Class RsToolData

Tooldata is used to describe the characteristics of a tool. It corresponds to the 'tooldata' data type in RAPID.

Inheritance

object

ProjectObject

RsDataDeclaration

RsToolData

Implements

ISupportCopy

Inherited Members

RsDataDeclaration.GetReferencingInstructions()

RsDataDeclaration.DisplayName

RsDataDeclaration.Synchronize

RsDataDeclaration.ModuleName

RsDataDeclaration.StorageType

RsDataDeclaration.Local

RsDataDeclaration.DataType

ProjectObject.FindObjects(Predicate<ProjectObject>, Predicate<ProjectObject>)

ProjectObject.ToString()

ProjectObject.Parent

ProjectObject.ContainingProject

ProjectObject.Attributes

ProjectObject.UIVisible

ProjectObject.TypeDisplayName

ProjectObject.UniqueId

ProjectObject.Children

ProjectObject.DisplayNameChanged

ProjectObject.ProjectObjectChanged

ProjectObject.InternalEvent

Namespace: ABB.Robotics.RobotStudio.Stations

Assembly: ABB.Robotics.RobotStudio.Stations.dll

Syntax

public sealed class RsToolData : RsDataDeclaration, ISupportCopy

Examples

Create RsToolData.

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

RsToolData()

Initializes a new instance of the RsToolData class.

Declaration

public RsToolData()

Examples

Create RsToolData.

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>

Properties

Frame

Gets a Transform that corresponds to the TCP of the tool.

Declaration

public Transform Frame { get; }

Property Value

Type	Description
Transform

Examples

Get Frame.

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>

FrameSize

Gets or set the size of the graphical representation of the TCP frame.

Declaration

public double FrameSize { get; set; }

Property Value

Type	Description
double

Examples

Get/Set FrameSize.

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>

LoadData

Gets or sets the RsLoadData of the tool.

Declaration

public RsLoadData LoadData { get; set; }

Property Value

Type	Description
RsLoadData

Examples

Get/Set LoadData.

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>

Name

Gets or sets the name of the object

Declaration

public override string Name { get; set; }

Property Value

Type	Description
string

Overrides

RsDataDeclaration.Name

RobotHold

Gets or sets a values specifying whether or not the robot is holding the tool: True if the robot is holding the tool, false otherwise.

Declaration

public bool RobotHold { get; set; }

Property Value

Type	Description
bool

Examples

Get/Set RobotHold.

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>

ShowName

Gets or sets whether the name of the tooldata will be displayed in the graphics.

Declaration

public bool ShowName { get; set; }

Property Value

Type	Description
bool

Examples

Get/Set ShowName.

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>

Visible

Gets or set whether the TCP frame should be displayed in the graphics.

Declaration

public bool Visible { get; set; }

Property Value

Type	Description
bool

Examples

Get/Set Visible.

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

AfterLoad(PimDocument)

Declaration

protected override void AfterLoad(PimDocument doc)

Parameters

Type	Name	Description
PimDocument	doc

Overrides

ProjectObject.AfterLoad(PimDocument)

Copy()

Creates a copy of the DataDeclaration.

Declaration

public override ProjectObject Copy()

Returns

Type	Description
ProjectObject

Overrides

RsDataDeclaration.Copy()

IsValid(RsToolData)

Declaration

[Obsolete("not used")]
public static bool IsValid(RsToolData toolData)

Parameters

Type	Name	Description
RsToolData	toolData

Returns

Type	Description
bool

Implements

ISupportCopy