Represents a graphical annotation displayed in the 3D graphics.

Represents a collection Annotation objects

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.

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

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

A Collection of Attchment objects.

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.

A collection of Body objects.

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

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

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

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

A collection of Camera objects.

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

Represents a collection of ClipPlane objects.

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.

A collection of Coedge objects.

Provides collision detection on Collision Sets.

Provides data for the Collision event.

A collection of GraphicComponent collision objects.

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

A collection of CollisionSet objects.

Specifies the behavior of the simulation for an RsIrc5Controller.

Represents a collection of ControllerSimulationConfiguration objects.

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

Provides data for PropertyChanged and PropertyValueChanged

Represents a collection of DynamicProperties attached to a SmartComponent.

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.

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

Provides data for the EvaluateTrigger event.

Provides data for the ExecuteAction event.

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.

A collection of Face objects.

Represents a simple modelling frame.

Represents a collection of Frames in a Station.

Contains common graphic export settings.

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

A collection of GraphicComponent objects.

The GraphicComponentGroup is an assembly of GraphicComponent objects.

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

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.

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

Provides data for the EventsAvailable event.

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

Represents a collection of IOConnection objects.

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

Provides data for the IOSignalChanged event.

Represents information about a I/O signal value change.

Represents a collection of IOSignals attached to a SmartComponent

Represents a light source in a station.

Represents a collection of Light objects.

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

A collection of Loop objects.

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

A collection of Markup objects.

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

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.

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

Graphical representation of a Body.

Graphical representation of a Face.

Contains helper/extension methods for building Mesh primitives.

Represents the graphical representation of a Part.

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

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

Represents a collection of ParticleSystem objects.

Represents a cable that is simulated by the physics system.

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

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

Represents a collection PhysicsConstraint objects

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

Represents a collection of PointCloud objects.

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

A collection of ProjectObjectTag objects.

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

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

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

Represents a generic RAPID instruction.

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

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

A collection of RsDataDeclaration objects.

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.

Abstract base class for RsActionInstruction and RsMoveInstruction.

Represents an argument of a RsInstruction or a RsInstructionTemplate.

A collection of RsInstructionArgument objects.

A collection of RsInstruction objects.

Abstract base class for RsMoveInstructionDescription and RsActionInstructionDescription.

A collection of RsInstructionDescription objects.

Describes the data type and other properties of an RsInstructionArgument.

A collection of RsInstructionParameter objects.

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

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.

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.

A collection of RsInstructionTemplate objects.

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.

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

Defines the parameters and other properties of an RsMoveInstruction.

An RsInstruction that represents a call to a 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.

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.

A collection of RsProcessDefinition objects.

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.

A collection of RsProcessTemplate objects.

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

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

A collection of RsTargets.

A collection of RsTasks.

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

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.

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.

A collection of Shell items.

Specifies the behavior of a simulation.

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

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

Represents a collection of SimulationStopwatch objects.

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

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

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

Provides options for Body.Sweep and Body.Extrude.

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

Represents a collection of TaskSimulationConfiguration objects.

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

Provides data for the Tick event

Represents the translation and orientation of a graphical ProjectObject.

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

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

A collection of Wire objects.

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.

Represents a section of a Wire limited by two vertices.

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.

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

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.

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

Contains quantitative information about a Mesh.

Specifies the behavior of Optimize(OptimizeMeshParameters, ProgressNotification)

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

Provides parameters for drawing a particle system.

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

Specifies spring parameters for one degree of freedom of a PhysicsConstraint

Specifies limit paramters for one degree of freedom of a PhysicsConstraint

Specifies bulk and surface physical properties of a Part.

Specifies motor parameters for one degree of freedom of a PhysicsConstraint

Specifies global properties of the physics simulation.

Specifies spring parameters for one degree of freedom of a PhysicsConstraint

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

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

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.

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

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.

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.

Contains information about the result of a property/signal value validation.

Represents an object that can act as the child in an Attachment.

Represents an object that can act as the parent in an Attachment.

Represents an object that has a collection of Asset objects.

Represents an object that has a collection of DynamicProperty objects.

Represents an object that has a collection of Frame objects.

Represents a geometric entity or primitive.

Represents an object that has a collection of GraphicComponent objects.

Represents an object that has a collection of IOConnection objects.

Represents an object that has a collection of IOSignal objects.

Represents an object that has a collection of PropertyBinding objects.

Represents an object that has a Transform.

Represents the method that will handle the Collision event.

Represents the method that will handle the PropertyChanged and PropertyValueChanged events.

Represents the method that will handle the EvaluateTrigger event.

Represents the method that will handle the ExecuteAction event.

Represents the method that will handle the file not found callback from the Load(String, Boolean, ProgressNotification, FileNotFoundNotification) method.

Represents the method that will handle the IOSignalChanged event.

Represents the method that will handle the RapidSynchronized event.

Specifies values for ApproachVector, in tool coordinates.

Specifies how a texture is blended with the underlying color

Represents the type of primitive for a body that was created by a method such as CreateSolidBox(Matrix4, Vector3).

Specifies the type of a Body

Specifies information from the robot motion system that can be recorded.

Specifies a collision or near miss event.

Specifies values for HighlightLevel.

Specifies the collision type.

Specifies the classification of a GraphicComponentLibrary.

Specifies how the stored target configuration is used in JumpToAsync(RsToolData, Boolean, ConfigurationMode) and JumpToAsync(Boolean, ConfigurationMode).

Specifies if it is known if a RsRobTarget is reachable with its current configuration.

Defines the different mapping states for an RsIrc5Controller. See MappingState property.

Specifies the detail levels used when creating a graphical representation of a geometric entity (faceting).

Specifies how the CollisionDetector uses the Detectable property when checking for collision or minimum distance between two GraphicComponents.

Specifies the type of an Edge.

Specifies values to indicate the activation mode of an EventTableEntry.

Specifies values for Operator

Specifies values for Operator.

Specifies the type of a Face. A face can be either represented analytically by a simple equation, or a parametric spline.

Specifies how a Camera behaves when it follows an object.

Specifies the result of a forward kinematic calculation.

Specifies the usage of a Frame.

Specifies values for Projection and Projection.

Specifies the style for highlighting objects in the 3D graphics

Specifies the result of a subscription to an Information Stream Channel such as an I/O signal. Some of the values are only relevant for specific channel types, some are common.

Specifies how an object intersects with a volume

Specifies additional attributes for an IOSignal

Specifies the type and direction of an IOSignal.

Specifies the motion type of a mechanism joint.

Specifies the result of JumpToAsync(RsToolData, Boolean, ConfigurationMode) and JumpToAsync(Boolean, ConfigurationMode).

Specifies the type of light source that a Light represents.

Specifies values for ActivationMode

Specifies values for MechanicalUnitType

Specifies values for MechanismType.

Specifies how a MeshFace is rendered.

Specifies values for MotionType

Specifies values for AccessMode

Specifies the type of a PhysicsConstraint.

Specifies the physical behavior of a GraphicComponent

Specifies the RAPID storage type of a RsDataDeclaration. Please refer to the RAPID reference manual for more information.

Whether the robot can reach the target of RsMoveInstruction or not.

Specifies values for PointType

Specifies how a screenshot of the graphics should be rendered.

Specifies the state of a simulated object.

Represents the type of trigger for starting or stopping a SimulationStopwatch.

Specifies the direction of a RAPID synchronization operation.

Specifies the different types of messages that can be generated from the RAPIDSync system. For each element it is documented how many strings the corresponding message has, and their meaning.

Specifies the different severity levels defined for log messages.

Specifies values for TextureType.

Indicates the validity of an action instruction triggered by a condition, e.g. SetBrush.

Specifies values for Result

Specifies how a virtual controller should be started or restarted

Specifies how simulation time is controlled in relation to virtual controllers during simulation.

Specifies how zone data for move instructions in a path is visualized.