Class 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.

Inheritance

object

ProjectObject

RsDataDeclaration

RsJointTarget

Implements

ISupportCopy

Inherited Members

RsDataDeclaration.Copy()

RsDataDeclaration.GetReferencingInstructions()

RsDataDeclaration.DisplayName

RsDataDeclaration.Synchronize

RsDataDeclaration.ModuleName

RsDataDeclaration.StorageType

RsDataDeclaration.Local

RsDataDeclaration.DataType

ProjectObject.FindObjects(Predicate<ProjectObject>, Predicate<ProjectObject>)

ProjectObject.ToString()

ProjectObject.Parent

ProjectObject.ContainingProject

ProjectObject.Attributes

ProjectObject.UIVisible

ProjectObject.TypeDisplayName

ProjectObject.UniqueId

ProjectObject.Children

ProjectObject.DisplayNameChanged

ProjectObject.ProjectObjectChanged

ProjectObject.InternalEvent

Namespace: ABB.Robotics.RobotStudio.Stations

Assembly: ABB.Robotics.RobotStudio.Stations.dll

Syntax

public sealed class RsJointTarget : RsDataDeclaration, ISupportCopy

Examples

RsJointTarget Example.

Project.UndoContext.BeginUndoStep("RsJointTargetExample");
try
{
Station station = Station.ActiveStation;
            // Create a joint target corresponding to the robots home position.
            RsJointTarget myHomeJointTarget = new RsJointTarget();

            // Get a valid RAPID name for the target and assign it.
            myHomeJointTarget.Name = station.ActiveTask.GetValidRapidName("JointTarget", "_", 1);

            // Add the JointTarget to the station.
            station.ActiveTask.DataDeclarations.Add(myHomeJointTarget);

            // Create the RobAxisValues for the target.
            RobotAxisValues rbHomeAxis = new RobotAxisValues();
            rbHomeAxis.Rax_1 = 0;
            rbHomeAxis.Rax_2 = 0;
            rbHomeAxis.Rax_3 = 0;
            rbHomeAxis.Rax_4 = 0;
            rbHomeAxis.Rax_5 = 30;
            rbHomeAxis.Rax_6 = 0;

            // Set the robot axis values of the target.
            myHomeJointTarget.SetRobotAxes(rbHomeAxis, false);

            // Set the target to visible in the graphics.
            myHomeJointTarget.Visible = true;

            // Show the name of the target in the graphics.
            myHomeJointTarget.ShowName = true;

            // Make the frame size twice as big for the target.
            myHomeJointTarget.FrameSize = myHomeJointTarget.FrameSize * 2;
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

Constructors

View Source

RsJointTarget()

Creates and initializes a new RsJointTarget object.

Declaration

public RsJointTarget()

Examples

Create RsJointTarget.

Project.UndoContext.BeginUndoStep("RsJointTargetExample");
try
{
Station station = Station.ActiveStation;
            // Create a joint target corresponding to the robots home position.
            RsJointTarget myHomeJointTarget = new RsJointTarget();

            // Get a valid RAPID name for the target and assign it.
            myHomeJointTarget.Name = station.ActiveTask.GetValidRapidName("JointTarget", "_", 1);

            // Add the JointTarget to the station.
            station.ActiveTask.DataDeclarations.Add(myHomeJointTarget);

            // Create the RobAxisValues for the target.
            RobotAxisValues rbHomeAxis = new RobotAxisValues();
            rbHomeAxis.Rax_1 = 0;
            rbHomeAxis.Rax_2 = 0;
            rbHomeAxis.Rax_3 = 0;
            rbHomeAxis.Rax_4 = 0;
            rbHomeAxis.Rax_5 = 30;
            rbHomeAxis.Rax_6 = 0;

            // Set the robot axis values of the target.
            myHomeJointTarget.SetRobotAxes(rbHomeAxis, false);

            // Set the target to visible in the graphics.
            myHomeJointTarget.Visible = true;

            // Show the name of the target in the graphics.
            myHomeJointTarget.ShowName = true;

            // Make the frame size twice as big for the target.
            myHomeJointTarget.FrameSize = myHomeJointTarget.FrameSize * 2;
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

Properties

View Source

FrameSize

Gets or set the size of the graphical representation of the RsToolData.

Declaration

public double FrameSize { get; set; }

Property Value

Type	Description
double

Examples

Get/set FrameSize.

Project.UndoContext.BeginUndoStep("RsJointTargetExample");
try
{
Station station = Station.ActiveStation;
            // Create a joint target corresponding to the robots home position.
            RsJointTarget myHomeJointTarget = new RsJointTarget();

            // Get a valid RAPID name for the target and assign it.
            myHomeJointTarget.Name = station.ActiveTask.GetValidRapidName("JointTarget", "_", 1);

            // Add the JointTarget to the station.
            station.ActiveTask.DataDeclarations.Add(myHomeJointTarget);

            // Create the RobAxisValues for the target.
            RobotAxisValues rbHomeAxis = new RobotAxisValues();
            rbHomeAxis.Rax_1 = 0;
            rbHomeAxis.Rax_2 = 0;
            rbHomeAxis.Rax_3 = 0;
            rbHomeAxis.Rax_4 = 0;
            rbHomeAxis.Rax_5 = 30;
            rbHomeAxis.Rax_6 = 0;

            // Set the robot axis values of the target.
            myHomeJointTarget.SetRobotAxes(rbHomeAxis, false);

            // Set the target to visible in the graphics.
            myHomeJointTarget.Visible = true;

            // Show the name of the target in the graphics.
            myHomeJointTarget.ShowName = true;

            // Make the frame size twice as big for the target.
            myHomeJointTarget.FrameSize = myHomeJointTarget.FrameSize * 2;
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

View Source

IsInline

Gets or sets whether the RsJointTarget will be decalared inline in the RAPID when syncronized.

Declaration

public bool IsInline { get; set; }

Property Value

Type	Description
bool

Examples

Get/set IsInline.

Project.UndoContext.BeginUndoStep("RsJointTargetExample");
try
{
Station station = Station.ActiveStation;
            // Create a joint target corresponding to the robots home position.
            RsJointTarget myHomeJointTarget = new RsJointTarget();

            // Get a valid RAPID name for the target and assign it.
            myHomeJointTarget.Name = station.ActiveTask.GetValidRapidName("JointTarget", "_", 1);

            // Add the JointTarget to the station.
            station.ActiveTask.DataDeclarations.Add(myHomeJointTarget);

            // Create the RobAxisValues for the target.
            RobotAxisValues rbHomeAxis = new RobotAxisValues();
            rbHomeAxis.Rax_1 = 0;
            rbHomeAxis.Rax_2 = 0;
            rbHomeAxis.Rax_3 = 0;
            rbHomeAxis.Rax_4 = 0;
            rbHomeAxis.Rax_5 = 30;
            rbHomeAxis.Rax_6 = 0;

            // Set the robot axis values of the target.
            myHomeJointTarget.SetRobotAxes(rbHomeAxis, false);

            // Set the target to visible in the graphics.
            myHomeJointTarget.Visible = true;

            // Show the name of the target in the graphics.
            myHomeJointTarget.ShowName = true;

            // Make the frame size twice as big for the target.
            myHomeJointTarget.FrameSize = myHomeJointTarget.FrameSize * 2;
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

View Source

Name

Gets or sets the name of the object

Declaration

public override string Name { get; set; }

Property Value

Type	Description
string

Overrides

RsDataDeclaration.Name

View Source

ShowName

Gets or sets a value indicating whether the name of the JointTarge will be displayed in the graphics.

Declaration

public bool ShowName { get; set; }

Property Value

Type	Description
bool

Examples

Get/set ShowName.

Project.UndoContext.BeginUndoStep("RsJointTargetExample");
try
{
Station station = Station.ActiveStation;
            // Create a joint target corresponding to the robots home position.
            RsJointTarget myHomeJointTarget = new RsJointTarget();

            // Get a valid RAPID name for the target and assign it.
            myHomeJointTarget.Name = station.ActiveTask.GetValidRapidName("JointTarget", "_", 1);

            // Add the JointTarget to the station.
            station.ActiveTask.DataDeclarations.Add(myHomeJointTarget);

            // Create the RobAxisValues for the target.
            RobotAxisValues rbHomeAxis = new RobotAxisValues();
            rbHomeAxis.Rax_1 = 0;
            rbHomeAxis.Rax_2 = 0;
            rbHomeAxis.Rax_3 = 0;
            rbHomeAxis.Rax_4 = 0;
            rbHomeAxis.Rax_5 = 30;
            rbHomeAxis.Rax_6 = 0;

            // Set the robot axis values of the target.
            myHomeJointTarget.SetRobotAxes(rbHomeAxis, false);

            // Set the target to visible in the graphics.
            myHomeJointTarget.Visible = true;

            // Show the name of the target in the graphics.
            myHomeJointTarget.ShowName = true;

            // Make the frame size twice as big for the target.
            myHomeJointTarget.FrameSize = myHomeJointTarget.FrameSize * 2;
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

View Source

Visible

Geta or sets a value specifying whether the joint target should be visible in the graphics or not.

Declaration

public bool Visible { get; set; }

Property Value

Type	Description
bool

Examples

Get/set Visible.

Project.UndoContext.BeginUndoStep("RsJointTargetExample");
try
{
Station station = Station.ActiveStation;
            // Create a joint target corresponding to the robots home position.
            RsJointTarget myHomeJointTarget = new RsJointTarget();

            // Get a valid RAPID name for the target and assign it.
            myHomeJointTarget.Name = station.ActiveTask.GetValidRapidName("JointTarget", "_", 1);

            // Add the JointTarget to the station.
            station.ActiveTask.DataDeclarations.Add(myHomeJointTarget);

            // Create the RobAxisValues for the target.
            RobotAxisValues rbHomeAxis = new RobotAxisValues();
            rbHomeAxis.Rax_1 = 0;
            rbHomeAxis.Rax_2 = 0;
            rbHomeAxis.Rax_3 = 0;
            rbHomeAxis.Rax_4 = 0;
            rbHomeAxis.Rax_5 = 30;
            rbHomeAxis.Rax_6 = 0;

            // Set the robot axis values of the target.
            myHomeJointTarget.SetRobotAxes(rbHomeAxis, false);

            // Set the target to visible in the graphics.
            myHomeJointTarget.Visible = true;

            // Show the name of the target in the graphics.
            myHomeJointTarget.ShowName = true;

            // Make the frame size twice as big for the target.
            myHomeJointTarget.FrameSize = myHomeJointTarget.FrameSize * 2;
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

Methods

View Source

AfterLoad(PimDocument)

Declaration

protected override void AfterLoad(PimDocument doc)

Parameters

Type	Name	Description
PimDocument	doc

Overrides

ProjectObject.AfterLoad(PimDocument)

View Source

GetExternalAxes(bool)

Gets the ExternalAxisValues of the jointtarget.

Declaration

public ExternalAxisValues GetExternalAxes(bool convertFromRapidDataToSI)

Parameters

Type	Name	Description
bool	convertFromRapidDataToSI	Specifies whether the ExternalAxisValues should be converted from the RAPID data format to SI or not.

Returns

Type	Description
ExternalAxisValues	The ExternalAxisValues of the jointtarget.

View Source

GetJointValues(Mechanism, bool)

Declaration

public double[] GetJointValues(Mechanism mechanism, bool convertFromRapidDataToSI)

Parameters

Type	Name	Description
Mechanism	mechanism
bool	convertFromRapidDataToSI

Returns

Type	Description
double[]

View Source

GetRobotAxes(bool)

Gets the RobotAxisValues of the jointtarget.

Declaration

public RobotAxisValues GetRobotAxes(bool convertFromRapidDataToSI)

Parameters

Type	Name	Description
bool	convertFromRapidDataToSI	Specifies whether the RobotAxisValues should be converted from the RAPID data format to SI or not.

Returns

Type	Description
RobotAxisValues	The RobotAxisValues of the jointtarget

Examples

GetRobotAxes.

Project.UndoContext.BeginUndoStep("RsJointTargetExample");
try
{
Station station = Station.ActiveStation;
            // Create a joint target corresponding to the robots home position.
            RsJointTarget myHomeJointTarget = new RsJointTarget();

            // Get a valid RAPID name for the target and assign it.
            myHomeJointTarget.Name = station.ActiveTask.GetValidRapidName("JointTarget", "_", 1);

            // Add the JointTarget to the station.
            station.ActiveTask.DataDeclarations.Add(myHomeJointTarget);

            // Create the RobAxisValues for the target.
            RobotAxisValues rbHomeAxis = new RobotAxisValues();
            rbHomeAxis.Rax_1 = 0;
            rbHomeAxis.Rax_2 = 0;
            rbHomeAxis.Rax_3 = 0;
            rbHomeAxis.Rax_4 = 0;
            rbHomeAxis.Rax_5 = 30;
            rbHomeAxis.Rax_6 = 0;

            // Set the robot axis values of the target.
            myHomeJointTarget.SetRobotAxes(rbHomeAxis, false);

            // Set the target to visible in the graphics.
            myHomeJointTarget.Visible = true;

            // Show the name of the target in the graphics.
            myHomeJointTarget.ShowName = true;

            // Make the frame size twice as big for the target.
            myHomeJointTarget.FrameSize = myHomeJointTarget.FrameSize * 2;
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

View Source

Highlight()

Sets the highlight color of the target to the default highlight color.

Declaration

public void Highlight()

View Source

Highlight(Color)

Sets the highlight color of the target.

Declaration

public void Highlight(Color color)

Parameters

Type	Name	Description
Color	color

View Source

JumpTo()

Jumps the mechanism of the task that the jointtraget belongs to, to the position of the jointtarget.

Declaration

public bool JumpTo()

Returns

Type	Description
bool	True if it is possible to jump to the target and the jump succeded, otherwise false.

Examples

JumpTo.

// NOTE: This example requires a station containing an IRB_140 and a running VC.
Project.UndoContext.BeginUndoStep("RsMoveInstructionMovementMethods");
try
{
Station station = Station.ActiveStation;
            // Create a PathProcedure to add the move instructions to.
            RsPathProcedure myPath = new RsPathProcedure("myPath");
            station.ActiveTask.PathProcedures.Add(myPath);

            // Create a joint target corresponding to the robots home position.
            RsJointTarget myHomeJointTarget = new RsJointTarget();
            myHomeJointTarget.Name = "myHomeJT";
            station.ActiveTask.DataDeclarations.Add(myHomeJointTarget);

            // Set the robot axis values.
            RobotAxisValues rbHomeAxis = new RobotAxisValues();
            rbHomeAxis.Rax_1 = 0;
            rbHomeAxis.Rax_2 = 0;
            rbHomeAxis.Rax_3 = 0;
            rbHomeAxis.Rax_4 = 0;
            rbHomeAxis.Rax_5 = 30;
            rbHomeAxis.Rax_6 = 0;
            myHomeJointTarget.SetRobotAxes(rbHomeAxis, false);

            // Create another joint target to jump and move to.
            RsJointTarget myJointTarget = new RsJointTarget();
            myJointTarget.Name = "myJointTarget";
            station.ActiveTask.DataDeclarations.Add(myJointTarget);

            // Set the robot axis values.
            RobotAxisValues rbAxis = new RobotAxisValues();
            rbAxis.Rax_1 = 70.0000000000001;
            rbAxis.Rax_2 = -30;
            rbAxis.Rax_3 = 30;
            rbAxis.Rax_4 = -55.0000000000001;
            rbAxis.Rax_5 = 40;
            rbAxis.Rax_6 = 10;
            myJointTarget.SetRobotAxes(rbAxis, false);

            // Create a move instruction.
            RsMoveInstruction myMoveAbsJ = new RsMoveInstruction(station.ActiveTask, "MoveAbs", "Default", "myJointTarget");
            myPath.Instructions.Add(myMoveAbsJ);

            // Jump to the move instruction 'myMoveAbsJ'.
            if (myMoveAbsJ.JumpTo())
            {
                Logger.AddMessage(new LogMessage("The robot jumped successfully!"));
            }
            else
            {
                Logger.AddMessage(new LogMessage("The JumpTo command failed!"));
            }

            // Jump the robot to its home postition.
            myHomeJointTarget.JumpTo();

            // Move to the move instruction 'myMoveAbsJ'
            if (myMoveAbsJ.MoveTo())
            {
                Logger.AddMessage(new LogMessage("The robot moved successfully!"));
            }
            else
            {
                Logger.AddMessage(new LogMessage("The MoveTo command failed!"));
            }
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

View Source

JumpTo(bool)

Jumps the mechanism of the task that the jointtraget belongs to, to the position of the jointtarget. Optionally updates the joint values in the virtual controller. Updating the joint values in the controller is time consuning compared to only updating the Mechanism joint value. If you need to frequently call this method, it is recomended to update the joint values in the controller, only for the last call.

Declaration

public bool JumpTo(bool updateController)

Parameters

Type	Name	Description
bool	updateController	Specifies if the joint values in the controller shall be updated in addition to the joint values of the mechanism.

Returns

Type	Description
bool	True if it is possible to jump to the target and the jump succeded, otherwise false.

Examples

JumpTo.

// NOTE: This example requires a station containing an IRB_140 and a running VC.
Project.UndoContext.BeginUndoStep("RsMoveInstructionMovementMethods");
try
{
Station station = Station.ActiveStation;
            // Create a PathProcedure to add the move instructions to.
            RsPathProcedure myPath = new RsPathProcedure("myPath");
            station.ActiveTask.PathProcedures.Add(myPath);

            // Create a joint target corresponding to the robots home position.
            RsJointTarget myHomeJointTarget = new RsJointTarget();
            myHomeJointTarget.Name = "myHomeJT";
            station.ActiveTask.DataDeclarations.Add(myHomeJointTarget);

            // Set the robot axis values.
            RobotAxisValues rbHomeAxis = new RobotAxisValues();
            rbHomeAxis.Rax_1 = 0;
            rbHomeAxis.Rax_2 = 0;
            rbHomeAxis.Rax_3 = 0;
            rbHomeAxis.Rax_4 = 0;
            rbHomeAxis.Rax_5 = 30;
            rbHomeAxis.Rax_6 = 0;
            myHomeJointTarget.SetRobotAxes(rbHomeAxis, false);

            // Create another joint target to jump and move to.
            RsJointTarget myJointTarget = new RsJointTarget();
            myJointTarget.Name = "myJointTarget";
            station.ActiveTask.DataDeclarations.Add(myJointTarget);

            // Set the robot axis values.
            RobotAxisValues rbAxis = new RobotAxisValues();
            rbAxis.Rax_1 = 70.0000000000001;
            rbAxis.Rax_2 = -30;
            rbAxis.Rax_3 = 30;
            rbAxis.Rax_4 = -55.0000000000001;
            rbAxis.Rax_5 = 40;
            rbAxis.Rax_6 = 10;
            myJointTarget.SetRobotAxes(rbAxis, false);

            // Create a move instruction.
            RsMoveInstruction myMoveAbsJ = new RsMoveInstruction(station.ActiveTask, "MoveAbs", "Default", "myJointTarget");
            myPath.Instructions.Add(myMoveAbsJ);

            // Jump to the move instruction 'myMoveAbsJ'.
            if (myMoveAbsJ.JumpTo())
            {
                Logger.AddMessage(new LogMessage("The robot jumped successfully!"));
            }
            else
            {
                Logger.AddMessage(new LogMessage("The JumpTo command failed!"));
            }

            // Jump the robot to its home postition.
            myHomeJointTarget.JumpTo();

            // Move to the move instruction 'myMoveAbsJ'
            if (myMoveAbsJ.MoveTo())
            {
                Logger.AddMessage(new LogMessage("The robot moved successfully!"));
            }
            else
            {
                Logger.AddMessage(new LogMessage("The MoveTo command failed!"));
            }
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

View Source

JumpToAsync(bool)

Declaration

public Task<bool> JumpToAsync(bool updateController)

Parameters

Type	Name	Description
bool	updateController

Returns

Type	Description
Task<bool>

View Source

ResetHighlight()

Resets the highlight color of the target to the default color.

Declaration

public void ResetHighlight()

View Source

SetExternalAxes(ExternalAxisValues, bool)

Sets the ExternalAxisValues of the jointtarget.

Declaration

public void SetExternalAxes(ExternalAxisValues value, bool convertFromSIToRapidData)

Parameters

Type	Name	Description
ExternalAxisValues	value	The ExternalAxisValues to be set for the jointtarget.
bool	convertFromSIToRapidData	Specifies whether the ExternalAxisValues should be converted from the SI to RAPID data format or not.

View Source

SetRobotAxes(RobotAxisValues, Mechanism, bool)

Sets the RobotAxisValues of the jointtarget to the current values of the specified Mechanism.

Declaration

public void SetRobotAxes(RobotAxisValues robotAxes, Mechanism mechanism, bool convertFromSIToRapidData)

Parameters

Type	Name	Description
RobotAxisValues	robotAxes	The RobotAxisValues to be set for the jointtarget. Axis values that correspond to active joints of the specified Mechanism are ignored.
Mechanism	mechanism	The Mechanism from which to get the current joint values.
bool	convertFromSIToRapidData	Specifies whether the RobotAxisValues should be converted from SI to RAPID data format or not.

View Source

SetRobotAxes(RobotAxisValues, bool)

Sets the RobotAxisValues of the jointtarget.

Declaration

public void SetRobotAxes(RobotAxisValues value, bool convertFromSIToRapidData)

Parameters

Type	Name	Description
RobotAxisValues	value	The RobotAxisValues to be set for the jointtarget.
bool	convertFromSIToRapidData	Specifies whether the RobotAxisValues should be converted from SI to RAPID data format or not.

Examples

SetRobotAxes.

Project.UndoContext.BeginUndoStep("RsJointTargetExample");
try
{
Station station = Station.ActiveStation;
            // Create a joint target corresponding to the robots home position.
            RsJointTarget myHomeJointTarget = new RsJointTarget();

            // Get a valid RAPID name for the target and assign it.
            myHomeJointTarget.Name = station.ActiveTask.GetValidRapidName("JointTarget", "_", 1);

            // Add the JointTarget to the station.
            station.ActiveTask.DataDeclarations.Add(myHomeJointTarget);

            // Create the RobAxisValues for the target.
            RobotAxisValues rbHomeAxis = new RobotAxisValues();
            rbHomeAxis.Rax_1 = 0;
            rbHomeAxis.Rax_2 = 0;
            rbHomeAxis.Rax_3 = 0;
            rbHomeAxis.Rax_4 = 0;
            rbHomeAxis.Rax_5 = 30;
            rbHomeAxis.Rax_6 = 0;

            // Set the robot axis values of the target.
            myHomeJointTarget.SetRobotAxes(rbHomeAxis, false);

            // Set the target to visible in the graphics.
            myHomeJointTarget.Visible = true;

            // Show the name of the target in the graphics.
            myHomeJointTarget.ShowName = true;

            // Make the frame size twice as big for the target.
            myHomeJointTarget.FrameSize = myHomeJointTarget.FrameSize * 2;
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

Implements

ISupportCopy