Esempio n. 1
0
        private void Disconnect()
        {
            // Properly shut down the local variables in reverse order of precedence so that the ORiN engine is not left hanging
            TurnOffMotors();

            try {
                Robot.Execute("GiveArm");                               // Release the arm
            } catch (Exception ex) {
                ShowError("GiveArm", ex);
            }

            Robot.Variables.Clear();                                    // Clear all robot-specific variables from the main robot variable (THIS DOES NOT AFFECT VALUES ON THE PHYSICAL RC8 CONTROLLER)
            RobotBusyStatus      = null;                                // Set the individual robot-specific variable to null
            RobotState           = null;
            RobotExternalSpeed   = null;
            RobotCurrentPosition = null;
            RobotCurrentAngle    = null;

            RC8Controller.Robots.Clear();                       // Clear all local robot variables from the controller variable
            Robot = null;                                       // Set the individual robot variable to null

            RC8Controller.Variables.Clear();                    // Clear all local variables from the controller variable (THIS DOES NOT AFFECT VALUES ON THE PHYSICAL RC8 CONTROLLER)
            CurrentErrorCode        = null;                     // Set the individual local variables to null
            CurrentErrorDescription = null;
            RC8variable_S10         = null;

            ORiN_Engine.Workspaces.Item(0).Controllers.Remove(RC8Controller.Index); // Remove the controller variable from the ORiN engine
            RC8Controller = null;                                                   // Set the individual controller variable to null

            ORiN_Engine = null;                                                     // Set the ORiN engine variable to null
        }
        public static string GetTString(CaoVariable pVar)
        {
            if (pVar.Value is double[])
            {
                double[] pos = (double[])pVar.Value;

                StringBuilder sb = new StringBuilder();
                sb.Append("T(");
                for (int i = 0; i < pos.Length; i++)
                {
                    sb.Append(pos[i].ToString("0.00") + ",");
                }
                sb.Append(")");

                return(sb.ToString());
            }
            else if (pVar.Value is float[])
            {
                float[]       pos = (float[])pVar.Value;
                StringBuilder sb  = new StringBuilder();
                sb.Append("T(");
                for (int i = 0; i < pos.Length; i++)
                {
                    sb.Append(pos[i].ToString("0.00") + ",");
                }
                sb.Append(")");

                return(sb.ToString());
            }

            return("Error");
        }
        public void SetObjectAng(CaoVariable pos, int axis = 1, double offsetA = 0)
        {
            double[] posData = (double[])pos.Value;
            posData[axis - 1] += offsetA;

            ObjectAngVar.Value = posData;
        }
Esempio n. 4
0
        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
        }
Esempio n. 5
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        public static string GetJString(CaoVariable pVar)
        {
            if (pVar.Value is double[])
            {
                var pos = (double[])pVar.Value;

                var sb = new StringBuilder();
                sb.Append("J(");
                for (var i = 0; i < pos.Length; i++)
                {
                    sb.Append(pos[i].ToString("0.00") + ",");
                }
                sb.Remove(sb.Length - 1, 1);
                sb.Append(")");

                return(sb.ToString());
            }
            if (pVar.Value is float[])
            {
                var pos = (float[])pVar.Value;
                var sb  = new StringBuilder();
                sb.Append("J(");
                for (var i = 0; i < pos.Length; i++)
                {
                    sb.Append(pos[i].ToString("0.00") + ",");
                }
                sb.Remove(sb.Length - 1, 1);
                sb.Append(")");

                return(sb.ToString());
            }

            return("Error");
        }
Esempio n. 6
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        public static string GetPosData(CaoVariable pVar)
        {
            var doubleVals = pVar.Value as double[];

            if (doubleVals != null)
            {
                var pos = doubleVals;

                var sb = new StringBuilder();
                for (var i = 0; i < 3; i++)
                {
                    sb.Append(pos[i].ToString("0.00") + ",");
                }
                sb.Remove(sb.Length - 1, 1);
                return(sb.ToString());
            }

            var floatVals = pVar.Value as float[];

            if (floatVals != null)
            {
                var pos = floatVals;
                var sb  = new StringBuilder();
                for (var i = 0; i < 3; i++)
                {
                    sb.Append(pos[i].ToString("0.00") + ",");
                }
                sb.Remove(sb.Length - 1, 1);
                return(sb.ToString());
            }

            return("Error");
        }
Esempio n. 7
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        public void SetObjectPos(CaoVariable pos, int axis = 1, double offset = 0)
        {
            var posData = (double[])pos.Value;

            posData[axis - 1] += offset;

            ObjectPosVar.Value = posData;
        }
        public void SetObjectPos(CaoVariable pos, double offsetX = 0, double offsetY = 0, double offsetZ = 0)
        {
            double[] posData = (double[])pos.Value;
            posData[0] += offsetX;
            posData[1] += offsetY;
            posData[2] += offsetZ;

            ObjectPosVar.Value = posData;
        }
        public void Rotate(int mode, float degree)
        {
            CaoVariable cur = Robot.CurPosVar;

            double x = cur.Value[0];
            double y = cur.Value[1];
            double z = cur.Value[2];

            Robot.Rotate(mode, degree, string.Format("V({0},{1},{2})", x, y, z));
        }
Esempio n. 10
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        public void Initialize()
        {
            TempPosVar99 = ControllerPointsPVars["P99"];

            HomeJointVar       = ControllerPointsJVars["J10"];
            HomeJointVar.Value = new[] { 0, 0, 90, 0, 0, 0 };

            ObjectPosVar       = ControllerPointsPVars["P11"];
            ObjectPosVar.Value = new[] { 0, 0, 0, 0, 0, 0, -1 };

            ObjectAngVar       = ControllerPointsJVars["J11"];
            ObjectAngVar.Value = new[] { 0, 0, 0, 0, 0, 0 };
        }
        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
            RC8Controller.Variables.Clear();                                        // Clear all local variables from the controller variable (THIS DOES NOT AFFECT VALUES ON THE PHYSICAL RC8 CONTROLLER)
            RC8variable_S10 = null;                                                 // Set the individual local variables to null

            ORiN_Engine.Workspaces.Item(0).Controllers.Remove(RC8Controller.Index); // Remove the controller variable from the ORiN engine
            RC8Controller = 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 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;
        }
Esempio n. 13
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        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;
        }