control of external axis

RobotStudio
1

Hi
I am trying to automate the generation of paths for a set of curves along the surface of a cylinder which we have mounted on an external axis, I can set the external axis data ok but I cant get the axis to rotate under programatic control so I can set the configuratons
Code is below;

//activate external unit
station.Irc5Controllers[0].MechanicalUnits[“STN1”].ActivationMode = MechanicalUnitActivationMode.Active;

RsTask myTask = station.ActiveTask;

foreach (clsCurveAnalysis CursData in TempList)

{ //poke the data onto the model

Project.UndoContext.BeginUndoStep(“RsPathProcedureExample”);

try

{

Logger.AddMessage(new LogMessage(“Path " + CursData.CurveName + " started”));

// Create a PathProcedure.

RsPathProcedure myPath = new RsPathProcedure(“Path_” + CursData.CurveName);

// Add the path to the ActiveTask.

station.ActiveTask.PathProcedures.Add(myPath);

myPath.ModuleName = “MyModule”;

myPath.ShowName = true;

myPath.Synchronize = true;

myPath.Visible = true;

RsWorkObject w = station.ActiveTask.ActiveWorkObject;

//loop the points and stuff

for (int i = 0; i < CursData.ExtendedTransformSet.Count; i++)

{

RsRobTarget target1 = new RsRobTarget();

// Set the name of the RobTarget.

target1.Name = station.ActiveTask.GetValidRapidName(CursData.CurveName, “_”, 10);

//just translation matrix to position the target

Matrix4 m = (Matrix4)CursData.ExtendedTransformSet*;*

target1.Frame.Matrix = m;

target1.IsInline = false;

station.ActiveTask.DataDeclarations.Add(target1);

// Create an RsTarget for the RobTarget.

RsTarget homeRsTarget = new RsTarget(station.ActiveTask.ActiveWorkObject, target1);

homeRsTarget.Name = target1.Name;

// Add it to the ActiveTask.

station.ActiveTask.Targets.Add(homeRsTarget);

// Create a MoveInstruction for the RobTarget.

RsMoveInstruction homeInstr = new RsMoveInstruction(station.ActiveTask, “Move”, “Default”, MotionType.Linear, station.ActiveTask.ActiveWorkObject.Name, target1.Name, station.ActiveTask.ActiveTool.Name);

// Add it to myPath.

myPath.Instructions.Add(homeInstr);

// now set axis values

double eaValues = MyAxisVals.GetAxisValues();

eaValues[5] = CursData.BasicAngleAtMidptDeg;

ExternalAxisValues.SetAxisValues(ref MyAxisVals, eaValues);

target1.SetExternalAxes(MyAxisVals, false);

}

}

Could anybody supply a code snippet showing how to control the external axis programmatically or indicate where I should be looking.