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ConfigurationData Structure
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.

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

The ConfigurationData type exposes the following members.

Properties
  NameDescription
Public propertyCf1
The quadrant of axis 1.
Public propertyCf4
The quadrant of axis 4.
Public propertyCf6
The quadrant of axis 6.
Public propertyCfx
The quadrant of an axis that is not axis 1,4 or 6. Its usage depends on the robot model. For many robot models this value is not used.
Public propertyStatic memberCompareCfg
Gets an IEqualityComparerT that compares two ConfigurationData by quadrant values only.
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Methods
  NameDescription
Public methodEquals (Overrides ValueTypeEquals(Object).)
Public methodGetConfigurationData
Returns the axis quadrants as an array of integers.
Public methodGetHashCode (Overrides ValueTypeGetHashCode.)
Public methodGetJointValues
Returns the joint values that where set when this class was returned from GetConfiguration().
Public methodGetType (Inherited from Object.)
Public methodStatic memberIsCompatible
Checks if two configurations are compatible, i.e. can describe the same robot pose.
Public methodStatic memberSetConfigurationData
Sets the axis quadrants for a given configuration data, as specified by an array of integers.
Public methodToString (Overrides ValueTypeToString.)
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Operators
  NameDescription
Public operatorStatic memberEquality
Public operatorStatic memberInequality
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Version Information

Supported in: 1.0.0.0
See Also