Namespace ABB.Robotics.RobotStudio.Stations

Classes

Annotation

Represents a persisted graphical annotation displayed in the 3D graphics.

AnnotationCollection

Represents a collection of Annotation objects

ArrowAnnotation

Represents an arrow annotation displayed in the 3D graphics.

An asset is a piece of binary content that is embedded in a Smart Component. RobotStudio uses assets to store string resources and the Code Behind assembly. Any kind of binary data that is needed by the smart component can be added as an asset.

AssetCollection

Represents a collection of Assets contained by a SmartComponent or a Station.

Attachment

You can attach an object (child) to another object (parent). Attachments can be created on part level and on mechanism level. When an object has been attached to a parent, moving the parent also moves the child. One of the most common attachments is to attach a tool to a robot

AttachmentCollection

A Collection of Attachment objects.

Body

A body is typically a single 3D solid or a 2D surface, but it can also be several disjoint lumps treated as one body. It is the highest level object in the geometric model. Several bodies can be grouped in a Part.

BodyCollection

A collection of Body objects.

BuiltInControllerSourceSignals

Gives access to built in data recorder signals, that represents information from the controller.

BuiltInDataRecorderSignals

Gives access to the identities of the built in data recorder signals.

BuiltInSmartComponentSourceSignals

Gives access to built in data recorder signals, that represents information from SmartComponents.

Camera

Represents a camera that can be used to control the view of a GraphicControl.

CameraCollection

A collection of Camera objects.

ClipPlane

Defines a plane that can be used to clip geometry in a GraphicControl.

ClipPlaneCollection

Represents a collection of ClipPlane objects.

Coedge

A coedge is closely related to an edge. A coedge stores its relationships with adjacent edges and with superior owning entities. (In some contexts, the coedge may be viewed as the use of an edge by a face or wire.) The data structures formed by these relationships (stored as pointers) and their interpretation depend upon the nature of the owning entity.

CoedgeCollection

A collection of Coedge objects.

CollisionDetector

Provides collision detection on Collision Sets.

CollisionEventArgs

Provides data for the Collision event.

CollisionObjectCollection

A collection of GraphicComponent collision objects.

CollisionSet

Defines two groups of objects that will be tested for collision against each other.

CollisionSetCollection

A collection of CollisionSet objects.

ControllerSimulationConfiguration

Specifies the behavior of the simulation for an RsIrc5Controller.

ControllerSimulationConfigurationCollection

Represents a collection of ControllerSimulationConfiguration objects.

DrawingAnnotation

DynamicProperty

An object attached to a SmartComponent that has value, type and attributes. The property value is used to control the behavior of the SmartComponent

DynamicPropertyChangedEventArgs

Provides data for PropertyChanged and PropertyValueChanged

DynamicPropertyCollection

Represents a collection of DynamicProperties attached to a SmartComponent.

Edge

An Edge is bounded by one or more vertices, referring to one Vertex at each end. Edges are closely related to Coedges, which allows the Edge to occur in more than one Face, thus makes it possible to create solids.

EdgeGraph

Helper class to simplify edge traversal for a set of connected edges in a body

EvaluateTriggerEventArgs

Provides data for the EvaluateTrigger event.

EventTable

EventTableAction

EventTableActionAttach

EventTableActionCollection

EventTableActionCustom

EventTableActionDetach

EventTableActionIO

EventTableActionMechanicalPose

EventTableActionMonitor

EventTableActionMove

EventTableActionNothing

EventTableActionShow

EventTableActionTimer

EventTableActionVstaMacro

EventTableEntry

EventTableEntryCollection

EventTableTrigger

EventTableTriggerCollision

EventTableTriggerCustom

EventTableTriggerIO

EventTableTriggerLogic

ExecuteActionEventArgs

Provides data for the ExecuteAction event.

Face

A face is a bounded portion of a single geometric surface, the two-dimensional analog of a body. The boundary is represented by one or more loops or edges. Each face is simply connected, implying that one can traverse from any point on the interior of the face to any other point on the interior of the face without crossing the boundary of the face. In general, it is not meaningful to distinguish exterior and interior loops of edges, though for certain surface types this may be possible and some algorithms may do so.

FaceCollection

A collection of Face objects.

Frame

Represents a simple modelling frame.

FrameCollection

Represents a collection of Frames in a Station.

GenericGraphicExportSettings

Contains common graphic export settings.

GraphicComponent

The base class of all objects in the station that represent physical objects or entities.

GraphicComponentCollection

A collection of GraphicComponent objects.

GraphicComponentGroup

The GraphicComponentGroup is an assembly of GraphicComponent objects.

GraphicComponentLibrary

A GraphicComponentLibrary allows you to save and load graphic components to and from a library file.

GraphicImportSettings

Provides settings for ImportAsync(string, GraphicImportSettings, IProgressCallback).

IOConnection

Represents a connection from from a source signal to a target signal.

IOConnectionCollection

Represents a collection of IOConnection objects.

IOSignal

Represents an I/O signal in the Station or in a SmartComponent.

IOSignalChangeEvent

Represents information about a I/O signal value change.

IOSignalChangedEventArgs

Provides data for the IOSignalChanged event.

IOSignalCollection

Represents a collection of IOSignals attached to a SmartComponent

InformationStream

Provides access to the Information Stream of the Virtual Controller. Currently only I/O signals are supported. The Information Stream is synchronized with Virtual Time, so you can use it together with the Simulator object in order to react on signal value changes during a simulation. Each change event is stamped with the virtual time when it occured.

InformationStreamEvent

The base class for all events that can be recieved from the InformationStream. It contains a time stamp that is synchronized with virtual time.

InformationStreamEventArgs

Provides data for the EventsAvailable event.

Light

Represents a light source in a station.

LightCollection

Represents a collection of Light objects.

Loop

A Loop is a set of connected coedges. Normally it has no start or end points.

LoopCollection

A collection of Loop objects.

Markup

Represents a text and pointer markup displayed in the 3D graphics.

MarkupCollection

A collection of Markup objects.

Material

Specifies the appearance of a surface in the 3D graphics.

MeasurementAnnotation

Represents a measurement annotation with a text and an arrow between two points in the 3D graphics.

Mechanism

A mechanism is a GraphicComponent that a number of joints controlling the movement of a number of links. A robot is the archetypal mechanism in RobotStudio, but it is not the only kind.

MechanismBuilder

Mesh

A collection of MeshParts representing different detail levels of a Part.

MeshBody

Graphical representation of a Body.

MeshFace

Graphical representation of a Face.

MeshHelpers

Contains helper/extension methods for building Mesh primitives.

MeshPart

Represents the graphical representation of a Part.

PackAndGoResult

Represents the result of StationServices.PackAndGo and StationServices.UnpackAndWork.

Part

A Part is a container for bodies, and can hold zero or more bodies. A Part also contains an orientation.

ParticleSystem

Represents a system of particles in the 3D graphics that move and transform according to the parameters in a ParticleSystemData.

ParticleSystemCollection

Represents a collection of ParticleSystem objects.

PhysicsCable

Represents a cable that is simulated by the physics system.

PhysicsCableControlPoint

Represents a point through which a PhysicsCable is routed when it is created.

PhysicsConstraint

Controls how two physics enabled GraphicComponents can move in relation to eachother.

PhysicsConstraintCollection

Represents a collection PhysicsConstraint objects

PointCloud

Represents a large number of point primitives in the 3D graphics.

PointCloudCollection

Represents a collection of PointCloud objects.

ProcessTimerEnableChangedEventArgs

ProjectObjectTag

Represents a tag that can be applied to any object that is part of a Station

ProjectObjectTagCollection

A collection of ProjectObjectTag objects.

PropertyAttributeCollection

Represents a collection of key-value string pairs attached to a DynamicProperty.

PropertyBinding

Represents a binding from a source property to a target property.

PropertyBindingCollection

RapidModuleExistsException

RapidSyncResult

ABB Internal use only. Contains the results of a RAPID Sync operation

RapidSynchronizationEventArgs

RsActionInstruction

Represents a generic RAPID instruction.

RsActionInstructionDescription

Defines the parameters and other properties of an RsActionInstruction. Also contains templates for creating new RsActionInstruction instances.

RsDataDeclaration

This is an abstract base class for RsRobTarget, RsJointTarget, RsToolData, RsWorkObject and RsGenericDataDeclaration. It corresponds to a RAPID variable instance, like num or tooldata.

RsDataDeclarationCollection

A collection of RsDataDeclaration objects.

RsGenericDataDeclaration

Represents a RAPID DataDeclaration that does not have dedicated class in the RobotStudio API, but that still should be possible to syncronize and/or modify.

RsInstruction

Abstract base class for RsActionInstruction and RsMoveInstruction.

RsInstructionArgument

Represents an argument of a RsInstruction or a RsInstructionTemplate.

RsInstructionArgumentCollection

A collection of RsInstructionArgument objects.

RsInstructionCollection

A collection of RsInstruction objects.

RsInstructionDescription

Abstract base class for RsMoveInstructionDescription and RsActionInstructionDescription.

RsInstructionDescriptionCollection

A collection of RsInstructionDescription objects.

RsInstructionParameter

Describes the data type and other properties of an RsInstructionArgument.

RsInstructionParameterCollection

A collection of RsInstructionParameter objects.

RsInstructionParameterGroup

Represents a group of one or more RsInstructionParameter objects. This object defines either a single parameter, or a group of mutually exclusive parameters.

RsInstructionParameterGroupCollection

A collection of RsInstructionParameterGroup objects. This collection defines all possible parameters of an RsInstruction. Each RsInstructionParameterGroup object defines either a single parameter, or a group of mutually exclusive parameters.

RsInstructionTemplate

Defines a set of argument values that are applied to the instructions created using the template. You can create templates for all instructions in the system running on the virtual controller.

RsInstructionTemplateCollection

A collection of RsInstructionTemplate objects.

RsIrc5Controller

RsIrc5ControllerCollection

RsJointTarget

A RsJointTarget corresponds to a jointtarget declaration in RAPID. It defines each individual axis position, for both the robot and the external axes. Jointtargets are used to define the positions that the robot and the external axes will move to with the instruction MoveAbsJ or MoveAbsL.

RsMechanicalUnit

RsMechanicalUnitCollection

RsMoveInstruction

Represents a RAPID instruction for moving the robot to a specified target in a specified manner.

RsMoveInstructionDescription

Defines the parameters and other properties of an RsMoveInstruction.

RsPathCallInstruction

An RsInstruction that represents a call to a RsPathProcedure.

RsPathProcedure

An RsPathProcedure is a sequence of move and action instructions. Paths are used to make the robot move along a sequence of targets. An RsPathsProcedure corresponds to a to RAPID procedure and is synchronized to the virtual controller.

RsPathProcedureCollection

RsProcessDefinition

A process definition is a group of 1-3 RsMoveInstructionDescriptions and a collection of their corresponding RsProcessTemplates. For instance the RsProcessDefinition representing the 'Arc' process would contain references to the RsMoveInstructionDescriptions of 'ArcC' and 'ArcL' and their templates.

RsProcessDefinitionCollection

A collection of RsProcessDefinition objects.

RsProcessTemplate

An RsProcessTemplate is an instance of a process definition. It contains a collection of 1-3 RsInstructionTemplates. The templates corresponds to the RsMoveInstructionDescriptions of the RsProcessDefinition that the RsProcessTemplate is a memeber of.

RsProcessTemplateCollection

A collection of RsProcessTemplate objects.

RsRobTarget

A RsRobTarget corresponds to a robtarget declaration in RAPID. A robtarget is used to define the position of a robot and external axes.

RsTarget

Defines a target position by the combination of a RsWorkObject and a RsRobTarget.

RsTargetCollection

A collection of RsTargets.

RsTask

RsTaskCollection

A collection of RsTasks.

RsToolData

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

RsWorkObject

A workobject is a coordinate system used to describe the position of a work piece. The workobject consists of two frames: a user frame and an object frame. All programed positions will be related to the object frame, which is related to the user frame, which is related to the world coordinate system. It corresponds to the 'workobject' data type in RAPID.

Shell

A Shell is a set of connected Faces and Wires. It is normally the outside of a solid body, but can also be the inside of a hollow body.

ShellCollection

A collection of Shell items.

SimulationConfiguration

Specifies the behavior of a simulation.

SimulationConfigurationCollection

SimulationDataRecorder

A data recorder than can record signals from a simulation. It is synchronized with virtual time.

SimulationStopwatch

Represents a stopwatch that (when displayed in the stopwatch UI) is automatically started and stopped by triggers during simulation.

SimulationStopwatchCollection

Represents a collection of SimulationStopwatch objects.

Simulator

SmartComponent

Represents a GraphicComponent that contains Properties, I/O Signals, Assets and other GraphicComponents. The behavior of the component is implemented by Code Behind.

SmartComponentCodeBehind

Base class for code-behind that implements behavior of a SmartComponent.

Station

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

StationServices

Contains high-level methods for working with stations.

SweepOptions

Provides options for Body.Sweep and Body.Extrude.

TargetReachEventArgs

TaskSimulationConfiguration

Specifies the behavior of the simulation for a task in an RsIrc5Controller.

TaskSimulationConfigurationCollection

Represents a collection of TaskSimulationConfiguration objects.

Texture

Represents a texture image that can be applied to surfaces in the 3D view

TickEventArgs

Provides data for the Tick event

Transform

Represents the translation and orientation of a graphical ProjectObject.

Vertex

A Vertex refers to a point in object space, and is the corner of either a Face or a Wire.

VirtualSignalChangedEventArgs

VirtualSignalCollection

Wire

A wire is a collection of Edges that are connected to each other, without being attached to a Face.

WireCollection

A collection of Wire objects.

Structs

ConfigurationData

Represents information about the robot arm configuration, to be used when reaching a target. Given a tool and a target is is usually possible for the robot to reach it using different set of axes angles. This structure has a corresponding RAPID data type called confdata. The ConfigurationData is used to unambigously denote one of a set of possible robot arm configurations. It is done by specifying in which quadrant, four of the robot axes, should be in. It is not necessecary to specify this value for all axes. Depending on the robot model, the axes used to denote configuration, and the interpretation of the configuration can vary. Please refer to the RAPID Reference Manual.

CurveSection

Represents a section of a Wire limited by two vertices.

DenavitHartenbergParameters

The Denavit-Hartenberg parameters (also called DH parameters) are the four parameters associated with a particular convention for attaching reference frames to the links of a spatial kinematic chain, or robot manipulator.

ExternalAxisValues

Represents the axis positions in radians of the robots external axes.

Flange

Represents a flange of a Mechanism. A flange is an entity that is created when modeling a mechanism. Using the flange you can attach other objects deriving from IAttachableChild to the link of the flange. A robot usually has a flange modeled at its wrist. That makes it possible to for example attach a tool on the wrist of a robot.

KnownAttributeKey

Contains attribute keys for use in the DynamicProperty.Attributes collection. Attributes with these keys are used for value validation and user interface hints.

MeshInfo

Contains quantitative information about a Mesh.

OptimizeMeshParameters

Specifies the behavior of Optimize(OptimizeMeshParameters, ProgressNotification)

ParameterRange

Represents the range of a spline surface in U or V direction.

ParticleSystemData

Provides parameters for drawing a particle system.

PhysicsCollisionProperties

Specifies settings for the collision detection of Part during physics simulation.

PhysicsFrictionParameters

Specifies spring parameters for one degree of freedom of a PhysicsConstraint

PhysicsLimitParameters

Specifies limit paramters for one degree of freedom of a PhysicsConstraint

PhysicsMaterial

Specifies bulk and surface physical properties of a Part.

PhysicsMotorParameters

Specifies motor parameters for one degree of freedom of a PhysicsConstraint

PhysicsSimulationProperties

Specifies global properties of the physics simulation.

PhysicsSpringParameters

Specifies spring parameters for one degree of freedom of a PhysicsConstraint

PhysicsSurfaceVelocity

Specifies properties for simulation of surface movement on a physics enabled Part .

RobotAxisValues

Represents the axis positions in radians of the robot axes. This class contains the same information as the RAPID data type robjoint.

RsLoadData

Loaddata is used to describe loads attached to the mechanical interface of the robot Load data usually defines the payload (grip load is defined by the instruction Grip- Load) of the robot, i.e. the load held in the robot gripper. The tool load is specified in the tool data (tooldata) which includes load data.

StopwatchTrigger

Represents a triggger with a condition that should be met for a SimulationStopwatch to be started or stopped.

SyncLogMessage

Represents a log message from the RAPIDSync system. The log message can be translated and displayed to the user, and also treated programmatically. The SyncLogMessage contains a list of strings which should be combined with a translated message to make it complete. It can for example be the location and name of a data declaration that has been created using RAPIDSync.

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.