Click or drag to resize
RsLoadData Structure
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.

Namespace:  ABB.Robotics.RobotStudio.Stations
Assembly:  ABB.Robotics.RobotStudio.Stations (in ABB.Robotics.RobotStudio.Stations.dll) Version: 7.0.8747.636
Syntax
C#
Copy
public struct RsLoadData

The RsLoadData type exposes the following members.

Constructors
  NameDescription
Public methodRsLoadData
Initializes a new RsLoadData instance with the specified parameters.
Top
Properties
  NameDescription
Public propertyCode exampleAom
The orientation of the coordinate system defined by the inertial axes of the tool load. Expressed in the wrist coordinate system as a quaternion (q1, q2, q3, q4). If a stationary tool is used, it means the inertial axes for the tool holding the work object.
Public propertyCode exampleCog
The centre of gravity of a tool load expressed in the wrist coordinate system. If a stationary tool is used, it means the centre of gravity for the tool holding the work object.
Public propertyCode exampleInertia
The moment of inertia of the load around the x-, y- and z-axis of the tool load or payload coordinate system.
Public propertyCode exampleMass
Gets or Sets the weight of the load.
Top
Methods
Operators
  NameDescription
Public operatorStatic memberCode exampleEquality
Compares the two RsLoadData objects for equality.
Public operatorStatic memberCode exampleInequality
Compares the two RsLoadData objects for inequality.
Top
Examples
RsLoadData Example.
RsToolData Example
Copy
Project.UndoContext.BeginUndoStep("RsToolDataExample");
try
{
    Station station = Station.ActiveStation;

    // Create a gripper tool using sample data from the RAPID manual.
    RsToolData myTool = new RsToolData();

    // Get a valid RAPID name and assign it.
    myTool.Name = station.ActiveTask.GetValidRapidName("gripper", "_", 1);

    // The robot is holding the tool.
    myTool.RobotHold = true;

    // Set the TCP, expressed in the wrist coordinate system.
    myTool.Frame.X = 0.0974;
    myTool.Frame.Y = 0;
    myTool.Frame.Z = 0.2231;
    myTool.Frame.RX = Globals.DegToRad(45);
    myTool.Frame.RY = 0;
    myTool.Frame.RZ = Globals.DegToRad(45);

    // Create the load data for the tool.
    RsLoadData myloadData = new RsLoadData();

    // Set mass.
    myloadData.Mass = 5;

    // Set center of gravity.
    myloadData.Cog = new Vector3(0.023, 0, 0.075);

    // Set the axis of moment.
    myloadData.Aom = new Quaternion(1, 0, 0, 0);

    // The load can be considered a point mass in this example, i.e. without any moment of inertia.
    myloadData.Inertia = new Vector3(0, 0, 0);

    // Att the load data to the tool.
    myTool.LoadData = myloadData;

    // Show the name of the tool data in the graphics.
    myTool.ShowName = true;

    // Set the frame size to twice its default size.
    myTool.FrameSize = myTool.FrameSize * 2;

    // Show the tool data in the graphics.
    myTool.Visible = true;

    // Add the tool data to the ActiveTask.
    station.ActiveTask.DataDeclarations.Add(myTool);
}
catch
{
    Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
    throw;
}
finally
{
    Project.UndoContext.EndUndoStep();
}
Version Information

Supported in: 1.0.0.0
See Also