Getting Targets from a Path

This example provides information on retrieving targets from a RsPathProcedure object. You can apply this method directly to a specific RsPathProcedure object or use the currently selected path procedure in the active task by referencing Station.ActiveStation.ActiveTask.ActivePathProcedure. In this example, the passed path object is called pathProcedure.

Solution

1. Get RsInstruction from the path procedure and iterate over each instruction.

   // Iterate over every instructions in the path procedure 
   foreach (var instruction in pathProcedure.Instructions)
   

2. Within the iteration, check if the current instruction is of type RsMoveInstruction.

   // If instruction type is RsMoveInstruction then execute the next steps
   if (instruction is RsMoveInstruction moveInstruction)
   

3. Get RsRobTarget from the move instruction.

   // Get robtarget from move instruction
   string strToPoint = moveInstruction.GetToPointArgument().Value;
   RsRobTarget robTarget =
       task.FindDataDeclarationFromModuleScope(strToPoint, pathProcedure.ModuleName)
       as RsRobTarget;
   

4. Get RsWorkObject from the move instruction.

   // Get work object from move instruction
   string strWorkObject = moveInstruction.GetWObjArgument().Value;
   RsWorkObject workobject =
       task.FindDataDeclarationFromModuleScope(strWorkObject, pathProcedure.ModuleName)
       as RsWorkObject;
   

5. Get targets based on the workobject and robtarget.

   // Get targets based on the workobject and robtarget
   RsTarget[] arrTarget = task.FindTargets(workobject, robTarget);
   

Example

This example provides information on retrieving targets from RsPathProcedure object.

private static List<RsTarget> GetTargetsfromPath(RsPathProcedure pathProcedure)
{
    // Placeholder for targets to be returned
    List<RsTarget> targets = new List<RsTarget>();

    if (pathProcedure != null)
    {
        // Get RsTask object reference from path procedure
        if (pathProcedure.Parent is RsTask task)
        {
            // Iterate over every instructions in the path procedure 
            foreach (var instruction in pathProcedure.Instructions)
            {
                // If instruction type is RsMoveInstruction then execute the next steps
                if (instruction is RsMoveInstruction moveInstruction)
                {
                    // Get robtarget from move instruction
                    string strToPoint = moveInstruction.GetToPointArgument().Value;
                    RsRobTarget robTarget =
                        task.FindDataDeclarationFromModuleScope(strToPoint, pathProcedure.ModuleName)
                        as RsRobTarget;

                    // Get work object from move instruction
                    string strWorkObject = moveInstruction.GetWObjArgument().Value;
                    RsWorkObject workobject =
                        task.FindDataDeclarationFromModuleScope(strWorkObject, pathProcedure.ModuleName)
                        as RsWorkObject;

                    // Get targets based on the workobject and robtarget
                    RsTarget[] arrTarget = task.FindTargets(workobject, robTarget);
                    targets.AddRange(arrTarget);
                }
            }
        }
    }
    return targets;
}

Required Namespaces

ABB.Robotics.Math

ABB.Robotics.RobotStudio.Stations

See Also

• Creating Path