Struct ToolDataInfo

Represents the geometric information about a modeled tool. When modeling a mechanism it is possible to define information that can be used to create a RsToolData object. The tooldata is RobotStudios representation of the RAPID tooldata data type. The RsToolData contains information that is only relevant in the context of a RAPID program. For this reason all the inforamtion of a tooldata is not relvant to define when modeling a mechanism.

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

Properties

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AxesOfMoment

Declaration
public readonly Quaternion AxesOfMoment { get; }
Property Value
Type Description
Quaternion
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CenterOfGravity

Declaration
public readonly Vector3 CenterOfGravity { get; }
Property Value
Type Description
Vector3
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Inertia

Declaration
public readonly Vector3 Inertia { get; }
Property Value
Type Description
Vector3
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Name

Declaration
public readonly string Name { get; }
Property Value
Type Description
string
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ToolComponent

Declaration
public readonly GraphicComponent ToolComponent { get; }
Property Value
Type Description
GraphicComponent
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ToolFrame

Declaration
public readonly Matrix4 ToolFrame { get; }
Property Value
Type Description
Matrix4

Methods

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Attach(IAttachableChild, bool)

Attaches the specified IAttachableChild to the ToolComponent. Please refer to the documentation of Attachment for details about attaching objects to each other.

Declaration
public bool Attach(IAttachableChild child, bool mount)
Parameters
Type Name Description
IAttachableChild child

The IAttachableChild to attach to the ToolComponent.
bool mount

Specifies if the position of the child shall be affected by the attachment or not. See Attachment for details.
Returns
Type Description
bool

True if an attachment could be created, false otherwise
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Attach(IAttachableChild, bool, Matrix4)

Attaches the specified IAttachableChild to the ToolComponent. Please refer to the documentation of Attachment for details about attaching objects to each other.

Declaration
public bool Attach(IAttachableChild child, bool mount, Matrix4 offset)
Parameters
Type Name Description
IAttachableChild child

The IAttachableChild to attach to the ToolComponent.
bool mount

Specifies if the position of the child shall be affected by the attachment or not. See Attachment for details.
Matrix4 offset

The offset from this tool to the new position of the child. Only used if mount is true.
Returns
Type Description
bool

True if an attachment could be created, false otherwise
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Detach(IAttachableChild)

Detaches the specified IAttachableChild from the ToolComponent. Please refer to the documentation of Attachment for details about detaching objects.

Declaration
public bool Detach(IAttachableChild child)
Parameters
Type Name Description
IAttachableChild child

The IAttachableChild to detach from the ToolComponent.
Returns
Type Description
bool

True if the child could be detached, false otherwise
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GetFrame()

Gets the Frame that is associated with the ToolDataInfo. This frame always has the same name as the tooldata info.

Declaration
public Frame GetFrame()
Returns
Type Description
Frame

See Also