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 DensoRobot(CaoRobot r)
{
robot = r;
OnLogEvent("Robot: robot add variable...");
foreach (var s in RobotVarStrings)
{
RobCaoVars.Add(s, robot.AddVariable(s, ""));
}
}