Creating JointTargets

This examples creates a joint target corresponding to the IRB140's home position, and adds it to the active task. A joint target is a target defined by the robots joints. Targets can also be defined by setting its coordinates and orientation (this is called a RsRobTarget).

Example

Project.UndoContext.BeginUndoStep("RsJointTargetExample");
try
{
    Station station = Station.ActiveStation;

    // Create a joint target corresponding to the robots home position.
    RsJointTarget myHomeJointTarget = new RsJointTarget();

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

    // Add the JointTarget to the station.
    station.ActiveTask.DataDeclarations.Add(myHomeJointTarget);

    // Create the RobAxisValues for the target.
    RobotAxisValues rbHomeAxis = new RobotAxisValues();
    rbHomeAxis.Rax_1 = 0;
    rbHomeAxis.Rax_2 = 0;
    rbHomeAxis.Rax_3 = 0;
    rbHomeAxis.Rax_4 = 0;
    rbHomeAxis.Rax_5 = 30;
    rbHomeAxis.Rax_6 = 0;

    // Set the robot axis values of the target.
    myHomeJointTarget.SetRobotAxes(rbHomeAxis, false);

    // Set the target to visible in the graphics.
    myHomeJointTarget.Visible = true;

    // Show the name of the target in the graphics.
    myHomeJointTarget.ShowName = true;

    // Make the frame size twice as big for the target.
    myHomeJointTarget.FrameSize = myHomeJointTarget.FrameSize * 2;
}
catch
{
    Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
    throw;
}
finally
{
    Project.UndoContext.EndUndoStep();
}

Creating JointTargets

Example

See Also