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;
}
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 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");
}
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");
}
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));
}
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;
}
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;
}