Beispiel #1
0
        private void msubClearVars()
        {
            mobjCore.Disconnect();

            mobjCore                 = null;
            mobjDataTable            = null;
            mobjDataTable2           = null;
            mobjAlarm                = null;
            mobjAlarmCurrent         = null;
            mobjCurPos               = null;
            mobjCurPos2              = null;
            mobjTask                 = null;
            mobjTaskIgnoreMacro      = null;
            mobjTaskIgnoreKarel      = null;
            mobjTaskIgnoreMacroKarel = null;
            mobjPosReg               = null;
            mobjPosReg2              = null;
            mobjSysVarInt            = null;
            mobjSysVarReal           = null;
            mobjSysVarReal2          = null;
            mobjSysVarString         = null;
            mobjSysVarPos            = null;
            mobjNumReg               = null;
            mobjNumReg2              = null;
            mobjNumReg3              = null;
            mobjVarString            = null;
            mobjStrReg               = null;
            mobjStrRegComment        = null;
            for (int ii = mobjSysVarIntArray.GetLowerBound(0); ii <= mobjSysVarIntArray.GetUpperBound(0); ii++)
            {
                mobjSysVarIntArray[ii] = null;
            }
        }
Beispiel #2
0
        public bool RobotInitConnect()
        {
            //if (true)
            mobjCore = new FRRJIf.Core();
            //else
            //InitFanucApi();

            // You need to set data table before connecting.
            mobjDataTable = mobjCore.get_DataTable();

            {
                mobjAlarm                = mobjDataTable.AddAlarm(FRRJIf.FRIF_DATA_TYPE.ALARM_LIST, 5, 0);
                mobjAlarmCurrent         = mobjDataTable.AddAlarm(FRRJIf.FRIF_DATA_TYPE.ALARM_CURRENT, 1, 0);
                mobjCurPos               = mobjDataTable.AddCurPos(FRRJIf.FRIF_DATA_TYPE.CURPOS, 1);
                mobjCurPosUF             = mobjDataTable.AddCurPosUF(FRRJIf.FRIF_DATA_TYPE.CURPOS, 1, 9);
                mobjCurPos2              = mobjDataTable.AddCurPos(FRRJIf.FRIF_DATA_TYPE.CURPOS, 2);
                mobjTask                 = mobjDataTable.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK, 1);
                mobjTaskIgnoreMacro      = mobjDataTable.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK_IGNORE_MACRO, 1);
                mobjTaskIgnoreKarel      = mobjDataTable.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK_IGNORE_KAREL, 1);
                mobjTaskIgnoreMacroKarel = mobjDataTable.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK_IGNORE_MACRO_KAREL, 1);
                mobjPosReg               = mobjDataTable.AddPosReg(FRRJIf.FRIF_DATA_TYPE.POSREG, 1, 1, 40);
                mobjPosReg2              = mobjDataTable.AddPosReg(FRRJIf.FRIF_DATA_TYPE.POSREG, 2, 1, 4);
                mobjSysVarInt            = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$FAST_CLOCK");
                mobjSysVarInt2           = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[10].$TIMER_VAL");
                mobjSysVarReal           = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_REAL, "$MOR_GRP[1].$CURRENT_ANG[1]");
                mobjSysVarReal2          = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_REAL, "$DUTY_TEMP");
                mobjSysVarString         = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_STRING, "$TIMER[10].$COMMENT");
                mobjSysVarPos            = mobjDataTable.AddSysVarPos(FRRJIf.FRIF_DATA_TYPE.SYSVAR_POS, "$MNUTOOL[1,1]");
                mobjVarString            = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_STRING, "$[HTTPKCL]CMDS[1]");
                mobjNumReg               = mobjDataTable.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 1, 60);
                mobjNumReg2              = mobjDataTable.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_REAL, 51, 60);
                mobjPosRegXyzwpr         = mobjDataTable.AddPosRegXyzwpr(FRRJIf.FRIF_DATA_TYPE.POSREG_XYZWPR, 1, 1, 40);
                mobjStrReg               = mobjDataTable.AddString(FRRJIf.FRIF_DATA_TYPE.STRREG, 1, 3);
                mobjStrRegComment        = mobjDataTable.AddString(FRRJIf.FRIF_DATA_TYPE.STRREG_COMMENT, 1, 3);
            }

            // 2nd data table.
            // You must not set the first data table.
            mobjDataTable2        = mobjCore.get_DataTable2();
            mobjNumReg3           = mobjDataTable2.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 1, 5);
            mobjSysVarIntArray    = new FRRJIf.DataSysVar[10];
            mobjSysVarIntArray[0] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[1].$TIMER_VAL");
            mobjSysVarIntArray[1] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[2].$TIMER_VAL");
            mobjSysVarIntArray[2] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[3].$TIMER_VAL");
            mobjSysVarIntArray[3] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[4].$TIMER_VAL");
            mobjSysVarIntArray[4] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[5].$TIMER_VAL");
            mobjSysVarIntArray[5] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[6].$TIMER_VAL");
            mobjSysVarIntArray[6] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[7].$TIMER_VAL");
            mobjSysVarIntArray[7] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[8].$TIMER_VAL");
            mobjSysVarIntArray[8] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[9].$TIMER_VAL");
            mobjSysVarIntArray[9] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[10].$TIMER_VAL");

            //get host name
            System.Diagnostics.Debug.Assert(!string.IsNullOrEmpty(this.RobotIp));
            return(mobjCore.Connect(this.RobotIp));
        }
Beispiel #3
0
        public bool RobotInitConnect()
        {
            bool blnRes = false;
            int  lngTmp = 0;


            mobjCore = new FRRJIf.Core();

            // You need to set data table before connecting.
            mobjDataTable = mobjCore.DataTable;

            {
                mobjAlarm                = mobjDataTable.AddAlarm(FRRJIf.FRIF_DATA_TYPE.ALARM_LIST, 5, 0);
                mobjAlarmCurrent         = mobjDataTable.AddAlarm(FRRJIf.FRIF_DATA_TYPE.ALARM_CURRENT, 1, 0);
                mobjCurPos               = mobjDataTable.AddCurPos(FRRJIf.FRIF_DATA_TYPE.CURPOS, 1);
                mobjCurPosUF             = mobjDataTable.AddCurPosUF(FRRJIf.FRIF_DATA_TYPE.CURPOS, 1, 15);
                mobjCurPos2              = mobjDataTable.AddCurPos(FRRJIf.FRIF_DATA_TYPE.CURPOS, 2);
                mobjTask                 = mobjDataTable.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK, 1);
                mobjTaskIgnoreMacro      = mobjDataTable.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK_IGNORE_MACRO, 1);
                mobjTaskIgnoreKarel      = mobjDataTable.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK_IGNORE_KAREL, 1);
                mobjTaskIgnoreMacroKarel = mobjDataTable.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK_IGNORE_MACRO_KAREL, 1);
                mobjPosReg               = mobjDataTable.AddPosReg(FRRJIf.FRIF_DATA_TYPE.POSREG, 1, 1, 40);
                mobjPosReg2              = mobjDataTable.AddPosReg(FRRJIf.FRIF_DATA_TYPE.POSREG, 2, 1, 4);
                mobjSysVarInt            = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$FAST_CLOCK");
                mobjSysVarInt2           = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[10].$TIMER_VAL");
                mobjSysVarReal           = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_REAL, "$MOR_GRP[1].$CURRENT_ANG[1]");
                mobjSysVarReal2          = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_REAL, "$DUTY_TEMP");
                mobjSysVarString         = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_STRING, "$TIMER[10].$COMMENT");
                mobjSysVarPos            = mobjDataTable.AddSysVarPos(FRRJIf.FRIF_DATA_TYPE.SYSVAR_POS, "$MNUTOOL[1,1]");
                mobjVarString            = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_STRING, "$[HTTPKCL]CMDS[1]");
                mobjNumReg               = mobjDataTable.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 1, 60);
                mobjNumReg2              = mobjDataTable.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_REAL, 51, 60);
                mobjPosRegXyzwpr         = mobjDataTable.AddPosRegXyzwpr(FRRJIf.FRIF_DATA_TYPE.POSREG_XYZWPR, 1, 1, 40);
                mobjPosRegMG             = mobjDataTable.AddPosRegMG(FRRJIf.FRIF_DATA_TYPE.POSREGMG, "C,J6", 1, 10);
                mobjStrReg               = mobjDataTable.AddString(FRRJIf.FRIF_DATA_TYPE.STRREG, 1, 3);
                mobjStrRegComment        = mobjDataTable.AddString(FRRJIf.FRIF_DATA_TYPE.STRREG_COMMENT, 1, 3);
                //Debug.Assert(mobjStrRegComment != null);
            }

            // 2nd data table.
            // You must not set the first data table.
            mobjDataTable2        = mobjCore.DataTable2;
            mobjNumReg3           = mobjDataTable2.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 1, 5);
            mobjSysVarIntArray    = new FRRJIf.DataSysVar[10];
            mobjSysVarIntArray[0] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[1].$TIMER_VAL");
            mobjSysVarIntArray[1] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[2].$TIMER_VAL");
            mobjSysVarIntArray[2] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[3].$TIMER_VAL");
            mobjSysVarIntArray[3] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[4].$TIMER_VAL");
            mobjSysVarIntArray[4] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[5].$TIMER_VAL");
            mobjSysVarIntArray[5] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[6].$TIMER_VAL");
            mobjSysVarIntArray[6] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[7].$TIMER_VAL");
            mobjSysVarIntArray[7] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[8].$TIMER_VAL");
            mobjSysVarIntArray[8] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[9].$TIMER_VAL");
            mobjSysVarIntArray[9] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[10].$TIMER_VAL");

            //get host name
            if (string.IsNullOrEmpty(this.RobotIp))
            {
                return(false);
            }

            //connect
            if (lngTmp > 0)
            {
                mobjCore.TimeOutValue = lngTmp;
            }
            blnRes = mobjCore.Connect(this.RobotIp);
            if (blnRes == false)
            {
                msubClearVars();
                return(false);
            }

            return(true);
        }