Struct RsLoadData

Loaddata is used to describe loads attached to the mechanical interface of the robot Load data usually defines the payload (grip load is defined by the instruction Grip- Load) of the robot, i.e. the load held in the robot gripper. The tool load is specified in the tool data (tooldata) which includes load data.

Namespace: ABB.Robotics.RobotStudio.Stations
Assembly: ABB.Robotics.RobotStudio.Stations.dll
Syntax
public struct RsLoadData
Examples

RsLoadData Example. 

Project.UndoContext.BeginUndoStep("RsToolDataExample");
try
{
Station station = Station.ActiveStation;

            // Create a gripper tool using sample data from the RAPID manual.
            RsToolData myTool = new RsToolData();

            // Get a valid RAPID name and assign it.
            myTool.Name = station.ActiveTask.GetValidRapidName("gripper", "_", 1);

            // The robot is holding the tool.
            myTool.RobotHold = true;

            // Set the TCP, expressed in the wrist coordinate system.
            myTool.Frame.X = 0.0974;
            myTool.Frame.Y = 0;
            myTool.Frame.Z = 0.2231;
            myTool.Frame.RX = Globals.DegToRad(45);
            myTool.Frame.RY = 0;
            myTool.Frame.RZ = Globals.DegToRad(45);

            // Create the load data for the tool.
            RsLoadData myloadData = new RsLoadData();

            // Set mass.
            myloadData.Mass = 5;

            // Set center of gravity.
            myloadData.Cog = new Vector3(0.023, 0, 0.075);

            // Set the axis of moment.
            myloadData.Aom = new Quaternion(1, 0, 0, 0);

            // The load can be considered a point mass in this example, i.e. without any moment of inertia.
            myloadData.Inertia = new Vector3(0, 0, 0);

            // Att the load data to the tool.
            myTool.LoadData = myloadData;

            // Show the name of the tool data in the graphics.
            myTool.ShowName = true;

            // Set the frame size to twice its default size.
            myTool.FrameSize = myTool.FrameSize * 2;

            // Show the tool data in the graphics.
            myTool.Visible = true;

            // Add the tool data to the ActiveTask.
            station.ActiveTask.DataDeclarations.Add(myTool);
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

Constructors

View Source

RsLoadData(double, Vector3, Quaternion, Vector3)

Initializes a new RsLoadData instance with the specified parameters.

Declaration
public RsLoadData(double mass, Vector3 cog, Quaternion aom, Vector3 inertia)
Parameters
Type Name Description
double mass

The weight of the load.
Vector3 cog

The center of gravity of a tool load expressed in the wrist coordinate system.
Quaternion aom

The orientation of the coordinate system defined by the inertial axes of the tool load.
Vector3 inertia

The moment of inertia of the load around the x-, y- and z-axis of the tool load or payload coordinate system.

Properties

View Source

Aom

The orientation of the coordinate system defined by the inertial axes of the tool load. Expressed in the wrist coordinate system as a quaternion (q1, q2, q3, q4). If a stationary tool is used, it means the inertial axes for the tool holding the work object.

Declaration
public Quaternion Aom { get; set; }
Property Value
Type Description
Quaternion
Remarks

The orientation of the tool load coordinate system must coincide with the orientation of the wrist coordinate system. It must always be set to 1, 0, 0, 0.

Examples

Get/Set Aom. 

Project.UndoContext.BeginUndoStep("RsToolDataExample");
try
{
Station station = Station.ActiveStation;

             // Create a gripper tool using sample data from the RAPID manual.
             RsToolData myTool = new RsToolData();

             // Get a valid RAPID name and assign it.
             myTool.Name = station.ActiveTask.GetValidRapidName("gripper", "_", 1);

             // The robot is holding the tool.
             myTool.RobotHold = true;

             // Set the TCP, expressed in the wrist coordinate system.
             myTool.Frame.X = 0.0974;
             myTool.Frame.Y = 0;
             myTool.Frame.Z = 0.2231;
             myTool.Frame.RX = Globals.DegToRad(45);
             myTool.Frame.RY = 0;
             myTool.Frame.RZ = Globals.DegToRad(45);

             // Create the load data for the tool.
             RsLoadData myloadData = new RsLoadData();

             // Set mass.
             myloadData.Mass = 5;

             // Set center of gravity.
             myloadData.Cog = new Vector3(0.023, 0, 0.075);

             // Set the axis of moment.
             myloadData.Aom = new Quaternion(1, 0, 0, 0);

             // The load can be considered a point mass in this example, i.e. without any moment of inertia.
             myloadData.Inertia = new Vector3(0, 0, 0);

             // Att the load data to the tool.
             myTool.LoadData = myloadData;

             // Show the name of the tool data in the graphics.
             myTool.ShowName = true;

             // Set the frame size to twice its default size.
             myTool.FrameSize = myTool.FrameSize * 2;

             // Show the tool data in the graphics.
             myTool.Visible = true;

             // Add the tool data to the ActiveTask.
             station.ActiveTask.DataDeclarations.Add(myTool);
         }
         catch
         {
             Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
             throw;
         }
         finally
         {
             Project.UndoContext.EndUndoStep();
         }</code></pre>
View Source

Cog

The center of gravity of a tool load expressed in the wrist coordinate system. If a stationary tool is used, it means the center of gravity for the tool holding the work object.

Declaration
public Vector3 Cog { get; set; }
Property Value
Type Description
Vector3
Examples

Get/Set Cog. 

Project.UndoContext.BeginUndoStep("RsToolDataExample");
try
{
Station station = Station.ActiveStation;

             // Create a gripper tool using sample data from the RAPID manual.
             RsToolData myTool = new RsToolData();

             // Get a valid RAPID name and assign it.
             myTool.Name = station.ActiveTask.GetValidRapidName("gripper", "_", 1);

             // The robot is holding the tool.
             myTool.RobotHold = true;

             // Set the TCP, expressed in the wrist coordinate system.
             myTool.Frame.X = 0.0974;
             myTool.Frame.Y = 0;
             myTool.Frame.Z = 0.2231;
             myTool.Frame.RX = Globals.DegToRad(45);
             myTool.Frame.RY = 0;
             myTool.Frame.RZ = Globals.DegToRad(45);

             // Create the load data for the tool.
             RsLoadData myloadData = new RsLoadData();

             // Set mass.
             myloadData.Mass = 5;

             // Set center of gravity.
             myloadData.Cog = new Vector3(0.023, 0, 0.075);

             // Set the axis of moment.
             myloadData.Aom = new Quaternion(1, 0, 0, 0);

             // The load can be considered a point mass in this example, i.e. without any moment of inertia.
             myloadData.Inertia = new Vector3(0, 0, 0);

             // Att the load data to the tool.
             myTool.LoadData = myloadData;

             // Show the name of the tool data in the graphics.
             myTool.ShowName = true;

             // Set the frame size to twice its default size.
             myTool.FrameSize = myTool.FrameSize * 2;

             // Show the tool data in the graphics.
             myTool.Visible = true;

             // Add the tool data to the ActiveTask.
             station.ActiveTask.DataDeclarations.Add(myTool);
         }
         catch
         {
             Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
             throw;
         }
         finally
         {
             Project.UndoContext.EndUndoStep();
         }</code></pre>
View Source

Inertia

The moment of inertia of the load around the x-, y- and z-axis of the tool load or payload coordinate system.

Declaration
public Vector3 Inertia { get; set; }
Property Value
Type Description
Vector3
Examples

Get/Set Inertia. 

Project.UndoContext.BeginUndoStep("RsToolDataExample");
try
{
Station station = Station.ActiveStation;

             // Create a gripper tool using sample data from the RAPID manual.
             RsToolData myTool = new RsToolData();

             // Get a valid RAPID name and assign it.
             myTool.Name = station.ActiveTask.GetValidRapidName("gripper", "_", 1);

             // The robot is holding the tool.
             myTool.RobotHold = true;

             // Set the TCP, expressed in the wrist coordinate system.
             myTool.Frame.X = 0.0974;
             myTool.Frame.Y = 0;
             myTool.Frame.Z = 0.2231;
             myTool.Frame.RX = Globals.DegToRad(45);
             myTool.Frame.RY = 0;
             myTool.Frame.RZ = Globals.DegToRad(45);

             // Create the load data for the tool.
             RsLoadData myloadData = new RsLoadData();

             // Set mass.
             myloadData.Mass = 5;

             // Set center of gravity.
             myloadData.Cog = new Vector3(0.023, 0, 0.075);

             // Set the axis of moment.
             myloadData.Aom = new Quaternion(1, 0, 0, 0);

             // The load can be considered a point mass in this example, i.e. without any moment of inertia.
             myloadData.Inertia = new Vector3(0, 0, 0);

             // Att the load data to the tool.
             myTool.LoadData = myloadData;

             // Show the name of the tool data in the graphics.
             myTool.ShowName = true;

             // Set the frame size to twice its default size.
             myTool.FrameSize = myTool.FrameSize * 2;

             // Show the tool data in the graphics.
             myTool.Visible = true;

             // Add the tool data to the ActiveTask.
             station.ActiveTask.DataDeclarations.Add(myTool);
         }
         catch
         {
             Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
             throw;
         }
         finally
         {
             Project.UndoContext.EndUndoStep();
         }</code></pre>
View Source

Mass

Gets or Sets the weight of the load.

Declaration
public double Mass { get; set; }
Property Value
Type Description
double
Examples

Get/Set Mass. 

Project.UndoContext.BeginUndoStep("RsToolDataExample");
try
{
Station station = Station.ActiveStation;

             // Create a gripper tool using sample data from the RAPID manual.
             RsToolData myTool = new RsToolData();

             // Get a valid RAPID name and assign it.
             myTool.Name = station.ActiveTask.GetValidRapidName("gripper", "_", 1);

             // The robot is holding the tool.
             myTool.RobotHold = true;

             // Set the TCP, expressed in the wrist coordinate system.
             myTool.Frame.X = 0.0974;
             myTool.Frame.Y = 0;
             myTool.Frame.Z = 0.2231;
             myTool.Frame.RX = Globals.DegToRad(45);
             myTool.Frame.RY = 0;
             myTool.Frame.RZ = Globals.DegToRad(45);

             // Create the load data for the tool.
             RsLoadData myloadData = new RsLoadData();

             // Set mass.
             myloadData.Mass = 5;

             // Set center of gravity.
             myloadData.Cog = new Vector3(0.023, 0, 0.075);

             // Set the axis of moment.
             myloadData.Aom = new Quaternion(1, 0, 0, 0);

             // The load can be considered a point mass in this example, i.e. without any moment of inertia.
             myloadData.Inertia = new Vector3(0, 0, 0);

             // Att the load data to the tool.
             myTool.LoadData = myloadData;

             // Show the name of the tool data in the graphics.
             myTool.ShowName = true;

             // Set the frame size to twice its default size.
             myTool.FrameSize = myTool.FrameSize * 2;

             // Show the tool data in the graphics.
             myTool.Visible = true;

             // Add the tool data to the ActiveTask.
             station.ActiveTask.DataDeclarations.Add(myTool);
         }
         catch
         {
             Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
             throw;
         }
         finally
         {
             Project.UndoContext.EndUndoStep();
         }</code></pre>

Methods

View Source

Equals(object)

Indicates whether this instance and a specified object are equal.

Declaration
public override bool Equals(object obj)
Parameters
Type Name Description
object obj

Another object to compare to.
Returns
Type Description
bool

True if obj and this instance are the same type and represent the same value; otherwise, false.
Overrides
Examples

Equals. 

Project.UndoContext.BeginUndoStep("RsToolDataExample");
try
{
Station station = Station.ActiveStation;

            // Create a gripper tool using sample data from the RAPID manual.
            RsToolData myTool = new RsToolData();

            // Get a valid RAPID name and assign it.
            myTool.Name = station.ActiveTask.GetValidRapidName("gripper", "_", 1);

            // The robot is holding the tool.
            myTool.RobotHold = true;

            // Set the TCP, expressed in the wrist coordinate system.
            myTool.Frame.X = 0.0974;
            myTool.Frame.Y = 0;
            myTool.Frame.Z = 0.2231;
            myTool.Frame.RX = Globals.DegToRad(45);
            myTool.Frame.RY = 0;
            myTool.Frame.RZ = Globals.DegToRad(45);

            // Create the load data for the tool.
            RsLoadData myloadData = new RsLoadData();

            // Set mass.
            myloadData.Mass = 5;

            // Set center of gravity.
            myloadData.Cog = new Vector3(0.023, 0, 0.075);

            // Set the axis of moment.
            myloadData.Aom = new Quaternion(1, 0, 0, 0);

            // The load can be considered a point mass in this example, i.e. without any moment of inertia.
            myloadData.Inertia = new Vector3(0, 0, 0);

            // Att the load data to the tool.
            myTool.LoadData = myloadData;

            // Show the name of the tool data in the graphics.
            myTool.ShowName = true;

            // Set the frame size to twice its default size.
            myTool.FrameSize = myTool.FrameSize * 2;

            // Show the tool data in the graphics.
            myTool.Visible = true;

            // Add the tool data to the ActiveTask.
            station.ActiveTask.DataDeclarations.Add(myTool);
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>
View Source

GetHashCode()

Declaration
public override int GetHashCode()
Returns
Type Description
int
Overrides

Operators

View Source

operator ==(RsLoadData, RsLoadData)

Compares the two RsLoadData objects for equality.

Declaration
public static bool operator ==(RsLoadData lhs, RsLoadData rhs)
Parameters
Type Name Description
RsLoadData lhs

The first object to compare.
RsLoadData rhs

The second object to compare.
Returns
Type Description
bool

True if lhs and rhs represent the same values; otherwise, false.
Examples

. 

Project.UndoContext.BeginUndoStep("RsToolDataExample");
try
{
Station station = Station.ActiveStation;

             // Create a gripper tool using sample data from the RAPID manual.
             RsToolData myTool = new RsToolData();

             // Get a valid RAPID name and assign it.
             myTool.Name = station.ActiveTask.GetValidRapidName("gripper", "_", 1);

             // The robot is holding the tool.
             myTool.RobotHold = true;

             // Set the TCP, expressed in the wrist coordinate system.
             myTool.Frame.X = 0.0974;
             myTool.Frame.Y = 0;
             myTool.Frame.Z = 0.2231;
             myTool.Frame.RX = Globals.DegToRad(45);
             myTool.Frame.RY = 0;
             myTool.Frame.RZ = Globals.DegToRad(45);

             // Create the load data for the tool.
             RsLoadData myloadData = new RsLoadData();

             // Set mass.
             myloadData.Mass = 5;

             // Set center of gravity.
             myloadData.Cog = new Vector3(0.023, 0, 0.075);

             // Set the axis of moment.
             myloadData.Aom = new Quaternion(1, 0, 0, 0);

             // The load can be considered a point mass in this example, i.e. without any moment of inertia.
             myloadData.Inertia = new Vector3(0, 0, 0);

             // Att the load data to the tool.
             myTool.LoadData = myloadData;

             // Show the name of the tool data in the graphics.
             myTool.ShowName = true;

             // Set the frame size to twice its default size.
             myTool.FrameSize = myTool.FrameSize * 2;

             // Show the tool data in the graphics.
             myTool.Visible = true;

             // Add the tool data to the ActiveTask.
             station.ActiveTask.DataDeclarations.Add(myTool);
         }
         catch
         {
             Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
             throw;
         }
         finally
         {
             Project.UndoContext.EndUndoStep();
         }</code></pre>
View Source

operator !=(RsLoadData, RsLoadData)

Compares the two RsLoadData objects for inequality.

Declaration
public static bool operator !=(RsLoadData lhs, RsLoadData rhs)
Parameters
Type Name Description
RsLoadData lhs

The first object to compare.
RsLoadData rhs

The second object to compare.
Returns
Type Description
bool

True if lhs and rhs represent different values; otherwise, false.
Examples

Inequality. 

Project.UndoContext.BeginUndoStep("RsToolDataExample");
try
{
Station station = Station.ActiveStation;

             // Create a gripper tool using sample data from the RAPID manual.
             RsToolData myTool = new RsToolData();

             // Get a valid RAPID name and assign it.
             myTool.Name = station.ActiveTask.GetValidRapidName("gripper", "_", 1);

             // The robot is holding the tool.
             myTool.RobotHold = true;

             // Set the TCP, expressed in the wrist coordinate system.
             myTool.Frame.X = 0.0974;
             myTool.Frame.Y = 0;
             myTool.Frame.Z = 0.2231;
             myTool.Frame.RX = Globals.DegToRad(45);
             myTool.Frame.RY = 0;
             myTool.Frame.RZ = Globals.DegToRad(45);

             // Create the load data for the tool.
             RsLoadData myloadData = new RsLoadData();

             // Set mass.
             myloadData.Mass = 5;

             // Set center of gravity.
             myloadData.Cog = new Vector3(0.023, 0, 0.075);

             // Set the axis of moment.
             myloadData.Aom = new Quaternion(1, 0, 0, 0);

             // The load can be considered a point mass in this example, i.e. without any moment of inertia.
             myloadData.Inertia = new Vector3(0, 0, 0);

             // Att the load data to the tool.
             myTool.LoadData = myloadData;

             // Show the name of the tool data in the graphics.
             myTool.ShowName = true;

             // Set the frame size to twice its default size.
             myTool.FrameSize = myTool.FrameSize * 2;

             // Show the tool data in the graphics.
             myTool.Visible = true;

             // Add the tool data to the ActiveTask.
             station.ActiveTask.DataDeclarations.Add(myTool);
         }
         catch
         {
             Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
             throw;
         }
         finally
         {
             Project.UndoContext.EndUndoStep();
         }</code></pre>