public DensoTask(CaoTask t)
{
task = t;
foreach (var s in TaskVarStrings)
{
TaskCaoVars.Add(s, task.AddVariable(s, ""));
}
}
private void button_Close_Click(object sender, EventArgs e)
{
// Properly shut down the local variables in reverse order of precedence so that the ORiN engine is not left hanging
RC7Controller.Variables.Clear(); // Clear all local variables from the controller variable (THIS DOES NOT AFFECT VALUES ON THE PHYSICAL RC7 CONTROLLER)
RC7variable_S10 = null; // Set the individual local variables to null
RC7Task_RobSlave.Stop(1,""); //Stop the RobSlave program. (this is just a suggestion)
RC7Controller.Tasks.Clear(); // Clear all local tasks handles from the controller variable
RC7Task_RobSlave = null; // Set the individual local variables to null
ORiN_Engine.Workspaces.Item(0).Controllers.Remove(RC7Controller.Index); // Remove the controller variable from the ORiN engine
RC7Controller = null; // Set the individual controller variable to null
ORiN_Engine = null; // Set the ORiN engine variable to null
Close(); // Exit this C# program
}
private void button_Connect_Click(object sender, EventArgs e)
{
button_Connect.Enabled = false;
// Create a link to the RC7 controller via the engine (CAO.exe)
RC7Controller = ORiN_Engine.Workspaces.Item(0).AddController(
"Sample", // This is the name of the connection to the RC7 controller; Pass an empty string to have the controller auto-generate a name
"CaoProv.DENSO.NetwoRC", // This is the name of the DENSO ORiN provider for RC7; It must be exactly as shown
"", // This is the name of the machine executing the DENSO ORiN provider (usually the machine running this program)
"Conn=eth:192.168.0.2"); // This is the IP address of the physical RC7 controller
//In order to perform motion commands on the pc side you should start the RobSlave.pac program on the RC7
RC7Task_RobSlave = RC7Controller.AddTask("RobSlave", "");
RC7Task_RobSlave.Start(1, "");
// Add a local variable that is linked to string variable S10 on the physical RC7 controller
RC7variable_S10 = RC7Controller.AddVariable("S10");
button_ReadVariable.Enabled = true;
button_WriteVariable.Enabled = true;
button_Close.Enabled = true;
}
