RsJointTarget Class |
Namespace: ABB.Robotics.RobotStudio.Stations
public sealed class RsJointTarget : RsDataDeclaration
The RsJointTarget type exposes the following members.
Name | Description | |
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RsJointTarget |
Creates and initializes a new RsJointTarget object.
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Name | Description | |
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Attributes |
Returns a collection of dynamic attributes attached to the object
(Inherited from ProjectObject.) | |
Children |
Enumerates all child objects.
(Inherited from ProjectObject.) | |
ContainingProject |
Returns the Project that this object is a part of, or null if it is
not part of a Project.
(Inherited from ProjectObject.) | |
DataType |
Gets the RAPID data type of the Data Declaration.
(Inherited from RsDataDeclaration.) | |
DisplayName | (Inherited from RsDataDeclaration.) | |
FrameSize |
Gets or set the size of the graphical representation of the RsToolData.
| |
IsInline |
Gets or sets whether the RsJointTarget will be decalared inline in the RAPID when syncronized.
| |
Local |
Gets or sets if the DataDeclaration is declared local in a module. (Corresponds to the LOCAL keyword in RAPID).
(Inherited from RsDataDeclaration.) | |
ModuleName |
Gets or sets the name of the RAPID module that the DataDeclaration will be synchronized to.
(Inherited from RsDataDeclaration.) | |
Name |
Gets or sets the name of the object
(Overrides RsDataDeclarationName.) | |
Parent |
Returns the objects parent, if it has one.
(Inherited from ProjectObject.) | |
ShowName |
Gets or sets a value indicating whether the name of the JointTarge will
be displayed in the graphics.
| |
StorageType |
Gets or sets the RapidStorageType of the DataDeclaration
(Inherited from RsDataDeclaration.) | |
Synchronize |
Gets or sets whether the DataDeclaration should be synchronized to the VC when the referencing RsPathProcedure is.
(Inherited from RsDataDeclaration.) | |
TypeDisplayName |
Gets a localized name for the type of this object.
(Inherited from ProjectObject.) | |
UIVisible |
Gets or sets a value that indicates if this object should be displayed in GUI
such as an object browser.
(Inherited from ProjectObject.) | |
UniqueId |
Gets a persisted, globally unique identifier for this object, that can be used
to find the object using the GetObjectFromUniqueId(String) method.
(Inherited from ProjectObject.) | |
Visible |
Geta or sets a value specifying whether the joint target should be visible in the graphics or not.
|
Name | Description | |
---|---|---|
Copy |
Creates a copy of the DataDeclaration.
(Inherited from RsDataDeclaration.) | |
Equals | (Inherited from Object.) | |
FindObjects |
Recursively finds object that satisfy a condition.
(Inherited from ProjectObject.) | |
GetExternalAxes |
Gets the ExternalAxisValues of the jointtarget.
| |
GetHashCode | (Inherited from Object.) | |
GetJointValues | ||
GetReferencingInstructions |
Returns all RsInstructions that are referencing this DataDeclaration.
(Inherited from RsDataDeclaration.) | |
GetRobotAxes |
Gets the RobotAxisValues of the jointtarget.
| |
GetType | (Inherited from Object.) | |
Highlight |
Sets the highlight color of the target to the default highlight color.
| |
Highlight(Color) |
Sets the highlight color of the target.
| |
JumpTo |
Jumps the mechanism of the task that the jointtraget belongs to, to the position of the jointtarget.
| |
JumpTo(Boolean) |
Jumps the mechanism of the task that the jointtraget belongs to, to the position of the jointtarget. Optionally updates the joint values in the virtual controller. Updating the joint values in the controller is time consuning compared to only updating the Mechanism joint value. If you need to frequently call this method, it is recomended to update the joint values in the controller, only for the last call.
| |
JumpToAsync | ||
ResetHighlight |
Resets the highlight color of the target to the default color.
| |
SetExternalAxes |
Sets the ExternalAxisValues of the jointtarget.
| |
SetRobotAxes(RobotAxisValues, Boolean) |
Sets the RobotAxisValues of the jointtarget.
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SetRobotAxes(RobotAxisValues, Mechanism, Boolean) |
Sets the RobotAxisValues of the jointtarget to the current values of the specified Mechanism.
| |
ToString | (Inherited from ProjectObject.) |
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(); }