Class Station

The Station object is a set of objects with a spatial and/or logical relationship.

Inheritance

object

ProjectObject

Project

Station

Implements

IHasTransform

IHasGraphicComponents

IHasFrames

IHasIOSignals

IHasIOConnections

IHasPropertyBindings

IHasAssets

Inherited Members

Project.SaveCopyAs(string)

Project.AutoSave()

Project.FromFileName(string)

Project.GetObjectFromUniqueId(string)

Project.FileInfo

Project.Format

Project.ActiveProject

Project.IsDirty

Project.Selection

Project.UndoContext

Project.DocumentInfo

Project.ReadOnly

Project.OpenProjects

Project.SavedStates

Project.ProjectObjectRemoved

Project.BeforeLoadProjectFile

Project.ReferencedProjectFileNotSame

Project.ReferencedProjectFileNotFound

Project.AutoSaveAvailable

Project.ProjectFileLocked

Project.Saved

Project.Saving

Project.Closed

Project.ProjectFileDifferentVersion

Project.ActiveProjectChanged

Project.ProjectAdded

Project.ProjectRemoved

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

ProjectObject.ToString()

ProjectObject.DisplayName

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

[Persistent("Station")]
public sealed class Station : Project, IHasTransform, IHasGraphicComponents, IHasFrames, IHasIOSignals, IHasIOConnections, IHasPropertyBindings, IHasAssets

Constructors

Station()

Creates and initiates a new Station object

Declaration

public Station()

Station(bool)

Creates and initiates a new Station object

Declaration

public Station(bool setAsActive)

Parameters

Type	Name	Description
bool	setAsActive	Set the new Station as ActiveProjectifActiveProject is currently null.

Properties

ActiveStation

Gets the station that is currently active.

Declaration

public static Station ActiveStation { get; }

Property Value

Type	Description
Station	The Station that is currently active, if any. Only one station can be active at a given time.

Remarks

This is equivalent to

Project.ActiveProject as Station

ActiveTask

Gets the active RsTask of the station.

Declaration

public RsTask ActiveTask { get; set; }

Property Value

Type	Description
RsTask

Annotations

Gets a AnnotationCollection object that represents all the annotations in the station.

Declaration

public AnnotationCollection Annotations { get; }

Property Value

Type	Description
AnnotationCollection

Assets

Gets an AssetCollection that represents all the assets in the station.

Declaration

public AssetCollection Assets { get; }

Property Value

Type	Description
AssetCollection

Attachments

Gets an AttachmentCollection object that represents all the attachments in station.

Declaration

public AttachmentCollection Attachments { get; }

Property Value

Type	Description
AttachmentCollection

Bindings

Gets a PropertyBindingCollection that contains all the SmartComponent property bindings in the station.

Declaration

public PropertyBindingCollection Bindings { get; }

Property Value

Type	Description
PropertyBindingCollection

BuiltInDataRecorderSignals

Gets a BuiltInDataRecorderSignals that gives access to the identities of the built in data recorder signals.

Declaration

public BuiltInDataRecorderSignals BuiltInDataRecorderSignals { get; }

Property Value

Type	Description
BuiltInDataRecorderSignals

Cameras

Gets a CameraCollection object that represents all the cameras in the station.

Declaration

public CameraCollection Cameras { get; }

Property Value

Type	Description
CameraCollection

ClipPlanes

Gets a ClipPlaneCollection that contains all the clip planes in the station.

Declaration

public ClipPlaneCollection ClipPlanes { get; }

Property Value

Type	Description
ClipPlaneCollection

ClosingTask

Returns a Task that completes when any asynchronous operations initiated by Close() have completed.

Declaration

public Task ClosingTask { get; }

Property Value

Type	Description
Task

CollisionSets

Gets a CollisionSetCollection object that represents all the collision sets in the station.

Declaration

public CollisionSetCollection CollisionSets { get; }

Property Value

Type	Description
CollisionSetCollection

Connections

Gets a IOConnectionCollection that contains all the IOSignal connections in the station.

Declaration

public IOConnectionCollection Connections { get; }

Property Value

Type	Description
IOConnectionCollection

DefaultTask

Gets the default RsTask of the station.

Declaration

public RsTask DefaultTask { get; }

Property Value

Type	Description
RsTask

Remarks

The default task is used when there is no robot in the station.

Documents

Gets the collection of ProjectDocuments associated with the station.

Declaration

public ProjectDocumentCollection Documents { get; }

Property Value

Type	Description
ProjectDocumentCollection

Frames

Gets a FrameCollection object that represents all the graphical frames in the station.

Declaration

public FrameCollection Frames { get; }

Property Value

Type	Description
FrameCollection

GraphicComponents

Gets a GraphicComponentCollection object that represents all the graphic components in the station.

Declaration

public GraphicComponentCollection GraphicComponents { get; }

Property Value

Type	Description
GraphicComponentCollection

IOSignals

Gets the IOSignalCollection that represents virtual signals in the station.

Declaration

public IOSignalCollection IOSignals { get; }

Property Value

Type	Description
IOSignalCollection

Irc5Controllers

Gets an RsIrc5ControllerCollection object that represents all the virtual controllers in the station.

Declaration

public RsIrc5ControllerCollection Irc5Controllers { get; }

Property Value

Type	Description
RsIrc5ControllerCollection

IsLoading

Returns true if a station is currently being loaded, false otherwise

Declaration

public static bool IsLoading { get; }

Property Value

Type	Description
bool

Lights

Gets a LightCollection that contains all the light sources in the station.

Declaration

public LightCollection Lights { get; }

Property Value

Type	Description
LightCollection

Remarks

For the light sources to be used, AdvancedLighting must be enabled.

Markups

Gets a MarkupCollection object that contains all the markups in the station.

Declaration

public MarkupCollection Markups { get; }

Property Value

Type	Description
MarkupCollection

Name

Gets the name of this Station object.

Declaration

public override string Name { get; }

Property Value

Type	Description
string

Overrides

ProjectObject.Name

Remarks

Returns the name of project (or containing solution) file on disk.

ParticleSystems

Gets a ParticleSystemCollection that contains all the particle systems in the station.

Declaration

public ParticleSystemCollection ParticleSystems { get; }

Property Value

Type	Description
ParticleSystemCollection

PhysicsConstraints

Gets a PhysicsConstraintCollection object that represents all the physics constraints in the station.

Declaration

public PhysicsConstraintCollection PhysicsConstraints { get; }

Property Value

Type	Description
PhysicsConstraintCollection

PhysicsSimulationProperties

Gets or sets global properties of the physics simulation.

Declaration

public PhysicsSimulationProperties PhysicsSimulationProperties { get; set; }

Property Value

Type	Description
PhysicsSimulationProperties

PointClouds

Gets a PointCloudCollection that contains all the point clouds in the station.

Declaration

public PointCloudCollection PointClouds { get; }

Property Value

Type	Description
PointCloudCollection

SimulationConfigurations

Gets a SimulationConfigurationCollection object that represents all the simulation configurations in the station.

Declaration

public SimulationConfigurationCollection SimulationConfigurations { get; }

Property Value

Type	Description
SimulationConfigurationCollection

Tags

Gets a ProjectObjectTagCollection object that represents all the object tags in the station.

Declaration

public ProjectObjectTagCollection Tags { get; }

Property Value

Type	Description
ProjectObjectTagCollection

TemporaryGraphics

Gets the TemporaryGraphicCollection that represents all the temporary graphic objects in the station.

Declaration

public TemporaryGraphicCollection TemporaryGraphics { get; }

Property Value

Type	Description
TemporaryGraphicCollection

Transform

Gets the graphical Transform of the station.

Declaration

public Transform Transform { get; }

Property Value

Type	Description
Transform

Remarks

The station transform cannot be changed and will always have an identity matrix.

UCS

Sets or returns the Transform object defining the UCS (User Coordinate System) in the station. The UCS is defined by setting the UCS property to an Transform object.

Declaration

public Transform UCS { get; set; }

Property Value

Type	Description
Transform	The Transform object defining the UCS.

Remarks

The UCS only affects the RobotStudio GUI and not the RobotStudio API. The UCS used in order to make manipulations in the GUI easier. The user can make manipulations relative to the UCS instead of the WCS (World Coordinate System).

VirtualSignals

Declaration

[Obsolete("Use IOSignals instead")]
public VirtualSignalCollection VirtualSignals { get; }

Property Value

Type	Description
VirtualSignalCollection

Methods

AfterLoad(PimDocument)

Declaration

protected override void AfterLoad(PimDocument doc)

Parameters

Type	Name	Description
PimDocument	doc

Overrides

Project.AfterLoad(PimDocument)

BeforeSave(PimDocument)

Declaration

protected override void BeforeSave(PimDocument doc)

Parameters

Type	Name	Description
PimDocument	doc

Overrides

ProjectObject.BeforeSave(PimDocument)

BeforeSaveProject()

Called before the project is saved. The difference from ProjectObject.BeforeSave() is that this is called before the list of objects to be saved is created

Declaration

protected override void BeforeSaveProject()

Overrides

Project.BeforeSaveProject()

Close()

Closes this Station object.

Declaration

public override void Close()

Overrides

Project.Close()

FindGraphicComponentsByType(Type)

Gets all GraphicComponents of a specified type in the station.

Declaration

public GraphicComponent[] FindGraphicComponentsByType(Type type)

Parameters

Type	Name	Description
Type	type	Type that inherits from GraphicComponent

Returns

Type	Description
GraphicComponent[]

GetAllObjects()

Returns an array of all ProjectObjects that are a part of this station (including the Station itself). For performance reasons, geometry objects (all objects below Part) are excluded.

Declaration

public ProjectObject[] GetAllObjects()

Returns

Type	Description
ProjectObject[]

Load(string, bool)

Loads a station from a file.

Declaration

public static Station Load(string fileName, bool asReadOnly)

Parameters

Type	Name	Description
string	fileName	The path of the station to be loaded. This must be an absolute path.
bool	asReadOnly	If true, the station is loaded as read only.

Returns

Type	Description
Station	A Station object.

Exceptions

Type	Condition
ArgumentException
ArgumentNullException
DirectoryNotFoundException
FileNotFoundException
UnauthorizedAccessException
IOException

Load(string, bool, ProgressNotification)

Loads a station from a file.

Declaration

public static Station Load(string fileName, bool asReadOnly, ProgressNotification progressDelegate)

Parameters

Type	Name	Description
string	fileName	The path of the station to be loaded. This must be an absolute path.
bool	asReadOnly	If true, the station is loaded as read only.
ProgressNotification	progressDelegate	Callback delegate for load progress notification

Returns

Type	Description
Station	A Station object.

Exceptions

Type	Condition
ArgumentException
ArgumentNullException
DirectoryNotFoundException
FileNotFoundException
UnauthorizedAccessException
IOException

Load(string, bool, ProgressNotification, FileNotFoundNotification)

Loads a station from a file.

Declaration

public static Station Load(string fileName, bool asReadOnly, ProgressNotification progressDelegate, FileNotFoundNotification fileNotFoundDelegate)

Parameters

Type	Name	Description
string	fileName	The path of the station to be loaded. This must be an absolute path.
bool	asReadOnly	If true, the station is loaded as read only.
ProgressNotification	progressDelegate	Callback delegate for load progress notification
FileNotFoundNotification	fileNotFoundDelegate	Callback delegate for file not found notification

Returns

Type	Description
Station	A Station object.

Exceptions

Type	Condition
ArgumentException
ArgumentNullException
DirectoryNotFoundException
FileNotFoundException
UnauthorizedAccessException
IOException

Load(string, bool, ProgressNotification, FileNotFoundNotification, bool)

Loads a station from a file.

Declaration

public static Station Load(string fileName, bool asReadOnly, ProgressNotification progressDelegate, FileNotFoundNotification fileNotFoundDelegate, bool loadGeometry)

Parameters

Type	Name	Description
string	fileName	The path of the station to be loaded. This must be an absolute path.
bool	asReadOnly	If true, the station is loaded as read only.
ProgressNotification	progressDelegate	Callback delegate for load progress notification
FileNotFoundNotification	fileNotFoundDelegate	Callback delegate for file not found notification
bool	loadGeometry	If false, the station is loaded without geometries

Returns

Type	Description
Station	A Station object.

Exceptions

Type	Condition
ArgumentException
ArgumentNullException
DirectoryNotFoundException
FileNotFoundException
UnauthorizedAccessException
IOException

LoadAsync(string, bool, ProgressNotification, bool, CancellationToken)

Asynchronous version of Load.

Declaration

public static Task<Station> LoadAsync(string fileName, bool asReadOnly, ProgressNotification progressDelegate, bool loadGeometry, CancellationToken cancellationToken)

Parameters

Type	Name	Description
string	fileName
bool	asReadOnly
ProgressNotification	progressDelegate
bool	loadGeometry
CancellationToken	cancellationToken

Returns

Type	Description
Task<Station>

Remarks

Calling .Result or .Wait() on the returned task will cause a deadlock. Use await instead.

OnCreatingObject()

Declaration

protected override void OnCreatingObject()

Overrides

Project.OnCreatingObject()

OnDelete()

Declaration

protected override void OnDelete()

Overrides

Project.OnDelete()

Save()

Saves the station to file.

Declaration

public override void Save()

Overrides

Project.Save()

SaveAs(string)

Saves the station to a station file on a new location.

Declaration

public override void SaveAs(string fileName)

Parameters

Type	Name	Description
string	fileName	Path to the station file

Overrides

Project.SaveAs(string)

Remarks

If the station has been saved before, the old station file will remain on the file system. When Save() is called next time, the station will be saved to the new location. To make a copy of the station, but then continue to use the original file, use SaveCopyAs(string, bool). SaveCopyAs(string, bool)

Exceptions

Type	Condition
ArgumentException	The specified file name is invalid.

SaveAs(string, ProjectFormat)

Saves the station to a station file on a new location.

Declaration

public override void SaveAs(string fileName, ProjectFormat format)

Parameters

Type	Name	Description
string	fileName	Path to the station file
ProjectFormat	format	Format of the saved station

Overrides

Project.SaveAs(string, ProjectFormat)

Remarks

If the station has been saved before, the old station file will remain on the file system. When Save() is called next time, the station will be saved to the new location. To make a copy of the station, but then continue to use the original file, use SaveCopyAs(string, bool). SaveCopyAs(string, bool)

Exceptions

Type	Condition
ArgumentException	The specified file name is invalid.

SaveCopyAs(string, bool)

Saves a copy of the station to file, optionally removing CAD Geometry from the saved station.

Declaration

public void SaveCopyAs(string fileName, bool removeGeometry)

Parameters

Type	Name	Description
string	fileName
bool	removeGeometry

UpdateGraphics()

Ensures that the graphics gets updated to reflect recent changes.

Declaration

public static void UpdateGraphics()

Remarks

There is normally no need to call this function since the graphics are updated automatically during idle processing and simulation.

UpdateGraphics(bool)

Ensures that the graphics gets updated to reflect recent changes.

Declaration

public static void UpdateGraphics(bool forceRefresh)

Parameters

Type	Name	Description
bool	forceRefresh	Forces a full and immediate refresh. Use only if absolutely needed!

Remarks

There is normally no need to call this function since the graphics are updated automatically during idle processing and simulation.

Events

ActiveTaskChanged

Occurs when the ActiveTask property has changed.

Declaration

public event ProjectObjectPropertyChangedEventHandler ActiveTaskChanged

Event Type

Type	Description
ProjectObjectPropertyChangedEventHandler

IOSignalChanged

Raised whenever any property except Value changes on one of the signals in the IOSignals collection

Declaration

public event IOSignalChangedEventHandler IOSignalChanged

Event Type

Type	Description
IOSignalChangedEventHandler

IOSignalValueChanged

Raised whenever the Value property changes on one of the IOSignals in the IOSignals collection

Declaration

public event IOSignalChangedEventHandler IOSignalValueChanged

Event Type

Type	Description
IOSignalChangedEventHandler

UCSChanged

Occurs when the UCS property has changed.

Declaration

public event EventHandler UCSChanged

Event Type

Type	Description
EventHandler

Implements

IHasTransform

IHasGraphicComponents

IHasFrames

IHasIOSignals

IHasIOConnections

IHasPropertyBindings

IHasAssets