Creating RsMoveInstruction

This example provides information to load a mechanism (a robot) to the current station, and sets it as the active task. It creates a work object for the active task and tool data for the robot. It creates a RsRobTarget and a RsTarget, which is the RsRobTargets graphical representation. It creates a path and adds some move instructions to it.

Use this procedure to create RsMoveInstruction.

1. Get the active station object.

2. Load IRB140_5_81__01 robot (a mechanism) in readonly mode and add it to the station.

3. Set the active task to the mechanism task.

4. Create a RsWorkObject object and add it to the ActiveTask.

5. Create a RsToolData object and add it to the ActiveTask.

6. Create a new RsRobTarget and add it to the ActiveTask.

7. Create a graphic representation of the RobTarget and RsTarget.

8. Create RsPathProcedure object and add it to the ActiveTask.

9. Create a linear move instruction using the move definition and the default template.

10. Create a new RobTarget to use as cirPoint and add it to the ActiveTask.

11. Create a graphic representation of the RobTarget and RsTarget.

12. Create a circular move instruction.

13. Create a joint target and add it to the ActiveTask.

14. Set the robot axis values.

15. Create a MoveAbsJ move instruction passing the joint target object in step13. as a parameter (this only makes sense if there is a mechanism in the station).

Solution

1. Get the active station object.

   Station station = Station.ActiveStation;
   

2. Load IRB140_5_81__01 robot (a mechanism) in readonly mode and add it to the station.

   GraphicComponentLibrary mechLib = GraphicComponentLibrary.Load("IRB140_6_81_C_G_03.rslib", true);
   Mechanism mechGfx = (Mechanism)mechLib.RootComponent.CopyInstance();
   mechGfx.Name = "IRB140_6_81_C_G_03";
   station.GraphicComponents.Add(mechGfx);
   

3. Set the active task to the mechanism task.

   station.ActiveTask = mechGfx.Task;
   

4. Create a RsWorkObject object and add it to the ActiveTask.

   RsWorkObject myWobj = new RsWorkObject();
   myWobj.Name = station.ActiveTask.GetValidRapidName("myWobj", "_", 1);
   station.ActiveTask.DataDeclarations.Add(myWobj);
   

5. Create a RsToolData object and add it to the ActiveTask.

   RsToolData myTool = new RsToolData();
   myTool.Name = station.ActiveTask.GetValidRapidName("myTool", "_", 1);
   station.ActiveTask.DataDeclarations.Add(myTool);
   

6. Create a new RsRobTarget and add it to the ActiveTask.

   RsRobTarget toPoint = new RsRobTarget();
   toPoint.Name = station.ActiveTask.GetValidRapidName("myRobTarget", "_", 1);
   station.ActiveTask.DataDeclarations.Add(toPoint);
   

7. Create a graphic representation of the RobTarget and RsTarget.

   RsTarget myRsTarget = new RsTarget(myWobj, toPoint);
   myRsTarget.Name = toPoint.Name;
   station.ActiveTask.Targets.Add(myRsTarget);
   

8. Create RsPathProcedure object and add it to the ActiveTask.

   RsPathProcedure myPath = new RsPathProcedure("myPath");
   station.ActiveTask.PathProcedures.Add(myPath);
   

9. Create a linear move instruction using the move definition and the default template.

   RsMoveInstruction myMoveL = new RsMoveInstruction
       (station.ActiveTask, "Move", "Default",
       MotionType.Linear, myWobj.Name, toPoint.Name, myTool.Name);
   myPath.Instructions.Add(myMoveL);
   

10. Create a new RobTarget to use as cirPoint and add it to the ActiveTask.

    RsRobTarget cirPoint = new RsRobTarget();
    cirPoint.Name = station.ActiveTask.GetValidRapidName("myRobTarget", "_", 1);
    cirPoint.Frame.X = cirPoint.Frame.X + 0.10;
    cirPoint.Frame.Z = cirPoint.Frame.Z + 0.10;
    station.ActiveTask.DataDeclarations.Add(cirPoint);
    

11. Create a graphic representation of the RobTarget and RsTarget.

    RsTarget myRsTarget_2 = new RsTarget(myWobj, cirPoint);
    myRsTarget_2.Name = cirPoint.Name;
    station.ActiveTask.Targets.Add(myRsTarget_2);
    

12. Create a circular move instruction.

    RsMoveInstruction myMoveCirc = new RsMoveInstruction(station.ActiveTask,
        "Move", "Default", myWobj.Name, cirPoint.Name, toPoint.Name, myTool.Name);
    myPath.Instructions.Add(myMoveCirc);
    

13. Create a joint target and add it to the ActiveTask.

    RsJointTarget myJointTarget = new RsJointTarget();
    myJointTarget.Name = station.ActiveTask.GetValidRapidName("myJointTarget", "_", 1);
    station.ActiveTask.DataDeclarations.Add(myJointTarget);
    

14. 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);
    

15. Create a MoveAbsJ move instruction passing the joint target object in step13. as a parameter (this only makes sense if there is a mechanism in the station).

    RsMoveInstruction myMoveAbsJ =
        new RsMoveInstruction(station.ActiveTask, "MoveAbs", "Default", myJointTarget.Name);
    myPath.Instructions.Add(myMoveAbsJ);
    

Example

This example provides information on loading a mechanism (a robot) to the current station, and sets it as the active task.

public void RsMoveInstructionCreate()
{
    RsTask.SkipImportDefaultProcessTemplate = false;
    NewStation();
    Project.UndoContext.BeginUndoStep("RsMoveInstructionCreate");
    try
    {
        Station station = Station.ActiveStation;

        // First import a robot (a mechanism) and add it to the station.
        // NOTE: Uncomment the following lines and use them insted of the third line with the load command.
        // GraphicComponentLibrary mechLib = GraphicComponentLibrary.Load(lib, true);

        GraphicComponentLibrary mechLib = GraphicComponentLibrary.Load("IRB140_6_81_C_G_03.rslib", true);
        Mechanism mechGfx = (Mechanism)mechLib.RootComponent.CopyInstance();
        mechGfx.Name = "IRB140_6_81_C_G_03";
        station.GraphicComponents.Add(mechGfx);

        // Set the active task to the mechanism task.
        station.ActiveTask = mechGfx.Task;

        // Create a WorkObject and add it to the ActiveTask.
        RsWorkObject myWobj = new RsWorkObject();
        myWobj.Name = station.ActiveTask.GetValidRapidName("myWobj", "_", 1);
        station.ActiveTask.DataDeclarations.Add(myWobj);

        // Create a ToolData and add it to the ActiveTask.
        RsToolData myTool = new RsToolData();
        myTool.Name = station.ActiveTask.GetValidRapidName("myTool", "_", 1);
        station.ActiveTask.DataDeclarations.Add(myTool);

        // Create a new RobTarget and add it to the ActiveTask.
        RsRobTarget toPoint = new RsRobTarget();
        toPoint.Name = station.ActiveTask.GetValidRapidName("myRobTarget", "_", 1);
        station.ActiveTask.DataDeclarations.Add(toPoint);

        // Create a graphic representation of the RobTarget and RsTarget.
        RsTarget myRsTarget = new RsTarget(myWobj, toPoint);
        myRsTarget.Name = toPoint.Name;
        station.ActiveTask.Targets.Add(myRsTarget);

        // Create a PathProcedure.
        RsPathProcedure myPath = new RsPathProcedure("myPath");
        station.ActiveTask.PathProcedures.Add(myPath);

        // Create a linear move instruction using the move definition and the default template.
        RsMoveInstruction myMoveL = new RsMoveInstruction
            (station.ActiveTask, "Move", "Default",
            MotionType.Linear, myWobj.Name, toPoint.Name, myTool.Name);
        myPath.Instructions.Add(myMoveL);

        // Create a new RobTarget to use as cirPoint and add it to the ActiveTask.
        RsRobTarget cirPoint = new RsRobTarget();
        cirPoint.Name = station.ActiveTask.GetValidRapidName("myRobTarget", "_", 1);
        cirPoint.Frame.X = cirPoint.Frame.X + 0.10;
        cirPoint.Frame.Z = cirPoint.Frame.Z + 0.10;
        station.ActiveTask.DataDeclarations.Add(cirPoint);

        // Create a graphic representation of the RobTarget and RsTarget.
        RsTarget myRsTarget_2 = new RsTarget(myWobj, cirPoint);
        myRsTarget_2.Name = cirPoint.Name;
        station.ActiveTask.Targets.Add(myRsTarget_2);

        // Create a circular move instruction.
        RsMoveInstruction myMoveCirc = new RsMoveInstruction(station.ActiveTask,
            "Move", "Default", myWobj.Name, cirPoint.Name, toPoint.Name, myTool.Name);
        myPath.Instructions.Add(myMoveCirc);

        // Create a joint target to be able to create a MoveAbsJ move instruction.
        RsJointTarget myJointTarget = new RsJointTarget();
        myJointTarget.Name = station.ActiveTask.GetValidRapidName("myJointTarget", "_", 1);
        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 MoveAbsJ move instruction (this only makes sense if there is a mechanism in the station).
        RsMoveInstruction myMoveAbsJ =
            new RsMoveInstruction(station.ActiveTask, "MoveAbs", "Default", myJointTarget.Name);
        myPath.Instructions.Add(myMoveAbsJ);
    }
    catch
    {
        Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
        throw;
    }
    finally
    {
        Project.UndoContext.EndUndoStep();
    }
}

Required Namespaces

ABB.Robotics.RobotStudio

ABB.Robotics.RobotStudio.Stations

See Also

• Importing ActionInstruction
• Importing MoveInstruction