public void WriteData(RapidData RapidName, object WriteData, int Index = 1, int Llndex = 1)
{
switch (RapidName.RapidType)
{
case "num":
Num NumData = new Num();
NumData.FillFromString(WriteData.ToString());
if (RapidName.IsArray)
{
if (ArrayRank(RapidName) > 1)
{
RapidName.WriteItem(NumData, Index, Llndex);
}
else
{
RapidName.WriteItem(NumData, Index);
}
}
else
{
RapidName.Value = NumData;
}
break;
case "bool":
Bool BoolData = new Bool();
BoolData.FillFromString(WriteData.ToString());
if (RapidName.IsArray)
{
if (ArrayRank(RapidName) > 1)
{
RapidName.WriteItem(BoolData, Index, Llndex);
}
else
{
RapidName.WriteItem(BoolData, Index);
}
}
else
{
RapidName.Value = BoolData;
}
break;
case "string":
ABB.Robotics.Controllers.RapidDomain.String StrData = new ABB.Robotics.Controllers.RapidDomain.String();
StrData.FillFromString(WriteData.ToString());
if (RapidName.IsArray)
{
if (ArrayRank(RapidName) > 1)
{
RapidName.WriteItem(StrData, Index, Llndex);
}
else
{
RapidName.WriteItem(StrData, Index);
}
}
else
{
RapidName.Value = StrData;
}
break;
default:
break;
}
}
public void WriteData(List <RapidData> LRapidName, List <string> LRValue, int Index = 1, int Lindex = 1)
{
for (int i = 0; i < LRapidName.Count; i++)
{
switch (LRapidName[i].RapidType)
{
case "num":
Num NumData = new Num();
NumData.FillFromString(LRValue[i].ToString());
if (LRapidName[i].IsArray)
{
if (ArrayRank(LRapidName[i]) > 1)
{
LRapidName[i].WriteItem(NumData, Index, Lindex);
}
else
{
LRapidName[i].WriteItem(NumData, Index);
}
}
else
{
LRapidName[i].Value = NumData;
}
break;
case "bool":
Bool BoolData = new Bool();
BoolData.FillFromString(LRValue[i].ToString());
if (LRapidName[i].IsArray)
{
if (ArrayRank(LRapidName[i]) > 1)
{
LRapidName[i].WriteItem(BoolData, Index, Lindex);
}
else
{
LRapidName[i].WriteItem(BoolData, Index);
}
}
else
{
LRapidName[i].Value = BoolData;
}
break;
case "string":
ABB.Robotics.Controllers.RapidDomain.String StrData = new ABB.Robotics.Controllers.RapidDomain.String();
StrData.FillFromString(LRValue[i].ToString());
if (LRapidName[i].IsArray)
{
if (ArrayRank(LRapidName[i]) > 1)
{
LRapidName[i].WriteItem(StrData, Index, Lindex);
}
else
{
LRapidName[i].WriteItem(StrData, Index);
}
}
else
{
LRapidName[i].Value = StrData;
}
break;
default:
break;
}
}
}
public void listmethod()
{
////data1 = objController.Rapid.GetTask("T_ROB1").GetModule("SWDEFUSR").GetRapidData("Version_SWDEFUSR"); //string
//data1.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data1_ValueChanged);
data2 = objController.Rapid.GetTask("T_ROB1").GetModule("URUN_M1").GetRapidData("W_00049"); //robtarget //robot punta pozisyon bilgisi
data2.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data2_ValueChanged);
//data3 = objController.Rapid.GetTask("T_ROB1").GetModule("SWDEFUSR").GetRapidData("MAX_DEFLECTION"); //num
//data3.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data3_ValueChanged);
//data4 = objController.Rapid.GetTask("T_ROB1").GetModule("SPOTSRV").GetRapidData("nToplamAsinma"); //num
//data4.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged);
//data5 = objController.Rapid.GetTask("T_ROB1").GetModule("BASE").GetRapidData("wobj0"); //wobjdata
//data5.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged);
//data6 = objController.Rapid.GetTask("T_ROB1").GetModule("BASE").GetRapidData("load0"); //loaddata
//data6.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged);
//data7 = objController.Rapid.GetTask("T_ROB1").GetModule("HOME_KONTROL").GetRapidData("delta_position1"); //jointtarget
//data7.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged);
data8 = objController.Rapid.GetTask("T_ROB1").GetModule("SPOTSRV").GetRapidData("bRobot_FrezePrograminda"); //bool
data8.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data9 = objController.Rapid.GetTask("T_ROB1").GetModule("SWDEFUSR").GetRapidData("spot1"); //spotdata
data9.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data10 = objController.Rapid.GetTask("T_AutoBackup").GetModule("MainModule").GetRapidData("bCycleOn"); //bool
data10.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data11 = objController.Rapid.GetTask("T_AutoBackup").GetModule("MainModule").GetRapidData("nHataKodu"); //num
data11.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data12 = objController.Rapid.GetTask("T_ROB1").GetModule("SPOTSRV").GetRapidData("force_bileme"); //forcedata //firezeleme kuvveti
data12.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data13 = objController.Rapid.GetTask("T_AutoBackup").GetModule("MainModule").GetRapidData("bKaynakTamamlandi"); //bool
data13.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data14 = objController.Rapid.GetTask("T_ROB1").GetModule("URUN_M1").GetRapidData("nProgNo"); //num
data14.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
_string1 = (ABB.Robotics.Controllers.RapidDomain.String)data1.Value;
string1 = _string1.Value;
_robTarget1 = (ABB.Robotics.Controllers.RapidDomain.RobTarget)data2.Value;
robTarget1 = _robTarget1.Trans;
_num3 = (ABB.Robotics.Controllers.RapidDomain.Num)data3.Value;
num3 = _num3.Value;
_num4 = (ABB.Robotics.Controllers.RapidDomain.Num)data4.Value;
num4 = _num4.Value;
_wobjData1 = (WobjData)data5.Value;
wobjData1 = _wobjData1.Oframe;
_loadData1 = (LoadData)data6.Value;
loadData1 = _loadData1.Aom;
_jointTarget1 = (JointTarget)data7.Value;
jointTarget1 = _jointTarget1.RobAx;
_bool1 = (Bool)data8.Value;
bool1 = _bool1.Value;
label4.Text = data9.Value.ToString();
_bool2 = (Bool)data10.Value;
bool2 = _bool2.Value;
_num5 = (ABB.Robotics.Controllers.RapidDomain.Num)data11.Value;
num5 = _num5.Value;
_bool3 = (Bool)data13.Value;
bool3 = _bool3.Value;
label9.Text = data12.Value.ToString();
_num6 = (ABB.Robotics.Controllers.RapidDomain.Num)data14.Value;
num6 = _num6.Value;
dataGridView1.Rows.Add(data1.Symbol.Scope[0], data1.Symbol.Scope[1], data1.Symbol.Scope[2], string1);
dataGridView1.Rows.Add(data2.Symbol.Scope[0], data2.Symbol.Scope[1], data2.Symbol.Scope[2], robTarget1);
dataGridView1.Rows.Add(data3.Symbol.Scope[0], data3.Symbol.Scope[1], data3.Symbol.Scope[2], num3);
dataGridView1.Rows.Add(data4.Symbol.Scope[0], data4.Symbol.Scope[1], data4.Symbol.Scope[2], num4);
dataGridView1.Rows.Add(data5.Symbol.Scope[0], data5.Symbol.Scope[1], data5.Symbol.Scope[2], wobjData1);
dataGridView1.Rows.Add(data6.Symbol.Scope[0], data6.Symbol.Scope[1], data6.Symbol.Scope[2], loadData1);
dataGridView1.Rows.Add(data7.Symbol.Scope[0], data7.Symbol.Scope[1], data7.Symbol.Scope[2], jointTarget1);
dataGridView1.Rows.Add(data8.Symbol.Scope[0], data8.Symbol.Scope[1], data8.Symbol.Scope[2], bool1);
dataGridView1.Rows.Add(data10.Symbol.Scope[0], data10.Symbol.Scope[1], data10.Symbol.Scope[2], bool2);
dataGridView1.Rows.Add(data11.Symbol.Scope[0], data11.Symbol.Scope[1], data11.Symbol.Scope[2], num5);
dataGridView1.Rows.Add(data12.Symbol.Scope[0], data12.Symbol.Scope[1], data12.Symbol.Scope[2], data12.Value);
dataGridView1.Rows.Add(data13.Symbol.Scope[0], data13.Symbol.Scope[1], data13.Symbol.Scope[2], bool3);
dataGridView1.Rows.Add(data14.Symbol.Scope[0], data14.Symbol.Scope[1], data14.Symbol.Scope[2], num6);
dataGridView1.AutoGenerateColumns = false;
}
