Mini Task to Simulate a path RobotStudio

federico_gentile

<font face="Arial, Verdana"><span style="font-size: 10pt; line-height: normal;">Hi,</span></font><div style="font-family: Arial, Verdana; font-size: 10pt; font-style: normal; font-variant: normal; font-weight: normal; line-height: normal;">It's the first time that I try to create a simulation path to move my robot in 3d robotstudio view.</div><div style="font-family: Arial, Verdana; font-size: 10pt; font-style: normal; font-variant: normal; font-weight: normal; line-height: normal;">My first step is to move programmatically the robot tool around in a square path. </div><div style="font-family: Arial, Verdana; font-size: 10pt; font-style: normal; font-variant: normal; font-weight: normal; line-height: normal;">Only an easy 3d simulation to move the robot with RS SDK code.</div><div style="font-family: Arial, Verdana; font-size: 10pt; font-style: normal; font-variant: normal; font-weight: normal; line-height: normal;">It's important for me because I have to make an easy 3d simulation as soon as possible.</div><div><font face="Arial, Verdana"><span style="font-size: 10pt; line-height: normal;">Are there some tutorial task that show how to do this? </span><span style="font-size: 13px; line-height: normal;">Does anyone help me?</span></font></div><div><font face="Arial, Verdana"><span style="font-size: 13px; line-height: normal;">Thanks in advance.</span></font><br></div>

federico_gentile

 I found something about it:

(this example is using a set of RsTarget)

n-->number of the element 

RawPath[] path = new RawPath[n];

RsPathProcedure myPath = new RsPathProcedure("myPath");

RsMoveInstruction myMove = new RsMoveInstruction[n];

RsTarget[] myRsTarget = new RsTarget[n];

RsRobTarget[] myRobTarget = new RsRobTarget[n];

mystation.ActiveTask.PathProcedures.Add(_myPath);

for(int i = 0; i < n; ++i){ 

//my function that creates a move where I passed: starting position of the path line, its orientation and an incremental index

        myMove[i] = CreateMove(newVector3(1,2,3), new Vector3(0, 180, 0), i);

        myPath.Instructions.Add(_myMove[i]);

      }

RsMoveInstruction CreateMove(Vector3 position, Vector3 orientationXY, int index) { 

 RsRobTarget robTarget = new RsRobTarget();   

 // Set the position and rotation of the 

RobTarget.
robTarget.Frame.X = position.x; 

robTarget.Frame.Y = position.y; 

robTarget.Frame.Z = position.z; 

robTarget.Frame.RX = ABB.Robotics.Math.Globals.DegToRad(orientationXY.x); 

robTarget.Frame.RY = ABB.Robotics.Math.Globals.DegToRad(orientationXY.y); 

robTarget.Frame.RZ = ABB.Robotics.Math.Globals.DegToRad(orientationXY.z); 

// Add the RobTarget to the DataDeclarations of the ActiveTask. 

mystation.ActiveTask.DataDeclarations.Add(robTarget); 

// Create an RsTarget for the RobTarget, to give it a graphical representation and use it to get configs. 

RsTarget rsTarget = new RsTarget(_station.ActiveTask.ActiveWorkObject, robTarget); 

rsTarget.Name = robTarget.Name; 

  // Add it to the ActiveTask. mystation.ActiveTask.Targets.Add(rsTarget); 

myRsTarget[index] = rsTarget; 

myRobTarget[index] = robTarget; 

  return new RsMoveInstruction( 

  mystation.ActiveTask,
"Move",
"Default", 

MotionType.Linear,

mystation.ActiveTask.ActiveWorkObject.Name, 

robTarget.Name, 

mystation.ActiveTask.ActiveTool.Name); 

  }

to execute the path call this --> myPath.MoveAlong();