Creating RsActionInstructionDescription

This example creates an RsActionInstructionDescription and adds two RsInstructionParameters to it. An action instruction defines an action for the robot to perform at a specified location in a path.

Example

Project.UndoContext.BeginUndoStep("CreateRsActionInstructionDescription");
try
{
    // Get the active station.
    Station station = Station.ActiveStation;

    // Create an RsActionInstructionDescription.
    RsActionInstructionDescription myAccSetDesc =
        new RsActionInstructionDescription("AccSet");
    myAccSetDesc.InformationText = "AccSet - Reduces the acceleration.";

    // Create the InstructionParameterGroups and InstructionParameters 
    // and add them to the RsActionInstructionDescription.
    RsInstructionParameterGroup rsIpg = new RsInstructionParameterGroup();
    RsInstructionParameter rsIp = new RsInstructionParameter("Acc", "num");
    rsIp.AccessMode = ParameterAccessMode.In;
    rsIp.SyncReferencedData = false;
    rsIp.Optional = false;
    rsIpg.InstructionParameters.Add(rsIp);
    myAccSetDesc.InstructionParameterGroups.Add(rsIpg);

    // Create the second RsInstructionParameterGroup with a "Ramp" parameter. 
    rsIpg = new RsInstructionParameterGroup();
    rsIp = new RsInstructionParameter("Ramp", "num");
    rsIp.AccessMode = ParameterAccessMode.In;
    rsIp.SyncReferencedData = false;
    rsIp.Optional = false;
    rsIpg.InstructionParameters.Add(rsIp);
    myAccSetDesc.InstructionParameterGroups.Add(rsIpg);

    // Create a default instruction template.
    RsInstructionTemplate myDefaultTemplate = new RsInstructionTemplate();
    myDefaultTemplate.Name = "Default";

    // Create and add an enabled "Acc" instruction argument to the template. 
    RsInstructionArgument rsIa = new RsInstructionArgument("Acc", "");
    rsIa.Enabled = true;
    myDefaultTemplate.InstructionArguments.Add(rsIa);

    // Create and add an enabled "Ramp" instruction argument to the template.
    rsIa = new RsInstructionArgument("Ramp", "");
    rsIa.Enabled = true;
    myDefaultTemplate.InstructionArguments.Add(rsIa);

    // Add the default template to the RsActionInstructionDescription.  
    myAccSetDesc.InstructionTemplates.Add(myDefaultTemplate);

    // Set the active template to the default template. 
    myAccSetDesc.ActiveTemplate = myDefaultTemplate;

    // Finally, add the RsActionInstructionDescription to the active task of the station.
    station.ActiveTask.InstructionDescriptions.Add(myAccSetDesc);
}
catch
{
    Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
    throw;
}
finally
{
    Project.UndoContext.EndUndoStep();
}

Required Namespaces

ABB.Robotics.RobotStudio.Stations

ABB.Robotics.RobotStudio

See Also