/// <summary> /// This is the method that actually does the work. /// </summary> /// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param> protected override void SolveInstance(IGH_DataAccess DA) { Plane positionPlane = Plane.WorldXY; RobotTool tool = null; List <ExternalAxis> externalAxis = new List <ExternalAxis>(); if (!DA.GetData(0, ref positionPlane)) { return; } if (!DA.GetData(1, ref tool)) { tool = new RobotTool(); } if (!DA.GetDataList(2, externalAxis)) { externalAxis = new List <ExternalAxis>() { }; } Robot robot = new Robot(); try { robot = IRB6620_150_220.GetRobot(positionPlane, tool, externalAxis); } catch (Exception ex) { AddRuntimeMessage(GH_RuntimeMessageLevel.Error, ex.Message); } DA.SetData(0, robot); }
/// <summary> /// Returns a predefined ABB Robot preset. /// </summary> /// <param name="preset"> The Robot preset type. </param> /// <param name="positionPlane"> The position and orientation of the Robot in world coordinate space. </param> /// <param name="tool"> The Robot Tool. </param> /// <param name="externalAxes"> The external axes attached to the Robot. </param> /// <returns></returns> public static Robot GetRobotPreset(RobotPreset preset, Plane positionPlane, RobotTool tool, List <ExternalAxis> externalAxes = null) { // Check Robot Tool data if (tool == null) { tool = new RobotTool(); } // Check External Axes if (externalAxes == null) { externalAxes = new List <ExternalAxis>() { }; } else if (preset == RobotPreset.EMPTY) { return(new Robot()); } if (preset == RobotPreset.IRB1100_4_0475) { return(IRB1100_4_0475.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB1100_4_058) { return(IRB1100_4_058.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB120_3_058) { return(IRB120_3_058.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB1200_5_090) { return(IRB1200_5_090.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB1200_7_070) { return(IRB1200_7_070.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB1300_10_115) { return(IRB1300_10_115.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB1300_11_090) { return(IRB1300_11_090.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB1300_7_140) { return(IRB1300_7_140.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB140_6_081) { return(IRB140_6_081.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB1600_X_120) { return(IRB1600_X_120.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB1600_X_145) { return(IRB1600_X_145.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB1660ID_X_155) { return(IRB1660ID_X_155.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB2600_12_185) { return(IRB2600_12_185.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB2600_X_165) { return(IRB2600_X_165.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB2600ID_15_185) { return(IRB2600ID_15_185.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB2600ID_8_200) { return(IRB2600ID_8_200.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB4600_20_250) { return(IRB4600_20_250.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB4600_40_255) { return(IRB4600_40_255.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB4600_X_205) { return(IRB4600_X_205.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6620_150_220) { return(IRB6620_150_220.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6640_235_255) { return(IRB6640_235_255.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6650_125_320) { return(IRB6650_125_320.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6650_200_275) { return(IRB6650_200_275.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6650S_125_350) { return(IRB6650S_125_350.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6650S_200_300) { return(IRB6650S_200_300.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6650S_90_390) { return(IRB6650S_90_390.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6700_150_320) { return(IRB6700_150_320.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6700_155_285) { return(IRB6700_155_285.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6700_175_305) { return(IRB6700_175_305.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6700_200_260) { return(IRB6700_200_260.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6700_205_280) { return(IRB6700_205_280.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6700_235_265) { return(IRB6700_235_265.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6700_245_300) { return(IRB6700_245_300.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6700_300_270) { return(IRB6700_300_270.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6790_205_280) { return(IRB6790_205_280.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB6790_235_265) { return(IRB6790_235_265.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB7600_150_350) { return(IRB7600_150_350.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB7600_325_310) { return(IRB7600_325_310.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB7600_340_280) { return(IRB7600_340_280.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB7600_400_255) { return(IRB7600_400_255.GetRobot(positionPlane, tool, externalAxes)); } else if (preset == RobotPreset.IRB7600_500_255) { return(IRB7600_500_255.GetRobot(positionPlane, tool, externalAxes)); } else { throw new Exception("Could not find the data of the defined Robot preset type."); } }