
public static RsMechanicalUnit[] FindMechanicalUnitsByTask(RsTask task)
Parameters
Type | Name | Description |
---|---|---|
RsTask | task |
Returns
Type | Description |
---|---|
RsMechanicalUnit[] |
OnCreatingObject()
Declaration
protected override void OnCreatingObject()
Overrides
OnDelete()
Declaration
protected override void OnDelete()
Overrides
SetFrameToTask(RsTask, Matrix4)
Declaration
olete("Use SetTaskFrameTransform instead")]
public RsTask[] SetFrameToTask(RsTask task, Matrix4 frame)
Parameters
Type | Name | Description |
---|---|---|
RsTask | task | |
Matrix4 | frame |
Returns
Type | Description |
---|---|
RsTask[] |
SetTaskFrameTransform(RsTask, Matrix4, Boolean)
Sets the task frame belonging to a task.
Declaration
public RsTask[] SetTaskFrameTransform(RsTask task, Matrix4 globalTransform, bool updateBaseFrames)
Parameters
Type | Name | Description |
---|---|---|
RsTask | task | The task that should have its task frame updated. |
Matrix4 | globalTransform | The new task frame in world coordinates. |
Boolean | updateBaseFrames |
Returns
Type | Description |
---|---|
RsTask[] | An array of each RsTask that have been changed. |
SetTaskFrameTransform(IEnumerable<RsTask>, Matrix4, Boolean)
Sets the task frame belonging to one or more tasks.
Declaration
public RsTask[] SetTaskFrameTransform(IEnumerable<RsTask> tasksToUpdate, Matrix4 globalTransform, bool updateBaseFrames)
Parameters
Type | Name | Description |
---|---|---|
IEnumerable<RsTask> | tasksToUpdate | The tasks that should have its task frame updated. |
Matrix4 | globalTransform | The new task frame in world coordinates. |
Boolean | updateBaseFrames |
Returns
Type | Description |
---|---|
RsTask[] | An array of each RsTask that have been changed. |
StartAsync(VirtualControllerRestartMode)
Starts or restarts the Virtual Controller.
Declaration
public Task StartAsync(VirtualControllerRestartMode restartMode)
Parameters
Type | Name | Description |
---|---|---|
VirtualControllerRestartMode | restartMode | Restart mode |
Returns
Type | Description |
---|---|
Task |
Remarks
Please note that it is not possible to call Wait() on the returned Task from the UI thread - doing so will cause a deadlock. Use await or ContinueWith instead.
StartAsync(VirtualControllerRestartMode, IEnumerable<Mechanism>)
Starts or restarts the Virtual Controller.
Declaration
public Task StartAsync(VirtualControllerRestartMode restartMode, IEnumerable<Mechanism> mechanismsToMap)
Parameters
Type | Name | Description |
---|---|---|
VirtualControllerRestartMode | restartMode | Restart mode |
IEnumerable<Mechanism> | mechanismsToMap | Mechanism(s) to be associated with the controller. Can be null, in which case the mapping is performed automatically. |
Returns
Type | Description |
---|---|
Task |
Remarks
Please note that it is not possible to call Wait() on the returned Task from the UI thread - doing so will cause a deadlock. Use await or ContinueWith instead.
StartAsync(VirtualControllerRestartMode, IEnumerable<Mechanism>, Boolean)
Starts or restarts the Virtual Controller.
Declaration
public Task StartAsync(VirtualControllerRestartMode restartMode, IEnumerable<Mechanism> mechanismsToMap, bool checkBaseFrame)
Parameters
Type | Name | Description |
---|---|---|
VirtualControllerRestartMode | restartMode | Restart mode |
IEnumerable<Mechanism> | mechanismsToMap | Mechanism(s) to be associated with the controller. Can be null, in which case the mapping is performed automatically. |
Boolean | checkBaseFrame | Check if the baseframe in the system coincides with the associated mechanism. If it does not, the user will be asked if the mechanism should be moved. |
Returns
Type | Description |
---|---|
Task |
Remarks
Please note that it is not possible to call Wait() on the returned Task from the UI thread - doing so will cause a deadlock. Use await or ContinueWith instead.
StartAsync(VirtualControllerRestartMode, IEnumerable<Mechanism>, Boolean, Boolean)
Starts or restarts the Virtual Controller.
Declaration
public Task StartAsync(VirtualControllerRestartMode restartMode, IEnumerable<Mechanism> mechanismsToMap, bool checkBaseFrame, bool synchronizeConnections)
Parameters
Type | Name | Description |
---|---|---|
VirtualControllerRestartMode | restartMode | Restart mode |
IEnumerable<Mechanism> | mechanismsToMap | Mechanism(s) to be associated with the controller. Can be null, in which case the mapping is performed automatically. |
Boolean | checkBaseFrame | Check if the baseframe in the system coincides with the associated mechanism. If it does not, the user will be asked if the mechanism should be moved. |
Boolean | synchronizeConnections | For all IOConnections where the controller is the target or source object, ensure the I/O signal value in the controller equals the connected value. |
Returns
Type | Description |
---|---|
Task |
Remarks
Please note that it is not possible to call Wait() on the returned Task from the UI thread - doing so will cause a deadlock. Use await or ContinueWith instead.
ValidateControllerContent()
Declaration
ditional("DEBUG")]
public void ValidateControllerContent()
Events
SystemStateChanged
Declaration
public event EventHandler SystemStateChanged
Event Type
Type | Description |
---|---|
EventHandler |