Class Simulator

Inheritance
object
Simulator
Namespace: ABB.Robotics.RobotStudio.Stations
Assembly: ABB.Robotics.RobotStudio.Stations.dll
Syntax
public sealed class Simulator

Properties

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ActiveConfiguration

Gets or sets the SimulationConfiguration that should be used for the next simulation.

Declaration
public static SimulationConfiguration ActiveConfiguration { get; set; }
Property Value
Type Description
SimulationConfiguration
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CurrentTime

Gets the current simulation time (in milliseconds).

Declaration
public static double CurrentTime { get; }
Property Value
Type Description
double
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DataRecorder

Gets the data recorder that records simulation data.

Declaration
public static SimulationDataRecorder DataRecorder { get; }
Property Value
Type Description
SimulationDataRecorder
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FullSpeed

Gets or sets a value indicating if the simulation should run at maximum possible speed.

Declaration
public static bool FullSpeed { get; set; }
Property Value
Type Description
bool
Remarks

If this is true, SimulationSpeed is ignored.

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ProcessTimerEnabled

Declaration
[Obsolete("No longer supported")]
public static bool ProcessTimerEnabled { get; set; }
Property Value
Type Description
bool
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RecordingEnabled

ABB internal use.

Declaration
public static bool RecordingEnabled { get; set; }
Property Value
Type Description
bool
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Resolution

Gets or sets the desired virtual time step (in milliseconds).

Declaration
public static double Resolution { get; set; }
Property Value
Type Description
double
Remarks

Actual virtual time step may differ from the set value depending on controller configuration.

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SimulationSpeed

Gets or sets the desired simulation speed, defined as the ratio between virtual time and real time.

Declaration
public static double SimulationSpeed { get; set; }
Property Value
Type Description
double
Remarks

Actual simulation speed may be slower depending on resolution and system performance.

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State

Gets the SimulationState of the current simulation.

Declaration
public static SimulationState State { get; }
Property Value
Type Description
SimulationState

Methods

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Pause()

Declaration
[Obsolete("Use PauseAsync() instead")]
public static void Pause()
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PauseAsync()

Pauses the running simulation.

Declaration
public static Task PauseAsync()
Returns
Type Description
Task
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ResetProcessTimer()

Declaration
[Obsolete("No longer supported")]
public static void ResetProcessTimer()
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Resume()

Declaration
[Obsolete("Use ResumeAsync() instead")]
public static void Resume()
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ResumeAsync()

Resumes the simulation if paused.

Declaration
public static Task ResumeAsync()
Returns
Type Description
Task
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Start()

Declaration
[Obsolete("Use StartAsync() instead")]
public static void Start()
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StartAsync()

Starts the simulation.

Declaration
public static Task StartAsync()
Returns
Type Description
Task
Remarks

If the InitialState of the ActiveConfiguration is set to the name of a SavedState in the active station, it will be loaded automatically before simulation starts. If DataRecordingEnabled is true, the SimulationDataRecorder will be started automatically before simulation starts.

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StartAsync(bool)

Starts the simulation.

Declaration
public static Task StartAsync(bool paused)
Parameters
Type Name Description
bool paused

If true, the simulation will immediately go to paused state and will not run automatically.
Returns
Type Description
Task
Remarks

If the InitialState of the ActiveConfiguration is set to the name of a SavedState in the active station, it will be loaded automatically before simulation starts. If DataRecordingEnabled is true, the SimulationDataRecorder will be started automatically before simulation starts.

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Step()

Declaration
[Obsolete("Use StepAsync() instead")]
public static void Step()
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StepAsync()

Advances the current simulation one time step.

Declaration
public static Task StepAsync()
Returns
Type Description
Task
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Stop()

Declaration
[Obsolete("Use StopAsync() instead")]
public static void Stop()
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StopAsync()

Stops the running simulation.

Declaration
public static Task StopAsync()
Returns
Type Description
Task
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WaitForState(SimulationState)

Returns a Task that completes when simulation changes to a specified state.

Declaration
public static Task WaitForState(SimulationState state)
Parameters
Type Name Description
SimulationState state
Returns
Type Description
Task
Remarks

Do not call Wait() on this task (may deadlock), await it instead.

Events

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ActiveConfigurationChanged

Raised when the ActiveConfiguration property changes.

Declaration
public static event EventHandler ActiveConfigurationChanged
Event Type
Type Description
EventHandler
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EvaluateTrigger

Occurs when an event table trigger should be evaluated

Declaration
public static event EvaluateTriggerEventHandler EvaluateTrigger
Event Type
Type Description
EvaluateTriggerEventHandler
Remarks

Only occurs for actions that are not evaluated by the internal simulation engine.

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ExecuteAction

Occurs when an event table action should be executed

Declaration
public static event ExecuteActionEventHandler ExecuteAction
Event Type
Type Description
ExecuteActionEventHandler
Remarks

Only occurs for actions that are not executed by the internal simulation engine.

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ProcessTimerEnableChanged

Declaration
[Obsolete("No longer supported")]
public static event EventHandler ProcessTimerEnableChanged
Event Type
Type Description
EventHandler
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ProcessTimerReset

Declaration
[Obsolete("No longer supported")]
public static event EventHandler ProcessTimerReset
Event Type
Type Description
EventHandler
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Starting

Raised before the simulation starts, giving clients a chance to abort the start

Declaration
public static event CancelEventHandler Starting
Event Type
Type Description
CancelEventHandler
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StateChanged

Occurs when the state of the simulator has changed, such as when started or stopped.

Declaration
public static event EventHandler StateChanged
Event Type
Type Description
EventHandler
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Tick

Occurs when the simulation advances one tick.

Declaration
public static event EventHandler Tick
Event Type
Type Description
EventHandler