RC8 Provider. For DENSO Robot RC8. User s Guide (C# Code Reference) Version Version Date Content st Edition
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1 RC8 Provider For DENSO Robot RC8 Version User s Guide (C# Code Reference) Version Date Content st Edition nd Edition Revision 2.1 ORiN Forum 1 DENSO Products and Services Americas, Inc.
2 Contents 1.1 System requirements and versions assumed in this document Information sources for your reference Environment Setup for Application Development Setup of PC development environment Automatic installation of RC8 provider Manual installation of RC8 provider Setup of RC8 controller Emergency stop device position Preparation of hardware Setup of system parameters Setup using a teach pendant Setup using a mini teach pendant Operation check using CaoTester Check of variable access Check that the motor is ON Basic Knowledge on RC8 programing Outline of RC8 provider Functions provided by RC8 provider System configuration of RC8 provider Configuration of Cao engine and Cao provider HRESULT and handling of errors Handling of property definitions Execute method and runtime binding RC8 Programming Using the Provider RC8 controller variable access Connection Variable read/write access Disconnection Sample program Task control with RC8 controller Connection Start/Stop of a task Sample program Robot control with RC8 controller Connection Getting and release of arm control authority Start and stop of the motor ORiN Forum 2 DENSO Products and Services Americas, Inc.
3 4.3.4 Move and stop of the robot Sample program Command Reference List of commands Methods and properties CaoWorkspace::AddController method When you establish multiple connections with RC8 controller CaoController::AddFile method CaoController::AddRobot method CaoController::AddTask method CaoController::AddVariable method CaoController::AddExtension method CaoController::get_Name property CaoController:: get_filenames property CaoController:: get_taskname property CaoController:: get_variablenames property CaoController:: Execute method CaoController::Execute( ClearError ) command CaoController::Execute( GetErrorDescription ) command CaoController::Execute( KillAll ) command CaoController::Execute( KillAllTsr ) command CaoController::Execute( RunAllTsr ) command CaoController::Execute( SuspendAll ) command CaoController::Execute( StepStopAll ) command CaoController::Execute( ContinueStartAll ) command CaoController::Execute( GetErrorLogCount ) command CaoController::Execute( GetErrorLog ) command CaoController::Execute( GetOprLogCount ) command CaoController::Execute( GetOprLog ) command CaoController::Execute( GetPublicValue ) command CaoController::Execute( SetPublicValue ) command CaoController::Execute( SysState ) command CaoController::Execute( SysInfo ) command CaoController::Execute( SetAllDummyIO ) command CaoController::Execute( GetCurErrorCount ) command CaoController::Execute( GetCurErrorInfo ) command CaoFile::AddFile method ORiN Forum 3 DENSO Products and Services Americas, Inc.
4 CaoFile::AddVariable method CaoFile::get_VariableNames property CaoFile::get_FileNames property CaoFile::get_Size property CaoFile::get_Value property CaoFile::put_Value property CaoRobot::Accelerate method CaoRobot::AddVariable method CaoRobot::get_VariableNames property CaoRobot::Halt method CaoRobot::Change method CaoRobot::Drive method CaoRobot::Move method CaoRobot::Rotate method CaoRobot::Speed method CaoRobot::Execute method CaoRobot::Execute("TMul") command CaoRobot::Execute("TInv") command CaoRobot::Execute("TNorm") command CaoRobot::Execute("J2T") command CaoRobot::Execute("T2J") command CaoRobot::Execute("J2P") command CaoRobot::Execute("P2J") command CaoRobot::Execute("T2P") command CaoRobot::Execute("P2T") command CaoRobot::Execute("Dev") command CaoRobot::Execute("DevH") command CaoRobot::Execute("OutRange") command CaoRobot::Execute("MPS") command CaoRobot::Execute("RPM") command CaoRobot::Execute("DPS") command CaoRobot::Execute("CurPos") command CaoRobot::Execute("DestPos") command CaoRobot::Execute ("CurPosEx") command CaoRobot::Execute("DestPosEx") command CaoRobot::Execute("HighCurPosEx") command CaoRobot::Execute("CurJnt") command ORiN Forum 4 DENSO Products and Services Americas, Inc.
5 CaoRobot::Execute("DestJnt") command CaoRobot::Execute("CurJntEx" ) command CaoRobot::Execute("DestJntEx" ) command CaoRobot::Execute("HighCurJntEx" ) command CaoRobot::Execute("CurTrn") command CaoRobot::Execute("DestTrn") command CaoRobot::Execute("CurTrnEx" ) command CaoRobot::Execute("DestTrnEx" ) command CaoRobot::Execute("HighCurTrnEx" ) command CaoRobot::Execute("CurFig") command CaoRobot::Execute("CurSpd") command CaoRobot::Execute("CurAcc") command CaoRobot::Execute("CurDec") command CaoRobot::Execute("CurJSpd") command CaoRobot::Execute("CurJAcc") command CaoRobot::Execute("CurJDec") command CaoRobot::Execute("StartLog") command CaoRobot::Execute("StopLog") command CaoRobot::Execute("ClearLog") command CaoRobot::Execute("Motor") command CaoRobot::Execute("ExtSpeed") command CaoRobot::Execute("TakeArm") command CaoRobot::Execute("GiveArm") command CaoRobot::Execute("Draw") command CaoRobot::Execute("Approach") command CaoRobot::Execute("Depart") command CaoRobot::Execute("DriveEx") command CaoRobot::Execute("DriveAEx") command CaoRobot::Execute("RotateH") command CaoRobot::Execute("Arrive") command CaoRobot::Execute("MotionSkip") command CaoRobot::Execute("MotionComplete") command CaoRobot::Execute("CurTool") command CaoRobot::Execute("GetToolDef") command CaoRobot::Execute("SetToolDef") command CaoRobot::Execute("CurWork") command ORiN Forum 5 DENSO Products and Services Americas, Inc.
6 CaoRobot::Execute("GetWorkDef") command CaoRobot::Execute("SetWorkDef") command CaoRobot::Execute("WorkAttribute") command CaoRobot::Execute("GetAreaDef") command CaoRobot::Execute("SetAreaDef") command CaoRobot::Execute("SetArea") command CaoRobot::Execute("ResetArea") command CaoRobot::Execute("AreaSize") command CaoRobot::Execute("GetAreaEnabled") command CaoRobot::Execute("SetAreaEnabled") command CaoRobot::Execute("AddPathPoint") command CaoRobot::Execute("ClrPathPoint") command CaoRobot::Execute("GetPathPoint") command CaoRobot::Execute("LoadPathPoint") command CaoRobot::Execute("GetPathPointCount ") command CaoRobot::Execute("GetRobotTypeName") command CaoRobot::Execute("ArchMove") command CaoRobot::Execute("CrtMotionAllow") command CaoRobot::Execute("EncMotionAllow") command CaoRobot::Execute("EncMotionAllowJnt") command CaoRobot::Execute("ErAlw") command CaoRobot::Execute("ForceCtrl") command CaoRobot::Execute("ForceParam") command CaoRobot::Execute("ForceValue" ) command CaoRobot::Execute("ForceWaitCondition" ) command CaoRobot::Execute("ForceSensor" ) command CaoRobot::Execute("ForceChangeTable") command CaoRobot::Execute("GetSrvData") command CaoRobot::Execute("GetSrvJntData") command CaoRobot::Execute("GrvCtrl") command CaoRobot::Execute("CurLmt") command CaoRobot::Execute("Zforce") command CaoRobot::Execute("GrvOffset") command CaoRobot::Execute("HighPathAccuracy") command CaoRobot::Execute("MotionTimeout") command CaoRobot::Execute("SingularAvoid") command ORiN Forum 6 DENSO Products and Services Americas, Inc.
7 CaoRobot::Execute("SpeedMode") command CaoRobot::Execute("PayLoad") command CaoRobot::Execute("GenerateNonStopPath ") command CaoRobot::Execute("RobInfo") command CaoRobot::Execute("SetBaseDef") command CaoRobot::Execute("SyncTimeStart") command CaoRobot::Execute("SyncTimeEnd") command CaoRobot::Execute("SyncMoveStart") command CaoRobot::Execute("SyncMoveEnd") command CaoRobot::Execute("GetBaseDef") command CaoRobot::Execute("SetHandIO") command CaoRobot::Execute("GetHandIO") command CaoRobot::Execute("StartServoLog") command CaoRobot::Execute("ClearServoLog") command CaoRobot::Execute("StopServoLog") command CaoRobot::Execute("GetCtrlLogMaxTime" ) command CaoRobot::Execute("SetCtrlLogMaxTime" ) command CaoRobot::Execute("GetCtrlLogInterval" ) command CaoRobot::Execute("SetCtrlLogInterval" ) command CaoRobot::Execute("DetectOn" ) command CaoRobot::Execute("DetectOff" ) command CaoRobot::Execute("GetPluralServoData" ) command CaoRobot::Execute("AngularTrigger" ) command CaoTask::AddVariable method CaoTask::get_VariableNames property CaoTask::Start method CaoTask::Stop method CaoTask::Execute method CaoTask::Execute("GetStatus") command CaoTask::Execute("GetThreadPriority") command CaoTask::Execute("SetThreadPriority") command CaoVariable::get_Value property CaoVariable::put_Value property CaoExtension::Execute method Hand object - CaoExtension::Execute("Chuck") command Hand object - CaoExtension::Execute("UnChuck") command ORiN Forum 7 DENSO Products and Services Americas, Inc.
8 Hand object - CaoExtension::Execute("Motor") command Hand object - CaoExtension::Execute("Org") command Hand object - CaoExtension::Execute("MoveP") command Hand object - CaoExtension::Execute("MoveA") command Hand object - CaoExtension::Execute("MoveR") command Hand object - CaoExtension::Execute("MoveAH") command Hand object - CaoExtension::Execute("MoveRH") command Hand object - CaoExtension::Execute("MoveH") command Hand object CaoExtension::Execute( MoveZH ) command Hand object CaoExtension::Execute( Stop ) command Hand object CaoExtension::Execute( CurPos ) command Hand object CaoExtension::Execute( GetPoint ) command Hand object CaoExtension::Execute( get_emgstate ) command Hand object CaoExtension::Execute( get_zonstate ) command Hand object CaoExtension::Execute( get_orgstate ) command Hand object CaoExtension::Execute( get_holdstate ) command Hand object CaoExtension::Execute( get_inposstate ) command Hand object CaoExtension::Execute( get_error ) command Hand object CaoExtension::Execute( get_busystate ) command Hand object CaoExtension::Execute( get_motorstate ) command ORiN Forum 8 DENSO Products and Services Americas, Inc.
9 1. Introduction 1.1 System requirements and versions assumed in this document 1.2 Information sources for your reference 2. Environment Setup for Application Development 2.1 Setup of PC development environment Automatic installation of RC8 provider Manual installation of RC8 provider 2.2 Setup of RC8 controller Emergency stop device position Preparation of hardware Setup of system parameters Setup using a teach pendant Setup using a mini teach pendant 2.3 Operation check using CaoTester Check of variable access Check that the motor is ON 3. Basic Knowledge on RC8 programing 3.2 Outline of RC8 provider Functions provided by RC8 provider System configuration of RC8 provider Configuration of Cao engine and Cao provider HRESULT and handling of errors Handling of property definitions Execute method and runtime binding ORiN Forum 9 DENSO Products and Services Americas, Inc.
10 4. RC8 Programming Using the Provider 4.1 RC8 controller variable access Connection (1) CaoEngine g_eng; CaoWorkspace g_wrks; CaoController g_ctrl; CaoVariable g_val; //CaoEngine object variable //CaoWorkspace object variable //CaoController object variable //CaoVariable object variable (2) g_eng = new CaoEngine(); //CaoEngine object creation (3) g_wrks = g_eng.addworkspace("newwrks", ""); (4) g_ctrl = g_wrks.addcontroller("rc8", "CaoProv.DENSO.RC8", "", "Server= "); (5) g_val = g_ctrl.addvariable("p10", ""); Variable read/write access Object vntposition; vntposition = g_val.value; //Get Value g_val.value = new int[7] {50, 50, 50, 0, 0, 0, -1; //Set Value Disconnection g_ctrl.variables.clear(); g_val = null; g_wrks.controllers.remove(g_ctrl.index); g_ctrl = null; g_eng.workspaces.remove(g_wrks.index); g_wrks = null; g_eng = null; //Deleted all objects from CaoVariables //Deleted CaoVariable //Delete CaoController from CaoControllers //Delete CaoController //Delete CaoWorkspaces from CaoWorkspaces //Delete CaoWorkspace //Delete CaoEngine Sample program List 4-1 Variable.cs using System; using System.Text; using System.Windows.Forms; using ORiN2.interop.CAO; namespace RC8_with_ORiN_VS2010 { public partial class Variable : Form { private CaoEngine g_eng; //CaoEngine object variable private CaoController g_ctrl; //CaoController object variable private CaoVariable g_val; //CaoVariable object variable public Variable() { InitializeComponent(); ORiN Forum 10 DENSO Products and Services Americas, Inc.
11 private void Command1_Click(object sender, EventArgs e) { Text1.Text = Convert.ToString(g_val.Value); //Read Variable private void Command2_Click(object sender, EventArgs e) { g_val.value = Convert.ToBoolean(Text2.Text); private void Variable_Load(object sender, EventArgs e) { g_eng = new CaoEngine(); //CaoEngine object creation //Connect RC: IP setting depends on your RC setting. g_ctrl = g_eng.workspaces.item(0).addcontroller("rc8", "CaoProv.DENSO.RC8", "", "Server= "); //Variable name "IO150" g_val = g_ctrl.addvariable("io150", ""); private void Variable_FormClosed(object sender, FormClosedEventArgs e) { //Delete variable object g_ctrl.variables.clear(); System.Runtime.InteropServices.Marshal.ReleaseComObject(g_val); g_val = null; //Delete controller object g_eng.workspaces.item(0).controllers.remove(g_ctrl.index); System.Runtime.InteropServices.Marshal.ReleaseComObject(g_ctrl); g_ctrl = null; //Delete engine object System.Runtime.InteropServices.Marshal.ReleaseComObject(g_eng); g_eng = null; 4.2 Task control with RC8 controller Connection CaoTask g_task; g_task = g_ctrl.addtask("pro1", ""); //CaoTask object variable //Task name PRO Start/Stop of a task g_task.start(1, ""); g_task.stop(4, ""); //Start Task //Stop Task ORiN Forum 11 DENSO Products and Services Americas, Inc.
12 4.2.3 Sample program List 4-2 Task.cs using System.Windows.Forms; using ORiN2.interop.CAO; namespace RC8_with_ORiN_VS2010 { public partial class Task : Form { private CaoEngine g_eng; private CaoController g_ctrl; private CaoTask g_task; //CaoEngine object variable //CaoController object variable //CaoTask object variable public Task() { InitializeComponent(); private void Command1_Click(object sender, EventArgs e) { g_task.start(1, ""); //Start Task private void Command2_Click(object sender, EventArgs e) { g_task.stop(4, ""); //Stop Task private void Task_Load(object sender, EventArgs e) { g_eng = new CaoEngine(); //CaoEngine object creation //Connect RC: IP setting depends on your RC setting. g_ctrl = g_eng.workspaces.item(0).addcontroller("rc8", "CaoProv.DENSO.RC8", "", "Server= "); g_task = g_ctrl.addtask("pro1", ""); //Task name PRO1 private void Task_FormClosed(object sender, FormClosedEventArgs e) { //Delete task object g_ctrl.tasks.clear(); System.Runtime.InteropServices.Marshal.ReleaseComObject(g_task); g_task = null; //Delete controller object g_eng.workspaces.item(0).controllers.remove(g_ctrl.index); System.Runtime.InteropServices.Marshal.ReleaseComObject(g_ctrl); g_ctrl = null; //Delete engine object System.Runtime.InteropServices.Marshal.ReleaseComObject(g_eng); g_eng = null; 4.3 Robot control with RC8 controller Connection CaoRobot g_robot; //Variable that stores a CaoRobot object g_robot = g_ctrl.addrobot("arm"); ORiN Forum 12 DENSO Products and Services Americas, Inc.
13 4.3.2 Getting and release of arm control authority g_robot.execute("takearm"); //Get arm control authority g_robot.execute("givearm"); //Release arm control authority Start and stop of the motor g_robot.execute("motor", new object[] { 1, 0 ); g_robot.execute("motor", new object[] { 0, 0 ); //Start Motor //Stop Motor Move and stop of the robot g_robot.move(1, "P(400, 300, 200, 180, 0, 180, 5)", "NEXT"); //Move Robot g_robot.halt(""); //Stop Robot Sample program List 4-3 Robot.cs using System.Windows.Forms; using ORiN2.interop.CAO; namespace RC8_with_ORiN_VS2010 { public partial class Robot : Form { private CaoEngine g_eng; //CaoEngine object variable private CaoController g_ctrl; //CaoController object variable private CaoRobot g_robot; //CaoRobot object variable private CaoVariable g_robotvar; //CaoVariable from CaoRobot object private bool g_haltflag; public Robot() { InitializeComponent(); private void Command1_Click(object sender, EventArgs e) { if (g_robotvar.value == false) //Start motor if arm is stationary g_robot.execute("motor", new object[] { 1, 0 ); //Start Motor private void Command2_Click(object sender, EventArgs e) { if (g_robotvar.value == false) //Stop motor if arm is stationary g_robot.execute("motor", new object[] { 0, 0 ); private void Command3_Click(object sender, EventArgs e) { g_robot.halt(""); //Stop Robot g_haltflag = true; //Record robot stop private void Command4_Click(object sender, EventArgs e) { if (g_robotvar.value == true) return; g_haltflag = false; g_robot.move(1, "@P P10", "NEXT"); //Run Robot //Do not start next motion until previous motion is completed do { Application.DoEvents(); while (g_robotvar.value == false); ORiN Forum 13 DENSO Products and Services Americas, Inc.
14 //Do not start next motion if robot has stopped if (g_haltflag == true) return; g_robot.move(1, P11", "NEXT"); //Run Robot private void Robot_Load(object sender, EventArgs e) { g_eng = new CaoEngine(); //CaoEngine object creation //Connect RC: IP setting depends on your RC setting. g_ctrl = g_eng.workspaces.item(0).addcontroller("rc8", "CaoProv.DENSO.RC8", "", "Server= "); //Create CaoRobot object g_robot = g_ctrl.addrobot("arm"); //Argument used to check arm running status g_robotvar = g_robot.addvariable("@busy_status"); g_robot.execute("takearm"); Command1_Click(sender,e); //Get arm control authority //Start Motor private void Robot_FormClosed(object sender, FormClosedEventArgs e) { Command2_Click(sender, e); //Stop Motor g_robot.execute("givearm"); //Release arm control authority //Delete robot variable object g_robot.variables.clear(); System.Runtime.InteropServices.Marshal.ReleaseComObject(g_robotVar); g_robotvar = null; //Delete robot arm object g_ctrl.robots.clear(); System.Runtime.InteropServices.Marshal.ReleaseComObject(g_robot); g_robot = null; //Delete controller object g_eng.workspaces.item(0).controllers.remove(g_ctrl.index); System.Runtime.InteropServices.Marshal.ReleaseComObject(g_ctrl); g_ctrl = null; //Delete engine object System.Runtime.InteropServices.Marshal.ReleaseComObject(g_eng); g_eng = null; ORiN Forum 14 DENSO Products and Services Americas, Inc.
15 5. Command Reference 5.1 List of commands 5.2 Methods and properties CaoWorkspace::AddController method Create CaoController CaoEngine caoeng; //Engine Object When you establish multiple connections with RC8 controller CaoController::AddFile method Get the content of a Pro1.pcs file CaoFile caofl; String strtext; caofl = caoctrl.addfile("pro1.pcs", ""); strtext = caofl.value; //Specify pro1.pcs CaoController::AddRobot method CaoRobot CaoRob; CaoRobot SlaveRob; CaoRob = caoctrl.addrobot("robot0", "ID=0"); //Specify Robot0 SlaveRob = caoctrl.addrobot("robot1", "ID=1"); //Use this command when slave robot is // used in the coordinate function CaoController::AddTask method CaoTask CaoTsk; CaoTsk = caoctrl.addtask("pro1", ""); //Specify Pro CaoController::AddVariable method Access to the 128 th I/O variable CaoVariable caovar; caovar = caoctrl.addvariable("io128", ""); // Specify I/O 128 caovar.value = 0; MessageBox.Show(Convert.ToString(caoVar.Value)); CaoVariable caovar; caovar = caoctrl.addvariable("io*", ""); // Specify IO* and the index ID caovar.id = 128; caovar.value = 1; MessageBox.Show(Convert.ToString(caoVar.Value)); CaoController::AddExtension method CaoExtension CaoExt; CaoExt = caoctrl.addextension("hand0",""); //Get Hand0 object ORiN Forum 15 DENSO Products and Services Americas, Inc.
16 5.2.7 CaoController::get_Name property Display the automatically assigned controller name CaoEngine caoeng; //Engine Object CaoWorkspace caows; //Workspace object CaoController caoctrl; //Controller Object caoeng = new CaoEngine(); caows = caoeng.workspaces.item(0); caoctrl = caows.addcontroller("", "CaoProv.DENSO.RC8", "", "Server= "); MessageBox.Show(caoCtrl.Name); CaoController:: get_filenames property List the following file names in the root folder string[] var; var = caoctrl.filenames; for (int i = 0; i < var.length; i++) { MessageBox.Show(var[i]); CaoController:: get_taskname property List task names string[] var; var = caoctrl.tasknames; for (int i = 0; i < var.length; i++) { MessageBox.Show(var[i]); CaoController:: get_variablenames property CaoController:: Execute method object vres; vres = caoctrl.execute("clearerror"); //Clear Error of controller CaoController::Execute( ClearError ) command caoctrl.execute("clearerror"); CaoController::Execute( GetErrorDescription ) command string strdescription; strdescription = caoctrl.execute("geterrordescription", 0x ); CaoController::Execute( KillAll ) command caoctrl.execute("killall"); CaoController::Execute( KillAllTsr ) command caoctrl.execute("killalltsr"); ORiN Forum 16 DENSO Products and Services Americas, Inc.
17 CaoController::Execute( RunAllTsr ) command caoctrl.execute("runalltsr"); CaoController::Execute( SuspendAll ) command caoctrl.execute("suspendall"); CaoController::Execute( StepStopAll ) command caoctrl.execute("stepstopall"); CaoController::Execute( ContinueStartAll ) command caoctrl.execute("continuestartall"); CaoController::Execute( GetErrorLogCount ) command long IErrCnt; IErrCnt = caoctrl.execute("geterrorlogcount"); CaoController::Execute( GetErrorLog ) command long IErrCnt; dynamic vdat; IErrCnt = caoctrl.execute("geterrorlogcount"); for (long i = 0; i < IErrCnt; i++) { vdat = caoctrl.execute("geterrorlog", i); //Returns the latest error. MessageBox.Show("Code: "+vdat[0].tostring("x")+"description: "+ vdat[12].tostring()); CaoController::Execute( GetOprLogCount ) command long IOprCnt; IOprCnt = caoctrl.execute("getoprlogcount"); CaoController::Execute( GetOprLog ) command long IOprCnt; IOprCnt = caoctrl.execute("getoprlogcount"); dynamic vdat; for (long i = 0; i < IOprCnt; i++) { vdat = caoctrl.execute("getoprlog", i); //Returns the latest error. MessageBox.Show("Code: "+vdat[0].tostring("x")+"description: "+vdat[11].tostring()); ORiN Forum 17 DENSO Products and Services Americas, Inc.
18 CaoController::Execute( GetPublicValue ) command Reading Variable long ival; ival = caoctrl.execute("getpublicvalue", new object[] {"Pro1","pblValue"); Reading one element array ival = caoctrl.execute("getpublicvalue",new object[] {"Pro1","pblArrays",1,2,2); Reading one dimensional array as a batch dynamic varray; varray = caoctrl.execute("getpublicvalue", new object[] {"Pro1", "pblarray"); Reading P-type variable dynamic vval; vval = caoctrl.execute("getpublicvalue", new object[] { "Pro1", "pbpvalue" ); CaoController::Execute( SetPublicValue ) command Writing Variable long ival; ival = 1234; caoctrl.execute("setpublicvalue", new object[] {ival,"pro1","pblvalue"); Writing one element of array long ival; ival = 1234; caoctrl.execute("setpublicvalue", new object[] { ival, "Pro1", "pblarrays", 1, 2, 2 ); Writing one dimensional array as batch int [] iarray = { 0, 1, 2 ; caoctrl.execute("setpublicvalue", new object[] { iarray, "Pro1", "pblarray" ); Writing P-type variable double[] fvals = { 1.0, 2.0, 3.0, 1.0, 2.0, 3.0, -1 ; caoctrl.execute("setpublicvalue", new object[] {fvals,"pro1","pbpvalue"); CaoController::Execute( SysState ) command long state; state = caoctrl.execute("sysstate"); CaoController::Execute( SysInfo ) command string sysinfo; sysinfo = caoctrl.execute("sysinfo", 0); CaoController::Execute( SetAllDummyIO ) command caoctrl.execute("setalldummyio", 0); //Reset all dummy IOs CaoController::Execute( GetCurErrorCount ) command long ErrCount; ErrCount = caoctrl.execute("getcurerrorcount"); ORiN Forum 18 DENSO Products and Services Americas, Inc.
19 CaoController::Execute( GetCurErrorInfo ) command dynamic Errinfo; Errinfo = caoctrl.execute("getcurerrorinfo", 0); CaoFile::AddFile method Display the size of Pro1.pcs file in the User folder CaoFile caofl; CaoFile caofldir; caofldir = caoctrl.addfile("/user"); //Specify Use folder caofl = caoctrl.addfile("pro1.pcs"); //Specify User\Pro1.pcs file MessageBox.Show(Convert.ToString(caoFl.Size)); CaoFile::AddVariable method Get the CRC of the Pro1.pcs file CaoFile caofl; caofl = caoctrl.addfile("pro1.pcs"); CaoVariable caocrc; caocrc = caofl.addvariable("@crc"); MessageBox.Show(Convert.ToString(caoCrc.Value)); //Display CRC of Pro1.pcs CaoFile::get_VariableNames property CaoFile::get_FileNames property CaoFile::get_Size property Get the size of Pro1.pcs file CaoFile caofl; caofl = caoctrl.addfile("pro1.pcs"); MessageBox.Show(Convert.ToString(caoFl.Size)); CaoFile::get_Value property Get contents of Pro1.pcs file CaoFile caofl; caofl = caoctrl.addfile("pro1.pcs"); MessageBox.Show(caoFl.Value); //Display CRC of Pro1.pcs CaoFile::put_Value property CaoRobot::Accelerate method caorob.accelerate(0,50,-1); //Acceleration = 50%, Deceleration = No Change caorob.accelerate(0,-1,60); //Acceleration = No Change, Deceleration = 60% ORiN Forum 19 DENSO Products and Services Americas, Inc.
20 CaoRobot::AddVariable method Refer to the current robot position (P type) CaoRobot caorob; caorob = caoctrl.addrobot("arm"); CaoVariable caocurpos; caocurpos = caorob.addvariable("@current_position"); dynamic vval; vval = caocurpos.value; MessageBox.Show(Convert.ToString(vVal[0]) + ", " + Convert.ToString(vVal[1]) + ", " + Convert.ToString(vVal[2])); //Display X, Y, and Z CaoRobot::get_VariableNames property CaoRobot::Halt method CaoRobot::Change method CaoRobot caorob; caorob = caoctrl.addrobot("arm"); caorob.execute("takearm", new object[] { 0, 0 ); caorob.change("tool1"); //Change to Tool1 caorob.change("work1"); //Change to Work1 caorob.move(1, "P10"); caorob.execute("givearm"); CaoRobot::Drive method CaoRobot::Move method 1 caorob.move(1, "@P P1","NEXT"); //MOVE P1, NEXT 2 caorob.move(3, P2"); //MOVE C, P2 3 //MOVE P( , , , 160, 0, 0, 1) caorob.move(2,"@0 P( , , ,160,0,0,1)"); 4 caorob.move(4, "@E 2"); //MOVE 2 5 caorob.move(1, "@P P10 EX((7,30.5))", "NEXT"); //MOVE EX((7,30.5)), NEXT 6 //MOVE P20 EXA((7,30.8),(8,90.5)) caorob.move(2, "@E P20 EXA((7,30.8),(8,90.5))"); ORiN Forum 20 DENSO Products and Services Americas, Inc.
21 CaoRobot::Rotate method 1 caorob.rotate("v1,v2,v3",(float)45.8,"v4","@e"); //ROTATE V1,V2,V3,@E 45.8, V4 2 caorob.rotate("v(0,0,1),v(0,1,0),v(0,0,0)", (float)30.0, "V(0,0,0)", "@E, pose=1,next"); 3 caorob.rotate("xy", (float)90.0, "V(0,0,0)", "@P"); 4 caorob.rotate("xyh", (float)-45.0, "V(250,0,0)", "@150"); CaoRobot::Speed method CaoRobot caorob; caorob = caoctrl.addrobot("arm"); caorob.execute("takearm", new object[] {0,0); caorob.speed(-1, 85); //Internal speed of 85% caorob.execute("extspeed",50); //External speed 50%, Actual speed 85*50/100 = 42.5% caorob.execute("givearm"); CaoRobot::Execute method object vres; //Current motor speed of 6 axes [rpm] vres = caorob.execute("getsrvdata", new object[] {1,6); //External speed = 50%, Acceleration = 25%, Deceleration = 25% caorob.execute("extspeed", new object[] { 50.0, 25.0, 25.0 ); //APPROACH P, 100, NEXT caorob.execute("approach", new object[] { 1, "P11", "@P 100", "NEXT" ); CaoRobot::Execute("TMul") command //Calculate by specifying the T type index vresult = caorob.execute("tmul", new object[] { "T10", "T20" ); vresult = caorob.execute("tmul", new object[] { "T(400,500,400,1,0,0,01,0,5)", "T(100,0,0,1,0,0,0,1,0,- 1)" ); //Calculate the T type element directly CaoRobot::Execute("TInv") command vresult = caorob.execute("tinv", "T10"); //Inverse matrix of T10 //Calculate by specifying the T type element directly vresult = caorob.execute("tinv", "T(400,500,400,1,0,0,0,1,0,5)"); CaoRobot::Execute("TNorm") command vresult = caorob.execute("tnorm", "T10"); //Normalization of T10 //Calculate by specifying the T type element directly vresult = caorob.execute("tnorm", "T(400,500,400,1,0,0,0,1,0,5)"); ORiN Forum 21 DENSO Products and Services Americas, Inc.
22 CaoRobot::Execute("J2T") command vresult = caorob.execute("j2t", "J10"); //Transform J10 value to T type data //Transform by specifying the J type element directly vresult = caorob.execute("j2t", "J(90,90,90,0,0,0)"); CaoRobot::Execute("T2J") command vresult = caorob.execute("t2j", "T10"); //Transform T10 value to J type data //Transform by specifying the T type element directly vresult = caorob.execute("t2j", "T(400,400,500,1,0,0,0,1,0,5)"); CaoRobot::Execute("J2P") command vresult = caorob.execute("j2p", "J10"); //Transform J10 value to P type data //Transform by specifying the J type element directly vresult = caorob.execute("j2p", "J(90,90,90,0,0,0)"); CaoRobot::Execute("P2J") command vresult = caorob.execute("p2j", "P10"); //Transform P10 value to J type data //Transform by specifying the P type element directly vresult = caorob.execute("p2j", "P(400,400,500,180,0,180,5)"); CaoRobot::Execute("T2P") command vresult = caorob.execute("t2p", "T10"); //Transform T10 value to P type data //Transform by specifying the T type element directly vresult = caorob.execute("t2p", "T(400,400,500,1,0,0,0,1,0,5)"); CaoRobot::Execute("P2T") command vresult = caorob.execute("p2t", "TP0"); //Transform P10 value to T type data //Transform by specifying the P type element directly vresult = caorob.execute("p2t", "P(400,400,500,180,0,180,5)"); CaoRobot::Execute("Dev") command //Calculate the positions of P10 + P(100,200,300,180,0,180) vresult = caorob.execute("dev", new object[] { "P10", "P(100,200,300,180,0,180)" ); CaoRobot::Execute("DevH") command //Calculate the positions of P10 + Tool coordinate P(100,200,300,180,0,180) vresult = caorob.execute("devh", new object[] { "P10", "P(100,200,300,180,0,180)" ); ORiN Forum 22 DENSO Products and Services Americas, Inc.
23 CaoRobot::Execute("OutRange") command Move if the motion range is not exceeded long IRet; IRet = caorob.execute("outrange", "P(100,200,300,180,0,180)"); CaoRobot::Execute("MPS") command Transform an absolute speed to a relative speed dynamic vsp; vsp = caorob.execute("mps", 200.0); //200.0 mm/sec caorob.speed(-1, vsp); CaoRobot::Execute("RPM") command dynamic vsp; vsp = caorob.execute("rpm", new object[] { 1, 60 ); //Axis 1, 60.0 rpm caorob.speed(-1, vsp); CaoRobot::Execute("DPS") command dynamic vsp; vsp = caorob.execute("dps", 50); caorob.speed(-1, vsp); //Move by 50 Deg/sec (When in rotation) vsp = caorob.execute("dps", new object[] { 1, 50 ); //Move the first axis by 50 deg/sec caorob.speed(0, vsp); CaoRobot::Execute("CurPos") command vresult = caorob.execute("curpos"); //Get current position CaoRobot::Execute("DestPos") command vresult = caorob.execute("destpos"); //Get target position CaoRobot::Execute ("CurPosEx") command vresult = caorob.execute("curposex"); //Time Stamp + Get current position CaoRobot::Execute("DestPosEx") command vresult = caorob.execute("destposex"); //Time Stamp + Get target position CaoRobot::Execute("HighCurPosEx") command vresult = caorob.execute("highcurposex"); //Time Stamp + Get current position ORiN Forum 23 DENSO Products and Services Americas, Inc.
24 CaoRobot::Execute("CurJnt") command vresult = caorob.execute("curjnt"); //Get current joint position CaoRobot::Execute("DestJnt") command vresult = caorob.execute("destjnt"); //Get target joint position CaoRobot::Execute("CurJntEx" ) command vresult = caorob.execute("curjntex"); //Timestamp + Get current joint position CaoRobot::Execute("DestJntEx" ) command vresult = caorob.execute("destjntex"); //Timestamp + Get target joint position CaoRobot::Execute("HighCurJntEx" ) command vresult = caorob.execute("highcurjntex"); //Timestamp + Get current joint position CaoRobot::Execute("CurTrn") command vresult = caorob.execute("curtrn"); //Get current position (T type) CaoRobot::Execute("DestTrn") command vresult = caorob.execute("desttrn"); //Get target position (T type) CaoRobot::Execute("CurTrnEx" ) command vresult = caorob.execute("curtrnex"); //Timestamp + Get current position (T type) CaoRobot::Execute("DestTrnEx" ) command vresult = caorob.execute("desttrnex"); //Timestamp + Get target position (T type) CaoRobot::Execute("HighCurTrnEx" ) command vresult = caorob.execute("highcurtrnex"); //Timestamp + Get current position (T type) ORiN Forum 24 DENSO Products and Services Americas, Inc.
25 CaoRobot::Execute("CurFig") command vresult = caorob.execute("curfig"); //Get current Fig CaoRobot::Execute("CurSpd") command dynamic vsp; vsp = caorob.execute("curspd", 0); CaoRobot::Execute("CurAcc") command dynamic vsp; vsp = caorob.execute("curacc", 0); CaoRobot::Execute("CurDec") command dynamic vsp; vsp = caorob.execute("curdec", 0); CaoRobot::Execute("CurJSpd") command dynamic vsp; vsp = caorob.execute("curjspd", 0); CaoRobot::Execute("CurJAcc") command dynamic vsp; vsp = caorob.execute("curjacc", 0); CaoRobot::Execute("CurJDec") command dynamic vsp; vsp = caorob.execute("curjdec", 0); CaoRobot::Execute("StartLog") command caorob.execute("startlog"); CaoRobot::Execute("StopLog") command caorob.execute("stoplog"); CaoRobot::Execute("ClearLog") command caorob.execute("clearlog"); ORiN Forum 25 DENSO Products and Services Americas, Inc.
26 CaoRobot::Execute("Motor") command //Turn on motor and wait for completion of motor ON process. caorob.execute("motor", new object[] { 1, 0 ); CaoRobot::Execute("ExtSpeed") command //External speed = 50%, Acceleration = 25%, Deceleration = 25% caorob.execute("extspeed", new object[] { 50.0, 25.0, 25.0 ); //External speed = 50% (Acceleration, deceleration are set automatically) caorob.execute("extspeed", 50); CaoRobot::Execute("TakeArm") command //Initialize the internal speed to 100, the current tool to 0, and the current work to 0. caorob.execute("takearm", new object[] {0,0); //When the internal speed is 50, the current tool is 1, and the current work is 0 //Don't initialize the internal speed, current tool and current work //Get the Arm control authority only. caorob.execute("takearm", new object[] {0, 1); CaoRobot::Execute("GiveArm") command //When a program that has executed Takearm is terminated, the robot halts before Givearm //is executed. To terminate the program completion of Next motion explicitly execute //Givearm command caorob.execute("takearm", new object[] {0,0); caorob.move(1,"@0 J(0,45,90,0,45,0)"); caorob.move(1,"@0 J(90,45,90,0,45,0)", "Next"); caovar_io129.value = true; caovar_io130.value = true; caorob.execute("givearm"); //Wait until Next motion completes CaoRobot::Execute("Draw") command caorob.execute("draw", new object[] { 1, "V0" ); caorob.execute("draw", new object[] { 2, "V(100,100,100)" ); CaoRobot::Execute("Approach") command caorob.execute("approach", new object[] { 1, "P1", "@P 100", "S=50" ); caorob.execute("approach", new object[] { 2, "P(400,200,350,180,0,180,5)", "@E 56.8", "S=30, NEXT" ); CaoRobot::Execute("Depart") command caorob.execute("depart", new object[] { 1, "@P 100", "S=50" ); caorob.execute("depart", new object[] { 2, "@E 56.8", "S=30, NEXT" ); ORiN Forum 26 DENSO Products and Services Americas, Inc.
27 CaoRobot::Execute("DriveEx") command caorob.execute("driveex", new object[] { "@0 (1,10),(2,10)", "S=10, NEXT" ); CaoRobot::Execute("DriveAEx") command caorob.execute("driveaex", new object[] { "@0 (1,10),(2,10)", "S=10, NEXT" ); CaoRobot::Execute("RotateH") command caorob.execute("rotateh", new object[] { "@P 32.5", "S=50" ); CaoRobot::Execute("Arrive") command caorob.move(1,"p1","next"); caorob.execute("arrive", 50); //Asynchronous execution //Wait for 50% completion CaoRobot::Execute("MotionSkip") command caorob.execute("motionskip", new object[] { 0, 1 ); CaoRobot::Execute("MotionComplete") command caorob.move(1, "P1", "NEXT"); //Asynchronous motion to P1 do{ //Processing during movement while (!caorob.execute("motioncomplete", new object[] {-1,1)); //Operation completion check CaoRobot::Execute("CurTool") command Debug.Print(((object)caoRob.Execute("CurTool")).ToString()); CaoRobot::Execute("GetToolDef") command double[] vval; vval = caorob.execute("gettooldef", 1); Debug.Print("X= " + vval[0] + ", Y= " + vval[1] + ", Z= " + vval[2] + "\n"); Debug.Print("RX= " + vval[3] + ", RY= " + vval[4] + ", RZ= " + vval[5]); CaoRobot::Execute("SetToolDef") command caorob.execute("settooldef", new object[] { 1, "P2" ); caorob.execute("settooldef", new object[] { 2, "P(100,200,300,180,0,180)" ); CaoRobot::Execute("CurWork") command Debug.Print(((object)caoRob.Execute("CurWork")).ToString()); ORiN Forum 27 DENSO Products and Services Americas, Inc.
28 CaoRobot::Execute("GetWorkDef") command double[] vval; vval = caorob.execute("getworkdef", 1); Debug.Print("X= " + vval[0] + ", Y= " + vval[1] + ", Z= " + vval[2] + "\n"); Debug.Print("RX= " + vval[3] + ", RY= " + vval[4] + ", RZ= " + vval[5] + "\n"); Debug.Print("ATTR= " + vval[6]); CaoRobot::Execute("SetWorkDef") command caorob.execute("setworkdef", new object[] { 1, "P2" ); caorob.execute("setworkdef", new object[] { 2, "P(100,200,300,180,0,180)" ); CaoRobot::Execute("WorkAttribute") command dynamic vval; vval = caorob.execute("workattribute", 1); CaoRobot::Execute("GetAreaDef") command double [] vval; vval = caorob.execute("getareadef", 1); for (int n=0; n < vval.length; n++) Debug.Print("Parameter " + n + ": " + vval[n]); CaoRobot::Execute("SetAreaDef") command caorob.execute("setareadef", new object[] { 1, "P0", "V0", 24, 0, 0 ); caorob.execute("setareadef", new object[] { 2, "P(400,250,140,180,0,180)", "V(200,125,70)", 24, 0, 0 ); CaoRobot::Execute("SetArea") command caorob.execute("setarea", 1); CaoRobot::Execute("ResetArea") command caorob.execute("resetarea", 1); CaoRobot::Execute("AreaSize") command double[] vval; vval = caorob.execute("areasize", 1); //Get Size of Area1 Debug.Print("X= " + vval[0] + ", Y= " + vval[1] + ", Z= " + vval[2]); CaoRobot::Execute("GetAreaEnabled") command //Get enabled/disabled status of Area1 Debug.Print(((object)caoRob.Execute("GetAreaEnabled", 1)).ToString()); ORiN Forum 28 DENSO Products and Services Americas, Inc.
29 CaoRobot::Execute("SetAreaEnabled") command caorob.execute("setareaenabled", new object[] { 1, true ); //Set Area1 enabled CaoRobot::Execute("AddPathPoint") command caorob.execute("addpathpoint", new object[] { 2, "P(400,250,140,180,0,180)" ); CaoRobot::Execute("ClrPathPoint") command caorob.execute("clrpathpoint", 2); CaoRobot::Execute("GetPathPoint") command dynamic vntpos; vntpos = caorob.execute("getpathpoint", new object[] { 2, 1 ); CaoRobot::Execute("LoadPathPoint") command caorob.execute("loadpathpoint", 2); CaoRobot::Execute("GetPathPointCount ") command long ICount; ICount = caorob.execute("getpathpointcount", 2); CaoRobot::Execute("GetRobotTypeName") command Debug.Print(((object)caoRob.Execute("GetRobotTypeName")).ToString()); CaoRobot::Execute("ArchMove") command caorob.execute("archmove", new object[] { "P10", 50, 30, 30 ); CaoRobot::Execute("CrtMotionAllow") command caorob.execute("crtmotionallow", new object[] { true, 1, 1 ); caorob.move(1, "@C J2"); caorob.execute("crtmotionallow", false); CaoRobot::Execute("EncMotionAllow") command caorob.execute("encmotionallow", new object[] { true, 1, 1 ); caorob.move(1, "@E J2"); caorob.execute("encmotionallow", false); ORiN Forum 29 DENSO Products and Services Americas, Inc.
30 CaoRobot::Execute("EncMotionAllowJnt") command caorob.execute("encmotionallowjnt", new object[] { true, 7, 0.01, 1 ); caorob.move(1, "@E J2 EXA(7,30.5)"); caorob.execute("encmotionallowjnt", new object[] { false, 7 ); CaoRobot::Execute("ErAlw") command caorob.execute("eralw", new object[] { true, 1, 0.01 ); caorob.execute("eralw", new object[] { true, 2, 0.01 ); caorob.execute("eralw", new object[] { false, 0 ); CaoRobot::Execute("ForceCtrl") command caorob.execute("forcectrl", new object[] { true, 1 ); caorob.execute("forcectrl", false); CaoRobot::Execute("ForceParam") command caorob.execute("forceparam", new object[] { 1, 1, "P10" ); CaoRobot::Execute("ForceValue" ) command dynamic vntval; vntval = caorob.execute("forcevalue", new object[] { 1, 0 ); CaoRobot::Execute("ForceWaitCondition" ) command caorob.execute("forcewaitcondition", new object[] { "P0", "P1" ); CaoRobot::Execute("ForceSensor" ) command caorob.execute("forcesensor", 0); CaoRobot::Execute("ForceChangeTable") command caorob.execute("forcechangetable", 1); CaoRobot::Execute("GetSrvData") command double[] fdata; fdata = caorob.execute("getsrvdata", 2); CaoRobot::Execute("GetSrvJntData") command fdata = caorob.execute("getsrvjntdata", new object[] { 2, 1 ); ORiN Forum 30 DENSO Products and Services Americas, Inc.
31 CaoRobot::Execute("GrvCtrl") command caorob.execute("grvctrl", true); caorob.execute("grvctrl", false); CaoRobot::Execute("CurLmt") command caorob.execute("grvctrl", true); caorob.execute("curlmt", new object[] { true, 1, 10.5 ); caorob.execute("curlmt", new object[] { true, 2, 50.3 ); caorob.execute("curlmt", new object[] { false, 0 ); caorob.execute("grvctrl", false); CaoRobot::Execute("Zforce") command caorob.execute("grvctrl", true); caorob.execute("zforce",50); caorob.execute("grvctrl", false); CaoRobot::Execute("GrvOffset") command caorob.execute("grvoffset", true); caorob.execute("grvoffset", false); CaoRobot::Execute("HighPathAccuracy") command caorob.execute("highpathaccuracy", true); caorob.execute("highpathaccuracy", false); CaoRobot::Execute("MotionTimeout") command caorob.execute("motiontimeout", new object[] { true, 1000 ); caorob.execute("motiontimeout", false); CaoRobot::Execute("SingularAvoid") command caorob.execute("singularavoid", 2); caorob.move(1, "@0 P2"); caorob.execute("singularavoid", 0); CaoRobot::Execute("SpeedMode") command caorob.execute("speedmode", 1); CaoRobot::Execute("PayLoad") command caorob.execute("payload", new object[] { 2000, "V(0,100,150)", "V(0,10,0)" ); ORiN Forum 31 DENSO Products and Services Americas, Inc.
32 CaoRobot::Execute("GenerateNonStopPath ") command vntmovepos = caorob.execute("generatenonstoppath", new object[] { vntteachpos, vntareainfo, vntteachpos.length + 1, * 0.01, 0.7 ); CaoRobot::Execute("RobInfo") command dynamic RobotInfo; RobotInfo = caorob.execute("robinfo", 0); CaoRobot::Execute("SetBaseDef") command caorob.execute("setbasedef", new object[] { 1, "P2" ); caorob.execute("setworkdef", new object[] { 1, "P(100,200,300,180,0,180)" ); CaoRobot::Execute("SyncTimeStart") command private CaoRobot caorob1; private CaoRobot caorob2; caorob1 = caoctrl.addrobot("robot0", "ID = 0"); caorob2 = caoctrl.addrobot("robot1", "ID = 1"); caorob1.execute("synctimestart"); caorob1.move(1, "P1"); //Instruct the master robot to move to P1 caorob2.move(1, "P3"); //Instruct the slave robot to move to P3 caorob1.execute("synttimeend"); CaoRobot::Execute("SyncTimeEnd") command private CaoRobot caorob1; private CaoRobot caorob2; caorob1 = caoctrl.addrobot("robot0", "ID = 0"); caorob2 = caoctrl.addrobot("robot1", "ID = 1"); caorob1.execute("synctimestart"); caorob1.move(1, "P1"); //Instruct the master robot to move to P1 caorob2.move(1, "P3"); //Instruct the slave robot to move to P3 caorob1.execute("synttimeend"); CaoRobot::Execute("SyncMoveStart") command private CaoRobot caorob1; private CaoRobot caorob2; caorob1 = caoctrl.addrobot("robot0", "ID = 0"); caorob2 = caoctrl.addrobot("robot1", "ID = 1"); caorob1.execute("syncmovestart", new object[] { 1 ); //Instruct the leader robot to move to the specified position caorob1.move(2, "J(0,45,90,0,45,0,0,0)"); caorob1.execute("syncmoveend"); //Start the cooperative motion of Robot0 and Robot1 ORiN Forum 32 DENSO Products and Services Americas, Inc.
33 CaoRobot::Execute("SyncMoveEnd") command private CaoRobot caorob1; private CaoRobot caorob2; caorob1 = caoctrl.addrobot("robot0", "ID = 0"); caorob2 = caoctrl.addrobot("robot1", "ID = 1"); caorob1.execute("syncmovestart", new object[] { 1 ); //Instruct the leader robot to move to J3 caorob1.move(2, "J3"); //Start the cooperative motion of Robot0 and Robot1 with Next Option caorob1.execute("syncmoveend", new object[] { 1 ); CaoRobot::Execute("GetBaseDef") command dynamic vval; vval = caorob.execute("getbasedef", 1); CaoRobot::Execute("SetHandIO") command caorob.execute("sethandio", new object[] { 64, 8, 4 ); CaoRobot::Execute("GetHandIO") command int vval; vval = caorob.execute("gethandio", new object[] { 48, 4); CaoRobot::Execute("StartServoLog") command caorob.execute("startservolog"); CaoRobot::Execute("ClearServoLog") command caorob.execute("clearservolog"); CaoRobot::Execute("StopServoLog") command caorob.execute("stopservolog"); CaoRobot::Execute("GetCtrlLogMaxTime" ) command int lval; lval = caorob.execute("getctrlmaxtime"); CaoRobot::Execute("SetCtrlLogMaxTime" ) command caorob.execute("setctrllogmaxtime", 10); ORiN Forum 33 DENSO Products and Services Americas, Inc.
34 CaoRobot::Execute("GetCtrlLogInterval" ) command int lval; lval = caorob.execute("getctrlloginterval"); CaoRobot::Execute("SetCtrlLogInterval" ) command caorob.execute("setctrlloginterval", 8); CaoRobot::Execute("DetectOn" ) command caorob.execute("detecton", new object[] { 8, 257, 2, 10, 11 ); CaoRobot::Execute("DetectOff" ) command caorob.execute("detectoff", new object[] { 8, 0 ); CaoRobot::Execute("GetPluralServoData" ) command object vval; vval = caorob.execute("getpluralservodata"); CaoRobot::Execute("AngularTrigger" ) command caorob.execute("angulartrigger", new object[] { true, 1, 24, 10 ); CaoTask::AddVariable method CaoTask::get_VariableNames property CaoTask::Start method CaoTask::Stop method CaoTask::Execute method dynamic vres; CaoTask caotsk; caotsk = caoctrl.addtask("pro1"); vres = caotsk.execute("getstatus"); //Get task Status CaoTask::Execute("GetStatus") command long IStatus; IStatus = caotsk.execute("getstatus"); ORiN Forum 34 DENSO Products and Services Americas, Inc.
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