Creating Targets

This example provides information on creating targets. The example creates two targets with unique names. Attributes are added to targets to maintain their uniqueness. You will need an active station for this example.

Run your Add-In and go to the Home tab, and choose the Paths and Targets browser. Go to Station Elements -> Default Task -> Workobjects and Targets -> wobj0 -> wobj0_of. You will find two targets called Target_10 and Target_20. These are the targets that you just created with your Add-In. If you run the Add-In more than once, you will create Target_30 and Target_40, and so on.

Solution

  1. Get the station object

    // Get the active station
Station station = Station.ActiveStation;

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

    // Create a new robot target with a unique name  
RsRobTarget robTarget = new RsRobTarget();
robTarget.Name = station.ActiveTask.GetValidRapidName("Target", "_", 10);

// Set the robot target's position  
robTarget.Frame.Translation = position;

// Add robtarget to data declaration
station.ActiveTask.DataDeclarations.Add(robTarget);

  3. Create a RsTarget from the active WorkObject and RobTarget

    // Create and configure the visual target representation  
RsTarget target = new RsTarget(station.ActiveTask.ActiveWorkObject, robTarget);
target.Name = robTarget.Name;
target.Attributes.Add(target.Name, true);

  4. Add RsTarget to ActiveTask

    // Add targets to active task
station.ActiveTask.Targets.Add(target);

Example

This example provides information on creating targets in RobotStudio.

// Begin UndoStep
Project.UndoContext.BeginUndoStep("CreateTarget");

try
{
    // Create the first target
    CreateRobotStudioTarget(new Vector3(-0.50629, -3, 0.67950));

    // Create the second target
    CreateRobotStudioTarget(new Vector3(0.500, 0, 0.700));
}
catch
{
    Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
    throw;
}
finally
{
    Project.UndoContext.EndUndoStep();
}

private static void CreateRobotStudioTarget(Vector3 position)
{
    try
    {
        // Get the active station
        Station station = Station.ActiveStation;

        // Create a new robot target with a unique name  
        RsRobTarget robTarget = new RsRobTarget();
        robTarget.Name = station.ActiveTask.GetValidRapidName("Target", "_", 10);

        // Set the robot target's position  
        robTarget.Frame.Translation = position;

        // Add robtarget to data declaration
        station.ActiveTask.DataDeclarations.Add(robTarget);

        // Create and configure the visual target representation  
        RsTarget target = new RsTarget(station.ActiveTask.ActiveWorkObject, robTarget);
        target.Name = robTarget.Name;
        target.Attributes.Add(target.Name, true);

        // Add targets to active task
        station.ActiveTask.Targets.Add(target);
    }
    catch (Exception ex)
    {
        ApplicationLogger.LogException(ex);
    }
}

Required Namespaces

ABB.Robotics.RobotStudio.Stations

ABB.Robotics.Math

ABB.Robotics.RobotStudio.Diagnostics

See Also