RobotStudio Targets

Overview

This section gives the background information of Targets and how they are represented in RobotStudio.

Description

A Target is a point in space which the robot moves to. A path is a sequence of targets with move instructions that the robot follows

The target information consists of the following

• Translation
• Orientation
• Robot Configuration
• External Axis

The position of the robot is defined based on the co-ordinate system of the WorkObject.

RobTarget

Robtarget (robot target) is used to define the position of the robot and external axes. This is a datatype used in RAPID.

Ex: CONST robtarget p15 := [ [600, 500, 225.3], [1, 0, 0, 0], [1, 1, 0, 0], [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ];

Representation of a RobTarget in RobotStudio

The position and orientation of a target is always in relation to a workObject. In RobotStudio the target can be created by combining information from RsWorkObject and RsRobTarget as shown below:

RsRobTarget

A RsRobTarget corresponds to a RobTarget declaration in the RAPID. It contains the position and orientation information of the targets.

RsWorkobject

A RsWorkObject corresponds to the WorkObject declaration in RAPID. It contains information about the User Frame and Object Frame etc.

RsTarget

A RsTarget object combines the information of RsRobTarget and RsWorkObject to calculate the position and orientation and to show the target graphically within RobotStudio.

// Get the active workobject.
RsWorkObject wobj = stn.ActiveTask.ActiveWorkObject;

// Create a new RsRobTarget and add it to ActiveTask.
RsRobTarget robTarget = new RsRobTarget();
robTarget.Name = stn.ActiveTask.GetValidRapidName("MyRobTarget", "_", 10);
stn.ActiveTask.DataDeclarations.Add(robTarget);

// Create an RsTarget from wobj and RobTarget.
RsTarget target = new RsTarget (wobj, robTarget);

The default WorkObject is wobj0. If a WorkObject’s position or orientation is modified, then all the corresponding targets are also modified such that their relative transformation is same.

The position and orientation of a RsTarget can be modified with reference to different reference frames explained in section Transformations.