private void InitVariables()
{
// Add local variables that are linked to corresponding variables on the physical RC8 controller
// Add a variable linked to the robot connected to the RC8 controller
Robot = RC8Controller.AddRobot("Arm");
// Add robot variables
RobotBusyStatus = Robot.AddVariable("@BUSY_STATUS"); // Add a variable linked to the robot's busy status
RobotState = Robot.AddVariable("@State"); // Add a variable which contains the current state of the robot
RobotExternalSpeed = Robot.AddVariable("@Extspeed"); // Add a variable linked to the external (teach pendant) speed
RobotCurrentPosition = Robot.AddVariable("@CURRENT_POSITION"); // Add a variable which contains the current robot position
RobotCurrentAngle = Robot.AddVariable("@CURRENT_ANGLE"); // Add a variable which contains the current robot angle
// Add variables that are linked to the current error code and description
CurrentErrorCode = RC8Controller.AddVariable("@ERROR_CODE");
CurrentErrorDescription = RC8Controller.AddVariable("@ERROR_DESCRIPTION");
// Register to handle new message events from the controller
// Every time the controller has a new message, the ShowMessage function will be called
RC8Controller.OnMessage += new _ICaoControllerEvents_OnMessageEventHandler(ShowMessage);
// Add a variable linked to string variable S10
RC8variable_S10 = RC8Controller.AddVariable("S10");
timer_InterfaceUpdate.Start(); // Start the GUI timer
}
public DensoController(CaoController c)
{
controller = c;
c.OnMessage += OnMessageEvent;
OnLogEvent("Controller: robot add variable...");
foreach (var s in ControllerVarStrings)
{
ControllerCaoVars.Add(s, controller.AddVariable(s, null));
}
for (int i = 0; i < 100; i++)
{
ControllerPointsPVars.Add("P" + i, controller.AddVariable("P" + i, null));
}
for (int i = 0; i < 100; i++)
{
ControllerPointsJVars.Add("J" + i, controller.AddVariable("J" + i, null));
}
}
private void button_Connect_Click(object sender, EventArgs e)
{
button_Connect.Enabled = false;
// Create a link to the RC8 controller via the engine (CAO.exe)
RC8Controller = ORiN_Engine.Workspaces.Item(0).AddController(
"", // This is the name of the connection to the RC8 controller; Pass an empty string to have the controller auto-generate a name
"CaoProv.DENSO.RC8", // This is the name of the DENSO ORiN provider for RC8; It must be exactly as shown
"localhost", // This is the name of the machine executing the DENSO ORiN provider (usually the machine running this program)
"Server=192.168.0.1"); // This is the IP address of the physical RC8 controller
// Add a local variable that is linked to string variable S10 on the physical RC8 controller
RC8variable_S10 = RC8Controller.AddVariable("S10");
button_ReadVariable.Enabled = true;
button_WriteVariable.Enabled = true;
button_Close.Enabled = true;
}
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;
}