How to create targets by using API?

chris

Hi Johannes,I would like more information from you about creating targets in RS5.07 by using API.Because it's very useful in our work.Thanks.

Johannes Weiman old account

Hi Chris,

typically you would do something like this to create a target and add it to a path:



Station stn = Project.ActiveProject as Station;

RsTask task = stn.ActiveTask;
// Create RsRobTarget

RsRobTarget robTarget = new RsRobTarget();

robTarget.Name = <name>
robTarget.ModuleName = <module>
robTarget.Frame.Matrix = <matrix>
task.DataDeclarations.Add(robTarget);
// Create Target

RsWorkObject wobj = task.ActiveWorkObject;

RsTarget target = new RsTarget(wobj, robTarget);
target.Name = <name>
task.Targets.Add(target)
// Create RsMoveInstruction
RsToolData tool = task.ActiveTool;


RsProcessDefinition procDef = task.ActiveProcessDefinition;
RsProcessTemplate procTempl = procDef.ActiveProcessTemplate;
RsMoveInstruction moveInstr = new RsMoveInstruction(task, procDef.Name, procTempl.Name, procTempl.ActiveMotionType, wobj.Name, robTarget.Name, tool);
// Add to path
PathProcedure path = task.ActivePathProcedure;
path.Instructions.Add(moveInstr);

(Note that the ".ActiveXXX" properties correspond to the selections in the Elements toolbar. You can change these to whatever suits you.)

regards,
Johannes

chris

I will have a try,thanks.