public sealed class RsWorkObject : RsDataDeclaration, 
	IAttachableChild

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

    // Create a RsWorkObject.
    RsWorkObject myWobj = new RsWorkObject();

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

    // Set the frame size to twice the default size.
    myWobj.FrameSize = myWobj.FrameSize * 2;

    // Set the userframe to be a fixed coordinate system.
    myWobj.UserFrameProgrammed = true;

    // Translate the user frame.
    myWobj.UserFrame.X = 0.5;
    myWobj.UserFrame.Y = 0.2;
    myWobj.UserFrame.Z = 0.2;

    // Translate the object frame.
    myWobj.ObjectFrame.X = 0.5;
    myWobj.ObjectFrame.Y = 0.5;
    myWobj.ObjectFrame.Z = 0.5;

    // Rotate the object frame (pi radians around each axis).
    myWobj.ObjectFrame.RX = System.Math.PI;
    myWobj.ObjectFrame.RY = System.Math.PI;
    myWobj.ObjectFrame.RZ = System.Math.PI;

    // Display the wobj in the graphics.
    myWobj.Visible = true;

    // Display the name of the wobj in the graphics.
    myWobj.ShowName = true;

    // The wobj is not held by the robot.
    myWobj.RobotHold = false;

    // Add the wobj to the DataDeclarations of the ActiveTask.
    station.ActiveTask.DataDeclarations.Add(myWobj);

    // Set the wobj as the active workobject of the ActiveTask.
    station.ActiveTask.ActiveWorkObject = (RsWorkObject)station.ActiveTask.FindDataDeclarationFromModuleScope(myWobj.Name, myWobj.ModuleName);
}
catch
{
    Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
    throw;
}
finally
{
    Project.UndoContext.EndUndoStep();
}