private void msubClearVars()
{
mobjCore.Disconnect();
mobjCore = null;
mobjDataTable = null;
mobjDataTable2 = null;
mobjAlarm = null;
mobjAlarmCurrent = null;
mobjCurPos = null;
mobjCurPos2 = null;
mobjTask = null;
mobjTaskIgnoreMacro = null;
mobjTaskIgnoreKarel = null;
mobjTaskIgnoreMacroKarel = null;
mobjPosReg = null;
mobjPosReg2 = null;
mobjSysVarInt = null;
mobjSysVarReal = null;
mobjSysVarReal2 = null;
mobjSysVarString = null;
mobjSysVarPos = null;
mobjNumReg = null;
mobjNumReg2 = null;
mobjNumReg3 = null;
mobjVarString = null;
mobjStrReg = null;
mobjStrRegComment = null;
for (int ii = mobjSysVarIntArray.GetLowerBound(0); ii <= mobjSysVarIntArray.GetUpperBound(0); ii++)
{
mobjSysVarIntArray[ii] = null;
}
}
private void msubInit(string strHost)
{
mobjCore = new FRRJIf.Core();
// You need to set data table before connecting.
mobjDataTable = mobjCore.DataTable;
{
mobjAlarm = mobjDataTable.AddAlarm(FRRJIf.FRIF_DATA_TYPE.ALARM_LIST, 5, 0);
mobjAlarmCurrent = mobjDataTable.AddAlarm(FRRJIf.FRIF_DATA_TYPE.ALARM_CURRENT, 1, 0);
mobjCurPos = mobjDataTable.AddCurPos(FRRJIf.FRIF_DATA_TYPE.CURPOS, 1);
mobjCurPosUF = mobjDataTable.AddCurPosUF(FRRJIf.FRIF_DATA_TYPE.CURPOS, 1, 15);
mobjCurPos2 = mobjDataTable.AddCurPos(FRRJIf.FRIF_DATA_TYPE.CURPOS, 2);
mobjTask = mobjDataTable.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK, 1);
mobjTaskIgnoreMacro = mobjDataTable.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK_IGNORE_MACRO, 1);
mobjTaskIgnoreKarel = mobjDataTable.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK_IGNORE_KAREL, 1);
mobjTaskIgnoreMacroKarel = mobjDataTable.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK_IGNORE_MACRO_KAREL, 1);
mobjPosReg = mobjDataTable.AddPosReg(FRRJIf.FRIF_DATA_TYPE.POSREG, 1, 1, 10);
mobjPosReg2 = mobjDataTable.AddPosReg(FRRJIf.FRIF_DATA_TYPE.POSREG, 2, 1, 4);
mobjSysVarInt = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$FAST_CLOCK");
mobjSysVarInt2 = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[10].$TIMER_VAL");
mobjSysVarReal = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_REAL, "$MOR_GRP[1].$CURRENT_ANG[1]");
mobjSysVarReal2 = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_REAL, "$DUTY_TEMP");
mobjSysVarString = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_STRING, "$TIMER[10].$COMMENT");
mobjSysVarPos = mobjDataTable.AddSysVarPos(FRRJIf.FRIF_DATA_TYPE.SYSVAR_POS, "$MNUTOOL[1,1]");
mobjVarString = mobjDataTable.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_STRING, "$[HTTPKCL]CMDS[1]");
mobjNumReg = mobjDataTable.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 1, 5);
mobjNumReg2 = mobjDataTable.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_REAL, 6, 10);
mobjPosRegXyzwpr = mobjDataTable.AddPosRegXyzwpr(FRRJIf.FRIF_DATA_TYPE.POSREG_XYZWPR, 1, 1, 10);
mobjPosRegMG = mobjDataTable.AddPosRegMG(FRRJIf.FRIF_DATA_TYPE.POSREGMG, "C,J6", 1, 10);
mobjStrReg = mobjDataTable.AddString(FRRJIf.FRIF_DATA_TYPE.STRREG, 1, 3);
mobjStrRegComment = mobjDataTable.AddString(FRRJIf.FRIF_DATA_TYPE.STRREG_COMMENT, 1, 3);
}
// 2nd data table.
// You must not set the first data table.
mobjDataTable2 = mobjCore.DataTable2;
mobjNumReg3 = mobjDataTable2.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 1, 5);
mobjSysVarIntArray = new FRRJIf.DataSysVar[10];
mobjSysVarIntArray[0] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[1].$TIMER_VAL");
mobjSysVarIntArray[1] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[2].$TIMER_VAL");
mobjSysVarIntArray[2] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[3].$TIMER_VAL");
mobjSysVarIntArray[3] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[4].$TIMER_VAL");
mobjSysVarIntArray[4] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[5].$TIMER_VAL");
mobjSysVarIntArray[5] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[6].$TIMER_VAL");
mobjSysVarIntArray[6] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[7].$TIMER_VAL");
mobjSysVarIntArray[7] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[8].$TIMER_VAL");
mobjSysVarIntArray[8] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[9].$TIMER_VAL");
mobjSysVarIntArray[9] = mobjDataTable2.AddSysVar(FRRJIf.FRIF_DATA_TYPE.SYSVAR_INT, "$TIMER[10].$TIMER_VAL");
mobjCore.Connect(strHost);
}
//INITIALIZE, CONNECT, CONSTRUCT DATATABLES
public void subInit(string[] selectedReg)
{
//Set core
try
{
objCore = new FRRJIf.Core();
objSelectedReg = new FRRJIf.DataNumReg[selectedReg.Length];
//parse string[] to int[]
selectedRegArr = Array.ConvertAll(selectedReg, int.Parse);
//tasklist return object
taskArr = new string[10];
//init datatable return objects
dt_Selected = new System.Data.DataTable();
dt_Selected.Clear();
dt_Selected.Columns.Add("id", typeof(int));
dt_Selected.Columns.Add("Registry", typeof(int));
dt_Selected.Columns.Add("Value", typeof(double));
dt_Selected.Columns.Add("Selected", typeof(bool));
//welding params
voltage = 0;
amp = 0;
try
{
//Set FANUC datatable1
objDataTable1 = objCore.get_DataTable();
//robotinfo
numRegJob = objDataTable1.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 2, 2);
numRegofJob = objDataTable1.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 3, 3);
objRobotName = objDataTable1.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 5, 5);
//selected numregs
for (int i = 0; i < objSelectedReg.Length; i++)
{
objSelectedReg[i] = objDataTable1.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, selectedRegArr[i], selectedRegArr[i]);
}
//10 data tasks
objTaskList = new FRRJIf.DataTask[10];
for (int i = 0; i < objTaskList.Length; i++)
{
objTaskList[i] = objDataTable1.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK, i + 1);
}
isInit = true;
return;
}
catch (Exception ex)
{
//handle ex
Console.WriteLine(ex.ToString());
}
}
catch
{
Console.WriteLine("error..");
}
}