Class RsWorkObject

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.

Inheritance

object

ProjectObject

RsDataDeclaration

RsWorkObject

Implements

ISupportCopy

IAttachableChild

Inherited Members

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.ProjectObjectChanged

ProjectObject.InternalEvent

Namespace: ABB.Robotics.RobotStudio.Stations

Assembly: ABB.Robotics.RobotStudio.Stations.dll

Syntax

public sealed class RsWorkObject : RsDataDeclaration, ISupportCopy, IAttachableChild

Examples

RsWorkObject Example.

Project.UndoContext.BeginUndoStep("RsWorkObjectExample");
try
{
Station station = Station.ActiveStation;
            // Create a RsWorkObject.
            RsWorkObject myWobj = new RsWorkObject();

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

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

            // Set the userframe to be a fixed coordinate system.
            myWobj.UserFrameProgrammed = true;

            // Translate the user frame.
            myWobj.UserFrame.X = 0.5;
            myWobj.UserFrame.Y = 0.2;
            myWobj.UserFrame.Z = 0.2;

            // Translate the object frame.
            myWobj.ObjectFrame.X = 0.5;
            myWobj.ObjectFrame.Y = 0.5;
            myWobj.ObjectFrame.Z = 0.5;

            // Rotate the object frame (pi radians around each axis).
            myWobj.ObjectFrame.RX = System.Math.PI;
            myWobj.ObjectFrame.RY = System.Math.PI;
            myWobj.ObjectFrame.RZ = System.Math.PI;

            // Display the wobj in the graphics.
            myWobj.Visible = true;

            // Display the name of the wobj in the graphics.
            myWobj.ShowName = true;

            // The wobj is not held by the robot.
            myWobj.RobotHold = false;

            // Add the wobj to the DataDeclarations of the ActiveTask.
            station.ActiveTask.DataDeclarations.Add(myWobj);

            // Set the wobj as the active workobject of the ActiveTask.
            station.ActiveTask.ActiveWorkObject = (RsWorkObject)station.ActiveTask.FindDataDeclarationFromModuleScope(myWobj.Name, myWobj.ModuleName);
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

Constructors

RsWorkObject()

Initializes a new instance of the RsWorkObject class.

Declaration

public RsWorkObject()

Examples

Create RsWorkObject.

Project.UndoContext.BeginUndoStep("RsWorkObjectExample");
try
{
Station station = Station.ActiveStation;
            // Create a RsWorkObject.
            RsWorkObject myWobj = new RsWorkObject();

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

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

            // Set the userframe to be a fixed coordinate system.
            myWobj.UserFrameProgrammed = true;

            // Translate the user frame.
            myWobj.UserFrame.X = 0.5;
            myWobj.UserFrame.Y = 0.2;
            myWobj.UserFrame.Z = 0.2;

            // Translate the object frame.
            myWobj.ObjectFrame.X = 0.5;
            myWobj.ObjectFrame.Y = 0.5;
            myWobj.ObjectFrame.Z = 0.5;

            // Rotate the object frame (pi radians around each axis).
            myWobj.ObjectFrame.RX = System.Math.PI;
            myWobj.ObjectFrame.RY = System.Math.PI;
            myWobj.ObjectFrame.RZ = System.Math.PI;

            // Display the wobj in the graphics.
            myWobj.Visible = true;

            // Display the name of the wobj in the graphics.
            myWobj.ShowName = true;

            // The wobj is not held by the robot.
            myWobj.RobotHold = false;

            // Add the wobj to the DataDeclarations of the ActiveTask.
            station.ActiveTask.DataDeclarations.Add(myWobj);

            // Set the wobj as the active workobject of the ActiveTask.
            station.ActiveTask.ActiveWorkObject = (RsWorkObject)station.ActiveTask.FindDataDeclarationFromModuleScope(myWobj.Name, myWobj.ModuleName);
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

Properties

FrameSize

Gets or set the size of the user and object frames in the graphics.

Declaration

public double FrameSize { get; set; }

Property Value

Type	Description
double

Examples

Get/Set FrameSize.

Project.UndoContext.BeginUndoStep("RsWorkObjectExample");
try
{
Station station = Station.ActiveStation;
            // Create a RsWorkObject.
            RsWorkObject myWobj = new RsWorkObject();

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

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

            // Set the userframe to be a fixed coordinate system.
            myWobj.UserFrameProgrammed = true;

            // Translate the user frame.
            myWobj.UserFrame.X = 0.5;
            myWobj.UserFrame.Y = 0.2;
            myWobj.UserFrame.Z = 0.2;

            // Translate the object frame.
            myWobj.ObjectFrame.X = 0.5;
            myWobj.ObjectFrame.Y = 0.5;
            myWobj.ObjectFrame.Z = 0.5;

            // Rotate the object frame (pi radians around each axis).
            myWobj.ObjectFrame.RX = System.Math.PI;
            myWobj.ObjectFrame.RY = System.Math.PI;
            myWobj.ObjectFrame.RZ = System.Math.PI;

            // Display the wobj in the graphics.
            myWobj.Visible = true;

            // Display the name of the wobj in the graphics.
            myWobj.ShowName = true;

            // The wobj is not held by the robot.
            myWobj.RobotHold = false;

            // Add the wobj to the DataDeclarations of the ActiveTask.
            station.ActiveTask.DataDeclarations.Add(myWobj);

            // Set the wobj as the active workobject of the ActiveTask.
            station.ActiveTask.ActiveWorkObject = (RsWorkObject)station.ActiveTask.FindDataDeclarationFromModuleScope(myWobj.Name, myWobj.ModuleName);
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

Name

Gets or sets the name of the object

Declaration

public override string Name { get; set; }

Property Value

Type	Description
string

Overrides

RsDataDeclaration.Name

ObjectFrame

Gets a Transform that corresponds to the object frame of the work object.

Declaration

public Transform ObjectFrame { get; }

Property Value

Type	Description
Transform

Examples

Get ObjectFrame.

Project.UndoContext.BeginUndoStep("RsWorkObjectExample");
try
{
Station station = Station.ActiveStation;
            // Create a RsWorkObject.
            RsWorkObject myWobj = new RsWorkObject();

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

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

            // Set the userframe to be a fixed coordinate system.
            myWobj.UserFrameProgrammed = true;

            // Translate the user frame.
            myWobj.UserFrame.X = 0.5;
            myWobj.UserFrame.Y = 0.2;
            myWobj.UserFrame.Z = 0.2;

            // Translate the object frame.
            myWobj.ObjectFrame.X = 0.5;
            myWobj.ObjectFrame.Y = 0.5;
            myWobj.ObjectFrame.Z = 0.5;

            // Rotate the object frame (pi radians around each axis).
            myWobj.ObjectFrame.RX = System.Math.PI;
            myWobj.ObjectFrame.RY = System.Math.PI;
            myWobj.ObjectFrame.RZ = System.Math.PI;

            // Display the wobj in the graphics.
            myWobj.Visible = true;

            // Display the name of the wobj in the graphics.
            myWobj.ShowName = true;

            // The wobj is not held by the robot.
            myWobj.RobotHold = false;

            // Add the wobj to the DataDeclarations of the ActiveTask.
            station.ActiveTask.DataDeclarations.Add(myWobj);

            // Set the wobj as the active workobject of the ActiveTask.
            station.ActiveTask.ActiveWorkObject = (RsWorkObject)station.ActiveTask.FindDataDeclarationFromModuleScope(myWobj.Name, myWobj.ModuleName);
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

RobotHold

Gets or sets a values specifying whether or not the robot is holding the work object: True if the robot is holding the workobject, false otherwise.

Declaration

public bool RobotHold { get; set; }

Property Value

Type	Description
bool

Examples

Get/Set RobotHold.

Project.UndoContext.BeginUndoStep("RsWorkObjectExample");
try
{
Station station = Station.ActiveStation;
             // Create a RsWorkObject.
             RsWorkObject myWobj = new RsWorkObject();

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

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

             // Set the userframe to be a fixed coordinate system.
             myWobj.UserFrameProgrammed = true;

             // Translate the user frame.
             myWobj.UserFrame.X = 0.5;
             myWobj.UserFrame.Y = 0.2;
             myWobj.UserFrame.Z = 0.2;

             // Translate the object frame.
             myWobj.ObjectFrame.X = 0.5;
             myWobj.ObjectFrame.Y = 0.5;
             myWobj.ObjectFrame.Z = 0.5;

             // Rotate the object frame (pi radians around each axis).
             myWobj.ObjectFrame.RX = System.Math.PI;
             myWobj.ObjectFrame.RY = System.Math.PI;
             myWobj.ObjectFrame.RZ = System.Math.PI;

             // Display the wobj in the graphics.
             myWobj.Visible = true;

             // Display the name of the wobj in the graphics.
             myWobj.ShowName = true;

             // The wobj is not held by the robot.
             myWobj.RobotHold = false;

             // Add the wobj to the DataDeclarations of the ActiveTask.
             station.ActiveTask.DataDeclarations.Add(myWobj);

             // Set the wobj as the active workobject of the ActiveTask.
             station.ActiveTask.ActiveWorkObject = (RsWorkObject)station.ActiveTask.FindDataDeclarationFromModuleScope(myWobj.Name, myWobj.ModuleName);
         }
         catch
         {
             Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
             throw;
         }
         finally
         {
             Project.UndoContext.EndUndoStep();
         }</code></pre>

ShowName

Gets or sets whether the name of the workobject will be displayed in the graphics

Declaration

public bool ShowName { get; set; }

Property Value

Type	Description
bool

Examples

Get/Set ShowName.

Project.UndoContext.BeginUndoStep("RsWorkObjectExample");
try
{
Station station = Station.ActiveStation;
            // Create a RsWorkObject.
            RsWorkObject myWobj = new RsWorkObject();

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

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

            // Set the userframe to be a fixed coordinate system.
            myWobj.UserFrameProgrammed = true;

            // Translate the user frame.
            myWobj.UserFrame.X = 0.5;
            myWobj.UserFrame.Y = 0.2;
            myWobj.UserFrame.Z = 0.2;

            // Translate the object frame.
            myWobj.ObjectFrame.X = 0.5;
            myWobj.ObjectFrame.Y = 0.5;
            myWobj.ObjectFrame.Z = 0.5;

            // Rotate the object frame (pi radians around each axis).
            myWobj.ObjectFrame.RX = System.Math.PI;
            myWobj.ObjectFrame.RY = System.Math.PI;
            myWobj.ObjectFrame.RZ = System.Math.PI;

            // Display the wobj in the graphics.
            myWobj.Visible = true;

            // Display the name of the wobj in the graphics.
            myWobj.ShowName = true;

            // The wobj is not held by the robot.
            myWobj.RobotHold = false;

            // Add the wobj to the DataDeclarations of the ActiveTask.
            station.ActiveTask.DataDeclarations.Add(myWobj);

            // Set the wobj as the active workobject of the ActiveTask.
            station.ActiveTask.ActiveWorkObject = (RsWorkObject)station.ActiveTask.FindDataDeclarationFromModuleScope(myWobj.Name, myWobj.ModuleName);
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

UserFrame

Gets a Transform that corresponds to the user frame of the work object.

Declaration

public Transform UserFrame { get; }

Property Value

Type	Description
Transform

Examples

Get UserFrame.

Project.UndoContext.BeginUndoStep("RsWorkObjectExample");
try
{
Station station = Station.ActiveStation;
            // Create a RsWorkObject.
            RsWorkObject myWobj = new RsWorkObject();

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

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

            // Set the userframe to be a fixed coordinate system.
            myWobj.UserFrameProgrammed = true;

            // Translate the user frame.
            myWobj.UserFrame.X = 0.5;
            myWobj.UserFrame.Y = 0.2;
            myWobj.UserFrame.Z = 0.2;

            // Translate the object frame.
            myWobj.ObjectFrame.X = 0.5;
            myWobj.ObjectFrame.Y = 0.5;
            myWobj.ObjectFrame.Z = 0.5;

            // Rotate the object frame (pi radians around each axis).
            myWobj.ObjectFrame.RX = System.Math.PI;
            myWobj.ObjectFrame.RY = System.Math.PI;
            myWobj.ObjectFrame.RZ = System.Math.PI;

            // Display the wobj in the graphics.
            myWobj.Visible = true;

            // Display the name of the wobj in the graphics.
            myWobj.ShowName = true;

            // The wobj is not held by the robot.
            myWobj.RobotHold = false;

            // Add the wobj to the DataDeclarations of the ActiveTask.
            station.ActiveTask.DataDeclarations.Add(myWobj);

            // Set the wobj as the active workobject of the ActiveTask.
            station.ActiveTask.ActiveWorkObject = (RsWorkObject)station.ActiveTask.FindDataDeclarationFromModuleScope(myWobj.Name, myWobj.ModuleName);
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

UserFrameMechanicalUnit

Gets or sets the name of the mechanical unit with which the robot movements are coordinated. Only specified in the case of movable user coordinate systems (UserFrameProgrammed is False).

Declaration

public string UserFrameMechanicalUnit { get; set; }

Property Value

Type	Description
string

Examples

Get/Set UserFrameMechanicalUnit.

Project.UndoContext.BeginUndoStep("RsWorkObjectExample");
try
{
Station station = Station.ActiveStation;
             // Create a RsWorkObject.
             RsWorkObject myWobj = new RsWorkObject();

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

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

             // Set the userframe to be a fixed coordinate system.
             myWobj.UserFrameProgrammed = true;

             // Translate the user frame.
             myWobj.UserFrame.X = 0.5;
             myWobj.UserFrame.Y = 0.2;
             myWobj.UserFrame.Z = 0.2;

             // Translate the object frame.
             myWobj.ObjectFrame.X = 0.5;
             myWobj.ObjectFrame.Y = 0.5;
             myWobj.ObjectFrame.Z = 0.5;

             // Rotate the object frame (pi radians around each axis).
             myWobj.ObjectFrame.RX = System.Math.PI;
             myWobj.ObjectFrame.RY = System.Math.PI;
             myWobj.ObjectFrame.RZ = System.Math.PI;

             // Display the wobj in the graphics.
             myWobj.Visible = true;

             // Display the name of the wobj in the graphics.
             myWobj.ShowName = true;

             // The wobj is not held by the robot.
             myWobj.RobotHold = false;

             // Add the wobj to the DataDeclarations of the ActiveTask.
             station.ActiveTask.DataDeclarations.Add(myWobj);

             // Set the wobj as the active workobject of the ActiveTask.
             station.ActiveTask.ActiveWorkObject = (RsWorkObject)station.ActiveTask.FindDataDeclarationFromModuleScope(myWobj.Name, myWobj.ModuleName);
         }
         catch
         {
             Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
             throw;
         }
         finally
         {
             Project.UndoContext.EndUndoStep();
         }</code></pre>

UserFrameProgrammed

Gets or sets a value that specifies whether or not the UserFrame is a fixed coordinate system or that it is moveable, i.e. by a coordinated external axis. True means that the UserFrame is fixed and False that its is moveable.

Declaration

public bool UserFrameProgrammed { get; set; }

Property Value

Type	Description
bool

Examples

Get/Set UserFrameProgrammed.

Project.UndoContext.BeginUndoStep("RsWorkObjectExample");
try
{
Station station = Station.ActiveStation;
            // Create a RsWorkObject.
            RsWorkObject myWobj = new RsWorkObject();

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

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

            // Set the userframe to be a fixed coordinate system.
            myWobj.UserFrameProgrammed = true;

            // Translate the user frame.
            myWobj.UserFrame.X = 0.5;
            myWobj.UserFrame.Y = 0.2;
            myWobj.UserFrame.Z = 0.2;

            // Translate the object frame.
            myWobj.ObjectFrame.X = 0.5;
            myWobj.ObjectFrame.Y = 0.5;
            myWobj.ObjectFrame.Z = 0.5;

            // Rotate the object frame (pi radians around each axis).
            myWobj.ObjectFrame.RX = System.Math.PI;
            myWobj.ObjectFrame.RY = System.Math.PI;
            myWobj.ObjectFrame.RZ = System.Math.PI;

            // Display the wobj in the graphics.
            myWobj.Visible = true;

            // Display the name of the wobj in the graphics.
            myWobj.ShowName = true;

            // The wobj is not held by the robot.
            myWobj.RobotHold = false;

            // Add the wobj to the DataDeclarations of the ActiveTask.
            station.ActiveTask.DataDeclarations.Add(myWobj);

            // Set the wobj as the active workobject of the ActiveTask.
            station.ActiveTask.ActiveWorkObject = (RsWorkObject)station.ActiveTask.FindDataDeclarationFromModuleScope(myWobj.Name, myWobj.ModuleName);
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

Visible

Gets or sets whether the user and object frames should be displayed in the graphics.

Declaration

public bool Visible { get; set; }

Property Value

Type	Description
bool

Examples

Get/Set Visible.

Project.UndoContext.BeginUndoStep("RsWorkObjectExample");
try
{
Station station = Station.ActiveStation;
            // Create a RsWorkObject.
            RsWorkObject myWobj = new RsWorkObject();

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

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

            // Set the userframe to be a fixed coordinate system.
            myWobj.UserFrameProgrammed = true;

            // Translate the user frame.
            myWobj.UserFrame.X = 0.5;
            myWobj.UserFrame.Y = 0.2;
            myWobj.UserFrame.Z = 0.2;

            // Translate the object frame.
            myWobj.ObjectFrame.X = 0.5;
            myWobj.ObjectFrame.Y = 0.5;
            myWobj.ObjectFrame.Z = 0.5;

            // Rotate the object frame (pi radians around each axis).
            myWobj.ObjectFrame.RX = System.Math.PI;
            myWobj.ObjectFrame.RY = System.Math.PI;
            myWobj.ObjectFrame.RZ = System.Math.PI;

            // Display the wobj in the graphics.
            myWobj.Visible = true;

            // Display the name of the wobj in the graphics.
            myWobj.ShowName = true;

            // The wobj is not held by the robot.
            myWobj.RobotHold = false;

            // Add the wobj to the DataDeclarations of the ActiveTask.
            station.ActiveTask.DataDeclarations.Add(myWobj);

            // Set the wobj as the active workobject of the ActiveTask.
            station.ActiveTask.ActiveWorkObject = (RsWorkObject)station.ActiveTask.FindDataDeclarationFromModuleScope(myWobj.Name, myWobj.ModuleName);
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

Methods

AfterLoad(PimDocument)

Declaration

protected override void AfterLoad(PimDocument doc)

Parameters

Type	Name	Description
PimDocument	doc

Overrides

ProjectObject.AfterLoad(PimDocument)

Copy()

Creates a copy of the DataDeclaration.

Declaration

public override ProjectObject Copy()

Returns

Type	Description
ProjectObject

Overrides

RsDataDeclaration.Copy()

Implements

ISupportCopy

IAttachableChild