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
AxesOfMoment
Declaration
public readonly Quaternion AxesOfMoment { get; }
Property Value
Type | Description |
---|---|
Quaternion |
CenterOfGravity
Declaration
public readonly Vector3 CenterOfGravity { get; }
Property Value
Type | Description |
---|---|
Vector3 |
Inertia
Declaration
public readonly Vector3 Inertia { get; }
Property Value
Type | Description |
---|---|
Vector3 |
Name
Declaration
public readonly string Name { get; }
Property Value
Type | Description |
---|---|
String |
ToolComponent
Declaration
public readonly GraphicComponent ToolComponent { get; }
Property Value
Type | Description |
---|---|
GraphicComponent |
ToolFrame
Declaration
public readonly Matrix4 ToolFrame { get; }
Property Value
Type | Description |
---|---|
Matrix4 |
Methods
Attach(IAttachableChild, Boolean)
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. |
Boolean | mount | Specifies if the position of the child shall be affected by the attachment or not. See Attachment for details. |
Returns
Type | Description |
---|---|
Boolean | True if an attachment could be created, false otherwise |
Attach(IAttachableChild, Boolean, 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. |
Boolean | 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 |
---|---|
Boolean | True if an attachment could be created, false otherwise |
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 |
---|---|
Boolean | True if the child could be detached, false otherwise |
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 |