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 void Init()
{
if (IsInitialized)
{
return;
}
Kill();
// Create CaoEngine object
caoEngine = new CaoEngine();
caoWorkspace = caoEngine.Workspaces.Item(0);
//caoController = caoWorkspace.AddController("RC7", "CaoProv.DENSO.NetwoRC", "", "conn=eth:192.168.0.1");
caoController = caoWorkspace.AddController("RC8", "CaoProv.DENSO.RC8", null,
"Server=192.168.0.1,@IfNotMember=True");
caoRobot = caoController.AddRobot("Arm", "");
Robot = new DensoRobot(caoRobot);
Robot.LogEvent += OnLogEvent;
Controller = new DensoController(caoController);
Controller.LogEvent += OnLogEvent;
Controller.ClearError();
if ((int)Controller.ControllerCaoVars["@MODE"].Value <= 2)
{
MessageBox.Show("Controller not in Auto Mode! Retry!");
Close();
Kill();
IsInitialized = false;
return;
}
//Controller.PutAutoMode();
Controller.Initialize();
//RobslaveTask = new DensoTask(caoController.AddTask("robslave", null));
//RobslaveTask.LogEvent += OnLogEvent;
//RobslaveTask.Stop();
//RobslaveTask.Start();
IsInitialized = true;
}