FANUC America
PCDK
Support Documentation
©2017 FANUC America
Corporation All Rights Reserved.
This publication contains proprietary information
of FANUC America Corporation furnished for
customer use only. No other uses are authorized
without the express written permission of
FANUC America Corporation.
FANUC America Corporation
3900 W. Hamlin Road
Rochester Hills, Michigan 48309–3253
Table of Contents
Robot Server Overview ...................................................................................................................................................................... 7
Using the Robot Object Interface.................................................................................................................................................... 7
Connection Performance Tips..................................................................................................................................................... 7
Working with Variables ................................................................................................................................................................... 7
Reading and Changing Variables ............................................................................................................................................... 7
Working with I/O............................................................................................................................................................................. 8
Monitoring I/O ............................................................................................................................................................................. 8
Reading and Changing Position Variables ..................................................................................................................................... 9
Checking Reachability ................................................................................................................................................................ 9
Using Pipes for High Performance Data Acquisition ....................................................................................................................... 9
Activating a Pipe ......................................................................................................................................................................... 9
Handling Errors ............................................................................................................................................................................ 10
FRCRobotErrorInfo ................................................................................................................................................................... 10
Robot Neighborhood Overview ........................................................................................................................................................ 11
Working With the Robot Neighborhood Structure ......................................................................................................................... 11
Populating the Robot Neighborhood ......................................................................................................................................... 11
Robot Object Interface ..................................................................................................................................................................... 13
Robot ........................................................................................................................................................................................... 13
FRCRobot ................................................................................................................................................................................ 13
FRELanguageConstants........................................................................................................................................................... 16
FRERemoteMotionMasterConstants......................................................................................................................................... 17
FRERobotErrors ....................................................................................................................................................................... 17
FRESaveOptionConstants ........................................................................................................................................................ 22
Programs ..................................................................................................................................................................................... 23
FRCProgram ............................................................................................................................................................................ 23
FRCPrograms........................................................................................................................................................................... 26
FRCTPProgram ........................................................................................................................................................................ 31
FREAttributeConstants ............................................................................................................................................................. 32
FREAccessModeConstants ...................................................................................................................................................... 33
FREProgramTypeConstants ..................................................................................................................................................... 34
FREProtectionConstants .......................................................................................................................................................... 34
FRERejectModeConstants ....................................................................................................................................................... 34
FRETPSubTypeConstants........................................................................................................................................................ 35
Tasks ........................................................................................................................................................................................... 36
FRCTask .................................................................................................................................................................................. 36
FRCTasks ................................................................................................................................................................................ 42
FREExecuteConstants ............................................................................................................................................................. 43
FREHoldConditionConstants .................................................................................................................................................... 44
FREStepTypeConstants ........................................................................................................................................................... 46
FRETaskAttributeConstants ..................................................................................................................................................... 46
Variables ...................................................................................................................................................................................... 50
FRCCommonAssoc .................................................................................................................................................................. 50
FRCRegNumeric ...................................................................................................................................................................... 51
FRCRegString Object Properties .............................................................................................................................................. 52
FRCVar .................................................................................................................................................................................... 53
FRCVars................................................................................................................................................................................... 62
FRESaveClassConstants ......................................................................................................................................................... 68
FRETypeCodeConstants .......................................................................................................................................................... 69
Positions ...................................................................................................................................................................................... 71
FRCAxesCollection................................................................................................................................................................... 71
FRCConfig................................................................................................................................................................................ 72
FRCCurGroupPosition .............................................................................................................................................................. 73
FRCCurPosition........................................................................................................................................................................ 75
FRCGroupPosition ................................................................................................................................................................... 77
FRCIndGroupPosition............................................................................................................................................................... 78
FRCIndPosition ........................................................................................................................................................................ 80
FRCJoint .................................................................................................................................................................................. 81
FRCMotionErrorInfo.................................................................................................................................................................. 82
FRCPosition ............................................................................................................................................................................. 83
FRCSysGroupPosition.............................................................................................................................................................. 90
FRCSysPosition ....................................................................................................................................................................... 92
FRCSysPositions...................................................................................................................................................................... 94
FRCTPPosition ......................................................................................................................................................................... 98
FRCTPPositions ..................................................................................................................................................................... 100
FRCTransform ........................................................................................................................................................................ 102
FRECurPositionConstants ...................................................................................................................................................... 102
FREOrientTypeConstants ....................................................................................................................................................... 103
Alarms........................................................................................................................................................................................ 103
FRCAlarm............................................................................................................................................................................... 103
FRCAlarms ............................................................................................................................................................................. 107
FREAlarmSeverity Constants ................................................................................................................................................. 108
I/O .............................................................................................................................................................................................. 112
FRCIOConfig .......................................................................................................................................................................... 112
FRCIOConfigs ........................................................................................................................................................................ 114
FRCxxxIOSignal ..................................................................................................................................................................... 117
FRCIOSignals......................................................................................................................................................................... 138
FRCxxxIOType ....................................................................................................................................................................... 141
FRCIOTypes .......................................................................................................................................................................... 164
FREIOTypeConstants............................................................................................................................................................. 164
FRETPOutSignalConstants .................................................................................................................................................... 167
Packet Events ............................................................................................................................................................................ 167
FREPacketEventConstants .................................................................................................................................................... 167
Pipes.......................................................................................................................................................................................... 168
FRCPipes ............................................................................................................................................................................... 168
FRCPipe ................................................................................................................................................................................. 169
FRCPipeFields ....................................................................................................................................................................... 170
FRCPipeField ......................................................................................................................................................................... 172
FREPipeStateConstants ......................................................................................................................................................... 174
Scattered Access ....................................................................................................................................................................... 174
FRCScatteredAccess Object Overview ................................................................................................................................... 175
FRCScatteredAccess Methods ............................................................................................................................................... 175
Applications ............................................................................................................................................................................... 178
FRCApplications Object Overview .......................................................................................................................................... 178
FRCApplications Properties .................................................................................................................................................... 179
FRCApplications Methods ...................................................................................................................................................... 180
System Information .................................................................................................................................................................... 180
FRCFeature............................................................................................................................................................................ 180
FRCFeatures .......................................................................................................................................................................... 181
FRCSynchData....................................................................................................................................................................... 181
FRCSysInfo ............................................................................................................................................................................ 182
FREStartModeConstants ........................................................................................................................................................ 192
Robot Neighborhood Object Interface ............................................................................................................................................ 195
FRCRobotNeighborhood ............................................................................................................................................................ 195
FRCRobot Neighborhood Properties ...................................................................................................................................... 195
FRCRNRobots ........................................................................................................................................................................... 196
FRCRNRobots Properties....................................................................................................................................................... 196
FRCRNRobot ............................................................................................................................................................................. 198
FRCRNRobot Properties ........................................................................................................................................................ 198
FRCRNVirtualRobot ................................................................................................................................................................... 200
FRCRNVirtualRobot Methods ................................................................................................................................................. 200
FRCRNRDMResponses............................................................................................................................................................. 202
FRCRNRDMResponses Properties ........................................................................................................................................ 202
FRCRNRDMResponses Methods ........................................................................................................................................... 203
FRCRNServices ......................................................................................................................................................................... 203
FRCRNServices Properties .................................................................................................................................................... 203
FRCRNService .......................................................................................................................................................................... 204
FRCRNService Object Overview ............................................................................................................................................ 204
FRCRNService Properties ...................................................................................................................................................... 205
FRCRNService Events ........................................................................................................................................................... 205
FRURNSelect ............................................................................................................................................................................ 206
FRURNSelect Properties ........................................................................................................................................................ 206
Constant Enumerations .............................................................................................................................................................. 206
FRERNErrorConstants ........................................................................................................................................................... 206
FRERNServiceIDConstants .................................................................................................................................................... 207
FRERNServiceStateConstants ............................................................................................................................................... 208
FRERNStartModeConstants ................................................................................................................................................... 208
FRERNRDMFlagConstants .................................................................................................................................................... 209
Optimizing Data Access ................................................................................................................................................................. 213
Optimizing Data Access ............................................................................................................................................................. 213
Optimizing Variable Access ........................................................................................................................................................ 213
Special Variable Types ........................................................................................................................................................... 213
Scattered Access ....................................................................................................................................................................... 214
Scattered Access Overview .................................................................................................................................................... 214
KAREL Builtins .............................................................................................................................................................................. 217
Robot-PC Communication KAREL Built-ins ................................................................................................................................ 217
PacketEvent KAREL Built-Ins..................................................................................................................................................... 217
SEND_DATAPC Built-In ......................................................................................................................................................... 217
ADD_REALPC Built-In............................................................................................................................................................ 218
Data Acquisition KAREL Build-Ins .............................................................................................................................................. 219
DAQ_CHECKP Built-In ........................................................................................................................................................... 219
DAQ_WRITE Built-In .............................................................................................................................................................. 220
DAQ_STOP Built-In ................................................................................................................................................................ 221
DAQ_UNREG Built-In ............................................................................................................................................................. 222
TPP Macros................................................................................................................................................................................... 225
Send Data() Macro ..................................................................................................................................................................... 225
Using FTP ..................................................................................................................................................................................... 227
Starting an Internet Session ....................................................................................................................................................... 227
Reading a File Directory into a Collection ................................................................................................................................... 228
Legacy Support ............................................................................................................................................................................. 233
Robot Manager Overview........................................................................................................................................................... 233
Managing Connections ........................................................................................................................................................... 233
Special Features..................................................................................................................................................................... 235
Robot Manager Object Interface ................................................................................................................................................ 236
RobotManager ........................................................................................................................................................................ 236
Connections ........................................................................................................................................................................... 237
Limitations.................................................................................................................................................................................. 243
FRCAxesCollection is not updated when extended axes added .............................................................................................. 243
Problems loading invisible programs over visible & vice versa ................................................................................................ 244
Index ............................................................................................................................................................................................. 245
Robot Server Overview
Using the Robot Object Interface
Connection Performance Tips
Use the Robot Neighborhood Error! Hyperlink reference not valid. for most efficient handling of the robot connection. It allows
you to:





Share a connection with several applications
Monitor the health of the Ethernet connection
Re-establish a connection automatically after a disconnect
Use friendly robot names
Keep the Robot Server alive between applications
Working with Variables
Reading and Changing Variables
Before you can work with a variable, you must get a reference to its FRCVar class object. Examples of getting to a system
variable and a KAREL variable are shown below.
In these examples, two techniques are shown. The multi-statement technique retains object references to the intermediate
FRCVars class objects to get to the ultimate variable. In more complicated applications, saving and reusing the reference to
these intermediate objects can simplify the application if the variable structure has several fields.
Even in the single statement technique, the Robot Server must create the intermediate objects so there is very little performance
difference for these specific examples. Any time an object is created, the Robot Server keeps an internal reference to it. So even
if the Visual Basic reference goes out of scope as in the examples below, the next time the variable is accessed more quickly
because the Robot Server already has the structure cached in its memory.
Every time the Error! Hyperlink reference not valid. property is used, the Robot Server gets or sets the current value on the
controller. The exception to this rule is when the FRCVar.NoRefresh or FRCVars.NoRefresh property is set to TRUE.
Example - Setting system variable $MCR.$DRY_RUN
Private Sub SetDryRun ()
Dim objSysVars As FRCVars ' Access to system variables
Dim objMCR As FRCVars ' Access to $MCR
Dim objDryRun as FRCVar ' Access to $MCR.$DRY_RUN
' Multi-statement technique
Set objSysVars = gobjRobot.SysVariables
Set objMcr = objSysVars.Item("$MCR")
Set objDryRun = objMcr.Item("$DRY_RUN")
' Single statement technique
Set objDryRun = gobjRobot.SysVariables("$MCR.$DRY_RUN")
' Set the variable
objDryRun.Value = TRUE
End Sub
Example - Reading variable "PartCount" in KAREL program "PROG1"
Private Sub CheckCount()
Dim objPgmList As FRCPrograms ' Collection of Programs
Dim objProg1 As FRCProgram ' Ref to PROG1
Dim objProg1Vars As FRCVars ' Access to program variables
Dim objCount As FRCVar ' Access to PartCount
Dim intMyCount As Integer ' Variable to receive value
' Multi-statement technique
Set objPgmList = gobjRobot.Programs
Set objProg1 = objPgmList.Item("PROG1")
Set objProg1Vars = objProg1.Variables
Set objCount = objProg1Vars.Item("PartCount")
' Single statement technique
Set objCount = gobjRobot.Programs.Item("PROG1") _
.Variables.Item("PartCount")
intMyCount = objCount.Value
End Sub
Working with I/O
Monitoring I/O
Probably the most common use of the Robot Object’s I/O interface is to monitor I/O states and take action when they change.
The Robot Server works in cooperation with the controller to make these events possible. The controller maintains a list of I/O
signals to monitor in its low priority condition handler. The Robot Server adds/removes I/O signals to/from this list in response to
FRCxxxIOSignal.StartMonitor and FRCxxxIOSignal.StopMonitor requests from your PC application.
Example – Have Shape color reflect I/O Status
' This program segment paints the "Light" based on DI[1]
' On = Green, Off = Red
'
Private WithEvents mobjDIn1 As FRCDigitalIOSignal
Private Sub Form_Load()
' Create the object and tell it to start monitoring
' the value every 200 ms.
'
Set mobjDIn1 = gobjRobot.IOTypes _
.Item(frDOutType).Signals.Item(1)
mobjDIn1.StartMonitor 200
End Sub
Private Sub mobjDIn1_Change()
' Update status "light" based on DI[1]
'
If mobjDIn1.Value = True Then
shpLight.BackColor = vbGreen
Else
shpLight.BackColor = vbRed
End If
End Sub
Caution:
It is important to understand the characteristics of local condition handlers that affect StartMonitor.
When StartMonitor is used to watch a variable or I/O point, it is possible that an event will not be raised if the variable or I/O
quickly changes back to the original value/state. If, for example, an input is pulsed for a duration less than the StartMonitor
Latency parameter, it is likely that the change will be missed often. On a very busy controller, it is even possible to miss changes
that are held for multiple scan latency periods.
The StartMonitor mechanism is designed for UIF applications and not control. It is convenient for reducing network traffic when
keeping a display screen updated with controller status. However, you should use the FRCPacketEvent object features if you
want to be selective and respond only to critical events that occur on the controller.
Reading and Changing Position Variables
Checking Reachability
Supplying move information to IsReachable
A position that can be reached by a standard Joint move is sometimes not reachable depending on where the move originates
and what kind of motion control is used. For example, the configuration of the start and destination positions must match for the
robot to move between them with a Linear move. IsReachable provides a way to quickly check this.
You can specify where the robot is coming from and what type of motion it is using for a more complete reach check. This check
takes on the form:
objPosition.IsReachable objFromPos, enuMoType, enuOrientType
Where:
objFromPos is the position that the robot is coming from.
enuMoType is either frJointMotionType or frLinearMotionType
enuOrientType is the orientation control. Valid combinations recognized by IsReachable are shown in the table below.
EnuMoType
EnuOrientType
frJointMotionType
Not provided (defaults to frRSWorldOrientType)
frJointMotionType
frMinRotationOrientType
frLinearMotionType
Not provided (defaults to frRSWorldOrientType)
frLinearMotionType
frWristJointOrientType
frLinearMotionType
frWristJointOrientType + frMinRotationOrientType
IsReachable uses these parameters plus the system variables $GROUP[].$USE_TURNS, $GROUP[].$USE_CONFIG, and
$GROUP[].$USE_WJTURNS to predict if there will be a problem moving position. If any problem is detected, IsReachable will
be returned as FALSE.
At this point you can try different motion and orientation types to see if one solves the problem.
NOTE: Specifying frJointMotionType with frRSWorldOrientType is equivalent to using IsReachable with no parameters.
Using Pipes for High Performance Data Acquisition
Activating a Pipe
Once the pipe is registered the PC application must call the FRCPipe.StartMonitor method to start monitoring it. This does two
things; It tells the controller to activate the pipe and to forward data written to the pipe to this Robot Server. Until a pipe is active,
the KAREL task has no reason to write to it.
Refer to the section entitled Registering a Pipe to understand the context of when the InitMonitoring routine might be called.
Example – Activating the pipe
Private WithEvents mobjDispMonPipe As FRCPipe
Private Sub InitMonitoring(vobjPipe As FRCPipe)
' Copy the object reference into a module level
' object variable so its events can be monitored.
Set mobjDispMonPipe = vobjPipe
' Start monitoring for data.
' This will activate the pipe too.
mobjDispMonPipe.StartMonitor 500
End Sub
A pipe can be activated by the controller, but this does the PC application no good until the it starts monitoring the data.
Handling Errors
FRCRobotErrorInfo
Some of the Robot Object Properties and Methods employ controller services directly which have their own controller side error
numbers. Instead of duplicating these numbers with a parallel set of numbers on the PC side, the Robot Server raises these with
Err.Number = frRobotError. However, Err.Description is the actual text for the error from the controller.
Your application can retrieve the controller error code number if it needs to do some automatic error handling. The Robot Server
remembers the last controller error and makes it available to you through the FRCRobot.GetErrorInfo method. You can use the
FRCRobotErrorInfo class object to access this information.
Example – Getting a controller error code
' This example runs the KAREL program PROG1.
' It displays Robot error codes
'
Private Sub RunIt()
Dim objProg1Pgm As FRCKARELProgram
On Error GoTo Runit_err
' Run the program
'
Set objProg1Pgm = gobjRobot.Programs.Item("PROG1")
objProg1Pgm.Run
Exit Sub
Runit_err:
If Err.Number = frRobotError Then
Dim objControllerCodes As FRCRobotErrorInfo
Set objControllerCodes = gobjRobot.GetErrorInfo
MsgBox "Controller error " & vbCrLf & _
"Facility: " & objControllerCodes.Facility & vbCrLf & _
"Number: " & objControllerCodes.Number & vbCrLf & _
"Severity: " & objControllerCodes.Severity & vbCrLf & _
Err.Description
End If
End Sub
Robot Neighborhood Overview
Working With the Robot Neighborhood Structure
Populating the Robot Neighborhood
When the Robot Neighborhood is first installed on your PC, it will be empty. The user will be able to
populate it manually one at a time using the New selection in the context menu in Windows Explorer.
Your application can also do it programmatically using the three methods AddRobots, AddRealRobot
and AddVirtualRobot provided by FRCRNRobots.
When adding a real robot, you need to supply a name to identify it by and its network host name. If
your network does not have a DNS (Domain Name Server) or the robot is not listed in the DNS tables,
then you can supply the IP address instead of the host name.
When adding a virtual robot, you need to supply a name to identify it by and the file system path to the
location of the virtual robot itself. The Robot Neighborhood does not have a tool to create virtual
robots. They must exist before they can be added to the neighborhood.
Typically, ROBOGUIDE is used to create the virtual robots. By default, ROBOGUIDE places them
under \My Workcells\WorkcellName\ where WorkcellName is the same as that used in the
ROBOGUIDE GUI.
The following routine will create the "Body Shop" structure at the root of the neighborhood.
Private Sub PopulateBodyShop()
Dim objRN As FRCRobotNeighborhood
Dim objBodyShop As FRCRNRobots
Dim objLine1 As FRCRNRobots
Dim objVLine1 As FRCRNRobots
Set objRN = New FRCRobotNeighborhood
Set objBodyShop = objRN.Robots.AddRobots("Body Shop")
' Add the group of real robots
‘ The IP address is shown. Using DNS name is better.
Set objLine1 = objBodyShop.AddRobots("Line 1")
objLine1.AddRealRobot "Robot 1", "192,168.0.1"
objLine1.AddRealRobot "Robot 2", "192,168.0.2"
' Add the virtual line
Set objVLine1 = objBodyShop.AddRobots("Virtual Line 1")
objVLine1.AddVirtualRobot "Robot 1", _
"C:\My Workcells\Line1\Robot_1"
objVLine1.AddVirtualRobot "Robot 2", _
"C:\My Workcells\Line1\Robot_2"
End Sub
See FRCRNRobots.Copy FRCRNRobot.Copy and FRCRNRobots.Paste methods for additional ways
to configure the Robot Neighborhood.
Robot Object Interface
Robot
FRCRobot
FRCRobot.Object Properties
FRCRobot.CurPosition Property
Description
Returns the current position of the robot arm.
Syntax
[objCurPosition = ]objRobot.CurPosition
Parts
objRobot as FRCRobot
objCurPosition as FRCCurPosition
Remarks
Applications can use the object returned by this property to detect movement of
the robot, as well as determine characteristics of the controller setup. This
object retrieves the current position data for any motion group defined on the
controller.
See Also
FRCRobot Object Overview
FRCCurPosition Object Overview
Example
`Example of getting the current position of the robot
Dim objRobot as FRCRobot
Dim objCurPosition as FRCCurPosition
Set objRobot = New FRCRobot
objRobot.Connect "robot1"
Set objCurPosition = objRobot.CurPosition
FRCRobot.IOTypes Property
Description
Returns the I/O robot objects.
Syntax
[objIOTypes = ]objRobot.IOTypes
Parts
objRobot as FRCRobot
objIOTypes as FRCIOTypes
Remarks
The IOTypes property returns a collection object that contains all I/O types
currently available on the robot controller (Digital, Analog, Robot, Etc.).
See Also
FRCRobot Object Overview
FRCIOTypes Object Overview
Example
`Example of getting the I/O Types for this robot
Dim objRobot as FRCRobot
Dim objIOTypes as FRCIOTypes
Set objRobot = New FRCRobot
objRobot.Connect "robot1"
Set objIOTypes = objRobot.IOTypes
FRCRobot.IsConnected Property
Description
Returns a boolean flag that can be used to determine if the Robot Object is
connected to a robot controller.
Syntax
[blnIsConnected =] objRobot.IsConnected
Parts
objRobot as FRCRobot
blnIsConnected as Boolean
Remarks
If the returned value is True, the Robot Object is connected to an RJ-3
controller. Otherwise, the Robot Object is not connected.
See Also
FRCRobot Object Overview
FRCRobot.ConnectEx Method
Example
` If the robot server being disconnected is a
` potential cause for a specific error, you can
` check for it as follows
`
Private Sub WhatEver()
On Error GoTo HandleError
' Main Body of sub WhatEver()
Exit Sub
' Error handling code
'
HandleError:
If Not gobjRobot.IsConnected Then
MsgBox "Lost communication to robot"
Else
' more error checking
End If
End Sub
FRCRobot.Language Property
Description
Returns/sets the language of the robot controller.
Syntax
[strLanguage = ]objRobot.Language
Parts
objRobot as FRCRobot
strLanguage as String
Remarks
This property can be used to change the currently selected language of the
controller. The dictionaries for the new language must be loaded on the
controller and the PC before this method can succeed.
See Also
FRCRobot Object Overview
FRELanguageConstants
Example
`Example of getting the language of the controller
Dim objRobot as FRCRobot
Dim strLanguage as String
Set objRobot = New FRCRobot
objRobot.Connect "robot1"
strLanguage = objRobot.Language
FRCRobot.Programs Property
Description
Returns the list of programs currently loaded on the controller.
Syntax
[objProgs = ]objRobot.Programs
Parts
objRobot as FRCRobot
objProgs as FRCPrograms
Remarks
This collection holds all program types (TP, KAREL and Variable) that exist on
the controller.
See Also
FRCRobot Object Overview
FRCPrograms Object Overview
Example
`Example of getting the collection of programs on the
`controller
Dim objRobot as FRCRobot
Dim objProgs as FRCPrograms
Set objRobot = New FRCRobot
objRobot.Connect "robot1"
Set objProgs = objRobot.Programs
FRCRobot.RegNumerics Property
Description
Returns the robot numeric registers.
Syntax
[objNumRegs = ]objRobot.RegNumerics
Parts
objRobot as FRCRobot
objNumRegs as FRCVars
Remarks
This property provides access to the numeric registers of the controller. These
registers are typically accessed from TP programs.
See Also
FRCRobot Object Overview
FRCVars Object Overview
FRCVar Object Overview
FRCRegNumeric Object Overview
Example
`Example of getting the numeric registers
Dim objRobot as FRCRobot
Dim objNumRegs as FRCVars
Dim objNumReg as FRCVar
Dim objRegValue as FRCRegNumeric
Dim lngValue as Long
Set objRobot = New FRCRobot
objRobot.Connect "robot1"
Set objNumRegs = objRobot.RegNumerics
Set objNumReg = objNumRegs(1)
Set objRegValue = objNumReg.Value
lngValue = objRegValue.RegLong
FRELanguageConstants
frFrenchLanguage
Description
The French language.
Remarks
The French dictionary file is currently in use on the controller.
See Also
FRELanguageConstants Overview
FRCRobotLanguage Property
frGermanLanguage
Description
The German language.
Remarks
The German dictionary file is in currently use on the controller.
See Also
FRELanguageConstants Overview
FRCRobotLanguage Property
frSpanishLanguage
Description
The Spanish language.
Remarks
The Spanish dictionary file is currently in use on the controller.
See Also
FRELanguageConstants Overview
FRCRobotLanguage Property
FRERemoteMotionMasterConstants
frKCLMaster
Description
The motion master code used to specify that KCL is in control of motion.
Remarks
none
See Also
Error! Hyperlink reference not valid.
FRCRobot.RemoteMotionMaster Property
frNoMaster
Description
The motion master code used to specify no device is in control of motion.
Remarks
Use this to inhibit any remote control of motion.
See Also
Error! Hyperlink reference not valid.
FRCRobot.RemoteMotionMaster Property
frUOPMaster
Description
The motion master code used to specify the User Operating Panel device is in
control of motion.
Remarks
See Also
Error! Hyperlink reference not valid.
FRCRobot.RemoteMotionMaster Property
FRERobotErrors
Robot Object Errors
frObjectNotValid
Description
Object is no longer valid.
Remarks
The object is not valid for use. This error is returned from all properties and
methods of an object that has been discarded by the Robot Server. The object
might have been discarded for any one of the following reasons:
1. The object might represent a piece of data that has been deleted from the
controller. For example, if your program is holding a reference to a program that
is deleted from the controller, then calling any properties or methods of that
object will raise this error. The best way to avoid this problem is to handle the
Delete event of the program object (FRCProgram).
2. The object might represent a piece of data that has been superceded by new
data on the controller. For example, if your program is holding a reference to
any variable object of a particular program when a new .vr file is loaded for the
program, then calling any properties or methods of the variable object will raise
this error. The best way to avoid this problem is to handle the RefreshVars
event of the program object (FRCProgram).
3. The object has been discarded because of an abnormal termination of the
connection to the controller. If the controller power is turned off or if the
Ethernet connection is otherwise terminated during a communication session,
then calling any properties or methods of any objects of the Robot Server that
was connected will raise this error. The best way to avoid this problem is to
handle the Disconnect event of the robot object (FRCRobot).
See Also
FRERobotErrors Overview
FRCProgram_Delete Event
FRCProgram_RefreshVars Event
FRCRobot_Disconnect Event
frPCIFNotLoaded
Description
Connection refused because the PCIF option is not loaded.
Remarks
Raised when the connection to the controller fails because the controller does
not have the PC Interface (PCIF) option loaded.
The PCIF option is required on the robot controller to support the FRCRobot
object’s properties and methods.
See Also
FRERobotErrors Overview
Generic Collection Errors
frObjAlreadyExists
Description
The object already exists in the collection.
Remarks
An object can not be added to a collection with a duplicate key value.
See Also
FRERobotErrors Overview
Program Errors
frInvalidDateTime
Description
The date or time is invalid.
Remarks
See Also
FRERobotErrors Overview
frProgInvalidParam
Description
Invalid program object parameter.
Remarks
An invalid program type was passed to the Add method of the programs
collection.
See Also
FRERobotErrors Overview
FRCPrograms.Add method
frProgramNotLoaded
Description
Program is not currently loaded.
Remarks
This error is raised when an application tries to get a program object from the
programs collection that is not in the normal or hidden programs collection but
exists on the controller and is not a hidden program. This error can only occur
when the Item program of the programs collection is called while a program is in
the process of being loaded. If an application is getting this error then it should
be using the Create event of the programs collection to know when the new
program is completely loaded and ready for use.
See Also
FRERobotErrors Overview
FRCPrograms.Item property
FRCPrograms_Create event
Variable Errors
frInvVarName
Description
Invalid variable name.
Remarks
This error is returned by the Item property of a variable collection object
(FRCVars). This error is raised when the name specified is not valid because it
contains invalid characters or the variable name simply doesn’t exist in the
collection.
See Also
FRERobotErrors Overview
FRCVars.Item property
frInvVarType
Description
The variable is of an invalid type.
Remarks
This error is raised if the robot object property does not apply to the class of
variable being accessed by the object. The following cases will generate this
error:
- Setting FRCVar.Value, where the .Value is an object type
- Calling FRCVar.Uninitialize on a Numeric register or position
- Calling FRCVars.StartMonitor or FRCVars.StopMonitor
- Accessing FRCVar.MaxValue or FRCVar.MinValue where the .Value
is an object type
- Accessing a FILE type variable
See Also
FRERobotErrors Overview
FRCVar Object Overview
Position Errors
frAxesRange
Description
Axes index is out of range.
Remarks
This error is raised when an axis index is out of range for the joint position.
FRCJoint.Item raises this error when the index is not between 1 and the
number of axes for the position (as returned by the count property).
See Also
FRERobotErrors Overview
FRCJoint.Item property
FRCJoint.Count property
frExtAxesNotSupported
Description
Extended axis index is not supported for this position.
Remarks
This error is raised from FRCAxesCollection’s Item property when the axis
index specified is not supported by the collection. Indexes must be between 1
and the maximum number of extended axes (returned by
FRCAxesCollection.Count).
See Also
FRERobotErrors Overview
FRCAxesCollection.Item property
FRCAxesCollection.Count property
frInvVectIndex
Description
Invalid vector index value. Must be in the range 1 to 3.
Remarks
This error is raised by FRCVector.Item property when the specified index is
invalid. Vector indexes must be in the range of 1 to 3.
See Also
FRERobotErrors Overview
FRCVector.Item property.
I/O Errors
frIOSaveBadFileExtension
Description
File extension for I/O save must be .IO.
Remarks
The file name you supply to FRCIOTypes.Save must have the extension ".io". If
you provide a file name with no extension, .io will be added. If you supply a file
name with something other than .io, this error code will be raised.
See Also
Error! Hyperlink reference not valid.
FRERobotErrors Overview
Packet Event Errors
frPacketEventBodyCorrupt
Description
The data could not be decoded. The buffer might be corrupted.
Remarks
This error will be raised if the format of the data in the Body of the Packet
happens to partially meet the requirements of the FRCPacket.DecodeBody
method. If the format is completely wrong, you will get the
frPacketEventNoSuchItem error.
See Also
FRERobotErrors Overview
FRCPacket.DecodeBody method
frPacketEventInvSSC
Description
SubSystem Code must be a number in the range 0 to 255.
Remarks
This error is raised by FRCRobot.CreatePacketEvent when the sub-system
code parameter is invalid. Sub-system codes must be in the range of 0 to 255.
See Also
FRERobotErrors Overview
FRCRobot.CreatePacketEvent method
frPacketEventNoSuchItem
Description
The requested data item does not exist.
Remarks
This is raised from the FRCPacket.DecodeBody method. Calling
FRCPacket.DecodeBody until this error is raised is a useful technique for
passing a variable number of values in a packet.
See Also
FRERobotErrors Overview
FRCPacket.DecodeBody method
Pipe Errors
frPipeCantCreateMonitor
Description
The Pipe monitor thread can't be created.
Remarks
The Robot Server uses a separate Windows thread to monitor data coming
from controller pipes. This error will be raised if that thread can’t be created.
This would be a fundamental Windows resource problem. Try closing other
applications or rebooting.
See Also
FRERobotErrors Overview
frPipeInvalidFieldIndex
Description
Invalid pipe field index.
Remarks
This error will be raised if a field does not exist at the index supplied to the
FRCFields.Item property.
See Also
FRERobotErrors Overview
FRCFields.Item Property
frPipeInvalidFieldName
Description
Invalid pipe field name.
Remarks
This error will be raised if a field by the name specified to the FRCFields.Item
property does not exist.
Make sure you are not using the expanded, full field name.
See Also
FRERobotErrors Overview
FRCFields.Item Property
FRESaveOptionConstants
frStandardSave
Description
Save the file without automatically overwriting any older version.
Remarks
When used in a FRCProgram.Save method, this specifies that the data is to be
saved to a file, but should not automatically overwrite an old file. If a file of the
target name already exists on the storage device, the .Save method will return
an error and the data will not be carried saved.
See Also
FRESaveOptionConstants Overview
FRCProgram.Save Method
Programs
FRCProgram
FRCProgram Object Properties
FRCProgram.IgnoreAbort Property
Description
Returns/sets the state of the IgnoreAbort attribute.
Syntax
[blnIgnoreAbort = ]objProg.IgnoreAbort(lngIgnoreConstant)
Parts
objProg as FRCProgram
blnIgnoreAbort as Boolean
lngIgnoreConstant as FRETaskIgnoreConstants
Remarks
none
See Also
FRCProgram Object Overview
FRCTask.IgnoreAbort Property
FRETaskIgnoreConstants Overview
Example
Dim objProg as FRCProgram
’First get the program object
Set objProg = mobjPrograms.Item("MYPROG")
’Set the IgnoreAbort(frIgnoreCommand) Property to True
objProg.IgnoreAbort(frIgnoreCommand) = True
FRCProgram.IgnorePause Property
Description
Returns/sets the state of the IgnorePause attribute.
Syntax
[blnIgnorePause = ]objProg.IgnorePause(lngIgnoreConstant)
Parts
objProg as FRCProgram
blnIgnorePause as Boolean
lngIgnoreConstant as FRETaskIgnoreConstants
Remarks
none
See Also
FRCProgram Object Overview
FRCTask.IgnorePause Property
FRETaskIgnoreConstants Overview
Example
Dim objProg as FRCProgram
’First get the program object
Set objProg = mobjPrograms.Item("MYPROG")
’Set the IgnorePause(frIgnoreCommand) Property to True
objProg.IgnorePause(frIgnoreCommand) = True
FRCProgram.StackSize Property
Description
Returns/sets the stack size for the program.
Syntax
[lngStackSize = ]objProg.StackSize
Parts
objProg as FRCProgram
lngStackSize as Long
Remarks
none
See Also
FRCProgram Object Overview
FRCTask.StackSize Property
Example
Dim objProg as FRCProgram
Dim lngStackSize as Long
’First get the program object
Set objProg = mobjPrograms.Item("MYPROG")
’Get the Stack Size
lngStackSize = objProg.StackSize
FRCProgram.TimeSlice Property
Description
Returns the required time slice for the program.
Syntax
[lngSlice = ]objProg.TimeSlice
Parts
objProg as FRCProgram
lngSlice as Long
Remarks
none
See Also
FRCProgram Object Overview
FRCTask.TimeSlice Property
Example
Dim objProg as FRCProgram
Dim lngTimeSlice as Long
’First get the program object
Set objProg = mobjPrograms.Item("MYPROG")
’Get the Time Slice
lngTimeSlick = objProg.TimeSlice
FRCProgram.Variables Property
Description
Returns a reference to the top level of the variables defined for the program.
Syntax
[objVars = ]objProg.Variables
Parts
objProg as FRCProgram
objVars as FRCVars
Remarks
If the program has no variables, the FRCVars collection will be empty.
See Also
FRCProgram Object Overview
FRCVars Object Overview
Example
Dim objProg as FRCProgram
Dim objProgVars as FRCVars
’First get the program object
Set objProg = mobjPrograms.Item("MYPROG")
’Get the Program Variables Collection
objProgVars = objProg.Variables
FRCProgram Object Events
FRCProgram_RefreshVars Event
Description
Occurs after a program’s variables are reloaded.
Syntax
Private Sub mobjProgram_RefreshVars()
End Sub
Parts
mobjProgram as FRCProgram
Remarks
This event is automatically generated whenever a VR, SV, or PC file is loaded
and the program already exists. Note that a teach pendant program might also
contain variables. All existing variable objects of the program are deleted. If any
references to these objects still exist then the objects will not be deleted and
further operations on these objects will raise the frObjectNotValid error.
System variables, frame positions, and position registers are not deleted.
References to these objects are always valid.
See Also
FRCProgram Object Overview
FRCRobot.Load Method
Example
Private Sub mobjProgram_RefreshVars()
‘Inform user that program’s variables are refreshed
MsgBox mobjProgram.Name & "’s variables refreshed", _
vbOkOnly + vbInformation, mobjProgram.Name
End Sub
FRCPrograms
FRCPrograms Object Overview
Description
Represents the collection of all programs currently loaded on the robot
controller (for example, teach pendant, KAREL, and variable programs).
Overview
Objects in the collection can be retrieved through the Item property or by using
a For Each loop.
Properties
Count as Long (read-only)
Item (Name [, NewReference, AccessMode, RejectMode])
Parent as FRCRobot (read-only)
Robot as FRCRobot (read-only)
Selected as String
Methods
Remove(Name as String)
TryItem (Name [, NewReference, AccessMode, RejectMode], Prog)
Events
AttrChange (Program, Attr)
Create (Program as FRCProgram)
Delete (Program as FRCProgram)
Refresh (Program as FRCProgram)
RefreshVars (Program as FRCProgram)
Rename(Program as FRCProgram)
Select()
SubTypeChange(Program as FRCTPProgram)
SubTypeChange2(Program as FRCProgram)
See Also
FRCProgram Object Overview
FRCKARELProgram Object Overview
FRCVRProgram Object Overview
FRCTPProgram Object Overview
FREProgramTypeConstants Overview
FREAccessModeConstants Overview
FRERejectModeConstants Overview
FRCPrograms Object Properties
FRCPrograms.Count Property
Description
Returns the number of programs currently in the collection that are loaded and
visible on the controller.
Syntax
lngNumProgs = objProgs.Count
Parts
objProgs as FRCPrograms
lngNumProgs as Long
Remarks
Count does not include invisible programs loaded on the controller.
See Also
FRCPrograms Object Overview
Example
Dim objRobot as FRCRobot
Dim objProgs as FRCPrograms
Dim lngNumProgs as Long
’Get a robot object reference, then the Programs
Collection
Set objRobot = New FRCRobot
Set objProgs = objRobot.Programs
’Get the number of programs in the collection
lngNumProgs = objProgs.Count
FRCPrograms.Item Property
Description
Returns the specified program from the programs collection.
Syntax
objProg = objProgs.Item( vntName as Variant [, blnNewReference as Boolean,
lngAccessMode as FREAccessModeConstants,
lngRejectMode as FRERejectModeConstants])
Parts
objProgs as FRCPrograms
vntName as Variant
blnNewReference as Boolean
lngAccessMode as FREAccessModeConstants
lngRejectMode as FRERejectModeConstants
objProg as {FRCKARELProgram | FRCVRProgram | FRCTPProgram |
FRCProgram}
Remarks
Name can be specified as a string, representing the program name, or as an
Integer or Long, representing the index of the program in the collection. Index
begins at 0.
The arguments NewReference, AccessMode and RejectMode apply only to
teach pendant Programs. They allow you to control the access level to the
teach pendant program to protect it from being modified while you are using it.
If the value of NewReference is False or not specified, then a shared reference
to the program is used. This will allow fast access to reading properties of the
program. If NewReference = False, then AccessMode and RejectMode cannot
be specified. However, a program cannot be modified unless a new reference is
created with the appropriate access mode and reject mode.
A program that is opened with a new reference (for example, NewReference =
TRUE) can still be opened with read-only access and then re-opened using the
ReOpen method later to allow writing. When just the shared program object is
used the Reopen method will return an error.
An invisible program loaded on the controller is not listed in the program
collection; however, it can be retrieved using the Item property.
See Also
FRCPrograms Object Overview
FRCProgram Object Overview
FRCPrograms.TryItem Method
FRCKARELProgram Object Overview
FRCVRProgram Object Overview
FRCTPProgram Object Overview
FREAccessModeConstants Overview
FRERejectModeConstants Overview
Example
Dim objRobot as FRCRobot
Dim objProgs as FRCPrograms
Dim objProgram as FRCProgram
’Get a robot object reference, then the Programs
Collection
Set objRobot = New FRCRobot
Set objProgs = objRobot.Programs
’Get a program from the collection
’Get Test12 as a new reference with read-write permission
’Prevent others from opening with write-overwrite
permission
Set objProgram = objProgs.Item("Test12", True,
frReadWriteAccess, _
frWriteOverwriteReject)
FRCPrograms.Parent Property
Description
Returns the parent Robot object of the Programs Collection.
Syntax
objRobot = objProgs.Parent
Parts
objProgs as FRCPrograms
objRobot as FRCRobot
Remarks
This property is read only.
See Also
FRCPrograms Object Overview
FRCRobot Object Overview
Example
Dim objRobot as FRCRobot
Dim objProgs as FRCPrograms
Dim objRobotCheck as FRCRobot
’Get a robot object reference, then the Programs
Collection
Set objRobot = New FRCRobot
Set objProgs = objRobot.Programs
’Get the parent object of the collection
Set objRobotCheck = objProgs.Parent
FRCPrograms.Selected Property
Description
Returns/sets the currently selected program.
Syntax
[strProgName = ]objProgs.Selected
Parts
objProgs as FRCPrograms
strProgName as String
Remarks
Returns the string name of the currently selected program. The currently
selected program is the program currently being edited or debugged in the
teach pendant program editor. This name can be used to open the program
using the Item method.
Setting this property changes the selected program, which only affects which
program is being debugged or is started using the CYCLE START button. At
the robot level, the current program being edited doesn't change. However,
higher-level robot server objects can force the teach pendant program editor to
always match this property. Setting this property sets the system variable
$TP_DEFPROG.
See Also
FRCPrograms Object Overview
FRCPrograms_Select Event
Example
Dim objRobot as FRCRobot
Dim objProgs as FRCPrograms
Dim strSelProg as String
’Get a robot object reference, then the Programs
Collection
Set objRobot = New FRCRobot
Set objProgs = objRobot.Programs
’Get the name of the currently selected program
strSelProg = objProgs.Selected
FRCPrograms Object Events
FRCPrograms_AttrChange Event
Description
Occurs after an attribute is changed.
Syntax
Private Sub mobjPrograms_AttrChange(Program as FRCProgram, Attr as
FREAttributeConstants)
End Sub
Parts
mobjPrograms as FRCPrograms
Program as FRCProgram
Attr as FREAttributeConstants
Remarks
This event is automatically generated whenever a program attribute is changed.
The Attr parameter specifies which parameter was changed. Only visible
programs will generate this event.
See Also
FRCPrograms Object Overview
FREAttributeConstants Overview
Example
Private Sub mobjPrograms_AttrChange(ByVal Program as
FRCProgram, _
ByVal Attr as FREAttributeConstants)
‘Set a boolean flag when a program attribute changes
mblnAttrChange = True
End Sub
FRCPrograms_RefreshVars Event
Description
Occurs after a program’s variables are reloaded.
Syntax
Private Sub mobjPrograms_RefreshVars(Program as FRCProgram)
End Sub
Parts
mobjPrograms as FRCPrograms
Program as FRCProgram
Remarks
This event is automatically generated whenever a VR, SV, or PC file is loaded
and the program already exists. Note that a teach pendant program might also
contain variables. Only visible programs will generate this event.
All existing variable objects of the program are deleted. If you access any of
properties and methods of these deleted objects after returning from this event,
the frObjectNotValid error will be raised.
System variables, frame positions, and position registers are not deleted.
References to these objects are always valid.
See Also
FRCPrograms Object Overview
FRCRobot.Load Method
Example
Private Sub mobjPrograms_RefreshVars(ByVal Program as
FRCProgram)
MsgBox "Variables for program " & Program.Name & " were
refreshed"
End Sub
FRCPrograms_SubTypeChange Event
FRCPrograms_SubTypeChange2 Event
Description
Occurs after a program’s subtype is changed.
Syntax
Private Sub mobjPrograms_SubTypeChange(TPProgram As FRCTPProgram)
End Sub
Private Sub mobjPrograms_SubTypeChange2(Program As FRCProgram)
End Sub
Parts
mobjPrograms as FRCPrograms
TPProgram as FRCTPProgram
Program as FRCProgram
Remarks
This event is automatically generated whenever a program’s subtype is
changed. Only visible programs will generate this event.
The SubTypeChange event is generated only for teach pendant programs.
SubTypeChange2 was introduced in V5.22 when the macro sub type was
supported on KAREL programs. This event occurs for both KAREL and teach
pendant programs.
See Also
FRCPrograms Object Overview
FRCTPProgram.SubType Property
FRCKAREL.SubType Property
Example
Private Sub mobjPrograms_SubTypeChange(TPProgram As
FRCTPProgram)
MsgBox "Program " & Program.Name & " subtype was changed"
End Sub
FRCTPProgram
FRCTPProgram Object Events
FRCTPProgram_SubTypeChange Event
Description
Occurs after a teach pendant program’s subtype is changed.
Syntax
Private Sub mobjProgram_SubTypeChange()
End Sub
Parts
mobjProgram as FRCTPProgram
Remarks
This event is automatically generated whenever a teach pendant program’s
subtype is changed.
See Also
FRCTPProgram Object Overview
FRCTPProgram.SubType Property
Example
Private Sub mobjProgram_SubTypeChange()
‘Post message box saying program subtype has changed
MsgBox mobjProgram.Name & " subtype has changed.", _
vbInformation + vbOkOnly, "Program Notification"
End Sub
FREAttributeConstants
frIgnoreAbortAttr
Description
Identifies the IgnoreAbort program attribute.
Remarks
none
See Also
FREAttributeConstants Overview
FRCProgram.IgnoreAbort Property
frIgnorePauseAttr
Description
Identifies the IgnorePause program attribute.
Remarks
none
See Also
FREAttributeConstants Overview
FRCProgram.IgnorePause Property
frStackSizeAttr
Description
Identifies the Stack Size program attribute.
Remarks
none
See Also
FREAttributeConstants Overview
FRCProgram.StackSize Property
frStorageTypeAttr
Description
Identifies the Storage Type program attribute.
Remarks
none
See Also
FREAttributeConstants Overview
FRCTPProgram.StorageType Property
FREAccessModeConstants
FREAccessModeConstants Overview
Description
An enumeration of constants used when opening and reopening programs from
the FRCPrograms collection.
Overview
These constants are used as arguments within the FRCPrograms.Item Property
and FRCProgram.Reopen Method to set the access privileges of the program
object you obtain from the FRCPrograms collection. The
FRCProgram.Protection property must be set to frReadWriteProtection before
opening a program with write or overwrite access.
This protection only applies to teach pendant programs.
Values
frAllAccess
frNoAccess
frOverwriteAccess
frReadAccess
Error! Hyperlink reference not valid.
frReadWriteAccess
frWriteAccess
Error! Hyperlink reference not valid.
See Also
FRCPrograms.Item Property
FRCProgram.AccessMode Property
FRCProgram.Protection Property
FRCProgram.Reopen Method
FREProtectionConstants Overview
frNoAccess
Description
Prohibits program access.
Remarks
This access mode prohibits you from viewing, changing, or adding to the
program.
See Also
FREAccessModeConstants Overview
FRCPrograms.Item Property
FRCProgram.AccessMode Property
FRCProgram.Reopen Method
FREProgramTypeConstants
FREProgramTypeConstants Overview
Description
An enumeration of constants used to identify different program types.
Overview
These constants are returned by the FRCTask.ProgramType Property to
identify the program type of the task object. These constants are also used
when creating programs on the controller through the FRCPrograms.Add
Method. Currently, the only type of program that can be created using the
FRCPrograms.Add Method is the FRTPProgramType.
Values
frKarelProgramType
frTPProgramType
frVRProgramType
See Also
FRCTask.ProgramType Property
FRCPrograms.Add Method
FREProtectionConstants
FREProtectionConstants Overview
Description
An enumeration of constants used to identify and set the program protection.
Overview
These constants are used to set the FRCProgram.Protection property which
determines if the program can be changed. The Protection property must be set
to frReadWriteProtection before opening a program with write or overwrite
access.
Values
frReadOnlyProtection
Error! Hyperlink reference not valid.
See Also
FRCPrograms.Item Property
FRCProgram.AccessMode Property
FRCProgram.Protection Property
FRCProgram.Reopen Method
FRERejectModeConstants
FRERejectModeConstants Overview
Description
An enumeration of constants used when you open or reopen a teach pendant
program from the FRCPrograms collection.
Overview
These constants are used in the FRCPrograms.Item Property and
FRCTPProgram.Reopen Method to determine what kind of access other
references or the controller have to the program object. These constants apply
to program locking which is only applicable to teach pendant programs.
Values
frAllReject
frNoReject
frOverwriteReject
Error! Hyperlink reference not valid.
frReadReject
frReadWriteReject
Error! Hyperlink reference not valid.
frWriteReject
See Also
FRCPrograms.Item Property
FRCProgram.RejectMode Property
FRCProgram.Reopem Method
frNoReject
Description
Allows the controller and other object references to modify the program.
Remarks
This reject mode allows the controller or other references to the same program
to view and make changes to the program.
See Also
FRERejectModeConstants Overview
FRCPrograms.Item Property
FRCProgram.RejectMode Property
FRCProgram.Reopem Method
FRETPSubTypeConstants
FRETPSubTypeConstants Overview
Description
An enumeration of constants used to identify the sub-type of a teach pendant
program (FRCTPProgram) object.
Overview
The subtype of a teach pendant program defines its basic function within the
operation of the robot. The various subtypes have certain properties that define
how the teach pendant program is used.
Starting with R-J3 V5.22, KAREL programs can also be assigned as macro
programs. Therefore, the frNoneTPSubType and frMacroTPSubType constants
apply to KAREL programs as well.
Values
frNoneTPSubType
frJobTPSubType
frProcessTPSubType
frMacroTPSubType
frConditionTPSubType
See Also
FRCTPProgram.SubType Property
FRCKARELProgram SubType Property
FRCPrograms_SubTypeChange Event
FRCKARELProgram_SubTypeChange Event
FRCTPProgram_SubTypeChange Event
frJobTPSubType
Description
Job program sub type.
Remarks
This kind of teach pendant program typically calls processes,
frProcessTPSubType, and does not usually contain any motion.
See Also
FRETPSubTypeConstants Overview
frProcessTPSubType
Tasks
FRCTask
FRCTask Object Properties
FRCTask.CurProgram Property
Description
Returns the current program that is being executed.
Syntax
[objProg = ]objTask.CurProgram
Parts
objTask as FRCTask
objProg as {FRCTPProgram | FRCKARELProgram}
Remarks
This property is different from the top level program started initially since the top
level program can call macros of sub-routines that are in other programs.
See Also
FRCTask Object Overview
KAREL Reference Manual
Example
’ Display the Current Program, Routine and Line
’ information for the program running under MYTASK.
’ It may be a different one called by the original program
’ started as MYTASK
’
Dim objMyTask as FRCTask
Set objMyTask = gobjRobot.Tasks.Item(Name:="MYTASK")
txtProgram = objMyTask.CurProgram.Name
txtRoutine = objMyTask.CurRoutine
txtLine = objMyTask.CurLine
FRCTask.CurRoutine Property
Description
Returns the name of the currently executing KAREL routine.
Syntax
[strCurRoutine = ]objTask.CurRoutine
Parts
objTask as FRCTask
strCurRoutine as String
Remarks
If the task is a teach pendant Program or a KAREL program not currently in a
routine, the top level program name is returned.
See Also
FRCTask Object Overview
KAREL Reference Manual
Example
’ Display the Current Program, Routine and Line number
’ information for the program running under MYTASK.
’ It may be a different one called by the original program
’ started as MYTASK
’
Dim objMyTask as FRCTask
Set objMyTask = gobjRobot.Tasks.Item(Name:="MYTASK")
txtProgram = objMyTask.CurProgram.Name
txtRoutine = objMyTask.CurRoutine
txtLine = objMyTask.CurLine
FRCTask.HoldCondition Property
Description
Returns the state of the various hold flags.
Syntax
[blnReasonHeld =]objTask.HoldCondition(enuHoldCond)
Parts
objTask as FRCTask
blnReasonHeld as Boolean
enuHoldCond as FREHoldConditionConstants
Remarks
Execution can be held for more than one reason. The
FREHoldConditionConstants are used to index the hold flags.
See Also
FRCTask Object Overview
FREHoldConditionConstants Overview
KAREL Reference Manual
Example
’ Check if the task execution is being held.
’
Dim objMyTask as FRCTask
Set objMyTask = gobjRobot.Tasks.Item(Name:="MYTASK")
If objTask.HoldCondition(frHoldAny) Then
MsgBox "Task is held"
End If
FRCTask.MotionControl Property
Description
Returns whether the task has motion control of a group.
Syntax
[blnMotionControl = ] objTask.MotionControl(intGroup)
Parts
objTask as FRCTask
blnMotionControl as Boolean
intGroup as Integer
Remarks
Motion control is checked independently by group number.
See Also
FRCTask Object Overview
KAREL Reference Manual
Example
’ Check if MYTASK has control of Group 1
’
Dim objMyTask as FRCTask
Set objMyTask = gobjRobot.Tasks.Item(Name:="MYTASK")
If objMyTask.MotionControl(1) Then
MsgBox "MYTASK has control of Group 1"
End If
FRCTask.ProgramType Property
Description
Returns the type of program the task represents
Syntax
[lngProgType = ]objTask.ProgramType
Parts
objTask as FRCTask
lngProgType as FREProgramTypeConstants
Remarks
This property will either be frKarelProgramType or frTPProgramType
See Also
FRCTask Object Overview
KAREL Reference Manual
Example
’ Check the program type
’
Dim objMyTask as FRCTask
Set objMyTask = gobjRobot.Tasks.Item(Name:="MYTASK")
If objMyTask. ProgramType = frKarelProgramType Then
MsgBox "Karel Program"
Else
MsgBox "TP Program"
End If
FRCTask.StepType Property
Description
Returns the task statement stepping type.
Syntax
[lngStepType = ] objTask.StepType
Parts
objTask as FRCTask
lngStepType as FREStepTypeConstants
Remarks
Step type cannot be controlled from the PC application
See Also
FRCTask Object Overview
KAREL Reference Manual
Example
’ Warn the operator if Single step is on
’
Dim objMyTask as FRCTask
Set objMyTask = gobjRobot.Tasks.Item(Name:="MYTASK")
If Not (objTask.StepType = frStepNone ) Then
MsgBox "Program is in single step mode"
End If
FRCTask.SystemTask Property
Description
Returns whether the task is a system task.
Syntax
[blnIsSystem = ] objTask.SystemTask
Parts
objTask as FRCTask
blnIsSystem as Boolean
Remarks
If both IsInvisible and this property are True, the task is completely invisible to
the operator, but not to the PC application.
See Also
FRCTask Object Overview
KAREL Reference Manual
Example
’ Don’t show the user this task if its a system task
’
Dim objMyTask as FRCTask
Set objMyTask = gobjRobot.Tasks.Item(Name:="MYTASK")
If Not objMyTask.SystemTask Then
lstTaskList.Add objMyTask.Name
End If
FRCTask.TimeSlice Property
Description
Returns the allotted time slice for the task.
Syntax
[lngSlice = ]objTask.TimeSlice
Parts
objTask as FRCTask
lngSlice as Long
Remarks
Tasks with same task priority are executed as round robin scheduling. Time
slice duration means the maximum duration to execute this task at one time
continuously. The units of this property are milliseconds. The default value is
100.
If you want to change this attribute for the program every time it is run, change
it using the FRCProgram interface.
See Also
FRCTask Object Overview
FRCProgram.TimeSlice Property
KAREL Reference Manual
Example
’ Read the Time Slice
’
Dim objMyTask as FRCTask
Dim lngSlice as Long
Set objMyTask = gobjRobot.Tasks.Item(Name:="MYTASK")
lngSlice = objMyTask.TimeSlice
FRCTask.TopProgram Property
Description
Returns the top level program object.
Syntax
[objProg = ]objTask.TopProgram
Parts
objTask as FRCTask
objProg as {FRCTPProgram | FRCKARELProgram}
Remarks
This is the program that was initially started. This can be different from the
current program because of routine or macro call statements.
See Also
FRCTask Object Overview
KAREL Reference Manual
FRCTPProgram Object Overview
FRCKARELProgram Object Overview
Example
’ Find out which program was run to initiate this
’ task
’
Dim objMyTask as FRCTask
Dim objTopProg as FRCProgram
Set objMyTask = gobjRobot.Tasks.Item(Name:="MYTASK")
Set objTopProg = objMyTask.TopProgram
MsgBox objTopProg.Name & " initiated this task"
FRCTask.TraceEnable Property
Description
Returns/sets whether the task has tracing enabled.
Syntax
[blnIsTraceEnable = ] objTask.IsTraceEnable
objTask.IsTraceEnable[ = blnIsTraceEnable]
Parts
objTask as FRCTask
blnIsTraceEnable as Boolean
Remarks
If this is True, the trace function is enabled and tracing information is stored
while the task is running. You can view this trace data on the teach pendant.
See Also
FRCTask Object Overview
KAREL Reference Manual
Example
’ Make sure tracing is on for MYTASK
’
Dim objMyTask as FRCTask
Set objMyTask = gobjRobot.Tasks.Item(Name:="MYTASK")
objMyTask.TraceEnable = True
FRCTask.TraceLength Property
Description
Returns/sets the length of the trace buffer for this task.
Syntax
[lngSize = ]objTask.TraceLength
Parts
objTask as FRCTask
lngSize as Long
Remarks
The larger the buffer, the more trace history is saved.
See Also
FRCTask Object Overview
KAREL Reference Manual
Example
’ Set up the trace history buffer
’
Dim objMyTask as FRCTask
Set objMyTask = gobjRobot.Tasks.Item(Name:="MYTASK")
objMyTask.TraceLength = 100
FRCTasks
FRCTasks Object Properties
FRCTasks.Count Property
Description
Returns the maximum number of tasks available on the controller.
Syntax
[intNumTasks = ]objTasks.Count
Parts
objTasks as FRCTasks
intNumTasks as Integer
Remarks
Use this property as the upper bounds in FOR or other looping constructs for
the tasks collection.
This property will always return the value of $SCR.$MAXNUMTASK + 2. The
two additional tasks are created for internal use by the controller. "Empty" task
objects that have not been run at least once will have an idle status
(frStatusIdle).
See Also
FRCTasks Object Overview
FRCTask Object Overview
Example
’Figure out how many tasks are available on the controller
Dim objMyTasks as FRCTasks
Dim intNumTasks as Integer
intNumTasks = objMyTasks.Count
FRCTasks.IsMonitoring Property
Description
Returns True if task monitoring has been enabled via the StartMonitor method,
and False if monitoring is not enabled
Syntax
[blnIsMonitoring = ]objTasks.IsMonitoring
Parts
objTasks as FRCTasks
blnIsMonitoring as Boolean
Remarks
IsMonitoring will return a value of True if monitoring has been enabled on the
tasks collection by any application program. IsMonitoring will only return false
when all programs that have called StartMonitor have called StopMonitor or
have released their reference to the tasks collection.
See Also
FRCTasks Object Overview
FRCTask Object Overview
FRCTasks.StartMonitor Method
FRCTasks.StopMonitor Method
Example
’See if task monitoring has been enabled
Dim objMyTasks as FRCTasks
Dim blnIsMonitoring as Boolean
blnIsMonitoring = objMyTasks.IsMonitoring
If blnIsMonitoring Then
msgbox "Task monitoring is enabled"
Else
msgbox "Task monitoring is NOT enabled"
End If
FRCTasks Object Methods
FRCTasks.StopMonitor Method
Description
Stops monitoring of all task objects in the collection for changes.
Syntax
objTasks.StopMonitor
Parts
objTasks as FRCTasks
Remarks
Calling this method stops Change events from occurring on the tasks collection.
If two or more programs have started monitoring, Change events will not stop
until all programs have called this method. Additionally, if all external programs
destroy their reference to this object, monitoring is automatically stopped.
If no other application programs have active task monitoring, IsMonitoring will
return False when monitoring stops.
See Also
FRCTasks Object Overview
FRCTask Object Overview
FRCTasks.IsMonitoring Property
Example
’Stop monitoring of all tasks on the controller
Dim objMyTasks as FRCTasks
objMyTasks.StopMonitor
FREExecuteConstants
frExecuteNormBwd
Description
Perform normal backward execution.
Remarks
Running or continuing a task/program with this constant will make the
interpreter execute the program lines in a decreasing (backward) manner, for
example, from the current line number down to line 1.
Backward execution of a task will result in a step run (pausing at each line).
There are several restrictions for running a program backwards, please consult
the appropriate controller reference manual for more details.
See Also
FREExecuteConstants Overview
FRCTask.Continue Method
FRCTPProgram.Run Method
FRCKARELProgram.Run Method
FREHoldConditionConstants
frHoldAMRPkt
Description
Waiting for an AMR packet.
Remarks
Indicates that the task is waiting for an Application Manager Record (AMR) to
be completed. Generally, this indicates that a teach pendant application
instruction is in progress.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual
See Also
FREHoldConditionConstants Overview
FRCTask.HoldCondition Property
frHoldChgExe
Description
Waiting for a KAREL call to teach pendant program or vice versa to finish
processing.
Remarks
For a more detailed description of this hold condition, consult the KAREL
Reference Manual
See Also
FREHoldConditionConstants Overview
FRCTask.HoldCondition Property
frHoldFailLk
Description
Waiting for a failure to lock the default motion group.
Remarks
For a more detailed description of this hold condition, consult the KAREL
Reference Manual
See Also
FREHoldConditionConstants Overview
FRCTask.HoldCondition Property
frHoldMoDone
Description
Waiting for a motion done message.
Remarks
For a more detailed description of this hold condition, consult the KAREL
Reference Manual
See Also
FREHoldConditionConstants Overview
FRCTask.HoldCondition Property
frHoldMoStrt
Description
Waiting for the motion started message.
Remarks
For a more detailed description of this hold condition, consult the KAREL
Reference Manual
See Also
FREHoldConditionConstants Overview
FRCTask.HoldCondition Property
frHoldUAMRPkt
Description
Waiting for a User AMR packet.
Remarks
For a more detailed description of this hold condition, consult the KAREL
Reference Manual
See Also
FREHoldConditionConstants Overview
FRCTask.HoldCondition Property
frHoldUnlock
Description
Waiting for unlock group complete message.
Remarks
For a more detailed description of this hold condition, consult the KAREL
Reference Manual
See Also
FREHoldConditionConstants Overview
FRCTask.HoldCondition Property
frHoldUnwait
Description
Waiting for an UNWAIT action.
Remarks
For a more detailed description of this hold condition, consult the KAREL
Reference Manual
See Also
FREHoldConditionConstants Overview
FRCTask.HoldCondition Property
frHoldVBltin
Description
Waiting for a vision built-in to complete.
Remarks
For a more detailed description of this hold condition, consult the KAREL
Reference Manual
See Also
FREHoldConditionConstants Overview
FRCTask.HoldCondition Property
FREStepTypeConstants
frStepTPMotion
Description
Causes the program to pause after the next statement or KAREL motion.
Remarks
This constant indicates that the program will execute a single statement, then
pause as soon as any KAREL commanded motion has completed.
See Also
FREStepTypeConstants Overview
FRCTask.StepType Property
FRCTPProgram.Run Method
FRCKARELProgram.Run Method
FRETaskAttributeConstants
frTaskAttrCircMotion
Description
Task not circular motion attribute
Remarks
This constant reflects the value of controller constant
PG_NOT_CIRC_MOTION_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrERPrgName
Description
Task error program name attribute
Remarks
This constant reflects the value of controller constant PG_ERPRG_NAME_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrNumChild
Description
Task number of child tasks attribute
Remarks
This constant reflects the value of controller constant PG_NUM_CHILD_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrParenNum
Description
Task number of parents attribute
Remarks
This constant reflects the value of controller constant PG_PARENT_NUM_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrPauseOnShift
Description
Task pause on shift attribute
Remarks
This constant reflects the value of controller constant
PG_PAUSE_ON_SHIFT_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrStkSize
Description
Task stack size attribute
Remarks
This constant reflects the value of controller constant PG_STK_SIZE_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrSuperMotion
Description
Task super motion attribute
Remarks
This constant reflects the value of controller constant PG_SUPER_MOTION_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrSystemTask
Description
Task system task attribute
Remarks
This constant reflects the value of controller constant PG_SYSTEM_TASK_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrTaskPri
Description
Task priority attribute
Remarks
This constant reflects the value of controller constant PG_TASK_PRI_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrTaskSt
Description
Task status attribute
Remarks
This constant reflects the value of controller constant PG_TASK_ST_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrTCDStatus
Description
Task TCD status attribute
Remarks
This constant reflects the value of controller constant PG_TCD_STATUS_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrTPMotion
Description
Task teach pendnat motion attribute
Remarks
This constant reflects the value of controller constant PG_TP_MOTION_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrTraceEnb
Description
Task trace enabled attribute
Remarks
This constant reflects the value of controller constant PG_TRACE_ENB_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrTraceLength
Description
Task trace length attribute
Remarks
This constant reflects the value of controller constant PG_TRACE_LENGTH_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
frTaskAttrUserTaskID
Description
User task ID attribute
Remarks
This constant reflects the value of controller constant PG_USER_TASK_ID_C.
For a more detailed description of this hold condition, consult the KAREL
Reference Manual.
See Also
FRCTask Object Overview
FRETaskAttributeConstants Overview
Variables
FRCCommonAssoc
FRCCommonAssoc Object Overview
Description
This object is used to access standard associated data common for all KAREL
path motion groups.
Overview
This object allows access to standard associated data common for all KAREL
path motion groups. These properties are used by the motion environment to
permit various motion characteristics to be changed at each segment of a path.
Each property of common associated data applies to all groups.
These properties are used only during the execution of a path using the MOVE
ALONG statement. They are not used when using MOVE TO for individual path
nodes.
This object is returned from the Value property of the FRCVar object.
Properties
Error! Hyperlink reference not valid. (read-only)
Program As FRCProgram (read-only)
Robot As FRCRobot (read-only)
Error! Hyperlink reference not valid.
Error! Hyperlink reference not valid.
SegTermType As FRETermTypeConstants
Error! Hyperlink reference not valid.
Methods
none
Events
none
FRCCommonAssoc Object Properties
FRCCommonAssoc.Parent Property
Description
Returns the owning variable object.
Syntax
[objVar = ]objCommonAssoc.Parent
Parts
objCommonAssoc as FRCCommonAssoc
objVar as FRCVar
Remarks
none
See Also
FRCCommonAssoc Object Overview
FRCRegNumeric
FRCRegNumeric Object Properties
FRCRegNumeric.Parent Property
Description
Returns the owning variable object.
Syntax
[objVar = ]objNumReg.Parent
Parts
objNumReg as FRCRegNumeric
objVar as FRCVar
Remarks
none
See Also
FRCRegNumeric Object Overview
FRCRegNumeric.RegLong Property
Description
Returns/sets the long value for the numeric register.
Syntax
[lngRegInt = ] objNumReg.RegLong
Parts
objNumReg as FRCRegNumeric
lngRegInt as Long
Remarks
This property will raise an error if it is read when the type is not INTEGER (Type
property is not frIntegerType). When this property is set the register type is
automatically converted to INTEGER (Type property is set to frIntegerType).
See Also
FRCRegNumeric Object Overview
Example
’Example of getting a numeric register’s integer value
Dim lngNumRegValue as Long
Dim objNumericRegister as FRCRegNumeric
’Get numeric register to be changed: R[ 1 ]
Set objNumericRegister = gobjRobot.RegNumerics( 1 ).Value
"Get the integer value
lngNumRegValue = objNumericRegister.RegLong
FRCRegString Object Properties
FRCRegString.Comment Property
Description
Returns/sets the comment associated with the string register.
Syntax
[strCmnt = ]objStrReg.Comment
Parts
objStrReg as FRCRegString
strCmnt as String
Remarks
The comment attached to a string register can be up to 16 characters long. It
can contain any upper or lower case alpha character valid on a controller and
may include spaces.
Note: The comment and value of a string register are always read and written
together. The following sequence of events must be understood for effective
access string registers. If the PC application reads the value of a string register
then later writes a new value to it and between these two events someone on
the controller has changed the comment, the 'original' comment will be written
to the controller along with the new value.
See Also
FRCRegString Object Overview
Example
’Example of setting a string register’s comment
Dim strNewComment as String
Dim objStringRegister as FRCRegString
’Get string register to be changed: R[ 1 ]
Set objStringRegister = gobjRobot.RegStrings( 1 ).Value
’Put new comment in string
strNewComment = "I am SR[1]"
’Put comment in register
objStringRegister.Comment = strNewComment
FRCRegString.Parent Property
Description
Returns the owning variable object.
Syntax
[objVar = ]objStrReg.Parent
Parts
objStrReg as FRCRegString
objVar as FRCVar
Remarks
This FRCVar object can be used to monitor events related to the string register.
See Also
FRCRegString Object Overview
FRCRegString.Value Property
Description
Returns/sets the long value for the string register.
Syntax
[strText = ] objNumReg.Value
Parts
objNumReg as FRCRegString
strText as String
Remarks
The string value is limited to 254 characters.
See Also
FRCRegString Object Overview
Example
’Example of getting a string register’s integer value
Dim strText as String
Dim objStringRegister as FRCRegString
’Get string register to be changed: SR[ 1 ]
Set objStringRegister = gobjRobot.RegStrings( 1 ).Value
"Get the integer value
strText = objStringRegister.Value
FRCVar
FRCVar Object Properties
FRCVar.AccessCode Property
Description
Returns the available access to the variable (read-only, read-write, etc.).
Syntax
[lngAccess = ]objVar.AccessCode
Parts
objVar as FRCVar
lngAccess as FREVarAccessCodeConstants
Remarks
This property contains the access level which this object has to the variable’s
value. This value might be
- frVarNoAccess = "no access"
- frVarReadAccess = "read-only access",
- frarReadWriteAccess = "read-write access"
or any of the other access control constants
See Also
FREVarAccessCodeConstants Overview
FRCVar Object Overview
Example
‘ Modify the value if read-write access
Dim objVariable as FRCVar
Set objVariable = gobjRobot.Programs.Item("MYPROG") _
.Variables.Item("MYVAR")
If objVariable.AccessCode = frVarReadWriteAccess Then
objVariable.Value = 10
End If
FRCVar.FieldName Property
Description
Returns only the name of this particular variable object.
Syntax
[strName = ]objVar.FieldName
Parts
objVar as FRCVar
strName as String
Remarks
This is the name of the variable at its simplest type. It can be the variable name,
an element number in an array, or a field name within a structure. This does not
include the array name, structure name, or any other kind of container. For
example, the variable "$SHELL_CFG.$SHELL_NAME" would simply return
"$SHELL_NAME".
See Also
Error! Hyperlink reference not valid.
FRCVar.VarName Property
Example
‘ Display the field name in a text box
Dim objVariable as FRCVar
Set objVariable = gobjRobot.Programs.Item("MYPROG") _
.Variables.Item("MYVAR")
txtFieldName = objVariable.FieldName
FRCVar.GroupNum Property
Description
Returns the motion group number for this (position-type) variable object.
Syntax
[intGrpNum = ]objVar.GroupNum
Parts
objVar as FRCVar
intGrpNum as Integer
Remarks
This property contains the motion group number for this variable, assuming this
object refers to a variable which contains positional data. If this variable does
not contain positional data, the error frInvVarType will be returned. Positional
data types include frXyzWpr, frExtXyzWpr, frTransform, and frJoint.
See Also
FRCVar Object Overview
FRCPosition Object Overview
FRCVarPosition Object Overview
Example
‘ If you only need to be concerned with Group1
‘ sometimes, test and exit
‘
Dim objVariable as FRCVar
Set objVariable = gobjRobot.Programs.Item("MYPROG") _
.Variables.Item("MYVAR")
If Not (objVariable.GroupNum = 1) Then
Exit Sub
End If
FRCVar.IsInitialized Property
Description
Returns the initialized status for this variable object.
Syntax
[blnIsInitialized = ]objVar.IsInitialized
Parts
objVar as FRCVar
blnIsInitialized as Boolean
Remarks
When most variables are first created, they are in a special "Uninitialized" state.
It is also possible to force this state through the FRCVar.Uninitialize method.
This property allows you to determine if a variable has been "initialized", or set
to any valid value.
See Also
FRCVar Object Overview
FRCVar.Uninitialize Method
Example
‘ If the variable is not initialized, inform the
‘ user that processing can’t continue
‘
Dim objVariable as FRCVar
Set objVariable = gobjRobot.Programs.Item("MYPROG") _
.Variables.Item("MYVAR")
If Not objVariable.IsInitialized Then
MsgBox "Variable is not initialized"
Exit Sub
End If
FRCVar.IsMonitoring Property
Description
Returns the status of whether or not the controller is monitoring this variable.
Syntax
[blnIsMonitoring = ]objVar.IsMonitoring
Parts
objVar as FRCVar
blnIsMonitoring as Boolean
Remarks
If more StartMonitor methods have been called to monitor the value of this
variable than StopMonitor methods have been called to stop monitoring this
variable, this property will return TRUE. If this variable is not currently being
monitored, this property will return FALSE.
See Also
FRCVar Object Overview
FRCVar.StartMonitor Method
FRCVar.StopMonitor Method
FRCVar_Change Event
Example
‘ If this variable is not currently being monitored
‘ then start monitoring. Note that it doesn’t hurt
‘ to start monitoring several times
‘
Dim objVariable as FRCVar
Set objVariable = gobjRobot.Programs.Item("MYPROG") _
.Variables.Item("MYVAR")
If Not objVariable.IsMonitored Then
objVariable.StartMonitor 500
End If
FRCVar.MaxStringLen Property
Description
Returns the maximum string length for a string variable.
Syntax
[intMaxLen = ] objVar.MaxStringLen
Parts
objVar as FRCVar
intMaxLen as Integer
Remarks
This property returns the maximum number of characters which this variable
can contain. Only valid for variables of type frStringType. This property will
return a "frNotAStringVar" error if this object refers to a non-string type variable.
See Also
Error! Hyperlink reference not valid.
Example
‘ Tell the user to enter a shorter string if the
‘ one supplied is too long
‘
Dim objVariable as FRCVar
Dim strVarText As String
Set objVariable = gobjRobot.Programs.Item("MYPROG") _
.Variables.Item("MYVAR")
If Len(strVarText) > objVariable.MaxStringLen Then
strVarText = InputBox("Variable text too long," & _
"enter a shorter one")
End If
FRCVar.NoUpdate Property
Description
Returns/sets whether or not the data is immediately sent to the robot when an
assignment is made to the Value property.
Syntax
objObjectVar.NoUpdate[ = blnTorF]
Parts
objObjectVar as FRCVar
blnTorF as Boolean
Remarks
Setting the NoUpdate property = True on an individual variable can be done.
For example, if you set NoUpdate = True on the FRCVar class object for
system variable $DEVICE, the robot’s default device will not change no matter
what you assign to its Value property until you invoke the Update method (see
FRCVar.Update method). This serves an important role in using the
FRCScatteredAccess object.
The current value for this variable is read from the robot at the time the
NoUpdate property is set to True.
It might make sense to set NoUpdate = FALSE on a specific field within a
structure for which NoUpdate = TRUE. In this case, when you write to that
specific field, the Robot Server immediately sends that value to the robot.
Setting the NoUpdate property = TRUE automatically implies the variable is in a
NoRefresh state, even if the NoRefresh property = FALSE. Your application
could read and write the variable all day long without affecting the controller.
Since the FRCRegNumeric class does not have a NoUpdate property, its
FRCVar parent must be used to control this.
See Also
FRCVar Object Overview
Optimizing Data Access
FRCVar.Update Method
FRCVar.NoRefresh Property
FRCVar.Refresh Method
FRCScatteredAccess Object Overview
Example
The following example might have no practical value except to demonstrate the
workings of NoUpdate.
'
' Assume First is called during initialization
'
Private Sub First()
Dim objDevice As FRCVar
Dim strDeviceOld as String
Set objDevice = mobjRobot.SysVariables("$DEVICE")
' Flag the var as NoUpdate. The Value
' of $DEVICE is read from the robot at this time.
objDevice.NoUpdate = True
' This access is quick because the Robot
' Server gets the value without accessing the robot
strDeviceOld = objDevice.Value
' This statement only affects the copy of $DEVICE held
' by the Robot Server in PC memory.
objDevice.Value = "MC:"
End Sub
'
' This routine is called sometime after First
'
Private Sub Second()
Dim objDevice As FRCVar
Dim strDeviceLocal As String
Set objDevice = mobjRobot.SysVariables("$DEVICE")
' Since objDevice is the same object created in when
' First ran, NoUpdate is still True so the Robot Server
' just returns the value it has without re-accessing
' the robot.
strDeviceLocal = objDevice.Value
' StrDeviceLocal will = "MC:" This might not be the
' value that is currently on the robot
End Sub
FRCVar.Program Property
Description
Returns the owning program object.
Syntax
[Set objProgram = ]objVar.Program
Parts
objVar as FRCVar
objProgram as {FRCKARELProgram | FRCVRProgram | FRCTPProgram |
FRCProgram}
Remarks
The Program property provides a reference back to the program.
Although this property is described here as a member of FRCVar, It applies to
the following objects:
FRCCommonAssoc
FRCJoint
FRCPosition
FRCRegNumeric
FRCSysGroupPosition
FRCTPPosition
FRCTPPositions
FRCTransform
FRCVarPosition
FRCVars
FRCVector
FRCXyzWpr
See Also
Error! Hyperlink reference not valid.
FRCKARELProgram Object Overview
FRCVRProgram Object Overview
FRCTPProgram Object Overview
FRCProgram Object Overview
Example
‘ Process this variable one way if it came from
‘ ProgA and another if from ProgB.
‘
Dim objVariable as FRCVar ‘ assume passed in
Dim objProg as FRCProgram
Set objProg = objVaraible.Program
If objParent.Name = "ProgA" Then
‘ Process ProgA data
Else
‘ Process ProgB data
End If
FRCVar.StorageClass Property
Description
Returns the storage class of the variable.
Syntax
[lngClass = ]objVar.StorageClass
Parts
objVar as FRCVar
lngClass as FREVarStorageClassConstants
Remarks
The storage class of a variable refers to the physical memory on the controller
where the value is stored. This information is useful because it can be used to
determine if the variable is battery-backed or is reset when robot controller
power is cycled.
See Also
Error! Hyperlink reference not valid.
FREVarStorageClassConstants Overview
Example
‘ If this variable is in CMOS it will be retained
‘ even when power is cycled.
‘
Dim objVariable as FRCVar
Set objVariable = gobjRobot.Programs.Item("MYPROG") _
.Variables.Item("MYVAR")
If Not (objVariable.StorageClass = frVarCMOS) Then
MsgBox "Remember to save this variable or it" & _
" will be lost when power is cycled"
End If
FRCVar.VarName Property
Description
Returns the full name of the variable object.
Syntax
[strName = ] objVar.VarName
Parts
objVar as FRCVar
strName as String
Remarks
The VarName is the full variable name used to get to the variable object from
the highest level. For example, the variable "$SHELL_CFG.$SHELL_NAME"
would return "$SHELL_CFG.$SHELL_NAME".
See Also
Error! Hyperlink reference not valid.
FRCVar.FieldName Property
Example
‘ Display the variable’s name
‘
Dim objVariable as FRCVar ‘ assume passed in
txtName = objVariable.Name
FRCVar Object Methods
FRCVar.StopMonitor Method
Description
Tells the controller to stop monitoring the variable for value changes.
Syntax
objVar.StopMonitor
Parts
objVar as FRCVar
Remarks
See FRCVar.StartMonitor for information on monitoring.
StartMonitors are accumulative. If FRCVar.StartMonitor method is called three
times on a variable, StopMonitor must be called three times to completely stop
monitoring a variable’s value. This method is also called automatically when all
references to this variable are destroyed.
See Also
Error! Hyperlink reference not valid.
FRCVar.IsMonitoring Property
FRCVar.StartMonitor Method
FRCVar_Change Event
Example
‘Stop the monitor on R[1] which was started in the
‘StartMonitor example
gobjRobot.RegNumerics.Item(1).StopMonitor
FRCVar Object Events
FRCVar_Change Event
Description
Occurs after a variable is changed.
Syntax
Private Sub mobjVar_Change()
Parts
mobjVar as FRCVar
Remarks
The Change event is received when a FRCVar.Value changes. Value changes
made outside the Robot Object will not generate this event unless the
StartMonitor method has been called on the FRCVar object.
See Also
Error! Hyperlink reference not valid.
FRCRegNumeric Object Overview
FRCVars_Change Event
FRCVar.IsMonitoring Property
FRCVar.Value Property
FRCVar.StartMonitor Method
FRCVar.StopMonitor Method
Example
‘Display message box when R[1] is changed
Private WithEvents mobjR1 as FRCVar
Set mobjR1 = gobjRobot.RegNumerics(1)
’Set value which will cause event
mobjR1.Value.RegLong = 100
mobjR1.Value.RegFloat = 123.45
Private Sub mobjR1_Change()
If mobjR1.Value.Type = frIntegerType Then
MsgBox "Change Event on R[1]: " & _
mobjR1.Value.RegLong
Else
MsgBox "Change Event on R[1]: " & _
mobjR1.Value.RegFloat
End If
End Sub
FRCVars
FRCVars Object Properties
FRCVars.Count Property
Description
Returns the number of items within this object.
Syntax
[intNumFields = ]objVars.Count
Parts
objVars as FRCVars
intNumFields as Integer
Remarks
This property returns a count of all items within this object. Depending on what
this object refers to, this could be the number of variables in a program, the
number of elements in an array, the number of fields in a structure, or the
number of nodes in a path.
See Also
FRCVars Object Overview
Example
' Find out how many top level variables
' this program has.
'
Dim objVars As FRCVars
Dim intNumTopVars As Integer
Set objVars = gobjRobot.Programs.Item("MYPROG").Variables
intNumTopVars = objVars.Count
FRCVars.IsMonitoring Property
Description
Returns the status of whether or not the controller is monitoring this variable.
Syntax
[blnIsMonitoring = ]objVars.IsMonitoring
Parts
objVars as FRCVars
blnIsMonitoring as Boolean
Remarks
This property will always return a value of FALSE. Currently, only FRCVar
objects can be monitored.
See Also
FRCVars Object Overview
FRCVar.IsMonitoring Property
FRCVar.StartMonitor Method
FRCVar.StopMonitor Method
FRCVar_Change Event
FRCVars.NoUpdate Property
Description
Returns/sets whether or not the data is immediately sent to the robot when an
assignment is made to the Value property of the FRCVar objects under this
FRCVars object.
Syntax
objObjectVars.NoUpdate[ = blnTorF]
Parts
objObjectVars as FRCVars
blnTorF as Boolean
Remarks
The real power of NoUpdate comes in play on structured variables and arrays.
Setting the NoUpdate property = TRUE on a structure allows you to set the
values on all the fields before sending them to the robot. This not only reduces
the number of times that the Robot Server accesses the robot, it also provides
a mechanism for the changes to be made simultaneously.
Setting NoUpdate = TRUE on an FRCVars class object forces a robot access to
immediately read the whole structure’s data into memory.
Setting FRCVars.NoUpdate also propagates the setting to all its FRCVar
children. The NoUpdate status on individual FRCVar children can be
subsequently changed and need not match the FRCVars parent.
See Also
FRCVars Object Overview
Optimizing Data Access
FRCVars.Update Method
FRCVars.NoRefresh Property
FRCVars.Refresh Method
Example
'
' Using NoUpdate on a structure variable
'
Private Sub LocalNoAuto()
Dim objErNoAuto As FRCVars
Dim intCode As Integer
Set objErNoAuto = mobjRobot.SysVariables("$ER_NOAUTO")
' Flag the Structure as NoUpdate. At this time the
' values are read from the robot and stored in PC
' memory.
objErNoAuto.NoUpdate = True
' Write $ER_NOAUTO.$NOAUTO_CODE[1].
' This just sets the local copy in PC memory of
' $ER_NOAUTO.$NOAUTO_CODE[1] = 1000.
' No Robot access is performed at this time.
objErNoAuto("$NOAUTO_CODE")("1") = 1000
' Read $ER_NOAUTO.$NOAUTO_CODE[2]. Since NoUpdate
' implies NoRefresh, the Robot Server does not access
' the robot for the data. It has been initialized by
' the preceding statement
$ER_NOAUTO.NoUpdate = True.
intCode = objErNoAuto("$NOAUTO_CODE")("2")
End Sub
FRCVars.Program Property
Description
Returns the owning program object.
Syntax
[Set objProgram = ]objVars.Program
Parts
objVars as FRCVars
objProgram as {FRCKARELProgram | FRCVRProgram | FRCTPProgram |
FRCProgram}
Remarks
The Program property provides a reference back to the program.
See Also
FRCVars Object Overview
FRCKARELProgram Object Overview
FRCVRProgram Object Overview
FRCTPProgram Object Overview
FRCProgram Object Overview
Example
‘ Process this array one way if it is from the
‘ the Master Program and another if from the Slave.
‘
Dim objArray as FRCVars ‘ assume passed in
Dim objProg as FRCProgram
Set objProg = objArray.Program
If objProg.Name = "Master" Then
‘ Process Master data
Else
‘ Process Slave data
End If
FRCVars.VarName Property
Description
Returns the full name of the variable object.
Syntax
[strName = ]objVars.VarName
Parts
objVars as FRCVars
strName as String
Remarks
The VarName is the full variable name used to get to the FRCVars object from
the highest level. For example, the variable "$SCR_GRP[1]" would return
"$SCR_GRP[1]".
See Also
FRCVars Object Overview
FRCVars.FieldName Property
Example
’ Display the name of this structure in the text box
’
Dim objStruct as FRCVars ‘ Assume passed in
txtStructName = objStruct.VarName
FRCVars Object Methods
FRCVars.StopMonitor Method
Description
Tells the controller to stop monitoring the variable for value changes.
Syntax
objVars.StopMonitor
Parts
objVars as FRCVars
Remarks
Currently, monitoring is only allowed on the FRCVar object. This method will
raise the error frInvVarType.
See Also
FRCVars Object Overview
FRCVar.IsMonitoring Property
FRCVar.StartMonitor Method
FRCVar.StopMonitor Method
FRCVar_Change Event
FRCVars.Update Method
Description
Sends the local copy of the values for this whole structure to the robot.
Syntax
objObjectVars.Update
Parts
objObjectVars as FRCVars
Remarks
Invoking Update on structures and arrays causes all the data to be sent to the
robot in one network access. An exception to this applies to FRCVars class
objects that refer to Paths and Top-level Vars. For these, more than one
network access might be required.
Issuing an Update on an FRCVars class object with NoUpdate = FALSE causes
the Robot Server to search the substructures and fields within the scope of the
FRCVars object and updates any with NoUpdate = TRUE.
The case of a field being set NoUpdate = FALSE within a structure where
NoUpdate = TRUE should be understood. Invoking the Update method on the
structure causes the field to be updated also.
See Also
FRCVars Object Overview
Optimizing Data Access
FRCVars.NoUpdate Property
Example
'
' See the example LocalNoAuto() in FRCVars.NoUpdate for a
' context for this example
'
Private Sub UpdateNoAuto()
Dim objErNoAuto As FRCVars
Set objErNoAuto = mobjRobot.SysVariables("$ER_NOAUTO")
' Update only the $NOAUTO_CODE array
' The fields $NOAUTO_ENB, $NOAUTO_NUM and $PS_NOAUTO_C
' do not get written to the robot at this time.
objErNoAuto("$NOAUTO_CODE").Update
' Update everything under $ER_NOAUTO
objErNoAuto.Update
End Sub
FRCVars Object Events
FRCVars_Change Event
Description
Occurs after a variable is changed.
Syntax
Private Sub mobjVars_Change(Var as Object)
Parts
mobjVars as FRCVars
Var as FRCVar
Remarks
The Change event is received when a FRCVar.Value changes. The changed
variable’s FRCVar object will be passed into the event handler. Value changes
made outside the Robot Object will not generate this event unless the
StartMonitor method has been called on the FRCVar object. This event only
occurs on the top most FRCVars object.
See Also
FRCVars Object Overview
FRCRegNumeric Object Overview
FRCVar.IsMonitoring Property
FRCVar.Value Property
FRCVar.StartMonitor Method
FRCVar.StopMonitor Method
FRCVar_Change Event
Example
‘Display message box when Robot Object makes a change
’to "MYPROG" KAREL variables, numeric registers, or
’system variables
Private WithEvents mobjVars as FRCVars
Private WithEvents mobjRegNumerics as FRCVars
Private WithEvents mobjSysVariables as FRCVars
Set mobjVars = gobjRobot.Programs("MYPROG").Variables
Set mobjRegNumerics = gobjRobot.RegNumerics
Set mobjSysVariables = gobjRobot.SysVariables
’Set variables which will cause events
mobjVars("INT").Value = 1
mobjRegNumerics.Item(1).Value.RegLong = 1
mobjSysVariables("$RMT_MASTER").Value = 3
Private Sub mobjVars_Change(Var As Object) MsgBox "Change
Event on Var: " & Var.VarNameEnd Sub
Private Sub mobjRegNumerics_Change(Var As Object) MsgBox
"Change Event on Reg: " & Var.VarNameEnd Sub
Private Sub mobjSysVariables_Change(Var As Object) MsgBox
"Change Event on SysVar: " & Var.VarNameEnd Sub
FRCVars_Rename Event
Description
Occurs after a variable is renamed.
Syntax
Private Sub mobjVars_Rename(Var as Object)
Parts
mobjVars as FRCVars
Var as {FRCVars | FRCVar | Nothing}
Remarks
This event is automatically generated after a variable is renamed on the
controller.
First the variable object is renamed and reordered in the collection. Next the
variable object is notified. If the variable object is an FRCVars object, then this
event will occur and the event handler’s parameter is Nothing. If the variable
object is an FRCVar object, then the FRCVar_Rename event occurs. Lastly this
event occurs on the top most FRCVars object. In this case the event handler’s
parameter is the FRCVar (or FRCVars) object which was renamed.
See Also
FRCVars Object Overview
FRCVar Object Overview
FRCVar_Rename Event
Example
' Update the listbox whenever a new variable has been
' Renamed in the variables collection
'
Private Sub mobjVars_Rename(Var As Object)
Dim objVar As FRCVar
lstListBox.Clear
For Each objVar In mobjVars
lstListBox.AddItem (objVar.VarName)
Next
End Sub
FRESaveClassConstants
FRESaveClassConstants Overview
Description
Enumeration of class constants used when you save information to a file.
Overview
System variable data within the robot controller consists of many classes. This
allows system variable data which is clearly separable from the normal system
variables to be saved to a discrete .SV file instead of being added to the
massive SYSVARS.SV file. These constants are used to specify which class of
system variables is to be saved in the FRCProgram.Save method.
Values
frAllSaveClass
frFTPAccessSaveClass
frHostSaveClass
frMacroSaveClass
frMajoritySaveClass
frMasterSaveClass
frNoSaveClass
frPasswordSaveClass
frPMCSaveClass
Error! Hyperlink reference not valid.
frProfibusSaveClass
frServroSaveClass
frSpotSaveClass
See Also
Error! Hyperlink reference not valid.
frMajoritySaveClass
Description
Save majority of system variables
Remarks
Use this constant to indicate that you want all system variables that are not part
of another save class to be saved in the file name specified (normally
SYSVARS.SV).
See Also
FRESaveClassConstants Overview
FRCProgram.Save Method
frPasswordSaveClass
Description
Save password system variables
Remarks
Use this constant to indicate that you want the system variables specific to the
password system to be saved in the file name specified (normally
SYSPASS.SV).
See Also
FRESaveClassConstants Overview
FRCProgram.Save Method
FRETypeCodeConstants
FRETypeCodeConstants Overview
Description
An enumeration of constants used to identify the variable type.
Overview
These constants represent the variable types that can be returned from the
FRCVar.TypeCode property.
For a more detailed description of the controller data types, consult KAREL
Reference Manual.
Values
frArrayType
frStringType
frStructureType
frIntegerType
frRealType
frBooleanType
frShortType
frByteType
frRegNumericType
frRegPositionType
frRegStringType
frJoint
frTransform
frExtTransform
frXyz456
frXyzWpr
frExtXyz456
frExtXyzWpr
frXyzAes
frExtXyzAes
frConfigType
frVectorType
frPathType
frCommonAssocType
frGroupAssocType
frFileType
frByteType
Description
Indicates a BYTE variable.
Remarks
This type is a 1 byte integer. A BYTE can assume whole number values in the
range 0 through 255. No uninitialized checking is done on bytes.
Use the Visual Basic Byte variable type to work with controller BYTE variables.
The TypeName string associated with this is "BYTE"
See Also
FRETypeCodeConstants Overview
FRCVar.TypeCode Property
frExtTransform
Description
Indicates a Cartesian position represented as a transformation matrix with
extended axes.
Remarks
This is a variable of type POSITION on a robot with extended axes. This
variable contains a position in transformation matrix format with data on
extended axes positioning.
The TypeName string associated with this is "POSITION"
See Also
FRETypeCodeConstants Overview
FRCVarPosition Overview
FRCVar.TypeCode Property
frGroupAssocType
Description
Indicates a GROUP_ASSOC data variable.
Remarks
This variable contains the standard associated data for a motion group,
normally defined in a PATH node. This variable contains information concerning
relative speed, motion type, break in circular blending, and orientation control
mode for this node.
The TypeName string associated with this is "GROUP_ASSOC"
See Also
FRETypeCodeConstants Overview
FRCVar.TypeCode Property
Positions
FRCAxesCollection
FRCAxesCollection Object Properties
FRCAxesCollection.Count Property
Description
Returns the number of extended axes in the position.
Syntax
intNumAxes = objAxes.Count
Parts
objAxes as FRCAxesCollection
intNumAxes as Integer
Remarks
The number of extended axes is limited to the number of axes defined for the
motion group on the controller. If the position was taught using more axes, they
will be ignored. If the position was taught using less axes, then the lesser count
is used.
See Also
FRCAxesCollection Object Overview
FRCTransform Object Overview
FRCXyzWpr Object Overview
Example
‘ Get number extended axes for position
Dim objExtAxes as FRCAxesCollection
Dim intNumAxes as Integer
IntNumAxes = ObjExtAxes.Count
FRCAxesCollection.Item Property
Description
Returns/sets the values for each extended axis in the position.
Syntax
dblAxisVal = objAxes.Item(intAxisNum)
OR
objAxes.Item(intAxisNum) = dblAxisVal
Parts
objAxes as FRCAxesCollection
intAxisNum as Integer
dblAxisVal as Double
Remarks
intAxisNum begins at 1. Axis values are set and returned in radians or degrees
depending on the extended axes setup.
See Also
FRCAxesCollection Object Overview
FRCTransform Object Overview
FRCXyxWpr Object Overview
Example
‘ Get and set an extended axes value
Dim objAxes as FRCAxesCollection
Dim dblAxisVal as Double
‘ Get extended axis number 1’s value
dblAxisVal = objAxes.Item(1)
‘ Set extended axis number 2’s value to equal number 1
objAxes.Item(2) = dblAxisVal
FRCConfig
FRCConfig Object Properties
FRCConfig.Front Property
Description
Returns/sets the Front property for the configuration.
Syntax
blnFront = objConfig.Front
OR
objConfig.Front = blnFront
Parts
objConfig as FRCConfig
blnFront as Boolean
Remarks
Allows you to get or set the Front flag as a discrete entity. The exact function of
this flag in the robot’s motion system is dependent on the physical
characteristics of the robot model.
See Also
FRCConfig Object Overview
FRCTransform Object Overview
FRCVar Object Overview
FRCXyzWpr Object Overview
Example
‘ Get and set a position’s front configuration flag
Dim objConfig as FRCConfig
Dim blnFront as Boolean
‘ Get the front flag
blnFront = objConfig.Front
‘ Set the front flag to False
objConfig.Front = False
FRCConfig.Left Property
Description
Returns/sets the Left property for the configuration.
Syntax
blnLeft = objConfig.Left
objConfig.Left = blnLeft
Parts
objConfig as FRCConfig
blnLeft as Boolean
Remarks
Allows you to get or set the Left flag as a discrete entity. The exact function of
this flag in the robot’s motion system is dependent on the physical
characteristics of the robot model.
See Also
FRCConfig Object Overview
FRCTransform Object Overview
FRCVar Object Overview
FRCXyzWpr Object Overview
Example
‘ Get and set a position’s left configuration flag
Dim objConfig as FRCConfig
Dim blnLeft as Boolean
‘ Get the left flag
blnLeft = objConfig.Left
‘ Set the left flag to False
objConfig.Left = False
FRCCurGroupPosition
FRCCurGroupPosition Object Overview
Description
Provides access to the current position of the robot for a specific motion group.
Overview
The current group position object is an aggregate of the various position formats (XyzWpr,
Transform, Joint). The current group position object contains a minimal number
of properties that identify the particular position. The remainder of the data must
be retrieved from the proper object format.
Properties
Formats(Type as FRETypeCodeConstants)
as {FRCXyzWpr | FRCTransform | FRCJoint} (read-only)
GroupNum as Integer (read-only)
Id as Long (read-only)
Error! Hyperlink reference not valid. (read-only)
IsInitialized as Boolean (read-only)
IsMonitoring as Boolean (read-only)
Parent as FRCCurPosition (read-only)
Program as FRCProgram (read-only)
Robot as FRCRobot (read-only)
Type as FRETypeCodeConstants
UserFrame as Long
UserTool as Long
Methods
MatInv(InputPos as Object)
MatMul(LeftPos as Object, RightPos as Object)
Moveto()
Record()
Refresh()
StartMonitor(Latency as Long)
StopMonitor()
Uninitialize()
Update()
Events
Change
See Also
FRCCurPosition Object Overview
FRCJoint Object Overview
FRCPosition Object Overview
FRCProgram Object Overview
FRCRobot Object Overview
FRCTransform Object Overview
FRCXyzWpr Object Overview
FRETypeCodeConstants Object Overview
FRCCurGroupPosition Properties
FRCCurGroupPosition.Parent Property
Description
Returns the parent object.
Syntax
objCurPos = objCurGrpPos.Parent
Parts
objCurGrpPos as FRCCurGroupPosition
objCurPos as FRCCurPosition
Remarks
The parent is always of type FRCCurPosition.
See Also
FRCCurPosition Object Overview
Example
‘ Get parent current position
Dim objCurPos as FRCCurPosition
Dim objCurGrpPos as FRCCurGroupPosition
Set objCurPos = objCurGrpPos.Parent
FRCCurPosition
FRCCurPosition Properties
FRCCurPosition.Group Property
Description
Returns the FRCCurGroupPosition object representing the current position of
the robot for the specified group and display type.
Syntax
objCurGrpPos = objCurPos.Group(intGroupNum, lngDisplayType)
Parts
objCurPos as FRCCurPosition
intGroupNum as Integer
lngDisplayType as FRECurPositionConstants
objCurGrpPos as FRCCurGroupPosition
Remarks
Regardless of the specified display type, the position can be retrieved in any
format (XyzWpr, Joint, or Transform). If you want to retrieve joint angles, then it
is more efficient to use frJointDisplayType. If you want to retrieve Cartesian
coordinates, then it is more efficient to use frUserDisplayType or
frWorldDisplayType.
If the current position is being monitored, then objCurGrpPos will always
contain fresh data. This monitoring prevents a "snapshot" of the current
position. If the current position is constantly changing then reading the
positional values may cause unexpected values to be read. For example:
’ Setup to monitor robot movement every half second
Private WithEvents mobjCurPos as FRCCurPosition
mobjCurPos.StartMonitor 500
Dim objXyzWpr As FRCXyzWpr
Set objXyzWpr = mobjCurPos.Group(1,
frWorldDisplayType).Formats(frXyzWpr)
Debug.Print objXyzWpr.X
Debug.Print objXyzWpr.Y ‘ Y may be changed since X was
read
Debug.Print objXyzWpr.Z ‘ Z may be changed since X and Y
were read
If the current position is not being monitored, then objCurGrpPos will contain a
snapshot of the current position. If the objCurGrpPos was used previously, it
may have old data in it. The Group property will cause the snapshot to be
updated. The objCurGrpPos.Refresh method can also be used to update the
snapshot. For example:
’ Valid use of snapshot
Dim objXyzWpr As FRCXyzWpr
Set objXyzWpr = mobjCurPos.Group(1,
frWorldDisplayType).Formats(frXyzWpr)
Debug.Print objXyzWpr.X
Debug.Print objXyzWpr.Y
Debug.Print objXyzWpr.Z
’ Invalid use of snapshot
’ Each time the Group property is called, the position is
updated
Debug.Print
mobjCurPosition.Group(1,frWorldDisplayType).Formats(frXyzWpr).X
Debug.Print
mobjCurPosition.Group(1,frWorldDisplayType).Formats(frXyzWpr).Y
Debug.Print
mobjCurPosition.Group(1,frWorldDisplayType).Formats(frXyzWpr).Z
See Also
Error! Hyperlink reference not valid.
FRCCurPosition Object Overview
FRECurPositionConstants Overview
Example
‘ Get current robot position for group 1 in world coordinates
Dim objCurGrpPos as FRCCurGroupPosition
Dim objCurPos as FRCCurPosition
Set objCurGrpPos = objCurPos.Group(1, frWorldDisplayType)
FRCCurPosition Methods
FRCCurPosition.StopMonitor Method
Description
Starts the controller monitoring the current position for changes.
Syntax
objCurPos.StopMonitor
Parts
objCurPos as FRCCurPosition
Remarks
For more than one call of the StartMonitor method, Change events will still
occur until all calls are reversed with this method.
This method is also called automatically when all references to this position are
destroyed.
See Also
FRCCurPosition_Change Event
FRCCurPosition.StartMonitor Method
FRCCurPosition Object Overview
Example
‘ Stop monitoring robot movement
Dim mobjCurPos as FRCCurPosition
mobjCurPos.StopMonitor
FRCGroupPosition
FRCGroupPosition Object Overview
Description
Provides access to the positional data of a teach pendant position for a specific
motion group.
Overview
The group position object is an aggregate of the various position formats
(XyzWpr, Transform, Joint). The group position object contains a minimal
number of properties that identify the particular group and position object that it
is derived from. The remainder of the data must be retrieved from the proper
object format.
Properties
Formats (Type as FRETypeCodeConstants)
as {FRCXyzWpr | FRCTransform | FRCJoint} (read-only)
GroupNum as Integer (read-only)
Id as Long (read-only)
Error! Hyperlink reference not valid. as Boolean (read-only)
IsEqualTo(Target as FRCPosition) (read-only)
IsInitialized as Boolean (read-only)
IsMonitoring as Boolean (read-only)
IsReachable( [From as Object
[, Motype as FREMotionTypeConstants
[, OrientType as FREOrientTypeConstants
[, Dest as Object
[, MoErrInfo as FRCMotionErrorInfo ]]]]]
)as Boolean (read-only)
Parent as FRCTPPosition (read-only)
Program as FRCProgram (read-only)
Robot as FRCRobot (read-only)
Type as FRETypeCodeConstants
UserFrame as Long
UserTool as Long
Methods
CheckReach( [From as Object
[, Motype as FREMotionTypeConstants
[, OrientType as FREOrientTypeConstants
[, Dest as Object
[, MoErrInfo as FRCMotionErrorInfo ]]]]]
) as Boolean
Copy Source as Object
MatInv (InputPos as Object)
MatMul (LeftPos as Object, RightPos as Object)
Moveto()
Record()
Refresh()
StartMonitor (Latency as Long)
StopMonitor()
Uninitialize()
Update()
Events
Change
See Also
FRCTPPosition Object Overview
FRCJoint Object Overview
FRCPosition Object Overview
FRCProgram Object Overview
FRCRobot Object Overview
FRCTransform Object Overview
FRCXyzWpr Object Overview
FRETypeCodeConstants Object Overview
FRCGroupPosition Properties
FRCGroupPosition.Parent Property
Description
Returns the parent object.
Syntax
objTPPos = objGrpPos.Parent
Parts
objGrpPos as FRCGroupPosition
objTPPos as FRCTPPosition
Remarks
Parent is always of type FRCTPPosition.
See Also
FRCGroupPosition Object Overview
FRCTPPosition Object Overview
Example
‘ Get parent TP Position
Dim objTPPos as FRCTPPosition
Dim objGrpPos as FRCGroupPosition
Set objTPPos = objGrpPos.Parent
FRCIndGroupPosition
FRCIndGroupPosition Object Overview
Description
Provides access to the positional data of an independent position for a specific
motion group.
Overview
The FRCIndGroupPositon object is an aggregate of the various position formats
(XyzWpr, Transform, Joint). It provides properties that identify the status of the
position, the particular group it represents and the position object that it is
derived from. The remainder of the data must be retrieved from the proper
object format.
You can use the FRCPosition class interface to generically access an
FRCIndGroupPosition object so all of its properties, methods and events are
exposed.
Properties
Formats (Type as FRETypeCodeConstants)
as {FRCXyzWrp |
FRCTransform |
FRCJoint} (read only)
GroupNum as Integer (read-only)
Id as Long(read-only)
IsAtCurPosition as Boolean(read-only)
IsEqualTo(Target as FRCPosition) (read-only)
IsInitialized as Boolean (read-only)
IsMonitoring as Boolean (read-only)
IsReachable( [From as Object
[, Motype as FREMotionTypeConstants
[, OrientType as FREOrientTypeConstants
[, Dest as Object
[, MoErrInfo as FRCMotionErrorInfo ]]]]]
) as Boolean (read-only)
Parent as FRCIndPosition (read-only)
Program as FRCProgram (read-only)
Robot as FRCRobot (read-only)
Type as FRETypeCodeConstants
UserFrame as Long
UserTool as Long
Methods
CheckReach( [From as Object
[, Motype as FREMotionTypeConstants
[, OrientType as FREOrientTypeConstants
[, Dest as Object
[, MoErrInfo as FRCMotionErrorInfo ]]]]]
) as Boolean
Copy Source as Object
MatInv InputPos as Object
MatMul LeftPos as Object, RightPos as Object
Moveto
Record
Refresh
StartMonitor Latency as Long
StopMonitor
Uninitialize
Update
Events
Change()
See Also
FRCPosition Object Overview
FRCIndPosition Object Overview
FRCIndGroupPosition Properties
FRCIndGroupPosition.Parent Property
Description
Returns the parent object.
Syntax
objIPos = objIGrpPos.Parent
Parts
objIGrpPos as FRCIndGroupPosition
objIPos as FRCIndPosition
Remarks
Parent is always of type FRCIndPosition.
See Also
FRCIndGroupPosition Object Overview
FRCIndPosition Object Overview
Example
‘ Get parent independent position
Dim objIPos as FRCIndPosition
Dim objIGrpPos as FRCIndGroupPosition
Set objIPos = objIGrpPos.Parent
FRCIndPosition
FRCIndPosition Methods
FRCIndPosition.Uninitialize Method
Description
Uninitializes the position for all groups defined for the independent position.
Syntax
objIndPos.Uninitialize
Parts
objIndPos as FRCIndPosition
Remarks
All currently stored positional data will be lost. After this method, the IsInitialized
property will return false.
See Also
FRCIndPosition.IsInitialized Property
FRCIndPosition Object Overview
Example
‘ Uninitialize a position
Dim obIndPos as FRCIndPosition
objIndPos.Uninitialize
FRCJoint
FRCJoint Object Properties
FRCJoint.Count Property
Description
Returns the number of axes in the position.
Syntax
[intNumAxes = ]objJoint.Count
Parts
objJoint as FRCJoint
intNumAxes as Integer
Remarks
The number of axes will equal the number of axes defined for the motion group
on the controller. If the position was taught using more axes, they will be
ignored. If the position was taught using less axes, then the remaining will be
initialized to 0.
See Also
FRCJoint Object Overview
Example
‘ Get the number of Joint axes
Dim objJoint as FRCJoint
Dim intNumJnts as Integer
IntNumJnts = objJoint.Count
FRCJoint.Item Property
Description
Returns/sets the value for each axis in the position.
Syntax
dblJntVal = objJoint.Item(intJointNum)
OR
objJoint.Item(intJointNum) = dblJntVal
Parts
objJoint as FRCJoint
intJointNum as Integer
dblJntVal as Double
Remarks
intJointNum begins at 1. Joint values are set and returned in radians or degrees
depending on the motion group setup.
Positions act like variables with the NoRefresh and NoUpdate properties set to
True. Changes to the joint values are not sent to the robot until the Update
method is called on the FRCPosition object or one of its parents. Likewise, new
position data is read only when the position is first accessed or the Refresh
property is called.
See Also
FRCJoint Object Overview
Example
‘ Get first joint axes value and copy
‘ to the second joint
Dim objJoint as FRCJoint
Dim dblJntVal as Double
‘ Get joint 1’s value
dblJntVal = objJoint.Item(1)
‘ Store to joint 2
objJoint.Item(2) = dblJntVal
FRCMotionErrorInfo
FRCMotionErrorInfo Object Overview
Description
Provides access to the status of a motion operation.
Overview
Some operations like checking IsReachable on a position result in a single
status but may be caused by a variety of reasons. The FRCMotionErrorInfo
object is returned on those operations for which you might need to investigate
the reasons.
Properties
GroupNum as Integer (read-only)
JointBitMask as FREJointBitMaskConstants (read-only)
Robot as FRCRobot (read-only)
RobotErrorInfo as FRCRobotErrorInfo (read-only)
UpperLimMask as FREJointBitMaskConstants (read-only)
Methods
none
Events
none
See Also
FRCPosition.IsReachable Property
FRCPosition.CheckReach Method
FRCRobotErrorInfo Object Overview
FRCMotionErrorInfo Properties
FRCMotionErrorInfo.GroupNum Property
Description
Returns the group number for which the error applies.
Syntax
[intGrpNum = ]objMoErr.GroupNum
Parts
objPos as FRCMotionErrorInfo
intGrpNum as Integer
Remarks
This property is useful for determining which group failed when you perform an
operation on a multi-group position.
See Also
FRCMotionErrorInfo Object Overview
FRCMotionErrorInfo.JointBitMask Property
Description
Returns a bit mask from which you can determine which joint(s) caused the
error.
Syntax
enuJoints = objMoErr.JointBitMask
Parts
objMoErr as FRCMotionErrorInfo
enuJoints as FREJointBitMaskConstants
Remarks
Test for joints using the predefined constants defined in the
FREJointBitMaskConstants class.
See Also
FRCMotionErrorInfo Object Overview
Example
Private Sub AxisCheck(objMoErrInfo As FRCMotionErrorInfo)
' Test if Joint 1 had a limit error
If ((objMoErrInfo.JointBitMask And frJoint1BitMask) <> 0)
Then
MessageBox "Joint 1 limit is exceeded"
End If
' General way to detect which joints are out of limit
Dim lngJoint As Long
Dim intIndex As Integer
lngJoint = 1
For intIndex = 1 To 6
If ((objMoErrInfo.JointBitMask And lngJoint) <> 0) Then
MessageBox "Joint " + CStr(intIndex) + " limit is
exceeded"
End If
lngJoint = lngJoint * 2
Next intIndex
End Sub
FRCPosition
FRCPosition Properties
FRCPosition.IsMonitoring Property
Description
Returns information about whether the position is currently being monitored for
changes.
Syntax
[blnIsMonitoring = ]objPos.IsMonitoring
Parts
objPos as FRCPosition
blnIsMonitoring as Boolean
Remarks
Returns a value of TRUE if the StartMonitor method was called on the object,
without the StopMonitor method to negate the call. Returns a value of FALSE if
the StartMonitor method has not been called on the object, or if the monitoring
has been stopped with the StopMonitor method.
This property is always TRUE for FRCGroupPosition objects, regardless of the usage of the
StartMonitor and StopMonitor methods.
See Also
FRCPosition.StartMonitor Method
FRCPosition.StopMonitor Method
FRCPosition Object Overview
Example
‘ Check if position is being monitored
Dim objPos as FRCPosition
If objPos.IsMonitoring then
MsgBox "Position is being monitored"
Else
MsgBox "Position is not being monitored"
End IF
FRCPosition.IsReachable Property
Description
Returns a Boolean indicating if the robot can reach the position or not.
Syntax
[blnTest = ]objPos.IsReachable( [objFromPos [, enuMotype
[, enuOrientType [, objDestPos
[, objMoErrInfo ]]]]] )
Parts
blnTest as Boolean
objPos as { FRCPosition | FRCGroupPosition | FRCIndGroupPosition |
FRCSysGroupPosition | FRCVarPosition }
objFromPos as { FRCGroupPosition | FRCIndGroupPosition |
FRCIndPosition | FRCPosition | FRCSysPosition |
FRCSysGroupPosition | FRCTPPosition | FRCVarPosition }
enuMotype as FREMotionTypeConstants
enuOrientType as FREOrientTypeConstants
objDestPos as { FRCGroupPosition | FRCIndGroupPosition |
FRCIndPosition | FRCPosition | FRCSysPosition |
FRCSysGroupPosition | FRCTPPosition | FRCVarPosition }
objMoErrInfo as FRCMotionErrorInfo
Remarks
The arguments are provided to give IsReachable information on how the robot
will be moving to the point. Where it comes from and how it gets there
sometimes has an impact on whether the point will be reachable or not.
NOTE: There is a known issue with VB .NET which always returns objMoErrInfo
as Nothing when the IsReachable property is used. Please use the
CheckReach method to overcome this limitation.
NOTE: These arguments are only supported when you are connected to a
V5.30-3 or V6.20-1 or later robot. IsReachable uses a degraded version of
reach checking with earlier robots which does not account for where the robot is
coming from. With earlier robots it only checks maximum joint limits and does
not account for the joint 2-3 interaction that affects joint limits on some robots.
If objFromPos is not provided, only joint angle limit checking will be performed.
The scope of objFromPos must be the same or broader than objPos. That is, a
multi-group objFromPos will work with the single group objPos as long as that
group is enabled in objFromPos.
enuMoType is optional and defaults to frJointMotionType. It has no meaning if
objFromPos is not provided. Only frJointMotionType and frLinearMotionType
are supported.
enuOrientType is optional and only used if objFromPos is provided. The only
orientation types that have an effect on reachability are frWristJointOrientType
and frMinRotationType. These types, in combination with the enuMoType
argument determine the arm configuration after the robot moves from
objFromPos to the position being checked.
ObjDestPos is the position that the robot ends up if it moved from objFromPos
to objPos. This may be different in turn numbers or configuration depending on
the type of move being made. If you are checking reachability of a sequence of
points you should supply this parameter and use it as the objFromPos
parameter in the IsReachable check for the subsequent point.
objMotionErrorInfo, if provided, enables access to additional information that
might be helpful in understanding why the position was declared unreachable.
See Also
Checking if a point can be reached
FRCPosition Object Overview
FRCPosition.CheckReach Method
FREMotionTypeConstants
FREOrientTypeConstants
FRCMotionErrorInfo Object Overview
Example
‘ Check if this point is within the robot’s reachDim objIPos as FRCIndPositionIf
objIPos.IsReachable then MsgBox "This position is within the robot’s
reach"Else MsgBox "The robot will not be able to reach this position"End If
FRCPosition.UserTool Property
Description
Returns/sets the User Tool to which the position is referenced.
Syntax
[lngTool = ]objPos.UserTool
Parts
objPos as FRCPosition
lngTool as Long
Remarks
This property can only be set if the position is a teach pendant position
(FRCGroupPosition) or an independent position (FRCIndGroupPostition). The
property can be read for all positions. For FRCCurGroupPosition objects this
property will return the currently selected User Tool on the controller.
See Also
FRCPosition Object Overview
Example
‘ Check a TP position user tool setting
‘ and change to user tool 1
Dim objGrpPos as FRCGroupPosition
If objGrpPos.UserTool <> 1 then
objGrpPos.UserFrame = 1
End If
FRCPosition Methods
FRCPosition.CheckReach Method
Description
Returns a Boolean indicating if the robot can reach the position or not.
Syntax
[blnTest = ]objPos.CheckReach( [objFromPos [, enuMotype
[, enuOrientType [, objDestPos
[, objMoErrInfo ]]]]] )
Parts
blnTest as Boolean
objPos as { FRCPosition | FRCGroupPosition | FRCIndGroupPosition |
FRCSysGroupPosition | FRCVarPosition }
objFromPos as { FRCGroupPosition | FRCIndGroupPosition |
FRCIndPosition | FRCPosition | FRCSysPosition |
FRCSysGroupPosition | FRCTPPosition | FRCVarPosition }
enuMotype as FREMotionTypeConstants
enuOrientType as FREOrientTypeConstants
objDestPos as { FRCGroupPosition | FRCIndGroupPosition |
FRCIndPosition | FRCPosition | FRCSysPosition |
FRCSysGroupPosition | FRCTPPosition | FRCVarPosition }
objMoErrInfo as FRCMotionErrorInfo
Remarks
This method performs the same function as the IsReachable property. It is
provided to overcome a known issue with VB .NET which always returns
objMoErrInfo as Nothing when the IsReachable property is used. VB .NET
handles Properties and Methods differently.
The arguments are provided to give CheckReach information on how the robot
will be moving to the point. Where it comes from and how it gets there
sometimes has an impact on whether the point will be reachable or not.
NOTE: These arguments are only supported when you are connected to a
V5.30-3 or V6.20-1 or later robot. CheckReach uses a degraded version of
reach checking with earlier robots which does not account for where the robot is
coming from. With earlier robots it only checks maximum joint limits and does
not account for the joint 2-3 interaction that affects joint limits on some robots.
If objFromPos is not provided, only joint angle limit checking will be performed.
The scope of objFromPos must be the same or broader than objPos. That is, a
multi-group objFromPos will work with the single group objPos as long as that
group is enabled in objFromPos.
enuMoType is optional and defaults to frJointMotionType. It has no meaning if
objFromPos is not provided. Only frJointMotionType and frLinearMotionType
are supported.
enuOrientType is optional and only used if objFromPos is provided. The only
orientation types that have an effect on reachability are frWristJointOrientType
and frMinRotationType. These types, in combination with the enuMoType
argument determine the arm configuration after the robot moves from
objFromPos to the position being checked.
ObjDestPos is the position that the robot ends up if it moved from objFromPos
to objPos. This may be different in turn numbers or configuration depending on
the type of move being made. If you are checking reachability of a sequence of
points you should supply this parameter and use it as the objFromPos
parameter in the CheckReach check for the subsequent point.
objMotionErrorInfo, if provided, enables access to additional information that
might be helpful in understanding why the position was declared unreachable.
See Also
Checking if a point can be reached
FRCPosition Object Overview
FRCPosition.IsReachable Property
FREMotionTypeConstants
FREOrientTypeConstants
FRCMotionErrorInfo Object Overview
Example
‘ Check if this point is within the robot’s reachDim objIPos as FRCIndPositionIf
objIPos.CheckReach then MsgBox "This position is within the robot’s
reach"Else MsgBox "The robot will not be able to reach this position"End If
FRCPosition.StartMonitor Method
Description
Enables the Change event, with specified latency.
Syntax
objPos.StartMonitor lngLatency
Parts
objPos as FRCPosition
lngLatency as Long
Remarks
When called, this method will cause Change events to be generated when the
position changes. The lngLatency arguments is used to set the "staleness" of
the value, or how long after the position changes before the Change event is
generated. It is measured in milliseconds. A smaller number produces a faster
response, but adds greater load on the controller.
This method may be called more than once by different programs. If called
multiple times, the shortest latency time is used for all events. The number of
calls is tracked and events are fired until all calls are stopped.
For FRCGroupPosition objects, this method will do nothing since monitoring is
not required for teach pendant positions. It also has no effect on
FRCIndGroupPositon objects.
See Also
FRCPosition.IsMonitoring Property
FRCPosition Object Overview
FRCPosition.StopMonitor Method
Example
‘ Start monitoring a position for changes
‘ with a latency of a half second
Dim objPos as FRCPosition
objPos.StartMonitor 500
FRCPosition.StopMonitor Method
Description
Stops the Change event from occurring.
Syntax
objPos.StopMonitor
Parts
objPos as FRCPosition
Remarks
For more than one call of the StartMonitor method, Change events will still
occur until all calls are reversed with this method. This method is also called
automatically when all references to this position are destroyed.
For FRCGroupPosition objects, this method will do nothing since monitoring is
not required for teach pendant positions. It also has no effect on
FRCIndGroupPositon objects.
See Also
FRCPosition.IsMonitoring Property
FRCPosition Object Overview
FRCPosition.StartMonitor Method
Example
‘ Stop monitoring a position
Dim objPos as FRCPosition
ObjPos.StopMonitor
FRCPosition.Uninitialize Method
Description
Uninitializes the position.
Syntax
objPos.Uninitialize
Parts
objPos as FRCPosition
Remarks
All currently stored positional data will be lost. For FRCCurGroupPosition
objects this method will cause a No Write Access exception.
See Also
FRCPosition.IsInitialized Property
FRCPosition Object Overview
Example
‘ Uninitialize a position
Dim objPos as FRCPosition
objPos.Uninitialize
FRCPosition Events
FRCPosition_Change Event
Description
Occurs after the position is changed.
Syntax
objPos_Change()
Parts
objPos as FRCPosition
Remarks
Value changes made outside the robot object will not generate this event
unless the StartMonitor method has been called. The exceptions are
FRCGroupPosition and FRCIndGroupPosition objects whose events are
generated regardless of StartMonitor. An FRCIndGroupPosition object
generates this event when its Update method is invoked.
See Also
FRCPosition.IsMonitoring Property
FRCPosition Object Overview
FRCPosition.StartMonitor Method
FRCPosition.StopMonitor Method
Example
‘ Setup to monitor position every half second
Private WithEvents mobjPosition as FRCPosition
mobjPosition.StartMonitor 500
Private Sub mobjPosition_Change()
MsgBox "The position has changed"
End Sub
FRCSysGroupPosition
FRCSysGroupPosition Object Overview
Description
Provides access to the positional data of a controller system position for a
specific motion group.
Overview
The system group position object is an aggregate of the various position
formats (XyzWpr, Transform, Joint). The system group position object contains
a minimal number of properties that identify the particular position. The
remainder of the data must be retrieved from the proper object format.
Properties
Error! Hyperlink reference not valid. as String
Formats (Type as FRETypeCodeConstants)
as {FRCXyzWrp | FRCTransform | FRCJoint} (read only)
GroupNum as Integer (read-only)
Id as Long(read-only)
Error! Hyperlink reference not valid. as Boolean(read-only)
IsEqualTo(Target as FRCPosition) (read-only)
IsInitialized as Boolean (read-only)
IsMonitoring as Boolean (read-only)
IsReachable( [From as Object
[, Motype as FREMotionTypeConstants
[, OrientType as FREOrientTypeConstants
[, Dest as Object
[, MoErrInfo as FRCMotionErrorInfo ]]]]]
) as Boolean (read-only)
Parent as FRCSysPosition (read-only)
Program as FRCProgram (read-only)
Robot as FRCRobot (read-only)
Type as FRETypeCodeConstants
UserFrame as Long
UserTool as Long
Methods
CheckReach( [From as Object
[, Motype as FREMotionTypeConstants
[, OrientType as FREOrientTypeConstants
[, Dest as Object
[, MoErrInfo as FRCMotionErrorInfo ]]]]]
) as Boolean
Copy Source as Object
MatInv InputPos as Object
MatMul LeftPos as Object, RightPos as Object
Moveto
Record
Refresh
StartMonitor Latency as Long
StopMonitor
Uninitialize
Update
Events
Change()
Error! Hyperlink reference not valid.
See Also
FRCSysPosition Object Overview
FRCJoint Object Overview
FRCPosition Object Overview
FRCProgram Object Overview
FRCRobot Object Overview
FRCTransform Object Overview
FRCXyzWpr Object Overview
FRETypeCodeConstants Object Overview
FRCSysGroupPosition Properties
FRCSysGroupPosition.Parent Property
Description
Returns the parent object.
Syntax
objSysPos = objSysGrpPos.Parent
Parts
objSysGrpPos as FRCSysGroupPosition
objSysPos as FRCSysPosition
Remarks
Parent is always of type FRCSysPosition.
See Also
Error! Hyperlink reference not valid.
FRCSysPosition Object Overview
Example
‘ Get our parent
Dim objSysPos as FRCSysPosition
Dim objSysGrpPos as FRCSysGroupPosition
Set objSysPos = objSysGrpPos.Parent
FRCSysGroupPosition Events
FRCSysGroupPosition_CommentChange Event
Description
Occurs when the position’s comment is changed.
Syntax
mobjSysGrpPos _CommentChange()
Parts
Private WithEvents mobjSysGrpPos as FRCSysGroupPosition
Remarks
Comment changes made outside the robot object will not generate this event.
See Also
Error! Hyperlink reference not valid.
Example
‘ Wait for position changes
Private WithEvents mobjSysGrpPos as FRCSysGroupPosition
Private Sub mobjSysGrpPos_CommentChange()
MsgBox "The position comment has changed to: " & _
mobjSysGrpPos.Comment
End Sub
FRCSysPosition
FRCSysPosition Properties
FRCSysPosition.Group Property
Description
Returns a FRCSysGroupPosition object representing the system position in the
specified motion group.
Syntax
[objGrpPos = ]objSysPos.Group(intGroupNum)
Parts
objSysPos as FRCSysPosition
objGrpPos as FRCSysGroupPosition
intGroupNum as Integer
Remarks
Allows access to position data for the specified motion group through the
returned object.
See Also
FRCSysGroupPosition Object Overview
FRCSysPosition Object Overview
Example
‘ Get position data for group 1
Dim objSysPos as FRCSysPosition
Dim objSysGrpPos as FRCSysGroupPosition
Set objSysGrpPos = objSysGrpPos.Group(1)
FRCSysPosition.IsAtCurPosition Property
Description
Returns information about whether the robot is currently at the position.
Syntax
[blnAtCurPos = ]objSysPos.IsAtCurPosition
Parts
objSysPos as FRCSysPosition
blnAtCurPos as Boolean
Remarks
If a value of TRUE is returned the robot is considered to be at the position the
object represents. Otherwise, the robot is not at the position. All groups defined
on the robot must be at the position.
See Also
FRCSysPosition.MoveTo Method
FRCSysPosition Object Overview
Example
‘ Check if robot is at a position
Dim objSysPos as FRCSysPosition
If objSysPos.IsAtCurPosition then
MsgBox "Robot is at position"
Else
MsgBox "Robot is not at position"
End if
FRCSysPosition Methods
FRCSysPosition.Uninitialize Method
Description
Uninitializes the position for all groups defined on the controller.
Syntax
objSysPos.Uninitialize
Parts
objSysPos as FRCSysPosition
Remarks
All currently stored positional data will be lost. After this method, the IsInitialized
property will return a value of FALSE.
See Also
FRCSysPosition.IsInitialized Property
FRCSysPosition Object Overview
Example
‘ Uninitialize a position
Dim objSysPos as FRCSysPosition
objSysPos.Uninitialize
FRCSysPosition Events
FRCSysPosition_Change Event
Description
Occurs when the position is changed, GroupNum specifies which group was
changed.
Syntax
objSysPos_Change(GroupNum as Integer)
Parts
objSysPos as FRCSysPosition
Remarks
Value changes made outside the robot object will not generate this event
unless the StartMonitor method has been called on the FRCSysGroupPositon
object.
See Also
FRCSysPosition Object Overview
FRCSysGroupPosition Object Overview
FRCSysGroupPosition StartMonitor Method
FRCSysGroupPosition StopMonitor Method
Example
‘ Wait for position changes
Private WithEvents mobjSysPos as FRCSysPosition
Private Sub mobjSysPos_Change(GroupNum as Integer)
MsgBox "The position has changed in group: " & _
CStr(GroupNum)
End Sub
FRCSysPosition_CommentChange Event
Description
Occurs when a position’s comment is changed.
Syntax
objSysPos_CommentChange(GroupNum as Integer)
Parts
objSysPos as FRCSysPosition
Remarks
GroupNum specifies which group was changed.
Comment changes made outside the robot object will not generate this event.
See Also
FRCSysPosition Object Overview
Example
‘ Wait for position changes
Private WithEvents mobjSysPos as FRCSysPosition
Private Sub mobjSysPos_CommentChange(GroupNum as Integer)
MsgBox "The position comment has changed to: " & _
mobjSysPos.Group(GroupNum).Comment
End Sub
FRCSysPositions
FRCSysPositions Properties
FRCSysPositions.Count Property
Description
Returns the number of positions contained in the collection.
Syntax
[lngCount = ]objSysPositions.Count
Parts
lngCount as Long
objSysPositions as FRCSysPositions
Remarks
none
See Also
FRCSysPositions Object Overview
Example
‘ Get number of positions in collection
Dim objSysPositions as FRCSysPositions
Dim lngCount as Long
lngCount = objSysPositions.Count
FRCSysPositions.Item Property
Description
Returns a position from the collection.
Syntax
[objSysPos = ]objSysPositions.Item({lngId | lngIndex})
Parts
objSysPos as FRCSysPosition
objSysPositions as FRCSysPositions
lngId as Long
lngIndex as Long
Remarks
The Item property returns an object of type FRCSysPosition. This object can
then be used to further query or modify the data specific to a particular position.
The position can be identified by the position Id or by the index in the collection.
See Also
FRCSysPosition Object Overview
FRCSysPositions Object Overview
Example
‘ Get a system position from the collection
‘ by ID and Index
Dim objSysPositions as FRCSysPositions
Dim objSysPosID as FRCSysPosition
Dim objSysPosIdx as FRCSysPosition
‘ Get system position by ID
Set objSysPosID = objSysPositions.Item(1)
‘ Get system position by Index
Set objSysPosIdx = objSysPositions.Item(Index:=0)
FRCSysPositions.Selected Property
Description
Returns/sets the selected active frame.
Syntax
[lngSelected = ]objSysPositions.Selected(intGroupNum)
Parts
lngSelected as Long
objSysPositions as FRCSysPositions
intGroupNum as Integer
Remarks
Gets or sets the proper system variables on the robot controller for the
appropriate frame.
This property does not work for position registers.
See Also
FRCSysPositions Object Overview
Example
‘ Set selected UTool and Uframe
Dim objUTools as FRCSysPositions
Dim objUFrames as FRCSysPositions
Dim objJogFrames as FRCSysPoitions
objUTools.Selected = 2
objUFrames.Selected = 1
objJogFrames.Selected = 1
FRCSysPostions Methods
FRCSysPositions.Update Method
Description
Sends the local copy of the position registers, tool frames, user frames, or jog
frames to the robot.
Syntax
objSysPosns.Update
Parts
objSysPosns as FRCSysPositions
Remarks
The data, including comments, for system positions controlled by this object are
sent to the robot as efficiently as possible. Use this when you want to make
changes to several system positions simultaneously.
The FRCSysPositions class does not have a NoUpdate property. However, it
works as if NoUpdate = TRUE.
See Also
FRCSysPositions Object Overview
FRCSysPosition.Update Method
Optimizing Data Access
Example
'
' This routine is called after making several changes to
' several ToolFrames that were not updated individually.
'
Private Sub ApplyUTool()
Dim objUTools As FRCSysPositions
Set objUTools = mobjRobot.ToolFrames
'
' Update all ToolFrames
objUTools.Update
End Sub
FRCSysPositions Events
FRCSysPositions_Change Event
Description
Occurs when a position is changed.
Syntax
objSysPositions_Change(Id as Long, GroupNum as Integer)
Parts
objSysPositions as FRCSysPositions
Remarks
Id and GroupNum specify which position was changed.
Value changes made outside the robot object will not generate this event
unless the StartMonitor method has been called on the FRCSysGroupPositon
object.
See Also
FRCSysPositions Object Overview
Error! Hyperlink reference not valid.
FRCSysGroupPosition StartMonitor Method
FRCSysGroupPosition StopMonitor Method
Example
‘ Wait for position changes
Private WithEvents mobjSysPositions as FRCSysPositions
Private Sub mobjSysPositions_Change(ByVal Id as Long, _
ByVal GroupNum as Integer)
MsgBox "A position has changed – Id: " & _
CStr(Id) & " Grp: " & CStr(GroupNum)
End Sub
FRCTPPosition
FRCTPPosition Properties
FRCTPPosition.IsAtCurPosition Property
Description
Returns information about whether the robot is currently at the teach pendant
position.
Syntax
[blnAtCurPos = ]objTPPos.IsAtCurPosition
Parts
objTPPos as FRCTPPosition
blnAtCurPos as Boolean
Remarks
Queries to see if the position is the same as the current location of the robot for
all groups defined for the teach pendant Position. TRUE means that this
position is the same as the robot position; FALSE means it is not.
See Also
FRCTPPosition.MoveTo Method
FRCTPPosition Object Overview
Example
‘ Check if robot is at this position
Dim objTPPos as FRCTPPosition
If objTPPos.IsAtCurPosition then
MsgBox "Robot is at position"
Else
MsgBox "Robot is not at position"
End If
FRCTPPosition.ReferenceCount Property
Description
Returns the reference count of the teach pendant position.
Syntax
[lngCount = ]objTPPos.ReferenceCount
Parts
objTPPos as FRCTPPosition
lngCount as long
Remarks
The position’s reference count is incremented by 1 for each motion line that
refers to the position. The reference count is used internally to remove a
position when the reference count becomes 0.
See Also
FRCTPPosition Object Overview
Example
‘ Get how many references to the position exists
Dim objTPPos as FRCTPPosition
Dim lngCount as Long
lngCount = objTPPos.ReferenceCount
FRCTPPosition Events
FRCTPPosition_Change Event
Description
Occurs after a teach pendant position is changed.
Syntax
objTPPos_Change(GroupNum as Integer)
Parts
objTPPos as FRCTPPosition
Remarks
GroupNum is not functional. It always returns 0. If any of the groups in a teach
pendant position is changed, the event occurs.
A teach pendant position changed outside the robot object will always generate
this event. StartMonitor is not required.
See Also
FRCTPPosition Object Overview
Example
‘ Wait for position changes
Private WithEvents mobjTPPos as FRCTPPosition
Private Sub mobjTPPos_Change(GroupNum as Integer)
MsgBox "The TP position with the Id of " & _
CStr(mobjTPPos.Id) & " has changed"
End Sub
FRCTPPosition.Delete Event
Description
Occurs before a teach pendant position is deleted.
Syntax
objTPPos_Delete()
Parts
objTPPos as FRCTPPosition
Remarks
After this event, the teach pendant position is removed from the collection and
the teach pendant program. However, if any references to the position still exist
then the object will not be deleted and further operations on the position object
will generate errors.
A teach pendant position deleted outside the robot object will always generate
this event. StartMonitor is not required.
See Also
FRCTPPosition Object Overview
FRCTPPositions.Delete Event
Example
‘ Capture delete event
Private WithEvents mobjTPPos as FRCTPPosition
Private Sub mobjTPPos_Delete()
MsgBox "The TP position with the Id of " & _
CStr(mobjTPPos.Id) & " will be deleted"
End Sub
FRCTPPositions
FRCTPPositions Properties
FRCTPPositions.Count Property
Description
Returns the number of teach pendant positions contained in the collection (and
therefore, in the teach pendant program).
Syntax
[lngCount = ]objTPPositions.Count
Parts
lngCount as Long
objTPPositions as FRCTPPositions
Remarks
The Count property can be used to loop through all the teach pendant positions
in the collection, however, it us generally better to enumerate the positions
using the "for each" VB syntax.
Note: The .Count property has nothing to do with the position IDs. This is
merely the number of positions in the collection.
See Also
FRCTPPositions Object Overview
Example
‘ Figure out the number of positions
Dim objTPPositions as FRCTPPositions
Dim lngCount as Long
LngCount = objTPPositions.Count
FRCTPPositions.Item Property
Description
Returns a teach pendant position from the collection.
Syntax
[objTPPos = ]objTPPositions.Item({lngPosId | lngIndex})
Parts
objTPPos as FRCTPPosition
objTPPositions as FRCTPPositions
lngPosId as Long
lngIndex as Long
Remarks
This is the default property for the collection object. When iterating the
collection using the "for each" or Item methods the positions are always
returned sorted by their id number (the collection is sorted by position id).
The Item property returns an object of type FRCTPPosition. This object can
then be used to further query or modify the data specific to a particular position.
The position can be identified by the position Id or by the index in the collection.
See Also
FRCTPPosition Object Overview
FRCTPPositions Object Overview
Example
‘ Get positions by Id and Index
Dim objTPPositions as FRCTPPositions
Dim objTPPosId as FRCTPPosition
Dim objTPPosIdx as FRCTPPosition
‘ Get position by Id
Set objTPPosId = objTPPositions.Item(1)
‘ Get position by Index
Set objTPPosIdx = objTPPositions.Item(Index:=3)
FRCTPPositions Events
FRCTPPositions_BeginRenumberAll Event
Description
Occurs when a renumbering of all positions in a program has begun
Syntax
objTPPositions_BeginRenumberAll()
Parts
objTPPositions as FRCTPPositions
Remarks
The TPP editor has an edit command that you can use to renumber all the
positions in the program being edited.
Prior to V8.20, this would generate an FRCTPPositions.Renumber event for
every position affected.
Starting with V8.20, the FRCTPPositions_BeginRenumberAll event will be
raised when the process begins and the FRCTPPositions_EndRenumberAll
event will be raised when it completes. No FRCTPPositions.Renumber event
will be raised.
When your application receives the FRCTPPositions_BeginRenumberAll event,
all existing references to FRCTPPosition objects for this program will be invalid.
Wait for the FRCTPProgram_Refresh or FRCPrograms_Refresh event to
acquire new FRCTPPosition objects for the renumbered positions.
See Also
FRCTPPosition Object Overview
FRCTPPositions Object Overview
Error! Hyperlink reference not valid.
FRCTPProgram_Refresh Event
FRCPrograms_Refresh Event
Example
‘ Monitor for position renumbering
Private WithEvents mobjTPPositions As FRCTPPositions
Private Sub mobjTPPositions_BeginRenumberALL()
MsgBox "All TP Positions are being renumbered"
‘ You may want to set a flag so that your application
‘ does not try to work with positions at this time.
End Sub
FRCTransform
FRCTransform Object Overview
Description
Represents the position of a single group of axes as a transformation matrix
consisting of normal, orient, approach, and location vectors, and a component
specifying a configuration.
Overview
Positions act like variables with the NoRefresh property set to TRUE. New
position data is read only when the position is first accessed, or the Refresh
method is called on the FRCPosition object or one of its parents.
The position format as stored in a teach pendant (.TP) or variable (.VR)
program is not changed by accessing any of the properties or methods of this
object.
Properties
Approach as FRCVector (read-only)
Config as FRCConfig (read-only)
Ext as FRCAxesCollection (read-only)
Location as FRCVector (read-only)
Normal as FRCVector (read-only)
Orient as FRCVector (read-only)
Parent as FRCPosition (read-only)
Program as FRCProgram (read-only)
Robot as FRCRobot (read-only)
Methods
none
Events
none
FRECurPositionConstants
frUserDisplayType
Description
Used to return the current position in User coordinates.
Remarks
The position will be returned with User and Tool frames applied. Regardless of
the specified display type, the position can be retrieved in any format (XyzWpr,
Joint, or Transform). You must use frUserDisplayType to retrieve the Cartesian
coordinates with User frame applied.
See Also
FRCCurPosition Object Overview
FRCCurPosition.Group Property
FRECurPositionConstants Overview
FREOrientTypeConstants
frWristJointOrientType
Description
Wrist-Joint orientation interpolation
Remarks
Use this constant when you set of check the Orient type of a Path node
segment through the FRCGroupAssoc.SegOrientType property.
See Also
FREOrientTypeConstants
Error! Hyperlink reference not valid.
Alarms
FRCAlarm
FRCAlarm Object Properties
FRCAlarm.CauseMessage Property
Description
Returns the message string describing the alarm cause.
Syntax
[strCauseMessage =] Alarm.CauseMessage
Parts
strCauseMessage as String
Alarm as FRCAlarm
Remarks
none
See Also
FRCAlarm Object Overview
FRCAlarms Object Overview
Example
’Example of getting the cause message for an
’alarm
Dim strCauseMessage as String
Dim objAlarm as FRCAlarm
strCauseMessage = objAlarm.CauseMessage
FRCAlarm.ErrorClass Property
Description
Returns the type of alarm as FREAlarmSeverityConstants.
Syntax
Value = Alarm.ErrorClass
Parts
Value as Long
Alarm as FRCAlarm
Remarks
The value will be frErrorNormal, frErrorReset, frErrorClear, or frErrorClearAll.
This is useful for the AlarmNotify event handlers. Often, the object receiving this
alarm in an event must take different actions depending on what type of alarm
has occurred. In the alarm log, the frErrorReset and frErrorClear alarms are
present so their timestamp can be used to determine when these events
occurred.
This is an enumerated value that indicates the type of alarm. It has the following values:
Name Description
frErrorNormal Normal alarms
frErrorReset Reset Alarm
frErrorClear Clear (active) Alarm
frErrorClearAll Clear All (whole log) Alarm
See Also
FRCAlarm Object Overview
FRCAlarms Object Overview
Example
’Example of getting the error class for an
’alarm
Dim lngErrorClass as Long
Dim objAlarm as FRCAlarm
intErrorClass = objAlarm.ErrorClass
FRCAlarm.ErrorExecution Property
Description
Returns the field of ErrorSeverity that determines how the alarm affects
program execution.
Syntax
[lErrorSeverity =] Alarm.ErrorExecution
Parts
lErrorSeverity as Long
Alarm as FRCAlarm
Remarks
This property can have the value of frSevExAbort, frSevExDebug,
frSevExNone, or frSevExPause.
See Also
FRCAlarm Object Overview
FRCAlarms Object Overview
Example
’Example of getting the error severity for an
’alarm
Dim lngErrorClass as Long
Dim objAlarm as FRCAlarm
lngErrorClass = objAlarm.ErrorExecution
FRCAlarm.ErrorFacility Property
Description
Returns the Error Facility Code for the alarm.
Syntax
[lErrorFacility =] Alarm.ErrorFacility
Parts
lErrorFacility as Long
Alarm as FRCAlarm
Remarks
none
See Also
FRCAlarm Object Overview
FRCAlarms Object Overview
Example
’Example of getting the error facility for an
’alarm
Dim lngErrorFacility as Long
Dim objAlarm as FRCAlarm
lngErrorFacility = objAlarm.ErrorFacility
FRCAlarm. ErrorMessage Property
Description
Returns the Error Message for the alarm.
Syntax
[ErrorMessage =] Alarm.ErrorMessage
Parts
ErrorMessage as String
Alarm as FRCAlarm
Remarks
none
See Also
FRCAlarm Object Overview
FRCAlarms Object Overview
Example
’Example of getting the error message for an
’alarm
Dim strErrorMessage as String
Dim objAlarm as FRCAlarm
strErrorMessage = objAlarm.ErrorMessage
FRCAlarm.ErrorMnemonic Property
Description
Returns the Error Facility Code Mnemonic string for the alarm.
Syntax
[ErrorMnemonic =] Alarm.ErrorMnemonic
Parts
ErrorMnemonic as String
Alarm as FRCAlarm
Remarks
none
See Also
FRCAlarm Object Overview
FRCAlarms Object Overview
Example
’Example of getting the error facility code mnemonic
’for an alarm
Dim strErrorMnemonic as String
Dim objAlarm as FRCAlarm
strErrorMnemonic = objAlarm.ErrorMnemonic
FRCAlarm.ErrorSeverity Property
Description
Returns the alarm severity.
Syntax
[ErrorSeverity =] Alarm.ErrorSeverity
Parts
ErrorSeverity as FREAlarmSeverityConstants
Alarm as FRCAlarm
Remarks
This property can have the value of frSevAbort, frSevAbortL, frSevNone,
frSevPause, frSevPauseL, frSevServo, frSevServo2, frSevStop, frSevSystem,
or frSevWarn
See Also
FRCAlarm Object Overview
FRCAlarms Object Overview
Example
’Example of getting the error number
’for an alarm
Dim ErrorSeverity as FREAlarmSeverityConstants
Dim objAlarm as FRCAlarm
ErrorSeverity = objAlarm.ErrorSeverity
FRCAlarms
FRCAlarms Object Properties
FRCAlarms.Item Property
Description
Returns a particular FRCAlarm object from the alarm log.
Syntax
[objAlarm = ]objAlarmLog.Item(lngAlarmIndex)
Parts
objAlarmLog as FRCAlarms
objAlarm as FRCAlarm
lngAlarmIndex as Long
Remarks
The desired alarm object is specified by its position in the collection. For
example, an index of one will return the first alarm in the collection. The alarms
collection is organized with the most recent alarm at index one, and the oldest
alarm at index Alarms.Count.
The index value can change as new alarms are received. Therefore, it is not a
good idea to store the index of an alarm. If you do, you must update the value
each time an alarm occurs. It is better to store a reference to the alarm object
itself. The alarm’s Index value is a property of the alarm object, and is
automatically updated as new alarms are received.
See Also
FRCAlarms Object Overview
FRCAlarm Object Overview
Example
’Get the most recent alarm object
Dim objMyAlarms as FRCAlarms
Dim objNewestAlarm as FRCAlarm
Dim objOldestAlarm as FRCAlarm
Dim lngNumAlarms as Long
Set objNewestAlarm = objAlarms.Item(1)
’Get the oldest alarm object
lngNumAlarms = FRCAlarms.Count
Set objOldestAlarm = objMyFeatures.Item(lngNumAlarms)
FRCAlarms.Max Property
Description
Returns/sets the maximum number of alarms the log will hold.
Syntax
[lngMax = ]objAlarmLog.Max
Parts
lngMax as Long
objAlarmLog as FRCAlarms
Remarks
If the property is set to a value less that the current number of alarms collected,
the oldest alarms beyond the maximum will be discarded. After they are
discarded, they can not be recovered. The default value is 100.
See Also
FRCAlarms Object Overview
FRCAlarm Object Overview
Example
’ Set the alarm log to hold 200 alarms
Dim objMyAlarms as FRCAlarms
Set objMyAlarms = gobjRobot.Alarms
objMyAlarms.Max = 200
FRCAlarms Object Methods
FRCAlarms.Reset Method
Description
Issues a RESET command to the controller.
Syntax
objAlarms.Reset
Parts
objAlarms as FRCAlarms
Remarks
When the robot is in a fault state, a RESET will cause the controller to attempt
to clear the faults. If faults still exist the controller will remain in the fault state.
See Also
FRCAlarms Object Overview
Example
’ Reset the controller
Dim objMyAlarms as FRCAlarms
Set objMyAlarms = gobjRobot.Alarms
objMyAlarms.Reset
FREAlarmSeverity Constants
FREAlarmSeverityConstants Overview
Description
An enumeration of constants used for Alarms.
Overview
These constants are used to identify the different types of alarm severity codes,
masking options, and other parameters when interpreting an FRCAlarm alarm
object.
These constants are grouped as follows:
frError… FRCAlarm.ErrorClass values
frSevEx… FRCAlarm.ErrorExecution values
frSevMo… FRCAlarm.ErrorMotion values
frSev… FRCAlarm.ErrorSeverity values
The frSev… indicate how the alarm effects the robot, from lowest to highest
priority:
frSevNone Alarm is not displayed on the Teach Pendant
frSevWarn Alarm is displayed on the Teach Pendant
frSevPause, Program execution is paused.
frSevPauseL
frSevStop, Programs are paused and motion is stopped
frSevStopL
frSevAbort, Programs are aborted and motion is canceled
frSevAbortL
frSevServo Programs are paused and servos are off
frSevServo2 Programs are aborted and servos are off
frSevSystem Requires power to be cycled to clear
The frSev… constants are also used in the FRCRobot.PostAlarm method to set
the alarm severity.
Values
frErrorClear
frErrorClearAll
frErrorNormal
frErrorReset
frSevAbort
frSevAbortL
frSevExAbort
frSevExDebug
frSevExMask
frSevExNone
frSevExPause
frSevMoCancel
frSevMoMask
frSevMoNone
frSevMoStop
frSevNone
frSevPause
frSevPauseL
frSevServo
frSevServo2
frSevStop
frSevStopL
frSevSystem
frSevWarn
See Also
FRCRobot.PostAlarm Method
frErrorReset
Description
Error class: reset
Remarks
This is used to indicate that this FRCAlarm object performed a RESET
operation.
See Also
FRCAlarm.ErrorClass Property
FREAlarmSeverityConstants Overview
frSevAbortL
Description
Severity: local abort
Remarks
This is used to indicate that this FRCAlarm object caused a Local Abort
operation, or to set the alarm severity to Local Abort for the posted alarm.
See Also
FRCAlarm.ErrorSeverity Property
FRCRobot.PostAlarm Method
FREAlarmSeverityConstants Overview
frSevExAbort
Description
Execution: abort
Remarks
This is used to indicate that this FRCAlarm object forced execution to Abort.
See Also
FRCAlarm.ErrorExecution Property
FREAlarmSeverityConstants Overview
frSevExDebug
Description
Execution: debug
Remarks
This is used to indicate that this FRCAlarm object forced execution to Debug.
See Also
FRCAlarm.ErrorExecution Property
FREAlarmSeverityConstants Overview
frSevExMask
Description
Execution mask
Remarks
This constant is a mask for FRCAlarm.ErrorSeverity to extract the execution
bits. This constant is rarely used since the execution bits are already extracted
in FRCAlarm.ErrorExecution Property.
See Also
FRCAlarm.ErrorExecution Property
FREAlarmSeverityConstants Overview
frSevExNone
Description
Execution: no effect
Remarks
This is used to indicate that this FRCAlarm object did not affect program
execution.
See Also
FRCAlarm.ErrorExecution Property
FREAlarmSeverityConstants Overview
frSevExPause
Description
Execution: pause
Remarks
This is used to indicate that this FRCAlarm object forced execution to Pause.
See Also
FRCAlarm.ErrorExecution Property
FREAlarmSeverityConstants Overview
frSevPause
Description
Severity: pause
Remarks
This is used to indicate that this FRCAlarm object caused program execution to
Pause, or to set the posted alarm severity to pause program.
See Also
FRCAlarm.ErrorSeverity Property
FRCRobot.PostAlarm Method
FREAlarmSeverityConstants Overview
frSevServo
Description
Severity: servo
Remarks
This is used to indicate that this FRCAlarm object caused servo power to shut
off, or to set the posted alarm severity to shut off servo power.
See Also
FRCAlarm.ErrorSeverity Property
FRCRobot.PostAlarm Method
FREAlarmSeverityConstants Overview
frSevStopL
Description
Severity: local stop
Remarks
This is used to indicate that this FRCAlarm object to perform a Local Motion
Stop operation, or to set the posted alarm severity to stop local motion.
See Also
FRCAlarm.ErrorSeverity Property
FRCRobot.PostAlarm Method
FREAlarmSeverityConstants Overview
I/O
FRCIOConfig
FRCIOConfig Object Properties
FRCIOConfig.FirstLogicalNum Property
Description
Returns the first logical signal number of a configuration.
Syntax
lngFirstLogicalNum = objIOConfig.FirstLogicalNum
Parts
lngFirstLogicalNum As Long
objIOConfig As FRCIOConfig
Remarks
This is the logical number of the first signal in the configuration. For analog and
group types, it is the signal number.
See Also
FRCIOConfig Object Overview
FRCIOConfigs Object Overview
FRCIOConfigs.Item Property
FRCIOSignal.LogicalNum Property
Example
‘ This example retrieves the FirstLogicalNum of the
‘ first config in the collection of digital inputs
Dim objIOConfigs As FRCIOConfigs
Dim objIOConfig As FRCIOConfig
Dim lngFLN As Long
‘ first get the collection
Set objIOConfigs = gobjRobot.IOTypes(frDInType).Configs
‘ get the first config in the collection by index
Set objIOConfig = objIOConfigs(Index:=0)
‘ get the FirstLogicalNum
lngFLN = objIOConfig.FirstLogicalNum
FRCIOConfig.FirstPhysicalNum Property
Description
Returns/sets the number of the physical port to which the property is assigned.
Returns/sets the least-significant bit for the group I/O type.
Syntax
lngFirstPhysicalNum = objIOConfig.FirstPhysicalNum
Parts
lngFirstPhysicalNum As Long
objIOConfig As FRCIOConfig
Remarks
This property is the number of the port assigned to the lowest numbered signal
in the configuration.
See Also
FRCIOConfig Object Overview
Error! Hyperlink reference not valid.
Example
‘ This example retrieves the FirstPhysicalNum of the
‘ first config in the collection of digital inputs
Dim objIOConfigs As FRCIOConfigs
Dim objIOConfig As FRCIOConfig
Dim lngFPN As Long
‘ first get the collection
Set objIOConfigs = gobjRobot.IOTypes(frDInType).Configs
‘ get the first config in the collection by index
Set objIOConfig = objIOConfigs(Index:=0)
‘ get the FirstPhysicalNum
lngFPN = objIOConfig.PhysicalType
FRCIOConfig Object Events
FRCIOConfig_Delete Event
Description
Occurs before the configuration is deleted.
Syntax
mobjIOConfig_Delete()
Parts
mobjIOConfig As FRCIOConfig
Remarks
This event is automatically generated whenever a configuration is deleted. The
configuration is removed from the controller before the event occurs. The
FRCIOConfig object is removed from the collection and deleted after the event
occurs. Any attempt to use this object after it is deleted will cause an "Object is
no longer valid" run-time error.
This event also occurs, followed by a Create event on FRCIOConfigs, when a
property of a configuration in the collection changes via the controller or another
Robot Object.
See Also
FRCIOConfig Object Overview
FRCIOConfigs Object Overview
FRCIOConfigs_Delete Event
FRCIOConfigs.Remove Method
Example
‘ This example shows declaring an object
‘ with event handlers and using the event handler
‘ to tell the user when the configuration has been
‘ deleted
Private WithEvents mobjIOConfig As FRCIOConfig
Dim objIOConfigs As FRCIOConfigs
‘ get the collection
Set objIOConfigs = gobjRobot.IOTypes(frDInType).Configs
‘ get the configuration object
Set mobjIOConfig = objIOConfigs(Index:=0)
‘ Delete the configuration
objIOConfigs.Remove Index:=0
‘ Event Handler
Private Sub mobjIOConfig_Delete()
MsgBox "This configuration has been deleted"
End Sub
FRCIOConfigs
FRCIOConfigs Object Properties
FRCIOConfigs.Count Property
Description
Returns the number of configurations contained in the collection.
Syntax
[lngCount = ]objIOConfigs.Count
Parts
lngCount As Long
objIOConfigs As FRCIOConfigs
Remarks
The Count property can be used to loop through all the configurations in the
collection, however, it is generally better to enumerate the configurations using
the "for each" VB syntax.
See Also
FRCIOConfigs Object Overview
FRCIOConfigs.Item Property
Example
‘ Get the number of digital input configurations
Dim objIOType As FRCIOType
Dim objIOConfigs As FRCIOConfigs
Dim lngCount As Long
Set objIOType = gobjRobot.IOTypes(frDInType)
Set objIOConfigs = objIOType.Configs
lngCount = objIOConfigs.Count
FRCIOConfigs.Item Property
Description
Returns a configuration from the collection.
Syntax
[Set objIOConfig = ]objIOConfigs.Item({lngFirstLogicalNum | lngIndex})
Parts
objIOConfig As FRCIOConfig
objIOConfigs As FRCIOConfigs
lngFirstLogicalNum As Long
lngIndex As Long
Remarks
The Item property returns an object of type FRCIOConfig. This object can then
be used to further query or modify the configuration.
The object can be identified by the first logical number (FirstLogicalNum:=n) or
by the index (Index:=n) in the collection. If a number is given without indicating
FirstLogicalNum or Index, it will be treated as a first logical number. The index
is zero-based.
This is the default property for the collection object. Therefore, ".Item" can be
excluded.
See Also
FRCIOConfigs Object Overview
FRCIOConfig Object Overview
Error! Hyperlink reference not valid.
Example
’ This example gets a digital input configuration.
Dim objIOType As FRCIOType
Dim objIOConfigs As FRCIOConfigs
Dim objIOConfig1 As FRCIOConfig
Dim objIOConfig2 As FRCIOConfig
Set objIOType = gobjRobot.IOTypes(frDInType)
Set objIOConfigs = objIOType.Configs
’ Using the configuration’s FirstLogicalNumber and
’ including ".Item"
Set objIOConfig1 = objIOConfigs.Item(9)
’ Get the second configuration in the collection
’ Using the configuration’s index in the collection
’ and excluding ".Item"
Set objIOConfig2 = objIOConfigs(Index:=1)
FRCIOConfigs Object Events
FRCIOConfigs_Create Event
Description
Occurs after a configuration is created.
Syntax
mobjIOConfigs_Create(IOConfig As FRCIOConfig)
Parts
mobjIOConfigs As FRCIOConfigs
Remarks
This event occurs when a configuration is added using the Add method. It is
passed a reference to the new FRCIOConfig object.
When the controller changes a configuration or another Robot Object, then the
configuration is deleted and recreated. Therefore this event might also occur,
following a Delete event when a configuration property in the collection
changes.
See Also
FRCIOConfig Object Overview
FRCIOConfigs Object Overview
FRCIOConfigs.Add Method
FRCIOConfigs_Delete Event
Example
‘ Get the FirstLogicalNum of any added configuration
‘
Private WithEvents mobjIOConfigs As FRCIOConfigs
Dim mlngFirstLogicalNum As Integer
‘ Call Add without the first logical number
‘ so it is automatically generated
mobjIOConfigs.Add
Private Sub mobjIOConfigs_Create(ByVal IOConfig As
FRCIOConfig)
‘ Store the FirstLogicalNum
mlngFirstLogicalNum = IOConfig.FirstLogicalNum
End Sub
FRCIOConfigs_Delete Event
Description
Occurs after a configuration is deleted.
Syntax
mobjIOConfigs_Delete(ByVal IOConfig As FRCIOConfig)
Parts
mobjIOConfigs As FRCIOConfigs
Remarks
This event is automatically generated whenever a configuration is deleted. The
configuration is removed from the controller and from the collection before the
event occurs. The FRCIOConfig object is deleted after the event occurs. Any
attempt to use this object after it is deleted will cause an "Object is no longer
valid" run-time error.
This event also occurs, followed by a Create event, when a property of a
configuration in the collection changes via the controller or another Robot
Object.
See Also
FRCIOConfig Object Overview
FRCIOConfig_Delete Event
FRCIOConfigs Object Overview
FRCIOConfigs.Remove Method
FRCIOConfigs_Create Event
Example
‘ Get the FirstLogicalNum of any removed
‘ configuration
Private WithEvents mobjIOConfigs As FRCIOConfigs
Dim mlngFirstLogicalNum As Integer
‘ Call Remove using the index
mobjIOConfigs.Remove Index:=0
Private Sub mobjIOConfigs_Delete(IOConfig As _
FRCIOConfig)
‘ Store the FirstLogicalNum
mlngFirstLogicalNum = IOConfig.FirstLogicalNum
End Sub
FRCxxxIOSignal
FRCDigitalIOSignal Object Overview
FRCDigitalIOSignal Object Overview
Description
Represents a specific digital I/O signal object.
Overview
Use this object to monitor and control an digital input or output signal.
Properties
Comment As String
Error! Hyperlink reference not valid. As Boolean
IsAssigned As Boolean (read-only)
IsMonitoring as Boolean (read only)
IsOffline As Boolean (read-only)
LogicalNum As Long (read-only)
NoRefresh as Boolean
NoUpdate as Boolean
Parent As FRCIOSignals (read-only)
Polarity As Boolean
Robot As FRCRobot (read-only)
Simulate As Boolean
Value As Boolean
Methods
Refresh()
StartMonitor(Latency As Long)
StopMonitor( )
Update()
Events
Change()
Delete()
Simulate()
Unsimulate()
FRCDigitalIOSignal Object Properties
FRCDigitalIOSignal.Complementary Property
Description
Returns/sets the complementary status of an output signal.
Syntax
[blnValue = ]objIOSignal.Complementary
Parts
blnValue As Boolean
objIOSignal As FRCDigitalIOSignal
Remarks
This property can be used to determine if a signal is a member of a
complementary pair. The complementary status can also be set. A value of
TRUE means the signal is in a complementary pair.
Signals with an odd logical number are complemented with the next higher
signal, while signals with an even logical number are complemented with the
next lower signal.
See Also
FRCDigitalIOSignal Object Overview
FRCDigitalIOSignal.Value Property
Error! Hyperlink reference not valid.
FRCIOSignal Object Overview
Example
‘ This example complements a signal
‘ and changes the value of both signals
Dim objIOSignals As FRCIOSignals
Dim objIOSignal As FRCDigitalIOSignal
‘ first get the Digital output collection
Set objIOSignals = _
gobjRobot.IOTypes(frDOutType).Signals
‘ get the signal, logical number is 1
Set objIOSignal = objIOSignals(1)
‘ complement the signal
objIOSignal.Complementary = True
‘ change the value
‘ setting this signal high sets
‘ digital output signal 2’s value low
objIOSignal.Value = True
FRCGroupIOSignal Object Overview
FRCGroupIOSignal Object Overview
Description
Represents a specific group I/O signal.
Overview
Use this object to monitor and control a group input or output signal.
Properties
Comment As String
IsAssigned As Boolean (read-only)
IsMonitoring as Boolean (read only)
IsOffline As Boolean (read-only)
LogicalNum As Long (read-only)
NoRefresh as Boolean
NoUpdate as Boolean
Parent As FRCIOSignals (read-only)
Robot As FRCRobot (read-only)
Simulate As Boolean
Value As Long
Methods
Refresh()
StartMonitor(Latency As Long)
StopMonitor( )
Update()
Events
Change()
Delete()
Simulate()
Unsimulate()
FRCGroupIOSignal Object Properties
FRCGroupIOSignal.Parent Property
Description
Returns the owning Signals collection
Syntax
objIOSignals = IOxxxSignal.Parent
Parts
objIOSignals As FRCIOSignals
objIOSignal As FRCGroupIOSignal
Remarks
This property returns the FRCIOSignals collection object from which the signal
originated.
See Also
FRCIOGroupSignal Object Overview
FRCIOSignals Object Overview
FRCIOSignals.Item Property
Example
‘ This example gets a signal’s parent
‘ IOSignals object
Dim objIOSignals1 As FRCIOSignals
Dim objIOSignals2 As FRCIOSignals
Dim objIOSignal As FRCGroupIOSignal
‘ get an Group IO Signals collection
Set objIOSignals1 = gobjRobot.IOTypes(frGPInType)
‘ get a signal
Set objIOSignal = objIOSignals1(Index:=0)
‘ objIOSignals1 and objIOSignals2 will
‘ refer to the same object
Set objIOSignals2 = objIOSignal.Parent
FRCIOSignal Object Overview
FRCIOSignal Object Properties
FRCIOSignal.IsMonitoring Property
Description
Returns information on whether the signal is being monitored.
Syntax
[blnIsMonitoring = ]objIOSignal.IsMonitoring
Parts
objIOSignal as FRCIOSignal
blnIsMonitoring as Boolean
Remarks
This property is TRUE if signal monitoring is currently turned on; it is FALSE if
signal monitoring is currently turned off. The StartMonitor and StopMonitor
methods are used to control monitoring.
This property is inherited by the specific type I/O signal objects.
See Also
FRCIOSignal Object Overview
FRCIOSignal_Change Event
FRCIOSignal.StartMonitor Method
FRCIOSignal.StopMonitor Method
FRCIOSignals.IsMonitoring Property
FRCIOSignals.StartMonitor Method
FRCIOSignals.StopMonitor Method
Example
‘ This example starts and stops monitoring
‘ of the first signal in the
‘ collection of digital inputs
Dim objIOSignals As FRCIOSignals
Dim objIOSignal As FRCIOSignal
Dim blnMonitoring As Boolean
‘ first get the collection
Set objIOSignals = _
gobjRobot.IOTypes(frDInType).Signals
‘ get the first signal in the collection
Set objIOSignal = objIOSignals(Index:=0)
‘ start monitoring with half-second latency
objIOSignal.StartMonitor 500
‘ value of IsMonitoring will be True
blnMonitoring = objIOSignal.IsMonitoring
‘ turn monitoring off
objIOSignal.StopMonitor
‘ value of IsMonitoring will be False
blnMonitoring = objIOSignal.IsMonitoring
FRCIOSignal.NoRefresh Property
Description
Returns/sets the flag that controls whether data is read directly from the robot
or from Robot Server memory when the Comment, Complementary, Polarity,
Simulate or Value property is read.
Syntax
objObjectIOSignal.NoRefresh[ = blnTorF]
Parts
objObjectIOSignal as FRCIOSignal
blnTorF as Boolean
Remarks
Setting the NoRefresh property = True on an I/O signal tells the Robot Server to
read and remember the robot’s current data for the I/O signal and return that
information each time one of the following properties is read:
Comment
Complementary
Polarity
Simulate
Value
Subsequent reads of these properties are much faster because the robot is not
accessed again.
This is a useful tool for improving your application’s performance when you
know when the I/O signal is expected to change. It is also important to use this
feature when using the FRCScatteredAccess object in conjunction with and I/O
signal.
The FRCIOSignal.Fresh method can be used to refresh this data with one
network call.
The current value for this signal is read from the robot at the time the
NoRefresh property is set to TRUE.
This feature requires an R-J3 controller version of V5.22 or higher.
See Also
FRCIOSignal Object Overview
FRCIOSignal.NoUpdate Property
FRCIOSignal.Refresh Method
FRCScatteredAccess Object Overview
Optimizing Data Access
Example
'
' Set up for efficient monitoring of I/O
'
Private Sub One()
Dim objDigInputs As FRCIOSignals
' Set up the controller to monitor all digital
' inputs once per second
Set objDigInputs = mobjRobot.IOTypes _
.Item(frDInType).Signals
objDigInputs.StartMonitor 1000
' Flag the Digital Inputs as NoRefresh.
' We'll let the monitoring update their values
objDigInputs.NoRefresh = True
' Reading a value for DI[10] that may be up to
' one second old is not sufficient. Flag that one
' to be updated when its value is read.
objDigInputs(10).NoRefresh = False
End Sub
'
' This routine is called sometime after One().
' It demonstrates what happens on I/O reads
'
Private Sub Two()
Dim objDigInputs As FRCIOSignals
Dim blnState As Boolean
' Recover the reference to DIn's
Set objDigInputs = mobjRobot.IOTypes _
.Item(frDInType).Signals
' Reading DI[1] gets the value caught by the
' Monitor. It may be up to 1 second old.
blnState = objDigInputs(1).Value
' The Robot Server accesses the robot when the
' following statement is executed so DI[10] is as
' is as current as possible.
blnState = objDigInputs(10).Value
End Sub
FRCIOSignal.NoUpdate Property
Description
Returns/sets the flag that controls whether data is written directly to the robot or
only to Robot Server memory when the Comment, Complementary, Polarity
Simulate or Value property is written.
Syntax
objObjectIOSignal.NoUpdate[ = blnTorF]
Parts
objObjectIOSignal as FRCIOSignal
blnTorF as Boolean
Remarks
Setting the NoUpdate property = TRUE on an I/O signal tells the Robot Server
not to send data to the robot when any of the following properties are written:
Comment
Complementary
Polarity
Simulate
Value
All the information is saved in the Robot Server and written to the robot
controller en masse when the FRCIOSignal.Update method is called.
If, for example, you set NoUpdate = TRUE on the FRCIOSignal class object for
DO[1], the associated physical robot output will not change no matter what you
assign to its Value property until you invoke the Update method (see below).
Your PC application will see the change immediately, but the robot will not.
This serves an important role when you use the FRCScatteredAccess object.
The current information for this signal is read from the robot at the time the
NoUpdate property is set to TRUE.
Setting the NoUpdate property = TRUE automatically implies the I/O signal is in
a NoRefresh state, even if the NoRefresh property = FALSE. Your application
could read and write the signal continuously without affecting the controller.
This feature requires an R-J3 controller version of V5.22 or higher.
See Also
FRCIOSignal Object Overview
FRCIOSignal.Update Method
FRCIOSignal.NoRefresh Property
FRCScatteredAccess Object Overview
Optimizing Data Access
Example
'
' Take control of DO[7] simulating it in the
' ON state
Private Sub Sim7()
Dim objDO7 As FRCIOSignal
' Stop sending changes on DO[7] to the robot
Set objDO7 = mobjRobot.IOTypes(frDOutType) _
.Signals.Item(7)
objDO7.NoUpdate = True
' Make DO[7] simulated and set it to ON.
objDO7.Simulate = True
objDO7.Value = True
' Make the changes effective on the robot.
objDO7.Update
End Sub
FRCIOSignal Object Methods
FRCIOSignal.StopMonitor Method
Description
Stops monitoring the I/O signal for changes.
Syntax
objIOSignal.StopMonitor
Parts
objIOSignal as FRCIOSignal
Remarks
This method turns off the IsMonitoring property and stops Change events from
occurring. If more than one program has called the StartMonitor method,
Change events will still occur until all programs call this method. This method is
also called automatically if all programs destroy their reference to this object.
This method is inherited by all of the specific I/O signal objects.
See Also
FRCIOSignal Object Overview
FRCIOSignal_Change Event
FRCIOSignal.IsMonitoring Property
FRCIOSignal.StopMonitor Method
FRCIOSignals.IsMonitoring Property
FRCIOSignals.StartMonitor Method
FRCIOSignals.StopMonitor Method
Example
‘ This example starts and stops monitoring
‘ of the first signal in the
‘ collection of digital inputs
Dim objIOSignals As FRCIOSignals
Dim objIOSignal As FRCIOSignal
Dim blnMonitoring As Boolean
‘ first get the collection
Set objIOSignals = _
gobjRobot.IOTypes(frDInType).Signals
‘ get the first signal in the collection
Set objIOSignal = objIOSignals(Index:=0)
‘ start monitoring with half-second latency
objIOSignal.StartMonitor 500
‘ value of IsMonitoring will be True
blnMonitoring = objIOSignal.IsMonitoring
‘ turn monitoring off
objIOSignal.StopMonitor
‘ value of IsMonitoring will be False
blnMonitoring = objIOSignal.IsMonitoring
FRCIOSignal Object Events
FRCIOSignal_Change Event
Description
Occurs after the I/O signal has changed.
Syntax
mobjIOSignal_Change()
Parts
mobjIOSignal As FRCIOSignal
Remarks
This event is only generated if StartMonitor has been called on the
FRCIOSignal object or on its FRCIOSignals object.
This event is inherited by all of the specific I/O signal objects.
See Also
FRCIOSignal Object Overview
FRCIOSignal.IsMonitoring Property
FRCIOSignal.StartMonitor Method
FRCIOSignal.StopMonitor Method
FRCIOSignals.IsMonitoring Property
FRCIOSignals.StartMonitor Method
FRCIOSignals.StopMonitor Method
Example
‘ This example monitors a signal and waits
‘ in a loop for a change
Dim objIOSignals As FRCIOSignals
Dim WithEvents mobjIOSignal As FRCIOSignal
Dim mblnChanged As Boolean
‘ first get the collection
Set objIOSignals = _
gobjRobot.IOTypes(frDInType).Signals
‘ get the first signal in the collection
Set mobjIOSignal = objIOSignals(Index:=0)
‘ start monitoring with half-second latency
objIOSignal.StartMonitor 500
‘ initialize Change flag
mblnChanged = False
‘ wait in a loop for a Change event
Do While Not mblnChanged
DoEvents
Loop
Private Sub mobjIOSignal_Change()
mblnChanged = True
End Sub
FRCIOSignal_Delete Event
Description
Occurs before the I/O signal is deleted.
Syntax
mobjIOSignal_Delete()
Parts
mobjIOSignal As FRCIOSignal
Remarks
This event is automatically generated when a signal is removed from the
collection. Signals can be removed when a configuration is deleted or changed.
The signal is removed from the collection and the FRCIOSignal object is
deleted after the event occurs.
Any attempt to use this object after it is deleted will cause an "Object is no
longer valid" run-time error.
This event is inherited by all of the specific I/O signal objects.
See Also
FRCIOConfigs.Remove Method
FRCIOSignal Object Overview
Example
‘ This example sets a signal to Nothing
‘ when it is deleted and displays a warning
Dim WithEvents mobjIOSignal As FRCIOSignal
Private Sub mobjIOSignal_Delete()
Set mobjIOSignal = Nothing
MsgBox "IO Signal deleted"
End Sub
FRCFlagSignal Object Overview
FRCFlagSignal Object Overview
Description
Represents a specific Flag signal.
Overview
Use this object to monitor and control a Flag signal. The Flag is a feature
introduced with controller version V6.40. It does not control a physical
connection but can be accessed much in the same way that an robot digital
output can.
As such, the FRCFlagSignal properties, methods and events are implemented
and described as those of the FRCRobotIOSignal class.
Since a Flag signal cannot be complemented or inverted, the Complementary
and Polarity properties will throw an error if an assignment is made to them
Properties
Comment As String
Complementary As Boolean
IsAssigned As Boolean (read-only)
IsMonitoring as Boolean (read only)
IsOffline As Boolean (read-only)
LogicalNum As Long (read-only)
NoRefresh as Boolean
NoUpdate as Boolean
Parent As FRCIOSignals (read-only)
Polarity As Boolean
Robot As FRCRobot (read-only)
Value As Boolean
Methods
Refresh()
StartMonitor(Latency As Long)
StopMonitor( )
Update()
Events
Change()
Delete()
Simulate()
Unsimulate()
FRCLaserAnalogIOSignal Object Overview
FRCLaserAnalogIOSignal Object Properties
FRCLaserAnalogIOSignal.Simulate Property
Description
Returns/sets the simulation status of a signal.
Syntax
[blnValue = ]objIOSignal.Simulate
Parts
blnValue As Boolean
objIOSignal As FRCLaserAnalogIOSignal
Remarks
The Value of this property is TRUE when the signal is simulated and FALSE
when it is unsimulated.
When simulated, an input signal’s value can be changed directly and an output
signal’s value is not actually sent.
Changing this property generates either a Simulate or an Unsimulate event
accordingly.
See Also
FRCIOSignal_Simulate Event
FRCIOSignal_Unsimulate Event
FRCLaserAnalogIOSignal Object Overview
FRCLaserAnalogIOSignal.Value Property
FRCLaserAnalogIOType.CanSimulate Property
Example
‘ This example simulates a signal and
‘ changes the value
Dim objIOSignals As FRCIOSignals
Dim objIOSignal As FRCLaserAnalogIOSignal
‘ first get the LaserAnalog input collection
Set objIOSignals = _
gobjRobot.IOTypes(frLAInType).Signals
‘ get the first signal in the collection
Set objIOSignal = objIOSignals(Index:=0)
‘ make sure the signal is simulated
objIOSignal.Simulate = True
‘ change the value
objIOSignal.Value = 1
FRCLaserDigitalIOSignal Object Overview
FRCLaserDigitalIOSignal Object Overview
Description
Represents a specific laser digital I/O signal.
Overview
Use this object to monitor and control a laser digital input or output signal.
Properties
Comment As String
Complementary As Boolean
IsAssigned As Boolean (read-only)
IsMonitoring as Boolean (read only)
IsOffline As Boolean (read-only)
LogicalNum As Long (read-only)
NoRefresh as Boolean
NoUpdate as Boolean
Parent As FRCIOSignals (read-only)
Polarity As Boolean
Robot As FRCRobot (read-only)
Simulate As Boolean
Value As Boolean
Methods
Refresh()
StartMonitor(Latency As Long)
StopMonitor( )
Update()
Events
Change()
Delete()
Simulate()
Unsimulate()
FRCPLCIOSignal Object Overview
FRCPLCIOSignal Object Overview
Description
Represents a specific PLC I/O signal.
Overview
Use this object to monitor and control a PLC input or output signal.
Properties
Comment As String
IsAssigned As Boolean (read-only)
IsMonitoring as Boolean (read only)
IsOffline As Boolean (read-only)
LogicalNum As Long (read-only)
NoRefresh as Boolean
NoUpdate as Boolean
Parent As FRCIOSignals (read-only)
Robot As FRCRobot (read-only)
Value As Boolean
Methods
Refresh()
StartMonitor(Latency As Long)
StopMonitor( )
Update()
Events
Change()
Delete()
Simulate()
Unsimulate()
FRCPLCIOSignal Object Properties
FRCPLCIOSignal.Parent Property
Description
Returns the owning Signals collection
Syntax
objIOSignals = IOxxxSignal.Parent
Parts
objIOSignals As FRCIOSignals
objIOSignal As FRCPLCIOSignal
Remarks
This property returns the FRCIOSignals collection object from which the signal
originated.
See Also
FRCPLCIOSignal Object Overview
FRCIOSignals Object Overview
FRCIOSignals.Item Property
Example
‘ This example gets a signal’s parent
‘ IOSignals object
Dim objIOSignals1 As FRCIOSignals
Dim objIOSignals2 As FRCIOSignals
Dim objIOSignal As FRCPLCIOSignal
‘ get an PLC IO Signals collection
Set objIOSignals1 = gobjRobot.IOTypes(frPLCInType)
‘ get a signal
Set objIOSignal = objIOSignals1(Index:=0)
‘ objIOSignals1 and objIOSignals2 will
‘ refer to the same object
Set objIOSignals2 = objIOSignal.Parent
FRCPLCIOSignal.Value Property
Description
Returns/sets the value of a signal.
Syntax
[blnValue = ]objIOSignal.Value
Parts
blnValue As Boolean
objIOSignal As FRCPLCIOSignal
Remarks
This property returns the current value of the signal. PLC inputs cannot be set
with this property.
See Also
FRCIOSignal Object Overview
FRCPLCIOSignal Object Overview
FRCPLCIOType.IsBoolean Property
Example
‘ This example changes a signal’s value
Dim objIOSignals As FRCIOSignals
Dim objIOSignal As FRCGroupIOSignal
‘ first get the PLC output collection
Set objIOSignals = _
gobjRobot.IOTypes(frPLCOutType).Signals
‘ get the first signal in the collection
Set objIOSignal = objIOSignals(Index:=0)
‘ change the value
objIOSignal.Value = True
FRCSOPIOSignal Object Overview
FRCSOPIOSignal Object Overview
Description
Represents a specific Standard Operator Panel I/O signal.
Overview
Use this object to monitor and control a standard operator panel input or output
signal.
Properties
Comment As String
IsAssigned As Boolean (read-only)
IsMonitoring as Boolean (read only)
IsOffline As Boolean (read-only)
LogicalNum As Long (read-only)
NoRefresh as Boolean
NoUpdate as Boolean
Parent As FRCIOSignals (read-only)
Robot As FRCRobot (read-only)
Value As Boolean
Methods
Refresh()
StartMonitor(Latency As Long)
StopMonitor( )
Update()
Events
Change()
Delete()
Simulate()
Unsimulate()
FRCSOPIOSignal Object Properties
FRCSOPIOSignal.Parent Property
Description
Returns the owning Signals collection
Syntax
objIOSignals = IOxxxSignal.Parent
Parts
objIOSignals As FRCIOSignals
objIOSignal As FRCSOPIOSignal
Remarks
This property returns the FRCIOSignals collection object from which the signal
originated.
See Also
FRCIOSignals Object Overview
FRCIOSignals.Item Property
FRCSOPIOSignal Object Overview
Example
‘ This example gets a signal’s parent
‘ IOSignals object
Dim objIOSignals1 As FRCIOSignals
Dim objIOSignals2 As FRCIOSignals
Dim objIOSignal As FRCSOPIOSignal
‘ get an SOP IO Signals collection
Set objIOSignals1 = gobjRobot.IOTypes(frSOPInType)
‘ get a signal
Set objIOSignal = objIOSignals1(Index:=0)
‘ objIOSignals1 and objIOSignals2 will
‘ refer to the same object
Set objIOSignals2 = objIOSignal.Parent
FRCSOPIOSignal.Value Property
Description
Returns/sets the value of a signal.
Syntax
[blnValue = ]objIOSignal.Value (for digital signal)
Parts
blnValue As Boolean
objIOSignal As FRCSOPIOSignal
Remarks
This property returns the current value of the signal. SOP inputs cannot be set
with this property.
See Also
FRCIOSignal Object Overview
FRCSOPIOSignal Object Overview
FRCSOPIOType.IsBoolean Property
Example
‘ This example changes a signal’s value
Dim objIOSignals As FRCIOSignals
Dim objIOSignal As FRCGroupIOSignal
‘ first get the SOP output collection
Set objIOSignals = _
gobjRobot.IOTypes(frSOPOutType).Signals
‘ get the first signal in the collection
Set objIOSignal = objIOSignals(Index:=0)
‘ change the value
objIOSignal.Value = True
FRCTPIOSignal Object Overview
FRCTPIOSignal Object Overview
Description
Represents a specific teach pendant I/O signal.
Use this object to monitor and control a teach pendant input or output signal.
TPOut signals can be used to determine the various general robot controller
states. Starting with V5.20, the Robot Server automatically keeps these signals
updated to reflect the current controller status. Use FRETPOutSignalConstants
to access the correct TPOut signal.
Properties
Comment As String
IsAssigned As Boolean (read-only)
IsMonitoring as Boolean (read only)
IsOffline As Boolean (read-only)
LogicalNum As Long (read-only)
NoRefresh as Boolean
NoUpdate as Boolean
Parent As FRCIOSignals (read-only)
Value As Boolean
Robot As FRCRobot (read-only)
Methods
Refresh()
StartMonitor(Latency As Long)
StopMonitor( )
Update()
Events
Change()
Delete()
Simulate()
Unsimulate()
FRCTPIOSignal Object Properties
FRCTPIOSignal.Parent Property
Description
Returns the owning Signals collection
Syntax
objIOSignals = IOxxxSignal.Parent
Parts
objIOSignals As FRCIOSignals
objIOSignal As FRCTPIOSignal
Remarks
This property returns the FRCIOSignals collection object from which the signal
originated.
See Also
FRCIOSignals Object Overview
FRCIOSignals.Item Property
FRCTPIOSignal Object Overview
Example
‘ This example gets a signal’s parent
‘ IOSignals object
Dim objIOSignals1 As FRCIOSignals
Dim objIOSignals2 As FRCIOSignals
Dim objIOSignal As FRCTPIOSignal
‘ get an TP IO Signals collection
Set objIOSignals1 = gobjRobot.IOTypes(frTPInType)
‘ get a signal
Set objIOSignal = objIOSignals1(Index:=0)
‘ objIOSignals1 and objIOSignals2 will
‘ refer to the same object
Set objIOSignals2 = objIOSignal.Parent
FRCTPIOSignal.Value Property
Description
Returns/sets the value of a signal.
Syntax
[blnValue = ]objIOSignal.Value
Parts
blnValue As Boolean
objIOSignal As FRCTPIOSignal
Remarks
This property returns the current value of the signal. Teach pendant inputs
cannot be set with this property.
See Also
FRCIOSignal Object Overview
FRCTPIOSignal Object Overview
FRCTPIOType.IsBoolean Property
Example
‘ This example changes a signal’s value
Dim objIOSignals As FRCIOSignals
Dim objIOSignal As FRCGroupIOSignal
‘ first get the TP output collection
Set objIOSignals = _
gobjRobot.IOTypes(frTPOutType).Signals
‘ get the first signal in the collection
Set objIOSignal = objIOSignals(Index:=0)
‘ change the value
objIOSignal.Value = True
FRCUOPIOSignal Object Overview
FRCUOPIOSignal Object Overview
Description
Represents a specific User Operator Panel I/O signal.
Overview
Use this object to monitor and control a user operator panel input or output
signal.
Properties
Comment As String
IsAssigned As Boolean (read-only)
IsMonitoring as Boolean (read only)
IsOffline As Boolean (read-only)
LogicalNum As Long (read-only)
NoRefresh as Boolean
NoUpdate as Boolean
Parent As FRCIOSignals (read-only)
Robot As FRCRobot (read-only)
Value As Boolean
Methods
Refresh()
StartMonitor(Latency As Long)
StopMonitor( )
Update()
Events
Change()
Delete()
Simulate()
Unsimulate()
FRCUOPIOSignal Object Properties
FRCUOPIOSignal.Parent Property
Description
Returns the owning Signals collection
Syntax
objIOSignals = IOxxxSignal.Parent
Parts
objIOSignals As FRCIOSignals
objIOSignal As FRCUOPIOSignal
Remarks
This property returns the FRCIOSignals collection object from which the signal
originated.
Although this property is described here as a member of FRCUOPIOSignal, it
applies to the following objects:
FRCPLCIOSignal
FRCSOPIOSignal
FRCTPIOSignal
See Also
FRCIOSignals Object Overview
FRCIOSignals.Item Property
FRCIOUOPSignal Object Overview
Example
‘ This example gets a signal’s parent
‘ IOSignals object
Dim objIOSignals1 As FRCIOSignals
Dim objIOSignals2 As FRCIOSignals
Dim objIOSignal As FRCUOPIOSignal
‘ get an UOP IO Signals collection
Set objIOSignals1 = gobjRobot.IOTypes(frUOPInType)
‘ get a signal
Set objIOSignal = objIOSignals1(Index:=0)
‘ objIOSignals1 and objIOSignals2 will
‘ refer to the same object
Set objIOSignals2 = objIOSignal.Parent
FRCUOPIOSignal.Value Property
Description
Returns/sets the value of a signal.
Syntax
[blnValue = ]objIOSignal.Value
Parts
blnValue As Boolean
objIOSignal As FRCUOPIOSignal
Remarks
This property returns the current value of the signal. UOP inputs cannot be
changed with this property.
Although this property is described here as a member of FRCUOPIOSignal, it
applies to the following objects:
FRCPLCIOSignal
FRCSOPIOSignal
FRCTPIOSignal
See Also
FRCIOSignal Object Overview
FRCUOPIOSignal Object Overview
FRCUOPIOType.IsBoolean Property
Example
‘ This example changes a signal’s value
Dim objIOSignals As FRCIOSignals
Dim objIOSignal As FRCGroupIOSignal
‘ first get the UOP output collection
Set objIOSignals = _
gobjRobot.IOTypes(frUOPOutType).Signals
‘ get the first signal in the collection
Set objIOSignal = objIOSignals(Index:=0)
‘ change the value
objIOSignal.Value = True
FRCWeldDigitalIOSignal Object Overview
FRCWeldDigitalIOSignal Object Overview
Description
Represents a specific weld digital I/O signal.
Overview
Use this object to monitor and control a weld digital input or output signal.
Properties
Comment As String
Complementary As Boolean
IsAssigned As Boolean (read-only)
IsMonitoring as Boolean (read only)
IsOffline As Boolean (read-only)
LogicalNum As Long (read-only)
NoRefresh as Boolean
NoUpdate as Boolean
Parent As FRCIOSignals (read-only)
Polarity As Boolean
Robot As FRCRobot (read-only)
Simulate As Boolean
Value As Boolean
Methods
Refresh()
StartMonitor(Latency As Long)
StopMonitor( )
Update()
Events
Change()
Delete()
Simulate()
Unsimulate()
FRCWeldDigitalIOSignal Object Properties
FRCWeldDigitalIOSignal.Complementary Property
Description
Returns/sets the complementary status of an output signal.
Syntax
[blnValue = ]objIOSignal.Complementary
Parts
blnValue As Boolean
objIOSignal As FRCWeldDigitalIOSignal
Remarks
This property can be used to determine if a signal is a member of a
complementary pair. The complementary status can also be set. A value of
TRUE means the signal is in a complementary pair.
Signals with an odd logical number are complemented with the next higher
signal, while signals with an even logical number are complemented with the
next lower signal.
See Also
FRCIOSignal Object Overview
FRCWeldDigitalIOSignal Object Overview
FRCWeldDigitalIOSignal.Value Property
FRCWeldDigitalIOType.CanComplement Property
Example
‘ This example complements a signal
‘ and changes the value of both signals
Dim objIOSignals As FRCIOSignals
Dim objIOSignal As FRCWeldDigitalIOSignal
‘ first get the WeldDigital output collection
Set objIOSignals = _
gobjRobot.IOTypes(frWDOutType).Signals
‘ get the signal, logical number is 1
Set objIOSignal = objIOSignals(1)
‘ complement the signal
objIOSignal.Complementary = True
‘ change the value
‘ setting this signal high sets
‘ WeldDigital output signal 2’s value low
objIOSignal.Value = True
FRCWeldStickIOSignal Object Overview
FRCWeldStickIOSignal Object Overview
Description
Represents a specific weld stick I/O signal.
Overview
Use this object to monitor and control a weld stick input or output signal.
Properties
Comment As String
Complementary As Boolean
IsAssigned As Boolean (read-only)
IsMonitoring as Boolean (read only)
IsOffline As Boolean (read-only)
LogicalNum As Long (read-only)
NoRefresh as Boolean
NoUpdate as Boolean
Parent As FRCIOSignals (read-only)
Polarity As Boolean
Robot As FRCRobot (read-only)
Simulate As Boolean
Value As Boolean
Methods
Refresh()
StartMonitor(Latency As Long)
StopMonitor( )
Update()
Events
Change()
Delete()
Simulate()
Unsimulate()
FRCIOSignals
FRCIOSignals Object Properties
FRCIOSignals.Count Property
Description
Returns the number of signals contained in the collection.
Syntax
[lngCount = ]objIOSignals.Count
Parts
lngCount As Long
objIOSignals As FRCIOSignals
Remarks
The Count property can be used to loop through all the signals in the collection,
however, it is generally better to enumerate the signals using the "for each" VB
syntax.
Count will be the number of signals with a valid configuration. The signals are
not necessarily assigned yet since a cold start is required after configuration. If
no valid configurations are available, then Count is 0 and the collection is
empty.
See Also
FRCIOSignals Object Overview
Example
’Example getting the number of signals contained in ’the
digital output collection.
Dim lngCount as Long
Dim objIOSignals as FRCIOSignals
’Set the I/O signals object to digital outputs
Set objIOSignals = _
mobjRobot.IOTypes.Item(frDOutType).Signals
’Get the number of digital outputs
lngCount = objIOSignals.Count
FRCIOSignals.IsMonitoring Property
Description
Returns information on whether monitoring is enabled.
Syntax
[blnIsMonitoring = ]objIOSignals.IsMonitoring
Parts
objIOSignals as FRCIOSignals
blnIsMonitoring as Boolean
Remarks
This property is TRUE if monitoring of the signal collection is currently turned
on; it is FALSE is monitoring is currently turned off. The StartMonitor and
StopMonitor methods are used to control monitoring.
See Also
FRCIOSignals Object Overview
FRCIOSignals.StartMonitor Method
FRCIOSignals.StopMonitor Method
Example
’Example determining if digital I/O signals are being
‘monitored
Dim blnIsMonitoring as Boolean
Dim objIOSignals as FRCIOSignals
’Set the I/O signals object to digital outputs
Set objIOSignals = _
mobjRobot.IOTypes.Item(frDOutType).Signals
’Determine if monitoring
blnIsMonitoring = objIOSignals.IsMonitoring
FRCIOSignals Object Methods
FRCIOSignals.Refresh Method
Description
Causes new data to be read from the robot into the local memory of I/O Signal
data.
Syntax
objIOSignals.Refresh
Parts
objIOSignals as FRCIOSignals
Remarks
Used in conjunction with the NoRefresh property this method will force a "blockread" of the I/O signals collection when the signal data is next accessed.
If the NoRefresh property is FALSE, then this method does nothing.
See Also
FRCIOSignals Object Overview
Optimizing Data Access
FRCIOSignal Object Overview
FRCIOSignals.NoRefresh Property
Example
’Example of refreshing the I/O signal data
Dim objDInType As FRCDigitalIOType
Set objDInType = gobjRobot.IOTypes(frDInType)
objDInType.Signals.Refresh = True
FRCIOSignals.StopMonitor Method
Description
Stops the monitoring of the I/O signals collection for changes.
Syntax
objIOSignals.StopMonitor
Parts
objIOSignals as FRCIOSignals
Remarks
This method turns off the IsMonitoring property and stops Change events from
occurring. If more than one program has called the StartMonitor method,
Change events will still occur until all programs call this method. This method is
also called automatically if all programs destroy their reference to this object.
See Also
FRCIOSignals Object Overview
FRCIOSignals.IsMonitoring Property
FRCIOSignals.StartMonitor Method
Example
’Example of stopping the monitoring of the I/O
’signals collection for changes
Dim objIOSignals As FRCIOSignals
’Stop monitoring:
objIOSignals.StopMonitor
FRCxxxIOType
FRCAnalogIOType Object Overview
FRCAnalogIOType Object Overview
Description
This object is used to access both I/O signal and I/O configuration collections.
Overview
This represents the analog I/O type object.
Properties
CanComplement As Boolean (read-only)
CanConfigure As Boolean (read-only)
CanInvert As Boolean (read-only)
CanSimulate As Boolean (read-only)
Configs As FRCIOConfigs (read-only)
IsBoolean As Boolean (read-only)
IsInput As Boolean (read-only)
Name As String (read-only)
Parent As FRCIOTypes (read-only)
Robot As FRCRobot (read-only)
Signals As FRCIOSignals (read-only)
Type As FREIOTypeConstants (read-only)
Methods
none
Events
none
FRCAnalogIOType Object Properties
FRCAnalogIOType.CanConfigure Property
Description
Returns information on whether I/O type can be configured.
Syntax
[blnValue = ]objIOType.CanConfigure
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that complementary paris are supported on this I/O
type.
See Also
FRCAnalogIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be configured
Dim blnValue as Boolean
Dim objIOType as FRCAnalogIOType
blnValue = objIOType.CanConfigure
If blnValue = True Then
MsgBox objIOType.Name & " can be configured."
Else
MsgBox objIOType.Name & " cannot be configured."
End If
FRCAnalogIOType.CanSimulate Property
Description
Returns information on whether this I/O type can be simulated.
Syntax
[blnValue = ]objIOType. CanSimulate
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be simulated.
See Also
FRCAnalogIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be simulated
Dim blnValue as Boolean
Dim objIOType as FRCAnalogIOType
blnValue = objIOType.CanSimulate
If blnValue = True Then
MsgBox objIOType.Name & " can be simulated."
Else
MsgBox objIOType.Name & " cannot be simulated."
End If
FRCDigitalIOType Object Overview
FRCDigitalIOType Object Properties
FRCDigitalIOType.CanConfigure Property
Description
Returns information on whether this I/O type can be configured.
Syntax
[blnValue = ]objIOType.CanConfigure
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be configured.
Although this property is described here as a member of FRCDigitalIOType, it
applies to the following objects:
FRCAnalogIOType
FRCGroupIOType
FRCLaserAnalogIOType
FRCLaserDigitalIOType
FRCPLCIOType
FRCSOPIOType
FRCTPIOType
FRCUOPIOType
FRCWeldDigitalIOType
FRCWeldStickIOType
See Also
FRCDigitalIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be configured
Dim blnValue as Boolean
Dim objIOType as FRCDigitalIOType
blnValue = objIOType.CanConfigure
If blnValue = True Then
MsgBox objIOType.Name & " can be configured."
Else
MsgBox objIOType.Name & " cannot be configured."
End If
FRCDigitalIOType.CanSimulate Property
Description
Returns information on whether this I/O type can be simulated.
Syntax
[blnValue = ]objIOType. CanSimulate
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be simulated.
Although this property is described here as a member of FRCDigitalIOType, it
applies to the following objects:
FRCAnalogIOType
FRCGroupIOType
FRCLaserAnalogIOType
FRCLaserDigitalIOType
FRCPLCIOType
FRCSOPIOType
FRCTPIOType
FRCUOPIOType
FRCWeldDigitalIOType
FRCWeldStickIOType
See Also
FRCDigitalIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be simulated
Dim blnValue as Boolean
Dim objIOType as FRCDigitalIOType
blnValue = objIOType.CanSimulate
If blnValue = True Then
MsgBox objIOType.Name & " can be simulated."
Else
MsgBox objIOType.Name & " cannot be simulated."
End If
FRCFlagType Object Overview
FRCFlagType Object Properties
FRCFlagType.CanComplement Property
Description
Returns information on whether complementary pairs are supported on this I/O
type.
Syntax
[blnValue = ]objIOType.CanComplement
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A Flag cannot be complemented so this proerty always returns a value of
FALSE.
See Also
FRCFlagType Object OverView
FRCIOType Object Overview
Example
‘Example of determining if complementary pairs are
available
Dim blnValue as Boolean
Dim objIOType as FRCRobotIOType
blnValue = objIOType.CanComplement
If blnValue = True Then
MsgBox objIOType.Name & " can be paired."
Else
MsgBox objIOType.Name & " cannot be paired."
End If
FRCFlagType.CanConfigure Property
Description
Returns information on whether this I/O type can be configured.
Syntax
[blnValue = ]objIOType.CanConfigure
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
The Flag type cannot be configured using the typical I/O configuration
techniques. So this property always returns a value of FALSE.
You can, however set $MIX_LOGIC.$NUM_FLG to adjust the number of Flags
supported by the controller. The new setting takes affect after the next cold
start.
See Also
FRCFlagType Object OverView
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be configured
Dim blnValue as Boolean
Dim objIOType as FRCRobotIOType
blnValue = objIOType.CanConfigure
If blnValue = True Then
MsgBox objIOType.Name & " can be configured."
Else
MsgBox objIOType.Name & " cannot be configured."
End If
FRCFlagType.CanSimulate Property
Description
Returns information on whether this I/O type can be simulated.
Syntax
[blnValue = ]objIOType. CanSimulate
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
The Flag signal type does not support simulation so this property always
returns s value of FALSE.
See Also
FRCFlagType Object OverView
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be simulated
Dim blnValue as Boolean
Dim objIOType as FRCRobotIOType
blnValue = objIOType.CanSimulate
If blnValue = True Then
MsgBox objIOType.Name & " can be simulated."
Else
MsgBox objIOType.Name & " cannot be simulated."
End If
FRCGroupIOType Object Overview
FRCGroupIOType Object Properties
FRCGroupIOType.CanComplement Property
Description
Returns information on whether complementary pairs are supported on this I/O
type.
Syntax
[blnValue = ]objIOType.CanComplement
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that complementary pairs are supported on this I/O
type.
See Also
FRCGroupIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if complementary pairs are
available
Dim blnValue as Boolean
Dim objIOType as FRCGroupIOType
blnValue = objIOType.CanComplement
If blnValue = True Then
MsgBox objIOType.Name & " can be paired."
Else
MsgBox objIOType.Name & " cannot be paired."
End If
FRCGroupIOType.CanConfigure Property
Description
Returns information on whether this I/O type can be configured.
Syntax
[blnValue = ]objIOType.CanConfigure
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be configured.
See Also
FRCGroupIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be configured
Dim blnValue as Boolean
Dim objIOType as FRCGroupIOType
blnValue = objIOType.CanConfigure
If blnValue = True Then
MsgBox objIOType.Name & " can be configured."
Else
MsgBox objIOType.Name & " cannot be configured."
End If
FRCGroupIOType.CanSimulate Property
Description
Returns information on whether this I/O type can be simulated.
Syntax
[blnValue = ]objIOType. CanSimulate
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be simulated.
See Also
FRCGroupIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be simulated
Dim blnValue as Boolean
Dim objIOType as FRCGroupIOType
blnValue = objIOType.CanSimulate
If blnValue = True Then
MsgBox objIOType.Name & " can be simulated."
Else
MsgBox objIOType.Name & " cannot be simulated."
End If
FRCLaserAnalogIOType Object Overview
FRCLaserAnalogIOType Object Overview
Description
This object is used to access both I/O signal and I/O configuration collections.
Overview
This represents the laser analog I/O type object.
Properties
CanComplement As Boolean (read-only)
CanConfigure As Boolean (read-only)
CanInvert As Boolean (read-only)
CanSimulate As Boolean (read-only)
Configs As FRCIOConfigs (read-only)
IsBoolean As Boolean (read-only)
IsInput As Boolean (read-only)
Name As String (read-only)
Parent As FRCIOTypes (read-only)
Robot As FRCRobot (read-only)
Signals As FRCIOSignals (read-only)
Type As FREIOTypeConstants (read-only)
Methods
none
Events
none
FRCLaserAnalogIOType Object Properties
FRCLaserAnalogIOType.CanConfigure Property
Description
Returns information on whether this I/O type can be configured.
Syntax
[blnValue = ]objIOType.CanConfigure
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be configured.
See Also
FRCLaserAnalogIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be configured
Dim blnValue as Boolean
Dim objIOType as FRCLaserAnalogIOType
blnValue = objIOType.CanConfigure
If blnValue = True Then
MsgBox objIOType.Name & " can be configured."
Else
MsgBox objIOType.Name & " cannot be configured."
End If
FRCLaserAnalogIOType.CanSimulate Property
Description
Returns information on whether this I/O type can be simulated.
Syntax
[blnValue = ]objIOType. CanSimulate
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be simulated.
See Also
FRCLaserAnalogIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be simulated
Dim blnValue as Boolean
Dim objIOType as FRCLaserAnalogIOType
blnValue = objIOType.CanSimulate
If blnValue = True Then
MsgBox objIOType.Name & " can be simulated."
Else
MsgBox objIOType.Name & " cannot be simulated."
End If
FRCLaserDigitalIOType Object Overview
FRCLaserDigitalIOType Object Properties
FRCLaserDigitalIOType.CanComplement Property
Description
Returns information on whether complementary pairs are supported on this I/O
type.
Syntax
[blnValue = ]objIOType.CanComplement
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that complementary pairs are supported on this I/O
type.
See Also
FRCLaserDigitalIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if complementary pairs are
available
Dim blnValue as Boolean
Dim objIOType as FRCLaserDigitalIOType
blnValue = objIOType.CanComplement
If blnValue = True Then
MsgBox objIOType.Name & " can be paired."
Else
MsgBox objIOType.Name & " cannot be paired."
End If
FRCLaserDigitalIOType.CanConfigure Property
Description
Returns information on whether this I/O type can be configured.
Syntax
[blnValue = ]objIOType.CanConfigure
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be configured.
See Also
FRCLaserDigitalIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be configured
Dim blnValue as Boolean
Dim objIOType as FRCLaserDigitalIOType
blnValue = objIOType.CanConfigure
If blnValue = True Then
MsgBox objIOType.Name & " can be configured."
Else
MsgBox objIOType.Name & " cannot be configured."
End If
FRCLaserDigitalIOType.CanSimulate Property
Description
Returns information on whether this I/O type can be simulated.
Syntax
[blnValue = ]objIOType. CanSimulate
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be simulated.
See Also
FRCLaserDigitalIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be simulated
Dim blnValue as Boolean
Dim objIOType as FRCLaserDigitalIOType
blnValue = objIOType.CanSimulate
If blnValue = True Then
MsgBox objIOType.Name & " can be simulated."
Else
MsgBox objIOType.Name & " cannot be simulated."
End If
FRCMarkerType Object Overview
FRCMarkerType Object Properties
FRCMarkerType.CanConfigure Property
Description
Returns information on whether this I/O type can be configured.
Syntax
[blnValue = ]objIOType.CanConfigure
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
The Marker type cannot be configured using the typical I/O configuration
techniques. So this property always returns a value of FALSE.
You can, however set $MIX_LOGIC.$NUM_MKR to adjust the number of
Markers supported by the controller. The new setting takes affect after the next
cold start.
See Also
FRCMarkerType Object OverView
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be configured
Dim blnValue as Boolean
Dim objIOType as FRCRobotIOType
blnValue = objIOType.CanConfigure
If blnValue = True Then
MsgBox objIOType.Name & " can be configured."
Else
MsgBox objIOType.Name & " cannot be configured."
End If
FRCMarkerType.CanSimulate Property
Description
Returns information on whether this I/O type can be simulated.
Syntax
[blnValue = ]objIOType. CanSimulate
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
The Marker signal type does not support simulation so this property always
returns s value of FALSE.
See Also
FRCMarkerType Object OverView
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be simulated
Dim blnValue as Boolean
Dim objIOType as FRCRobotIOType
blnValue = objIOType.CanSimulate
If blnValue = True Then
MsgBox objIOType.Name & " can be simulated."
Else
MsgBox objIOType.Name & " cannot be simulated."
End If
FRCPLCIOType Object Overview
FRCPLCIOType Object Properties
FRCPLCIOType.CanComplement Property
Description
Returns information on whether complementary pairs are supported on this I/O
type.
Syntax
[blnValue = ]objIOType.CanComplement
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that complementary pairs are supported on this I/O
type.
See Also
FRCPLCIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if complementary pairs are
available
Dim blnValue as Boolean
Dim objIOType as FRCPLCIOType
blnValue = objIOType.CanComplement
If blnValue = True Then
MsgBox objIOType.Name & " can be paired."
Else
MsgBox objIOType.Name & " cannot be paired."
End If
FRCRobotIOType Object Overview
FRCRobotIOType Object Overview
Description
This object is used to access I/O signals of non configurable robot I/O types.
Overview
This represents the robot I/O type object.
Properties
CanComplement As Boolean (read-only)
CanConfigure As Boolean (read-only)
CanInvert As Boolean (read-only)
CanSimulate As Boolean (read-only)
IsBoolean As Boolean (read-only)
IsInput As Boolean (read-only)
Name As String (read-only)
Parent As FRCIOTypes (read-only)
Robot As FRCRobot (read-only)
Signals As FRCIOSignals (read-only)
Type As FREIOTypeConstants (read-only)
Methods
none
Events
none
FRCRobotIOType Object Properties
FRCRobotIOType.CanComplement Property
Description
Returns information on whether complementary pairs are supported on this I/O
type.
Syntax
[blnValue = ]objIOType.CanComplement
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that complementary pairs are supported on this I/O
type.
See Also
FRCRobotIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if complementary pairs are
available
Dim blnValue as Boolean
Dim objIOType as FRCRobotIOType
blnValue = objIOType.CanComplement
If blnValue = True Then
MsgBox objIOType.Name & " can be paired."
Else
MsgBox objIOType.Name & " cannot be paired."
End If
FRCRobotIOType.CanConfigure Property
Description
Returns information on whether this I/O type can be configured.
Syntax
[blnValue = ]objIOType.CanConfigure
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be configured.
See Also
FRCRobotIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be configured
Dim blnValue as Boolean
Dim objIOType as FRCRobotIOType
blnValue = objIOType.CanConfigure
If blnValue = True Then
MsgBox objIOType.Name & " can be configured."
Else
MsgBox objIOType.Name & " cannot be configured."
End If
FRCRobotIOType.CanSimulate Property
Description
Returns information on whether this I/O type can be simulated.
Syntax
[blnValue = ]objIOType. CanSimulate
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be simulated.
See Also
FRCRobotIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be simulated
Dim blnValue as Boolean
Dim objIOType as FRCRobotIOType
blnValue = objIOType.CanSimulate
If blnValue = True Then
MsgBox objIOType.Name & " can be simulated."
Else
MsgBox objIOType.Name & " cannot be simulated."
End If
FRCSOPIOType Object Overview
FRCSOPIOType Object Properties
FRCSOPIOType.CanComplement Property
Description
Returns information on whether complementary pairs are supported on this I/O
type.
Syntax
[blnValue = ]objIOType.CanComplement
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that complementary pairs are supported on this I/O
type.
See Also
FRCSOPIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if complementary pairs are
available
Dim blnValue as Boolean
Dim objIOType as FRCSOPIOType
blnValue = objIOType.CanComplement
If blnValue = True Then
MsgBox objIOType.Name & " can be paired."
Else
MsgBox objIOType.Name & " cannot be paired."
End If
FRCSOPIOType.CanConfigure Property
Description
Returns information on whether this I/O type can be configured.
Syntax
[blnValue = ]objIOType.CanConfigure
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be configured.
See Also
FRCSOPIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be configured
Dim blnValue as Boolean
Dim objIOType as FRCSOPIOType
blnValue = objIOType.CanConfigure
If blnValue = True Then
MsgBox objIOType.Name & " can be configured."
Else
MsgBox objIOType.Name & " cannot be configured."
End If
FRCSOPIOType.CanSimulate Property
Description
Returns information on whether this I/O type can be simulated.
Syntax
[blnValue = ]objIOType. CanSimulate
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be simulated.
See Also
FRCSOPIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be simulated
Dim blnValue as Boolean
Dim objIOType as FRCSOPIOType
blnValue = objIOType.CanSimulate
If blnValue = True Then
MsgBox objIOType.Name & " can be simulated."
Else
MsgBox objIOType.Name & " cannot be simulated."
End If
FRCTPIOType Object Overview
FRCTPIOType Object Properties
FRCTPIOType.CanComplement Property
Description
Returns information on whether complementary pairs are supported on this I/O
type.
Syntax
[blnValue = ]objIOType.CanComplement
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that complementary pairs are supported on this I/O
type.
See Also
FRCTPIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if complementary pairs are
available
Dim blnValue as Boolean
Dim objIOType as FRCTPIOType
blnValue = objIOType.CanComplement
If blnValue = True Then
MsgBox objIOType.Name & " can be paired."
Else
MsgBox objIOType.Name & " cannot be paired."
End If
FRCTPIOType.CanConfigure Property
Description
Returns information on whether this I/O type can be configured.
Syntax
[blnValue = ]objIOType.CanConfigure
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be configured.
See Also
FRCTPIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be configured
Dim blnValue as Boolean
Dim objIOType as FRCTPIOType
blnValue = objIOType.CanConfigure
If blnValue = True Then
MsgBox objIOType.Name & " can be configured."
Else
MsgBox objIOType.Name & " cannot be configured."
End If
FRCTPIOType.CanSimulate Property
Description
Returns information on whether this I/O type can be simulated.
Syntax
[blnValue = ]objIOType. CanSimulate
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be simulated.
See Also
FRCTPIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be simulated
Dim blnValue as Boolean
Dim objIOType as FRCTPIOType
blnValue = objIOType.CanSimulate
If blnValue = True Then
MsgBox objIOType.Name & " can be simulated."
Else
MsgBox objIOType.Name & " cannot be simulated."
End If
FRCUOPIOType Object Overview
FRCUOPIOType Object Properties
FRCUOPIOType.CanComplement Property
Description
Returns information on whether complementary pairs are supported on this I/O
type.
Syntax
[blnValue = ]objIOType.CanComplement
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that complementary pairs are supported on this I/O
type.
See Also
FRCUOPIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if complementary pairs are
available
Dim blnValue as Boolean
Dim objIOType as FRCUOPIOType
blnValue = objIOType.CanComplement
If blnValue = True Then
MsgBox objIOType.Name & " can be paired."
Else
MsgBox objIOType.Name & " cannot be paired."
End If
FRCUOPIOType.CanConfigure Property
Description
Returns information on whether this I/O type can be configured.
Syntax
[blnValue = ]objIOType.CanConfigure
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be configured.
See Also
FRCUOPIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be configured
Dim blnValue as Boolean
Dim objIOType as FRCUOPIOType
blnValue = objIOType.CanConfigure
If blnValue = True Then
MsgBox objIOType.Name & " can be configured."
Else
MsgBox objIOType.Name & " cannot be configured."
End If
FRCUOPIOType.CanSimulate Property
Description
Returns information on whether this I/O type can be simulated.
Syntax
[blnValue = ]objIOType. CanSimulate
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be simulated.
See Also
FRCUOPIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be simulated
Dim blnValue as Boolean
Dim objIOType as FRCUOPIOType
blnValue = objIOType.CanSimulate
If blnValue = True Then
MsgBox objIOType.Name & " can be simulated."
Else
MsgBox objIOType.Name & " cannot be simulated."
End If
FRCWeldStickIOType Object Overview
FRCWeldStickIOType Object Overview
Description
This object is used to access both I/O signal and I/O configuration collections.
Overview
This represents the Weld Stick I/O type object.
Properties
CanComplement As Boolean (read-only)
CanConfigure As Boolean (read-only)
CanInvert As Boolean (read-only)
CanSimulate As Boolean (read-only)
Configs As FRCIOConfigs (read-only)
IsBoolean As Boolean (read-only)
IsInput As Boolean (read-only)
Name As String (read-only)
Parent As FRCIOTypes (read-only)
Robot As FRCRobot (read-only)
Signals As FRCIOSignals (read-only)
Type As FREIOTypeConstants (read-only)
Methods
none
Events
none
FRCWeldStickIOType Object Properties
FRCWeldStickIOType.CanComplement Property
Description
Returns information on whether complementary pairs are supported on this I/O
type.
Syntax
[blnValue = ]objIOType.CanComplement
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that complementary pairs are supported on this I/O
type.
See Also
FRCWeldStickIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if complementary pairs are
available
Dim blnValue as Boolean
Dim objIOType as FRCWeldStickIOType
blnValue = objIOType.CanComplement
If blnValue = True Then
MsgBox objIOType.Name & " can be paired."
Else
MsgBox objIOType.Name & " cannot be paired."
End If
FRCWeldStickIOType.CanConfigure Property
Description
Returns information on whether this I/O type can be configured.
Syntax
[blnValue = ]objIOType.CanConfigure
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be configured.
See Also
FRCWeldStickIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be configured
Dim blnValue as Boolean
Dim objIOType as FRCWeldStickIOType
blnValue = objIOType.CanConfigure
If blnValue = True Then
MsgBox objIOType.Name & " can be configured."
Else
MsgBox objIOType.Name & " cannot be configured."
End If
FRCWeldStickIOType.CanSimulate Property
Description
Returns information on whether this I/O type can be simulated.
Syntax
[blnValue = ]objIOType. CanSimulate
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be simulated.
See Also
FRCWeldStickIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be simulated
Dim blnValue as Boolean
Dim objIOType as FRCWeldStickIOType
blnValue = objIOType.CanSimulate
If blnValue = True Then
MsgBox objIOType.Name & " can be simulated."
Else
MsgBox objIOType.Name & " cannot be simulated."
End If
FRCWeldDigitalIOType Object Overview
FRCWeldDigitalIOType Object Overview
Description
This object is used to access both I/O signal and I/O configuration collections.
Overview
This represents the Weld Digital I/O type object.
Properties
CanComplement As Boolean (read-only)
CanConfigure As Boolean (read-only)
CanInvert As Boolean (read-only)
CanSimulate As Boolean (read-only)
Configs As FRCIOConfigs (read-only)
IsBoolean As Boolean (read-only)
IsInput As Boolean (read-only)
Name As String (read-only)
Parent As FRCIOTypes (read-only)
Robot As FRCRobot (read-only)
Signals As FRCIOSignals (read-only)
Type As FREIOTypeConstants (read-only)
Methods
none
Events
none
FRCWeldDigitalIOType Object Properties
FRCWeldDigitalIOType.CanComplement Property
Description
Returns information on whether complementary pairs are supported on this I/O
type.
Syntax
[blnValue = ]objIOType.CanComplement
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that complementary pairs are supported on this I/O
type.
See Also
FRCWeldDigitalIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if complementary pairs are
available
Dim blnValue as Boolean
Dim objIOType as FRCWeldDigitalIOType
blnValue = objIOType.CanComplement
If blnValue = True Then
MsgBox objIOType.Name & " can be paired."
Else
MsgBox objIOType.Name & " cannot be paired."
End If
FRCWeldDigitalIOType.CanConfigure Property
Description
Returns information on whether this I/O type can be configured.
Syntax
[blnValue = ]objIOType.CanConfigure
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be configured.
See Also
FRCWeldDigitalIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be configured
Dim blnValue as Boolean
Dim objIOType as FRCWeldDigitalIOType
blnValue = objIOType.CanConfigure
If blnValue = True Then
MsgBox objIOType.Name & " can be configured."
Else
MsgBox objIOType.Name & " cannot be configured."
End If
FRCWeldDigitalIOType.CanSimulate Property
Description
Returns information on whether this I/O type can be simulated.
Syntax
[blnValue = ]objIOType. CanSimulate
Parts
blnValue As Boolean
objIOType as FRCIOType
Remarks
A value of TRUE indicates that this I/O type can be simulated.
See Also
FRCWeldDigitalIOType Object Overview
FRCIOType Object Overview
Example
‘Example of determining if the I/O type can be simulated
Dim blnValue as Boolean
Dim objIOType as FRCWeldDigitalIOType
blnValue = objIOType.CanSimulate
If blnValue = True Then
MsgBox objIOType.Name & " can be simulated."
Else
MsgBox objIOType.Name & " cannot be simulated."
End If
FRCIOTypes
FRCIOTypes Object Properties
FRCIOTypes.Count Property
Description
Returns the number of I/O types set up on the controller.
Syntax
[intCount = ]objIOTypes.Count
Parts
intCount As Integer
objIOTypes As FRCIOTypes
Remarks
The Count property can be used to loop through all the I/O types in the
collection, however, it is generally better to retrieve the objects in the collection
through the "Item" property or by using a For…Each loop.
See Also
FRCIOTypes Object Overview
Example
‘Example getting the number of I/O types that are set ‘up
on the controller
Dim intCount as Integer
Dim objIOTypes as FRCIOTypes
Set objIOTypes = mobjRobot.IOTypes
intCount = objIOTypes.Count
FREIOTypeConstants
FREIOTypeConstants Overview
Description
An enumeration of constants used to identify the different types of I/O.
Overview
These constants are used with the I/O objects when referring to a specific type.
Please refer to the application-specific Setup and Operations Manual for
information on setting up and using I/O.
Values
frAInType
frAOutType
frDInType
frDOutType
frFlagType
frGPInType
frGPOutType
frLAInType
frLAOutType
frLDOutType
frLDInType
frMarkerType
frMaxIOType
frPLCInType
frPLCOutType
frRDInType
frRDOutType
frSOPInType
frSOPOutType
frTPInType
frTPOutType
frUOPInType
frUOPOutType
frWDInType
frWDOutType
frWSTKInType
frWSTKOutType
See Also
FRCIOConfig.PhysicalType Property
FRCIOType.Type Property
FRCIOTypes.Item Property
frDInType
Description
Digital Input
Remarks
none
See Also
FREIOTypeConstants Overview
frLAInType
Description
Laser Analog Input
Remarks
none
See Also
FREIOTypeConstants Overview
frLDInType
Description
Laser Digital Input
Remarks
none
See Also
FREIOTypeConstants Overview
frMaxIOType
Description
Maximum system defined I/O type
Remarks
none
See Also
FREIOTypeConstants Overview
frPLCInType
Description PLC Input
Remarks
none
See Also
FREIOTypeConstants Overview
frRDOutType
Description
Robot Digital Output
Remarks
none
See Also
FREIOTypeConstants Overview
frSOPInType
Description
System Operator Panel Input
Remarks
none
See Also
FREIOTypeConstants Overview
frTPOutType
Description
Teach Pendant Digital Output
Remarks
none
See Also
FREIOTypeConstants Overview
frUOPInType
Description
User Operator Panel Input
Remarks
none
See Also
FREIOTypeConstants Overview
frWDOutType
Description
Weld Digital Output
Remarks
none
See Also
FREIOTypeConstants Overview
FRETPOutSignalConstants
frTPOutHold
Description
The signal that indicates motion has been held.
Remarks
Use this constant when checking if the robot motion has been held
See Also
FRETPoutSignalConstants Overview
Packet Events
FREPacketEventConstants
frSSC_Wild
Description
Wild card for SubSystemCode trigger
Remarks
Use this constant in the FRCRobot.CreatePacketEvent Method call to
receive Packets generated by any subsystem.
NOTE: This will greatly increase the number of packets you will
receive and have to process. Doing this might present a significant
adverse impact on performance of your PC application. Using the
frSSC_KAREL constant is recommended.
See Also
FREPacketEventConstants Overview
FRCRobot.CreatePacketEvent Method
FREPacketEventConstants Overview
FREPacketEventConstants.frSSC_KAREL
Pipes
FRCPipes
FRCPipes Object Properties
FRCPipes.Count Property
Description
Returns the number of items within this collection object.
Syntax
[intNumFields = ]objPipes.Count
Parts
objPipes as FRCPipes
intNumPipes as Integer
Remarks
This property returns the number of pipes on the controller.
See Also
FRCPipes Object Overview
Example
‘ Find out how many pipes are available on the controller
Dim objPipes as FRCPipes
Dim intNumPipes as Integer
intNumPipes = objPipes.Count
FRCPipes.Item Property
Description
Returns a pipe object from the collection.
Syntax
[objPipe = ]objPipes.Item(enuPipeID)
or
[objPipe = ]objPipes(Index:=intIndex)
Parts
objPipes as FRCPipes
objPipe as FRCPipe
enuPipeID as FREPipeIDConstants
intIndex as Integer
Remarks
The pipe can be specified by ID or index. It is possible to use the "for each" VB
syntax to enumerate all pipes in the collection.
This property will return an FRCPipe object. The returned object can then be
used to receive new data blocks from the pipe.
See Also
FRCPipes Object Overview
FREPipeIDConstants Overview
Example
‘ Get a pipe from the collection
Dim objPipes as FRCPipes ‘ Assume passed in
Dim objPipe as FRCPipe
‘ Get a Pipe
Set objPipe = objPipes.Item(frPipeKAREL1ID)
FRCPipes Object Events
FRCPipes_Register Event
Description
Occurs when a new pipe is registered on the controller.
Syntax
Private Sub mobjPipes_Register( ByVal Pipe as FRCPipe )
End Sub
Parts
mobjPipes as FRCPipes
Pipe as FRCPipe
Remarks
The FRCPipes object contains a collection of all pipes that exist when the
object is first created. As new pipes are created on the controller, the collection
is updated and this event raised.
KAREL programs register a pipe using the Error! Hyperlink reference not
valid. built-in.
See Also
FRCPipes Object Overview
Example
‘ Detect when a pipe is added.
Private WithEvents mobjPipes as FRCPipes
Private Sub mobjPipes_Register( ByVal Pipe as FRCPipe )
‘ Start monitoring
End Sub
FRCPipe
FRCPipe Object Methods
FRCPipe.StopMonitor Method
Description
Stops monitoring data put into the pipe.
Syntax
objPipe.StopMonitor
Parts
mobjPipe as FRCPipe
Remarks
The Robot Server stops receiving data from a pipe when this method is called.
When monitoring is not active, FRCPipe.IsMonitoring will return the value
FALSE.
A controller task can also stop the pipe by using the Error! Hyperlink
reference not valid. KAREL built-in. Your application can detect this by
checking the status flag for the Error! Hyperlink reference not valid. being
reset in the FRCPipe_Receive event.
StopMonitor acts like a reference counted action. That is: two StartMonitor calls
require two StopMonitor calls.
The pipe will be flushed automatically when the "last" StopMonitor is called. Call
FRCPipe.Flush if you want to guarantee that the pipe gets flushed even if it is
being kept active by another application.
See Also
FRCPipe Object Overview
FRCPipe.IsMonitoring Property
FRCPipeStartMonitor Method
FRCPipe_Receive Event
FRCPipe.Flush Method
Example
‘ Stop receiving data from the pipe
Private WithEvents mobjPipe as FRCPipe
Const frPipeKAREL1ID = 5
Set mobjPipe = gobjRobot.Pipes(frPipeKAREL1ID)
mojPipe.StopMonitor
FRCPipeFields
FRCPipeFields Object Properties
FRCPipeFields.Count Property
Description
Returns the number of fields within this collection object.
Syntax
[intNumFields = ]objPipeFields.Count
Parts
objPipeFields as FRCPipeFields
intNumFields as Integer
Remarks
This property returns the number of fields in a data block from a pipe.
See Also
FRCPipeFields Object Overview
Example
` Find out how many elements are in the structure
` or array object that was passed in.
`
Dim objStructOrArray as FRCPipeFields
Dim intNumFields as Integer
intNumFields = objStructArray.Count
FRCPipeFields.FullName Property
Description
Returns the full name of the field object.
Syntax
[strName = ]objPipeFields.VarName
Parts
objPipeFields as FRCPipeFields
strName as String
Remarks
This is the string that shows the sequence of field names that were
encountered to arrive at this object.
For example, pipe data defined by the structure of the variable
ASTRUCTSTRUCT. It is defined in KAREL by the following code segment.
TYPE
strct_t = STRUCTURE
ai: ARRAY[2] OF INTEGER
ENDSTRUCTURE
strctstrct_t = STRUCTURE
as1: ARRAY[2] OF strct_t
as2: ARRAY[2] OF strct_t
ENDSTRUCTURE
VAR
astrctstrct: ARRAY[2] OF strctstrct_t
A tree view of the data would look like this.
FRCPipeFields.FullName for the element AI shown highlighted above would be
"[1].AS1[1].AI".
Note that there is no fieldname at the top level. For variable data, the top field
name is the name of the variable itself. Pipe data are not variables. They are
data presented and accessed using techniques similar to variables.
See Also
FRCPipeFields Object Overview
FRCPipeFields.FieldName Property
Example
’ Display the name of this structure in the text box
’
Dim objStruct as FRCPipeFields ‘ Assume passed in
Dim strStructName as String
strStructName = objStruct.FullName
FRCPipeField
FRCPipeField Object Overview
Description
Provides access to data values received from a pipe.
Overview
Use the FRCPipeField object to access the values of the data received from the
pipe.
FRCPipeField is an object representation of the simplest fields from a data
block received from a pipe. The types supported by this object include:
BOOLEAN
BYTE
INTEGER
REAL
SHORT
STRING
XYZWPR
XYZWPREXT
POSITION
JOINTPOS
Other types (arrays and structures) are represented as FRCPipeFields objects.
This object provides access to the attributes and value of a single field.
Properties
FieldName as String (read-only)
IsInitialized as Boolean (read-only)
Parent as {FRCPipeFields | FRCPipe} (read-only)
Pipe as FRCPipe (read-only)
Robot as FRCRobot (read-only)
TypeCode as FRETypeCodeConstants (read-only)
TypeName as String (read-only)
Value as Variant (read-only)
FullName as String (read-only)
Methods
none
Events
none
See Also
FRCPipeFields Object Overview
FRCPipes Object Overview
FRCPipePosition Object Overview
FRCPipeField Object Properties
FRCPipeField.FieldName Property
Description
Returns only the name of this particular field object.
Syntax
[strName = ]objPipeField.FieldName
Parts
objPipeField as FRCPipeField
strName as String
Remarks
This is the name of the field at its simplest type. It may be a top level field
name, an element number in an array, or a field name within a structure. This
does not include the array name or structure name of any container. For
example, the field name "MY_STRUCT_T.FIELD1" would simply return
"FIELD1".
See Also
FRCPipeField Object Overview
FRCPipeField.FullName Property
Example
‘ Display the field name in a text box
Dim objPipeField as FRCPipeField ‘ Assume passed in
txtFieldName = objPipeField.FieldName
FRCPipeField.FullName Property
Description
Returns the full name of the field object.
Syntax
[strName = ] objPipeField.VarName
Parts
objPipeField as FRCPipeField
strName as String
Remarks
The FullName is the full field name used to get to the FRCPipeField object from
the top level.
For example, pipe data defined by the structure of the variable
ASTRCTSTRCT. It is defined in KAREL by the following code segment.
TYPE
strct_t = STRUCTURE
ai: ARRAY[2] OF INTEGER
ENDSTRUCTURE
strctstrct_t = STRUCTURE
as1: ARRAY[2] OF strct_t
as2: ARRAY[2] OF strct_t
ENDSTRUCTURE
VAR
astrctstrct: ARRAY[2] OF strctstrct_t
A tree view of the data would look like this.
FRCPipeField.FullName for the element 1 shown highlighted above would be
"[1].AS1[1].AI[1]".
Note that there is no fieldname at the top level. For variable data, the top field
name is the name of the variable itself. Pipe data are not variables. They are
data presented and accessed using techniques similar to variables.
See Also
FRCPipeField Object Overview
FRCPipeField.FieldName Property
Example
’ Display the name of this field in the text box
‘
Dim objPipeField as FRCPipeField ‘ assume passed in
txtName = objPipeField.FullName
FREPipeStateConstants
FREPipeStateConstants Overview
Description
An enumeration of constants that identify states of a pipe.
Overview
The FRCPipe_Receive event provides the current state of the pipe each time it
is raised. Use these constants to decode this state.
These state constants act as bit flags that can be combined. For example, a
pipe can be both active and flushed at the same time.
Values
Error! Hyperlink reference not valid.
Error! Hyperlink reference not valid.
Error! Hyperlink reference not valid.
See Also
Error! Hyperlink reference not valid.
Scattered Access
FRCScatteredAccess Object Overview
Description
Enables you to access a group of independent variables and I/O signals with
minimum network overhead.
Overview
The NoRefresh and NoUpdate features of the Robot Server take advantage of
the fact that structures and arrays are stored in contiguous memory. If the robot
programs are designed properly, these features can be used effectively to
create an efficient, high speed PC application.
In many cases, you do not have this luxury. The robot program might be
developed long before a companion PC application is considered. It is also very
likely that the PC application must access system information (Sysvars, I/O,
Registers) along with variables from multiple programs in a coordinated manor.
ScatteredAccess is a way to read and write multiple independent robot
variables, I/O signals, positions and numeric registers with one network access.
This has the potential to increase Robot Server performance by reducing
network communication overhead.
To accomplish this you must first use FRCRobot.CreateScatteredAccess to
create an FRCScatteredAccess class object then call the Refresh and Update
methods of that object to read and write the data. This process is described
more completely in the Scattered Access section of the Optimizing Data Access
help.
Properties
none
Methods
Refresh()
Update()
Events
none
See Also
FRCRobot.CreateScatteredAccess Method
FRCIOSignal.NoReFresh Property
FRCIOSignal.NoUpdate Property
FRCVar.NoRefresh Property
FRCVar.NoUpdate Property
FRCScatteredAccess Methods
FRCScatteredAccess Refresh Method
Description
Reads the values of all items controlled by this object from the robot into local
Robot Server memory on the PC.
Syntax
objScatt.Refresh
Parts
objScatt as FRCScatteredAccess
Remarks
Reading items in a Scatter Access list is a two step process. The
FRCScatteredAccess.Refresh method makes one network access to get all the
identified data from the robot. You then use the Value properties of each
individual object to access them.
This is better than doing a Refresh on each of the items individually because
only one network access is required for this refresh.
Either the NoUpdate or NoRefresh property of each item must be True for this
to be effective. Otherwise, the Robot Server will access the robot again when
you read the Value property of the individual item. Note that the
FRCRegNumeric class does not support the NoRefresh property so you must
set these on the FRCVar parent.
See Also
FRCScatteredAccess Object Overview
FRCRobot.CreateScatteredAccess Method
FRCIOSignal.NoReFresh Property
FRCIOSignal.NoUpdate Property
FRCVar.NoRefresh Property
FRCVar.NoUpdate Property
Example
For the following example, assume mobjSA1 was created as described in the
example for the FRCRobot.CreateScatteredAccess Property .
'
' Update the display
'
Private Sub UpdateDisplay()
Dim objCount As FRCVar
Dim objDO100 As FRCDigitalIOSignal
Dim objR50 As FRCRegNumeric
Dim objPR60 As FRCSysPosition
' Access the robot to get fresh data.
mobjSA1.Refresh
' Get references to the data to access. It would be
' much more efficient to keep these references as
' module level variables.
' However, this demonstrates minimum scope
' requirements.
Set objCount = mobjRobot.Programs("MYPROG") _
.Variables("Count")
Set objDO100 = mobjRobot.IOTypes(frDOutType) _
.Signals(100)
Set objR50 = mobjRobot.RegNumerics(50).Value
Set objPR60 = mobjRobot.RegPositions(60)
' Update the text boxes to display the information.
' This will not require a robot access.
Text1.Text = objCount.Value
If objDO100.Value Then
Text2.Text = "ON"
Else
Text2.Text = "OFF"
End If
If objR50.Type = frIntegerType Then
Text3.Text = objR50.RegLong
Else
Text3.Text = objR50.RegFloat
End If
Text4.Text = objPR60.Group(1).Formats(frXyzWpr).X
End Sub
FRCScatteredAccess Update Method
Description
Writes the values of all items controlled by this object from local Robot Server
memory on the PC to the robot.
Syntax
objScatt.Update
Parts
objScatt as FRCScatteredAccess
Remarks
Writing items in a Scatter Access list is a two step process. You use the Value
properties of each individual object to set them. Then invoke the
FRCScatteredAccess.Update method to make one network access to send all
the identified data to the robot.
This is better than doing an Update on each of the items individually because
only one network access is required for this refresh. Also, the values are set
almost simultaneously, which can address many of the interaction and timing
issues.
The NoUpdate property of each item must be True for this to be effective.
Otherwise, the Robot Server will not send the data to the robot. Note that the
FRCRegNumeric class does not support the NoUpdate property so you must
set this on the FRCVar parent.
See Also
FRCScatteredAccess Object Overview
FRCRobot.CreateScatteredAccess Method
FRCIOSignal.NoUpdate Property
FRCVar.NoUpdate Property
FRCVars.NoUpdate Property
Example
For the following example, assume mobjSA1 was created as described in the
example for the FRCRobot.CreateScatteredAccess Property . Assume module
level variables have been declared and initialized for the individual items
covered by mobjSA1.
'
' Update the data in one quick shot
'
Private Sub SendIt()
' Pull the information off the form
mobjCount.Value = Text1.Text
If Check1.Value = 1 Then
mobjDO100.Value = True
Else
mobjDO100.Value = False
End If
mobjReg50.RegLong = CSng(Text3.Text)
objPR60.Group(1) _
.Formats(frXyzWpr).X = CSng(Text4.Text)
' Send it all to the robot in one call
mobjSA1.Update
End Sub
Applications
FRCApplications Object Overview
Description
This object is a general-purpose collection of application specific objects.
Overview
The Applications Object is a general-purpose collection of user objects. A
reference to it is obtained through the FRCRobot.Applications Property.
Applications may create custom object classes that organize robot access in
ways that are helpful. For example, ArcTool uses weld schedules. The data for
these schedules are in various System and KAREL variables. An arcwelding
application might create an ArcSchedule object that exposed the parameters of
the schedule as properties of the object. The object itself would access the
appropriate system variables hiding the detail of how schedules are stored.
Application data, such as weld schedules in the example above, is often robot
specific. Most application modules share a reference to the Robot object as the
preferred way to maintain access to the robot. The Applications collection is a
mechanism that allows applications to store references to application specific
objects and pass them around with the robot object.
There is no restriction on type and quantity of objects added to the Applications
collection. However, the preferred use of the Applications collection is to keep a
reference to high level (collections of) application specific data. For example,
the robot may do both spotwelding and dispensing. The Applications collection
would then contain two objects – one that is a collection of spotwelding specific
objects and one that is a collection of dispensing objects.
It is expected that the application will always know the Key string by which the
application specific object was added to the collection. In the example above,
typical Key strings might be "Spot" and "Dispense". Good programming practice
dictates that the application uses compile time constants to share this key.
Objects in the collection may be fetched through the "Item" property or by using
a For…Each loop.
Properties
Count As Long(read-only)
Item (Key As String) As Object (read-only)
Robot As FRCRobot (read-only)
Methods
Add(Key As String, AppObject As Object)
Remove(Key As String)
Events
none
FRCApplications Properties
FRCApplications.Count Property
Description
Returns the number of objects in the Applications collection.
Syntax
lngCount = objMyApps.Count
Parts
lngCount As Long
objMyApps As FRCApplications
Remarks
The Count property can be used to verify that the expected number of objects
have been added to the Applications collection.
See Also
FRCApplications Object Overview
Example
’ Find out how many entries are in the
’ Applications collection
Dim objMyApps as FRCApplications
Dim lngCount as Long
Set objMyApps = gobjRobot.Applications
lngCount = objMyApps
FRCApplications.Item Property
Description
Returns an object from the Applications collection object.
Syntax
objMyAppObject = objMyApps.Item(strKey)
Parts
objMyAppObject As Object
objMyApps As FRCApplications
strKey As String
Remarks
Since the intent of the Applications collection is to keep a reference to high level
(collection of) application specific data, it is expected that the application will
always know the Key string by which the application specific object was added
to the collection.
If an application needs to be more flexible, its object can always implement a property that
keeps the Key String. Then the application can use a "For Each" loop on the
Applications object and query each object for its Key.
See Also
FRCApplications Object Overview
frKeyNotFound
Example
’ Retrieve a reference to my application object
’ that was added previously
Dim objMyApps as FRCApplications
Dim objMyAppObject as MyObjectClass
Set objMyApps = gobjRobot.Applications
Set objMyAppObject = objMyApps.Item("MyKey")
FRCApplications Methods
FRCApplications.Remove Method
Description
Removes an application specific object from the Applications collection.
Syntax
objMyApps.Remove(strKey)
Parts
objMyApps As FRCApplications
strKey As String
Remarks
The application specific object associated with strKey is removed from the
Applications collection. If a match to strKey is not found, the error
frKeyNotFound is raised.
See Also
FRCApplications Object Overview
FRCApplications.Add Method
frKeyNotFound
Example
’ When there is no more need to share my
’ application object, remove it.
Dim objMyApps as FRCApplications
Set objMyApps = gobjRobot.Applications
objMyApps.Remove "MyKey"
System Information
FRCFeature
FRCFeature Object Properties
FRCFeature.OrderNumber Property
Description
This is a four character string that represents the order number of this feature
(i.e. "H510").
Syntax
[strOrderNumber = ]objFeature.OrderNumber
Parts
objFeature as FRCFeature
strOrderNumber as String
Remarks
The order number is a unique descriptor that is generated by the controller build
process tools. This property is the key that uniquely identifies a feature in the
system, and is read from $FEATURE.$MOD[n].
See Also
FRCFeature Object Overview
Example
’Access the order number of a feature object
Dim objMyFeature as FRCFeature
Dim strFeatureOrderNumber as String
strFeatureOrderNumber = objMyFeature.OrderNumber
FRCFeatures
FRCFeatures Object Properties
FRCFeatures.Count Property
Description
Count returns the number of valid features loaded on the controller.
Syntax
[lngNumFeatures = ]objFeatures.Count
Parts
objFeatures as FRCFeatures
lngNumFeatures as Long
Remarks
Use this property as the upper bounds in FOR or other looping constructs.
See Also
FRCFeatures Object Overview
Example
’Figure out how many features are loaded
Dim objMyFeatures as FRCFeatures
Dim lngNumFeatures as Long
lngNumFeatures = objMyFeatures.Count
FRCSynchData
FRCSynchData Object Properties
FRCSynchData.Features Property
Description
This property returns a collection of objects representing all features that are
loaded on the currently connected controller.
Syntax
[objRobotFeatures = ] objSynchData.Features
Parts
objSynchData as FRCSynchData
objRobotFeatures as FRCFeatures
Remarks
The features collection is built from the controller’s $FEATURE system
variables. It is generated automatically the first time this property is referenced.
Use this property to access the list of valid features, which can be used to test
for presence/absence of a specific feature.
See Also
FRCSynchData Object Overview
Example
’Access the controller’s feature set
Dim objMySynchData as FRCSynchData
Dim objMyFeatures as FRCFeatures
set objMyFeatures = objMySynchData.Features
FRCSysInfo
FRCSysInfo Properties
FRCSysInfo.Clock Property
Description
Returns/sets the date and time on the robot's system clock.
Syntax
datDateTime = objSysInfo.Clock
objSysInfo.Clock = datDateTime
Parts
objSysInfo as FRCSysInfo
datDateTime as Date
Remarks
The robot controller has an internal clock that keeps track of date and time even
when the robot is powered off. This clock is used to time stamp all alarms and
other miscellaneous robot events.
You can use this property to read the controller’s clock to verify that the
timestamps on alarms correlate to the data/time of the PC. You can also use
FRCSysInfo.Clock to set the robot’s clock to match that of the PC.
See Also
FRCSysInfo Object Overview
Example
' Set the robot's clock to the PC’s current date/time
'
Private Sub SetDate()
Dim objSysInfo As FRCSysInfo
Set objSysInfo = mobjRobot.SysInfo
objSysInfo.Clock = Date + Time
End Sub
FRCSysInfo.CMOS Property
Description
Returns the number of bytes of battery backed CMOS hardware configured on
the controller.
Syntax
lngCMOSSize = objSysInfo.
Parts
objSysInfo as FRCSysInfo
lngCMOSSize as Long
Remarks
Robot controllers can be configured with various sizes of battery backed
random access memory (RAM). This property is called CMOS because this
feature is implemented with CMOS static RAM hardware.
See Also
FRCSysInfo Object Overview
Example
' Check the memory configuration of this controller
'
Private Sub CheckMemConfig()
Dim objSysInfo As FRCSysInfo
Dim lngCMOS As Long
Dim lngDRAM As Long
Dim lngFROM As Long
' Get access to system information
Set objSysInfo = mobjRobot.SysInfo
' Read CMOS memory size
lngCMOS = objSysInfo.CMOS
' Read DRAM memory size
lngDRAM = objSysInfo.DRAM
' Read FROM memory size
lngFROM = objSysInfo.From
End Sub
FRCSysInfo.DRAM Property
Description
Returns the number of bytes of DRAM hardware configured on the controller.
Syntax
lngDRAMSize = objSysInfo.FROM
Parts
objSysInfo as FRCSysInfo
lngDRAMSize as Long
Remarks
Robot controllers can be configured with various sizes of high speed Dynamic
Random Access Memory (DRAM). Use this property to determine how much
DRAM is on robot.
See Also
FRCSysInfo Object Overview
Example
' Check the memory configuration of this controller
'
Private Sub CheckMemConfig()
Dim objSysInfo As FRCSysInfo
Dim lngCMOS As Long
Dim lngDRAM As Long
Dim lngFROM As Long
' Get access to system information
Set objSysInfo = mobjRobot.SysInfo
' Read CMOS memory size
lngCMOS = objSysInfo.CMOS
' Read DRAM memory size
lngDRAM = objSysInfo.DRAM
' Read FROM memory size
lngFROM = objSysInfo.From
End Sub
FRCSysInfo.FROM Property
Description
Returns the number of bytes of Flash ROM (FROM) hardware configured on
the controller.
Syntax
lngFROMSize = objSysInfo. FROMType
Parts
objSysInfo as FRCSysInfo
lngFROMSize as Long
Remarks
Robot controllers can be configured with various amounts of Flash Read Only
Memory (FROM, pronounced F-ROM). Use this property to determine how
much FROM is on robot.
See Also
FRCSysInfo Object Overview
Example
' Check the memory configuration of this controller
'
Private Sub CheckMemConfig()
Dim objSysInfo As FRCSysInfo
Dim lngCMOS As Long
Dim lngDRAM As Long
Dim lngFROM As Long
' Get access to system information
Set objSysInfo = mobjRobot.SysInfo
' Read CMOS memory size
lngCMOS = objSysInfo.CMOS
' Read DRAM memory size
lngDRAM = objSysInfo.DRAM
' Read FROM memory size
lngFROM = objSysInfo.From
End Sub
FRCSysInfo.PermMemFree Property
Description
Returns the number available bytes in the PERM memory pool.
Syntax
lngPermFree = objSysInfo.PermMemFree
Parts
objSysInfo as FRCSysInfo
lngPermFree as Long
Remarks
PERM memory is a portion of CMOS that contains system variables and
KAREL variables that are maintained even when the power is turned off.
See Also
FRCSysInfo Object Overview
Example
' Check the memory configuration of this controller
'
Private Sub CheckPermMemPool()
Dim objSysInfo As FRCSysInfo
Dim lngFreeKB As Long
Dim lngLargestKB As Long
Dim lngTotalKB As Long
Dim lngUsedKB As Long
' Get access to system information
Set objSysInfo = mobjRobot.SysInfo
' Get size of the Perm memory pool in Kbytes.
lngTotalKB = objSysInfo.PermMemTotal / 1024
' Get # of available Kbytes in in the Perm pool.
lngFreeKB = objSysInfo.PermMemFree / 1024
' Get size of the largest free block
' in the Perm memory pool.
lngLargestKB = objSysInfo.PermMemLargestFreeBlock / 1024
' Get # of Kbytes used out of the Perm pool.
lngUsedKB = objSysInfo.PermMemUsed / 1024
End Sub
FRCSysInfo.PermMemLargestFreeBlock Property
Description
Returns the size of the largest free block in the PERM memory pool.
Syntax
lngPermLargestFreeBlock = objSysInfo.PermMemLargestFreeBlock
Parts
objSysInfo as FRCSysInfo
lngPermLargestFreeBlock as Long
Remarks
PERM memory is a portion of CMOS that contains system variables and
KAREL variables that are maintained even when the power is turned off. The
largest free block is an indicator of how fragmented this memory pool is.
See Also
FRCSysInfo Object Overview
Example
' Check the memory configuration of this controller
'
Private Sub CheckPermMemPool()
Dim objSysInfo As FRCSysInfo
Dim lngFreeKB As Long
Dim lngLargestKB As Long
Dim lngTotalKB As Long
Dim lngUsedKB As Long
' Get access to system information
Set objSysInfo = mobjRobot.SysInfo
' Get size of the Perm memory pool in Kbytes.
lngTotalKB = objSysInfo.PermMemTotal / 1024
' Get # of available Kbytes in in the Perm pool.
lngFreeKB = objSysInfo.PermMemFree / 1024
' Get size of the largest free block
' in the Perm memory pool.
lngLargestKB = objSysInfo.PermMemLargestFreeBlock / 1024
' Get # of Kbytes used out of the Perm pool.
lngUsedKB = objSysInfo.PermMemUsed / 1024
End Sub
FRCSysInfo.PermMemUsed Property
Description
Returns the number of bytes used out of the PERM memory pool.
Syntax
lngPermUsed = objSysInfo.PermMemUsed
Parts
objSysInfo as FRCSysInfo
lngPermUsed as Long
Remarks
PERM memory is a portion of CMOS that contains system variables and loaded
programs that are maintained even when the power is turned off. PermFree +
PermUsed does not always equal PermTotal because
See Also
FRCSysInfo Object Overview
Example
' Check the memory configuration of this controller
'
Private Sub CheckPermMemPool()
Dim objSysInfo As FRCSysInfo
Dim lngFreeKB As Long
Dim lngLargestKB As Long
Dim lngTotalKB As Long
Dim lngUsedKB As Long
' Get access to system information
Set objSysInfo = mobjRobot.SysInfo
' Get size of the Perm memory pool in Kbytes.
lngTotalKB = objSysInfo.PermMemTotal / 1024
' Get # of available Kbytes in in the Perm pool.
lngFreeKB = objSysInfo.PermMemFree / 1024
' Get size of the largest free block
' in the Perm memory pool.
lngLargestKB = objSysInfo.PermMemLargestFreeBlock / 1024
' Get # of Kbytes used out of the Perm pool.
lngUsedKB = objSysInfo.PermMemUsed / 1024
End Sub
FRCSysInfo.SystemMemLargestFreeBlock Property
Description
Returns the size of the largest free block in the SYSTEM memory pool.
Syntax
lngSystemLargestFree = objSysInfo. SystemMemLargestFreeBlock
Parts
objSysInfo as FRCSysInfo
lngSystemLargestFree as Long
Remarks
SYSTEM memory is a portion of DRAM that contains the operating system. It is
reloaded and initialized each time the controller is turned on.
See Also
FRCSysInfo Object Overview
Example
' Check the memory configuration of this controller
'
Private Sub CheckSystemMemPool()
Dim objSysInfo As FRCSysInfo
Dim lngFreeKB As Long
Dim lngLargestKB As Long
Dim lngTotalKB As Long
Dim lngUsedKB As Long
' Get access to system information
Set objSysInfo = mobjRobot.SysInfo
' Get size of the System memory pool in Kbytes.
lngTotalKB = objSysInfo.SystemMemTotal / 1024
' Get # of available Kbytes in in the System pool.
lngFreeKB = objSysInfo.SystemMemFree / 1024
' Get size of the largest free block
' in the System memory pool.
lngLargestKB = objSysInfo.SystemMemLargestFreeBlock / 1024
' Get # of Kbytes used out of the System pool.
lngUsedKB = objSysInfo.SystemMemUsed / 1024
End Sub
FRCSysInfo.SystemMemUsed Property
Description
Returns the number of bytes used out of the SYSTEM memory pool.
Syntax
lngSystemUsed = objSysInfo.SystemMemUsed
Parts
objSysInfo as FRCSysInfo
lngSystemUsed as Long
Remarks
SYSTEM memory is a portion of DRAM that contains the operating system. It is
reloaded and initialized each time the controller is turned on.
See Also
FRCSysInfo Object Overview
Example
' Check the memory configuration of this controller
'
Private Sub CheckSystemMemPool()
Dim objSysInfo As FRCSysInfo
Dim lngFreeKB As Long
Dim lngLargestKB As Long
Dim lngTotalKB As Long
Dim lngUsedKB As Long
' Get access to system information
Set objSysInfo = mobjRobot.SysInfo
' Get size of the System memory pool in Kbytes.
lngTotalKB = objSysInfo.SystemMemTotal / 1024
' Get # of available Kbytes in in the System pool.
lngFreeKB = objSysInfo.SystemMemFree / 1024
' Get size of the largest free block
' in the System memory pool.
lngLargestKB = objSysInfo.SystemMemLargestFreeBlock / 1024
' Get # of Kbytes used out of the System pool.
lngUsedKB = objSysInfo.SystemMemUsed / 1024
End Sub
FRCSysInfo.TempMemUsed Property
Description
Returns the number of bytes used out of the TEMP memory pool.
Syntax
lngTempUsed = objSysInfo.TempMemUsed
Parts
objSysInfo as FRCSysInfo
lngTempUsed as Long
Remarks
TEMP memory is a portion of DRAM that contains buffers and local storage
used by the operating system and KAREL programs. It is reloaded and
initialized each time the controller is turned on.
See Also
FRCSysInfo Object Overview
Example
' Check the memory configuration of this controller
'
Private Sub CheckTempMemPool()
Dim objSysInfo As FRCSysInfo
Dim lngFreeKB As Long
Dim lngLargestKB As Long
Dim lngTotalKB As Long
Dim lngUsedKB As Long
' Get access to system information
Set objSysInfo = mobjRobot.SysInfo
' Get size of the Temp memory pool in Kbytes.
lngTotalKB = objSysInfo.TempMemTotal / 1024
' Get # of available Kbytes in in the Temp pool.
lngFreeKB = objSysInfo.TempMemFree / 1024
' Get size of the largest free block
' in the Temp memory pool.
lngLargestKB = objSysInfo.TempMemLargestFreeBlock / 1024
' Get # of Kbytes used out of the Temp pool.
lngUsedKB = objSysInfo.TempMemUsed / 1024
End Sub
FRCSysInfo.TPPMemFree Property
Description
Returns the number of byte available in the TPP memory pool.
Syntax
lngTPPFree = objSysInfo.TPPMemFree
Parts
objSysInfo as FRCSysInfo
lngTPPFree as Long
Remarks
TPP memory is a portion of CMOS that contains Teach pendant programs.
See Also
FRCSysInfo Object Overview
Example
' Check the memory configuration of this controller
'
Private Sub CheckTPPMemPool()
Dim objSysInfo As FRCSysInfo
Dim lngFreeKB As Long
Dim lngLargestKB As Long
Dim lngTotalKB As Long
Dim lngUsedKB As Long
' Get access to system information
Set objSysInfo = mobjRobot.SysInfo
' Get size of the TPP memory pool in Kbytes.
lngTotalKB = objSysInfo.TPPMemTotal / 1024
' Get # of available Kbytes in in the TPP pool.
lngFreeKB = objSysInfo.TPPMemFree / 1024
' Get size of the largest free block
' in the TPP memory pool.
lngLargestKB = objSysInfo.TPPMemLargestFreeBlock / 1024
' Get # of Kbytes used out of the TPP pool.
lngUsedKB = objSysInfo.TPPMemUsed / 1024
End Sub
FRCSysInfo.TPPMemLargestFreeBlock Property
Description
Returns the size of the largest free block in the TPP memory pool
Syntax
lngTPPLargestFree = objSysInfo.TPPMemLargestFreeBlock
Parts
objSysInfo as FRCSysInfo
lngTPPLargestFree as Long
Remarks
TPP memory is a portion of CMOS that contains Teach pendant programs. The
units on value returned is bytes.
See Also
FRCSysInfo Object Overview
Example
' Check the memory configuration of this controller
'
Private Sub CheckTPPMemPool()
Dim objSysInfo As FRCSysInfo
Dim lngFreeKB As Long
Dim lngLargestKB As Long
Dim lngTotalKB As Long
Dim lngUsedKB As Long
' Get access to system information
Set objSysInfo = mobjRobot.SysInfo
' Get size of the TPP memory pool in Kbytes.
lngTotalKB = objSysInfo.TPPMemTotal / 1024
' Get # of available Kbytes in in the TPP pool.
lngFreeKB = objSysInfo.TPPMemFree / 1024
' Get size of the largest free block
' in the TPP memory pool.
lngLargestKB = objSysInfo.TPPMemLargestFreeBlock / 1024
' Get # of Kbytes used out of the TPP pool.
lngUsedKB = objSysInfo.TPPMemUsed / 1024
End Sub
FRCSysInfo.TPPMemUsed Property
Description
Returns the number of bytes used out of the TPP memory pool.
Syntax
lngTPPUsed = objSysInfo.TPPMemUsed
Parts
objSysInfo as FRCSysInfo
lngTPPUsed as Long
Remarks
TPP memory is a portion of CMOS that contains teach pendant programs.
See Also
FRCSysInfo Object Overview
Example
' Check the memory configuration of this controller
'
Private Sub CheckTPPMemPool()
Dim objSysInfo As FRCSysInfo
Dim lngFreeKB As Long
Dim lngLargestKB As Long
Dim lngTotalKB As Long
Dim lngUsedKB As Long
' Get access to system information
Set objSysInfo = mobjRobot.SysInfo
' Get size of the TPP memory pool in Kbytes.
lngTotalKB = objSysInfo.TPPMemTotal / 1024
' Get # of available Kbytes in in the TPP pool.
lngFreeKB = objSysInfo.TPPMemFree / 1024
' Get size of the largest free block
' in the TPP memory pool.
lngLargestKB = objSysInfo.TPPMemLargestFreeBlock / 1024
' Get # of Kbytes used out of the TPP pool.
lngUsedKB = objSysInfo.TPPMemUsed / 1024
End Sub
FREStartModeConstants
FREStartModeConstants Overview
Description
An enumeration of constants used to identify the start mode in which the
controller is running.
Overview
The robot controller can be running in one of four modes – called Start Modes.
Three of these modes allow your PC application to connect to the controller.
The set of valid operations that your PC application can perform through the
Robot Server is dependant on the start mode.
Use the FRCSysInfo.StartMode property and these constants to detect in which
start mode the robot is running then adjust your application accordingly.
Values
Error! Hyperlink reference not valid.
Error! Hyperlink reference not valid.
frHotStart
frInitStart
See Also
FRCSysInfo.StartMode Property
Robot Neighborhood Object Interface
FRCRobotNeighborhood
FRCRobot Neighborhood Properties
FRCRobotNeighborhood.DefaultAutoReconnectNumRetries Property
Description
Sets/returns the default setting for AutoReconnectNumRetries
Syntax
[lngNumRetries] = objRN.DefaultAutoReconnectNumRetries
Parts
objRN as FRCRobotNeighborhood
lngNumRetries as Long
Remarks
When a new FRCRNRealRobot or FRCRNVirtualRobot is added to the
neighborhood, its AutoReconnectNumRetries property is initialized to the value
of this property.
Set this property to reflect the most general policy that applies to your specific
application environment. Special cases can be handled by modifying the
properties of the RNRobot object itself after it is created.
See Also
Error! Hyperlink reference not valid.
FRCRNRobots.AddRealRobot Method
FRCRNRobots.AddVirtualRobot Method
FRCRNRobotNeighborhood Object Overview
FRCRobotNeighborhood.StartModeAutoDelay Property
Description
Sets/returns the amount of time that the Robot Neighborhood delays when
automatically switching between start modes.
Syntax
[lngDelay] = objRN.StartModeAutoDelay
Parts
objRN as FRCRobotNeighborhood
lngDelay as Long
Remarks
When a virtual robot is being created, it delays in the initial Controlled start
mode for a number of seconds to ensure that all initialization has completed.
After this delay, the RN automatically commands the virtual robot to go to Cold
start mode. When the virtual robot is being recreated from a backup, the RN
automatically sends it through Controlled to Cold to Controlled to Cold start
modes delaying before each transition.
The default delay is tuned conservatively to ensure that the virtual robot is
successfully created on the widest variety of PCs. If you have a very fast PC,
you can experimentally reduce this value to shorten the virtual robot creation
time. Increase this value if you have a slow PC and find that virtual robots are
not reliably completing the creation process.
See Also
FRCRNVirtualRobot.Start Method
Error! Hyperlink reference not valid.
FRCRobotNeighborhood.VirtualRestartTolerance Property
Description
Sets/returns the amount of time that the Robot Neighborhood will tolerate for
the virtual robot to shut down.
Syntax
[lngDelay] = objRN.VirtualRestartTolerance
Parts
objRN as FRCRobotNeighborhood
lngDelay as Long
Remarks
When a virtual robot is stopped, it takes a while to release all of its resources
and terminate. Control is returned to your application immediately after
executing the FRCRobotNeighborhood.Stop method, but the virtual robot
continues its work of cleaning up. If you call the FRCRobotNeighborhood.Start
method too soon after the FRCRobotNeighborhood.Stop method, the Robot
Neighborhood will detect that the virtual robot is still cleaning up.
This property determines how long the Robot Neighborhood will wait before
returning the frRNRunRequestFailed error.
See Also
FRCRNVirtualRobot.Start Method
FRCRNVirtualRobot.Stop Method
Error! Hyperlink reference not valid.
FRCRNRobots
FRCRNRobots Properties
FRCRNRobots.Count Property
Description
Returns the number of items within this object.
Syntax
[intCount = ]objRNRobots.Count
Parts
objRNRobots as FRCRNRobots
intCount as Integer
Remarks
The count includes the FRCRNRobots and FRCRNRobot that are the direct
children of this FRCRNRobots object.
See Also
FRCRNRobots Object Overview
Example
' Find out how many entries are at the root
' of the Robot Neighborhood
Dim objRNRobots As FRCRNRobots
Dim intNum As Integer
Set objRNRobots = gobjRN.Robots
intNum = objRNRobots.Count
FRCRNRobots.Item Property
Description
Returns an FRCRNRobots or FRCRNRobot object from the collection.
Syntax
[objRNR =] objRobots.Item(strName)
[objRNR =] objRobots.Item(Index:=intIndex)
Parts
objRobots as FRCRNRobots
objRNR as FRCRobots | FRCRobot
strName as String
intIndex as Integer
Remarks
strName is the friendly name used for accessing a robots collection or a specific
robot in the robot neighborhood. It has the form:
[\]Robots1\[Robots2\[…\RobotsN\]]
or
[\][Robots1\][Robots2\[…\RobotsN\]]]RobotName
The first form specifies a robots collection because it ends with a backslash.
The second form specifies an individual robot.
The Robots collection names concatenated and separated by the backslash
specify a path and follow rules similar to the Windows file system path string.
The presence or absence of the leading backslash determines initial search
point. If it is present, the search begins at the root of the RN. If it is absent, the
search begins at the objRNRobots object on which the Item property is being
called.
If the optional […] elements are not provided, the robot item must exist within
the objRobots object itself.
Robots collection and robot name strings can contain any character that is legal
for file and directory names.
Since the Item property identifies robots collection names as those ending with
a backslash, the collection can contain a robot with the same name as the
collection.
See Also
FRCRNRobot Obect Overview
FRCRNRobots Object Overview
FRCRNRobots.Name Property
Description
Returns/Sets the name of this robots collection.
Syntax
[strName =] objRobots.Name
objRobots.Name = strName
Parts
objRobots as FRCRNRobots
strName as String
Remarks
strName is the short name used for identifying this robots collection. This is
most useful for displaying the tree view of the RN.
This property does not contain the trailing backslash that is required for
identifying this object in an FRCRNRobots.Item call. Use the PathName
property for the fully decorated name including all path stops required to identify
this object relative to the root of the RN.
Setting the Name causes a OnOrganizationChange event on this object and all
of its dependents so that they can know that a different path name will be
required if they are to be accessed PathName has changed.
See Also
FRCRNRobots.PathName Property
FRCRNRobots Object Overview
FRCRNRobot
FRCRNRobot Properties
FRCRNRobot.HeartbeatEnable Property
Description
Returns/sets the enable status of the Heartbeat feature.
Syntax
[blnHeartbeat]objRNRobot.HeartbeatEnable
objRNRobot. HeartbeatEnable = blnHeartbeat
Parts
objRNRobot as FRCRNRobot
blnHeartbeatt as Boolean
Remarks
By setting the value to TRUE the Heartbeat feature will be enabled; otherwise it
will be disabled.
This feature can be enabled or disabled for all connection types.
Note: Multiple clients have the ability to enable/disable this feature, therefore
client applications must coordinate use of this property.
See Also
FRCRNRobot.HeartbeatPeriod Property
FRCRNRealRobot Object Overview
FRCRNVirtualRobot Object Overview
FRCRNRobot Object Overview
Example
Dim objRN As FRCRobotNeighborhood
Dim objRNRobot As FRCRNRobot
' Get a copy of the Robot Neighborhood
Set objRN = New FRCRobotNeighborhood
' Get access to my Robot
Set objRNRobot = objRN.Robots.Item("\MyRobot")
' Set AutoReconnect to try 5 times
objRNRobot.AutoReconnectNumRetries = 5
' Set AutoReconnect to retry every 60 seconds
objRNRobot.AutoReconnectPeriod = 60
' Enable the AutoReconnect feature
objRNRobot.AutoReconnectEnable = True
FRCRNRobot.HeartBeatPeriod Property
Description
Returns/sets the frequency for which the monitoring of the physical connection
to a robot is executed.
Syntax
lngHeartBeat = objRNRobot.HeartBeatPeriod
objRNRobot.HeartBeatPeriod = lngHeartBeat
Parts
objRNRobot as FRCRNRobot
lngHeartBeat as Long
Remarks
This property determines the rate at which the HeartBeat "beats" between the
Robot Neighborhood and the controller in which it is connected. Value must be
greater than zero.
The value is in units of seconds.
See Also
FRCRNRobot.HeartbeatEnable Property
FRCRNRealRobot Object Overview
FRCRNVirtualRobot Object Overview
FRCRNRobot Object Overview
Example
Dim objRN As FRCRobotNeighborhood
Dim objRNRobot As FRCRNRobot
' Get a copy of the Robot Neighborhood
Set objRN = New FRCRobotNeighborhood
' Get access to my Robot
Set objRNRobot = objRN.Robots.Item("\MyRobot")
' Enable Heartbeat at a period of 20 seconds
objRNRobot.HeartBeatPeriod = 20
FRCRNRobot.KeepAliveDuration Property
Description
Returns/sets the amount of time that the Robot Neighborhood will keep the
Robot Object active after all connections are released.
Syntax
[lngKeepAlive = ]objRNRobot.KeepAlive
Parts
objRNRobot as FRCRNRobot
lngKeepAlive as Long
Remarks
The units for this property are in minutes.
The value must be greater than zero.
See Also
FRCRNRobot.KeepAliveEnable Property
FRCRNRealRobot Object Overview
FRCRNVirtualRobot Object Overview
FRCRNRobot Object Overview
Exampl
Dim objRN As FRCRobotNeighborhood
Dim objRNRobots As FRCRNRobots
Dim objRNRobot As FRCRNRobot
' Get a copy of the Robot Neighborhood
Set objRN = New FRCRobotNeighborhood
' Get the connections collection
Set objRNRobots = objRN.Connections
' Get a connection
Set objRNRobot = objRNRobots.Item("MyRobot")
' Turn on KeepAlive for 20 minutes
objRNRobot.KeepAlive = 20
FRCRNVirtualRobot
FRCRNVirtualRobot Methods
FRCRNVirtualRobot.Start Method
Description
Starts a virtual robot in the specified mode.
Syntax
[enuStatus = ]objVRobot.Start( enuMode [,blnAutoRecover [, strBackupPath]] )
Parts
objVRobot As FRCRNVirtualRobot
enuMode as FRERNStartModeConstants
blnAutoRecover as Boolean
strBackupPath as String
enuStatus as FRERNVirtualStartStatusConstants
Remarks
If the virtual robot is already running in the requested mode, the value for
current start mode is returned.
If the virtual robot is currently running in a start mode that is not compatible with
the requested mode, the frRNIncompatibleStartModeRequested error is raised.
The following is a list of incompatible modes.
Requested Incompatible modes
fRNControlledStartMode frRNColdStartMode, frRNRecoveryInProgress
frRNColdStartMode frRNRecoveryInProgress
frRNDontCareStartMode none
If the virtual robot is not currently running, the startup is initiated and the status
frRNStartupInProgress is returned. Use the OnStartModeChange event to
detect when it completes. You can also use the OnStartSequenceChange to
monitor the starttp progress. The events from the FRCRNService objects can
also be used to direct changes for your application to take action.
Details of specific start mode requests follow.
frRNDontCareStartMode – Specify this start mode to reliably ensure that the
virtual robot is running and you are willing to deal with the various start modes
in which it can be in.
frRNInitStartMode - Specify this start mode to create the virtual robot or to reinit an existing one. The following files must be present when this method is
called. All files are relative to the path identified in the Location property.
- orderfile.dat
- group0.dt, group1.dt …
- FileBackup\*.* (file set created with the controller File Backup All function)
frRNControlledStartMode – Specify this start mode to make sure it is not
currently running in one of the incompatible modes.
frRNColdStartMode - Specify this start mode to make it is not currently running
in one of the incompatible modes. Note that the robot may stop in the controlled
start mode if that was where it was left when it was last stopped. It will be your
responsibility to send it to cold start.
If blnAutoRecover is TRUE and the files in the folder indicated by the Location
property do not contain a valid virtual controller, then a recovery from a backup
will be attempted. blnAutoRecover defaults to TRUE.
If strBackupPath is provided, then the backup information is retrieved from that
location. If no path is provided, the virtual controller is restored from its most
recent backup. Use the FRCRNVirtualRobot.Backup method to save a backup
of the virtual robot.
The recovery process takes the virtual controller through initial start, controlled
start, cold start, and controlled start. A final transition to colde start will be
performed if enuMode is frRNColdSartMode or frRNDontCareMode. During the
first four transitions, the StartMode property returns frRNRecoveryInProgress.
During the final transition from controlled start to cold start, the StartMode
property returns frRNStartupInProcress.
The file RecoveryLog.txt is generated during the recovery process. It will
contain some lines with "status = 15000E" for TP programs that could not be
reloaded. These are typically protected system TP programs that need not be
reloaded for a successful recovery. If, however, you are a very advanced user
and have modified some of these programs, use RecoveryLog.txt to identify
them and reload them manually following the same precautions you followed
when you made the original modifications.
A number of checks are made while preparing to start the virtual controller.
Errors are raised before the Start method returns if any of these checks fail.
Additional errors that occur while the StartMode is frRNStartupInProgress or
frRNRecoveryInProgress are raised through the OnError Event.
See Also
FRERNStartModeConstants Overview
FRCRNVirtualRobot.Backup Method
FRCRNVirtualRobot_OnStartModeChange Event
FRCRNVirtualRobot_OnError Event
FRERNErrorConstants Overview
FRCRNVirtualRobot Object Overview
FRCRNVirtualRobot.Stop Method
Description
Stops the virtual robot.
Syntax
objVRobot.Stop
Parts
objVRobot As FRCRNVirtualRobot
Remarks
The virtual robot is automatically stopped when all references to it through the
Robot Neighborhood are released. This method provides some extra features.
It stops the virtual controller no matter how many references there are to it. In
effect, it causes the virtual robot to act like a real robot when the power is
turned off. Other applications will have to deal with the fact that the virtual robot
has gone away.
In the normal sequence of events, Windows can take a few seconds to orderly
terminate a process. This Stop method ensures that the virtual controller is fully
terminated before returning. It forcibly terminates the process if necessary. If
the virtual controller was running when the Stop method is called, the Stop
method waits an additional time to allow Windows to do its work before forcibly
terminating it. You can adjust this time with the
FRCRNRobotNeighborhood.VirtualRestartTolerance property.
See Also
Error! Hyperlink reference not valid. FRCRNVirtualRobot Object Overview
FRCRNRDMResponses
FRCRNRDMResponses Properties
FRCRNRDMResponses.Item Property
Description
Returns an FRCRNResponse object as specified.
Syntax
[objResponse = ]objRDMResponses.Item(strIPAddress )
or
[objResponse = ]objRDMResponses.Item( Index:=lngIndex )
Parts
objRDMResponses as FRCRNRDMResponses
strIPAddress as String
lngIndex as Long
Remarks
A robot will be represented in the collection if has recently responded to the
RDM request. Responses are uniquely identified by IPAddress.
Items in the collection are also available by using the Visual Basic For…Each
operator or the C enumeration property. For Each is a preferred method over
using the Index:= argument.
If the response does not exist, an error is thrown..
See Also
FRCRNRDMResponse Object Overview
FRCRNRDMResponses Object Overview
FRCRNRDMResponses Methods
FRCRNRDMResponses.DoScan Method
Description
Directs the Neighborhood to perform a scan of the nextwork immediately and
update its collection of responses.
Syntax
objRDMResponses.DoScan
Parts
objRDMResponses as FRCRNRDMResponses
Remarks
A scan involves the Robot Neigborhood broadcasting an RDM request on the
subnet and monitoring the responses. The collection of responses is updated
based on the responses received.
DoScan initiates this process immediately even if AutoScanEnalbe is True. This
enables you to ensure that a scan has been done recently. .
See Also
FRCRNRDMResponses Object Overview
FRCRNServices
FRCRNServices Properties
FRCRNServices.Count Property
Description
Returns the number of services that are available on this robot.
Syntax
lngNumServices = objServices.Count
Parts
objServices as FRCRNServices
lngNumServices as Long
Remarks
For virtual robots, this property will return zero if the robot is not running.
For real robots, this will return the number of TCP/IP services possible on an RJ3 and later robot. You must check the state of a service individually to
determine if it is currently active on the robot.
See Also
FRCRNService Object Overview
FRCRNServices Object Overview
FRCRNServices.Item Property
Description
Returns an FRCRNService object as specified.
Syntax
[objService = ]objRNServices.Item( lngServiceID )
or
[objService = ]objRNServices.Item( Name:=strName )
or
[objService = ]objRNServices.Item( Index:=lngIndex )
Parts
objRNServices as FRCRNServices
lngServiceID as FRCRNServiceIDConstants
strName as String
lngIndex as Long
Remarks
Items in the collection are also available by using the Visual Basic For…Each
operator or the C enumeration property. For Each is a preferred method over
using the Index:= argument.
The valid service ID’s are enumerated by the class FRERNServiceIDConstants.
Each has an associated name that can be used instead.
If the service does not exist, an error is thrown.
See Also
FRERNServiceIDConstants Overview
FRCRNService Object Overview
FRCRNServices Object Overview
FRCRNService
FRCRNService Object Overview
Description
Provides information about a TCP/IP service running on the robot.
Overview
Use the FRCRNService object to query for port names and numbers for a
specific TCP/IP service.
Even though port numbers are fixed for real robots, it is advisable to use this
class so that your code is ready to be redirected to a virtual robot if required.
The services covered include:
CGTP – Color Graphic TP (iPendant)
FTP – File Transfer Protocol
KCL – Karel Command Language Console
RDM – Robot Discovery Method
RPCMain – Robot Server Interface (PCIF)
SMON – System Monitor Console
SNPX – Serial Network Protocol Exchange
TeachPendant – Legacy TP key input (Virtual only)
Telnet – Telnet protocol
TP_INPUT – iPendant key input (Virtual Only)
Web – HTTP server
Properties
ID as FRERNServiceConstants (read-only)
Name as String (read-only)
Parent as FRCRNServices (read-only)
PortNum as long (read-only)
State as FRERNServiceState (read-only)
Methods
None.
Events
OnStateChange(ByVal NewState as FRERNServiceState)
See Also
FRCRNServices Object Overview
FRCRNService Properties
FRCRNService.Parent Property
Description
Returns the parent of this object.
Syntax
[Set objMyParent =] objServices.Parent
Parts
objServices as FRCRNServices
objMyParent as FRCRNRobot
Remarks
The parent object is always an FRCRNRobot class type.
See Also
FRCRNServices Object Overview
FRCRNService Object Overview
FRCRNService Events
FRCRNService_OnStateChange Event
Description
This event notifies the client when a service has changed state on the
controller.
Syntax
Private sub objService_OnStateChange( NewState as
FRERNServiceStateConstants )
Parts
objService As FRCRNService
Remarks
This event will be fired any time a service is started or stopped.
This event is only fired for Virtual Robots.
See Also
Error! Hyperlink reference not valid.
FRCRNService Object Overview
FRURNSelect
FRURNSelect Properties
FRURNSelect.AllowFRCRNRealRobot Property
Description
Sets/Returns whether FRCRNRealRobot type selections are allowed.
Syntax
fruRNSelect1.AllowFRCRNRealRobot = True
Parts
fruRNSelect1 As FRURNSelect
Remarks
Setting this property to True will enable the user to select a real robot from the
neighborhood. Conversely, setting it to False will guarantee that an
FRCRNRealRobot type object is not returned from the ShowSelect method.
See Also
FRURNSelect.ShowSelect Method
FRURNSelect Object Overview
Example
See the example under the FRURNSelect.ShowSelect Method topic.
Constant Enumerations
FRERNErrorConstants
frRNHostNameIsInvalid
Description
The HostName supplied is invalid..
Remarks
See Also
FRERNErrorConstants Overview
frRNVirtualFatalErrorDuringRecovery
Description
The Virtual Controller encountered a fatal error during recovery.
Remarks
This error code is returned with the OnError event if an problem is encountered
that keeps the recovery process from completing. The contents of
RecoveryLog.txt may shed some light on the cause.
During the recovery sequence, the controller makes automatic transitions from
controlled start to cold start then back to controlled start. By default, the Robot
Neighborhood delays 7 seconds before it initiates each of these transitions. It is
possible that the frRNVirtualFatalErrorDuringRecovery error is caused because
the combination of Application Tool and robot options configured on the virtual
robot being recovered needs more time. In this unlikely event, you can try
creating the registry DWORD values:
GoToColdDelay
GoBackToControlDelay
under
HKLM\SOFTWARE\FANUC\FANUC Robotics Robot Neighborhood
They are represented in milliseconds.
A copy of the original virtual robot is stored in a folder at the same level as the
virtual robot. It is named with "_tmp_RN_recover" appended to the original
virtual folder name.
See Also
FRCRNVirtualRobot.Start Method
FRCRNVirtualRobot_OnError Event
FRERNErrorConstants Overview
frRNVirtualVersionNotSupported
Description
This version of the virtual controller is not supported.
Remarks
This indicates that the version of the FANUC Robotics Virtual Robot Controller
V#.## product required to support this FRCRNVirtualRobot is not installed.
This error occurs when the FRCRNVirtualRobot.Start method compares the
primary version number V#.## of the virtual robot neighborhood item with the
versions of FANUC Robotics Virtual Robot Controller’s installed.
See Also
FRCRNVirtualRobot.Version Property
FRCRNVirtualRobot.Start Method
FRERNErrorConstants Overview
FRERNServiceIDConstants
frRNFTPServiceID
Description
Indicates the FTP service over TCP/IP.
Remarks
Use this constant to identify the FTP (File Transfer Protocol) service
See Also
FRERNServiceIDConstants Overview
frRNKCLServiceID
Description
Indicates the KCL service over TCP/IP using telnet protocol.
Remarks
Use this constant to identify the service to support the KAREL Command
Language (KCL) over TCP/IP. Connect using the Telnet protocol,
See Also
FRERNServiceIDConstants Overview
frRNRDMServiceID
Description
Indicates the RDM service over TCP/IP.
Remarks
Use this constant to identify the RDM (Robot Discovery Method) service
See Also
FRERNServiceIDConstants Overview
FRERNServiceStateConstants
FRERNServiceStateConstants Overview
Description
An enumeration of constants used to determine the state of a robot’s TCP/IP
service.
Overview
Values
frRNServiceStateStarted
frRNServiceStateStopped
frRNServiceStateUnknown
See Also
FRCRNService.State Property
FRERNStartModeConstants
frRNRecoveryInProgress
Description
Indicates that the virtual robot is being recovered from a backup.
Remarks
The recovery process takes the virtual controller through initial start, controlled
start, cold start and controlled start. During the first four transitions ending with
the second controlled start, the StartMode property returns
frRNRecoveryInProgress. If the target start mode is cold start, the final
transition from controlled start to cold start, the StartMode property returns
frRNStartupInProcress.
See Also
FRERNStartModeConstants Overview
frRNStartupInProgress
Description
Indicates that the virtual robot is currently starting.
Remarks
If the virtual robot is not currently running, the startup is initiated and the status
frRNStartupInProgress is returned. Use the StartSequence and
OnStateChange events to monitor its progress. The events from the
FRCRNServices object can also be used to direct the actions of your
application
See Also
FRERNStartModeConstants Overview
FRERNRDMFlagConstants
frRNRDMDNSFlag
Description
Indicates that the domain name server communication feature is supported.
Remarks
Use this constant as the argument to the FRCRNRDMResponse.IsSupported
property to determine if the domain name server communication feature is
supported on the robot.
It can also be used to decode the value returned by the
FRCRNRDMResponse.Flags property.
See Also
FRCRNRDMResponse.Flags Property
FRCRNRDMResponse.IsSupported Property
FRERNRDMFlagConstants Overview
frRNRDMEGDFlag
Description
Indicates that the Ethernet global data communication feature is supported.
Remarks
Use this constant as the argument to the FRCRNRDMResponse.IsSupported
property to determine if the Ethernet global data communication feature is
supported on the robot.
It can also be used to decode the value returned by the
FRCRNRDMResponse.Flags property.
See Also
FRCRNRDMResponse.Flags Property
FRCRNRDMResponse.IsSupported Property
FRERNRDMFlagConstants Overview
frRNRDMEIPFlag
Description
Indicates that the Ethernet IP communication feature is supported.
Remarks
Use this constant as the argument to the FRCRNRDMResponse.IsSupported
property to determine if the Ethernet IP communication feature is supported on
the robot.
It can also be used to decode the value returned by the
FRCRNRDMResponse.Flags property.
See Also
FRCRNRDMResponse.Flags Property
FRCRNRDMResponse.IsSupported Property
FRERNRDMFlagConstants Overview
frRNRDMFTPFlag
Description
Indicates that the File Transfer Protocol communication feature is supported.
Remarks
Use this constant as the argument to the FRCRNRDMResponse.IsSupported
property to determine if the File Transfer Protocol communication feature is
supported on the robot.
It can also be used to decode the value returned by the
FRCRNRDMResponse.Flags property.
See Also
FRCRNRDMResponse.Flags Property
FRCRNRDMResponse.IsSupported Property
FRERNRDMFlagConstants Overview
frRNRDMProfiSFlag
Description
Indicates that the ProfiBus slave only communication feature is supported.
Remarks
Use this constant as the argument to the FRCRNRDMResponse.IsSupported
property to determine if the ProfiBus slave only communication feature is
supported on the robot.
It can also be used to decode the value returned by the
FRCRNRDMResponse.Flags property.
See Also
FRCRNRDMResponse.Flags Property
FRCRNRDMResponse.IsSupported Property
FRERNRDMFlagConstants Overview
frRNRDMRLinkAFlag
Description
Indicates that the Robot Link APDT communication feature is supported.
Remarks
Use this constant as the argument to the FRCRNRDMResponse.IsSupported
property to determine if the Robot Link APDT communication feature is
supported on the robot.
It can also be used to decode the value returned by the
FRCRNRDMResponse.Flags property.
See Also
FRCRNRDMResponse.Flags Property
FRCRNRDMResponse.IsSupported Property
FRERNRDMFlagConstants Overview
frRNRDMRlinkCFlag
Description
Indicates that the Robot Link coordinated communication feature is supported.
Remarks
Use this constant as the argument to the FRCRNRDMResponse.IsSupported
property to determine if the Robot Link coordinated communication feature is
supported on the robot.
It can also be used to decode the value returned by the
FRCRNRDMResponse.Flags property.
See Also
FRCRNRDMResponse.Flags Property
FRCRNRDMResponse.IsSupported Property
FRERNRDMFlagConstants Overview
frRNRDMRlinkSFlag
Description
Indicates that the Robot Link simultaneous communication feature is supported.
Remarks
Use this constant as the argument to the FRCRNRDMResponse.IsSupported
property to determine if the Robot Link simultaneous communication feature is
supported on the robot.
It can also be used to decode the value returned by the
FRCRNRDMResponse.Flags property.
See Also
FRCRNRDMResponse.Flags Property
FRCRNRDMResponse.IsSupported Property
FRERNRDMFlagConstants Overview
frRNRDMTelnetFlag
Description
Indicates that the Telnet communication feature is supported.
Remarks
Use this constant as the argument to the FRCRNRDMResponse.IsSupported
property to determine if the Telnet communication feature is supported on the
robot.
It can also be used to decode the value returned by the
FRCRNRDMResponse.Flags property.
See Also
FRCRNRDMResponse.Flags Property
FRCRNRDMResponse.IsSupported Property
FRERNRDMFlagConstants Overview
Optimizing Data Access
Optimizing Data Access
Robot Server default settings assume that your application needs to have the most update to
date robot data available. This means that every time you read a value, the Robot Server
reads directly from the robot. Also, every time you write a value, it is immediately sent to the
robot. Data access is performed using the TCP/IP network.
Your application can access data more efficiently by exploiting certain characteristics
associated with the TCP/IP network protocol. Each call through the TCP/IP protocol requires
an overhead processing time. This overhead processing time accounts for the majority of the
data transfer time between the PC and the FANUC Robotics/FANUC controller. Another
exploitable characteristic of the TCP/IP protocol is that the overhead processing time does
not significantly change with the size to the data being transmitted. Therefore, if your
application can make less calls between the PC and the FANUC Robotics/FANUC controller,
the better the performance. This requires your application to be written in such a way that it
can get more data per call to the FANUC Robotics/FANUC controller.
This help section explains how to optimize your PC application to minimize unnecessary
network activity for the most efficient data access.
Objects that deal with variables and I/O have the following properties and methods to
optimize access.
•
•
•
•
NoRefresh Property
Refresh Method
NoUpdate Property
Update Method
The NoRefresh property and Refresh method control how data is read from the robot. The
NoUpdate property and Update method control how information is written to the robot.
Scattered Access is another powerful tool that enables you to access a combination of
several data types with one network exchange. These data types include:
•
•
•
Variables
Positions
I/O
Optimizing Variable Access
Special Variable Types
Efficient Access to Paths
NoRefresh and NoUpdate are efficient for large structures because the data under control of
an FRCVars class object is usually stored in the robot in contiguous memory. A Path data
type is one of three exceptions.
A block read for a path variable is limited to a node by node basis. Nodes can be very large
and NoRefresh can still provide a significant performance improvement. However, there will
always be at least one robot access per node to get the path data into the Robot Server. The
following path structure, PTH, is used to illustrate this.
'
' Using NoRefresh on a Path variable type
'
Private Sub Paths()
Dim objPTH As FRCVars
Dim enuSMT As FREMotionTypeConstants
' The Robot Server accesses the robot at this point for
' type information to initialize the object.
Set objPTH = mobjRobot.Programs("MYPROG").Variables("PTH")
' Flag the Structure as NoRefresh.
' Both PTH.NODEDATA[1] and PTH.NODEDAT[2] are read into
' PC memory at this time. It takes two separate robot
' accesses to get the data. This could be very time
' consuming for large paths.
objPTH.NoRefresh = True
' This access is quick because the Robot Server
' has the value in local memory.
enuSMT = objPTH("NODEDATA")("1")("GROUP_DATA").SegMoType
End Sub
If you read the value of objPTH.NoRefresh, it will equal false. This is because the setting of
NoRefresh = True is propagated to the nodes and path header on which it works. It is not
remembered on the FRCVars object of the PATH variable itself because the data controlled
by that object can’t be read as one block. This same rule applies to the FRCVars object of
NODEDATA.
Scattered Access
Scattered Access Overview
The NoRefresh and NoUpdate features of the Robot Server take advantage of the fact that
structures and arrays are stored in contiguous memory. If the robot programs are designed
properly, these features can be used effectively to create an efficient, high speed PC
application.
In many cases, you do not have this luxury. The robot program might be developed long
before the data access requirements of its companion PC application are considered. It is
also very likely that the PC application must access system information (Sysvars, I/O,
Registers) along with variables from multiple programs in a coordinated manner.
Scattered Access is a way to read and write multiple independent robot variables, I/O signals,
numeric registers and system positions with one network access. This has the potential to
increase Robot Server performance by reducing network communication overhead.
KAREL Builtins
Robot-PC Communication KAREL Built-ins
The KAREL language provides several built-ins that support communication with the PC through the Robot Server. They can be
classified into two major categories:
•
•
PacketEvent KAREL Built-Ins
Data Acquisition KAREL Built-Ins
PacketEvent KAREL Built-Ins
SEND_DATAPC Built-In
Description
Send an event message and other data to the PC.
Syntax
END_DATAPC(req_code, dat_buffer, status)
Input/Output Parameters:
[in] req_code :INTEGER
[in] dat_buffer :ARRAY OF BYTE
[out] status :INTEGER
Remarks
req_code - request code that uniquely identifies this event. Valid values are 0 to
255.
dat_buffer - an array of bytes. The KAREL built–ins ADD_BYNAMEPC,
ADD_INTPC, ADD_REALPC, and ADD_STRINGPC can be used to format a
KAREL byte buffer. The actual data buffer format depends on the needs of the
PC. There is no error checking of the dat_buffer format on the controller.
status - the status of the attempted operation. If not 0, then an error occurred
and the event request was not sent to the PC.
See Also
Error! Hyperlink reference not valid.
ADD_INTPC Built–In
ADD_REALPC Built–In
Error! Hyperlink reference not valid.
FRCPacketEvents Object Overview
FRCPacket.DecodeBody Method
Example
The following example sends event 12 to the PC with a data buffer.
PROGRAM TESTDATA
%ENVIRONMENT PC
CONST
er_abort = 2
VAR
dat_buffer: ARRAY[100] OF BYTE
index: INTEGER
status: INTEGER
BEGIN
index = 1
ADD_INTPC(dat_buffer,index,55,status)
ADD_REALPC(dat_buffer,index,123.4,status)
ADD_STRINGPC(dat_buffer,index,’YES’,status)
-- send event 12 and data buffer to PC
SEND_DATAPC(12,dat_buffer,status) -- call built-in here
IF status<>0 THEN
POST_ERR(status,‘ ‘,0,er_abort)
ENDIF
END TESTDATA
ADD_REALPC Built-In
Description
Add a REAL value (type 17 - 11 HEX) into a KAREL byte data buffer.
Syntax
ADD_REALPC(dat_buffer, dat_index, number, status)
Input/Output Parameters :
[in] dat_buffer :ARRAY OF BYTE
[in,out] dat_index :INTEGER
[in] number :REAL
[out] status :INTEGER
Remarks
dat_buffer - an array of bytes.
dat_index - the starting byte number to place the real value.
number - the real value to place into the buffer.
status - the status of the attempted operation. If not 0, then an error occurred
and data was not placed into the buffer.
The KAREL built–ins ADD_BYNAMEPC, ADD_INTPC, ADD_REALPC, and
ADD_STRINGPC can be used to format a KAREL byte buffer in the following
way:
REAL data is added to the buffer as follows (buffer bytes are displayed in HEX):
beginning index = dat_index
2 bytes - variable type
4 bytes - the number
2 bytes of zero (0) - end of buffer marker
The following is an example of an REAL placed into a KAREL array of bytes
starting at index = 1:
0 11 43 AC CC CD 0 0
where:
0 11 = REAL variable type
43 AC CC CD = real number 345.600006
0 0 = end of data in the buffer
On return from the built–in, index = 7.
See Also
SEND_DATAPC Built–In
Error! Hyperlink reference not valid.
ADD_INTPC Built–In
Error! Hyperlink reference not valid.
FRCPacketEvents Object Overview
FRCPacket.DecodeBody Method
Example
Refer to the TESTDATA example in the built–in function SEND_DATAPC.
Data Acquisition KAREL Build-Ins
DAQ_CHECKP Built-In
Description
Check the status of a pipe and the number of bytes available to be read from
the pipe.
Syntax
DAQ_CHECKP(pipe_num, pipe_stat, bytes_avail)
Input/Output Parameters:
[in] pipe_num :INTEGER
[out] pipe_stat :INTEGER
[out] bytes_avail :INTEGER
Remarks
pipe_num – The number of the pipe (1 – 5) to check.
pipe_stat – The status of the pipe, returned. The status is a combination of the
following flags:
DAQ_PIPREG – pipe is registered (value = 1)
DAQ_ACTIVE – pipe is active, i.e., has been started (value = 2)
DAQ_CREATD – pipe is created (value = 4)
DAQ_SNAPSH – pipe is in snapshot mode (value = 8)
DAQ_1STRD – pipe has been read for the first time (value = 16)
DAQ_OVFLOW – pipe is overflowed (value = 32)
DAQ_FLUSH – pipe is being flushed (value = 64)
bytes_avail – The number of bytes that are available to be read from the pipe.
The pipe_stat returned parameter can be AND’ed with the above flag constants
to determine whether the pipe is registered, is active, etc. For example, you will
most likely wish to check if the pipe is active before writing to it.
The DAQ_OVFLOW flag will never be set for the task that writes to the pipe
when it calls DAQ_CHECKP. This flag applies only to tasks that read from the
pipe.
See Also:
Data Acquisition KAREL Built-Ins
DAQ_WRITE Built-In
FREPipeStateConstants
Example
Refer to the DAQWRITE example in the built–in function DAQ_WRITE.
DAQ_WRITE Built-In
Description
Write data to a KAREL pipe.
Syntax
DAQ_WRITE(pipe_num, prog_name, var_name, status)
Input/Output Parameters
[in] pipe_num :INTEGER
[in] prog_name :STRING
[in] var_name :STRING
[out] status :INTEGER
Remarks
pipe_num – The number of the pipe (1 – 5) to be written to.
prog_name – The name of the program containing the variable to be written. If
passed as an empty string, the name of the current program is used.
var_name – The name of the variable to be written.
status - The status of the attempted operation. If not 0, then an error occurred
and the data was not written.
You do not have to use the same variable for writing data to the pipe that was
used to register the pipe. The only requirement is that the data type of the
variable written matches the type of the variable used to register the pipe.
If a PC application is monitoring the pipe, each call to DAQ_WRITE will result in
an FRCPipe_Receive event being raised.
See Also:
Data Acquisition KAREL Built-Ins
FRCPipe_Receive Event
Example
The following example registers KAREL pipe 2 and writes to it when the pipe is
active.
PROGRAM DAQWRITE
%ENVIRONMENT DAQ
%ENVIRONMENT SYSDEF
CONST
er_abort = 2
TYPE
daq_data_t = STRUCTURE
count: INTEGER
dataval: INTEGER
ENDSTRUCTURE
VAR
status: INTEGER
pipestat: INTEGER
numbytes: INTEGER
datavar: daq_data_t
BEGIN
-- register 10KB pipe 2 in DRAM as kldaq.dat
DAQ_REGPIPE(2, DAQ_DRAM, 100, ’’, ’datavar’, &
’kldaq.dat’, 1, status)
IF status<>0 THEN
POST_ERR(status,‘ ‘,0,er_abort)
ENDIF
-- use DAQ_CHECKP to monitor status of pipe
DAQ_CHECKP(2, pipestat, numbytes)
datavar.count = 0
WHILE (pipestat AND DAQ_PIPREG) > 0 DO -- do while
registered
-- update data variable
datavar.count = datavar.count + 1
datavar.dataval = $FAST_CLOCK
-- check if pipe is active
IF (pipestat AND DAQ_ACTIVE) > 0 THEN
-- write to pipe
DAQ_WRITE(2, ’’, datavar, status)
IF status<>0 THEN
POST_ERR(status,‘ ‘,0,er_abort)
ENDIF
ENDIF
-- put in delay to reduce loading
DELAY(200)
DAQ_CHECKP(2, pipestat, numbytes)
ENDWHILE
END DAQWRITE
DAQ_STOP Built-In
Description
Stop an active KAREL pipe.
Syntax
DAQ_STOP(pipe_num, force_off, status)
Input/Output Parameters:
[in] pipe_num :INTEGER
[in] force_off :BOOLEAN
[out] status :INTEGER
Remarks
pipe_num – The number of the pipe (1 – 5) to be stopped.
force_off – If set TRUE, force the pipe to be turned off, even if another
application made a start request on the pipe. If set FALSE and if all start
requests have been accounted for with stop requests then the pipe is turned off;
otherwise it remains on.
status - The status of the attempted operation. If not 0, then an error occurred
and the pipe was not stopped.
The start/stop mechanism on each pipe works on a reference count: The pipe is
started on the first start request, and each subsequent start request is counted.
If a stop request is received for the pipe, the count is decremented.
If the pipe is not forced off, and the count is not zero, the pipe stays on. By
setting the force_off flag to TRUE, the pipe is turned off regardless of the count.
The count is reset.
FRCPipe.StopMonitor method issued by a PC application is equivalent to a call
to DAQ_STOP.
See Also:
Data Acquisition KAREL Built-Ins
DAQ_START Built-In
FRCPipe.StopMonitor Method
Example
Refer to the PIPONOFF example in the built–in function DAQ_START.
DAQ_UNREG Built-In
Description
Unregister a previously-registered KAREL pipe, so that it may be used for other
data.
Syntax
DAQ_UNREG(pipe_num, status)
Input/Output Parameters:
[in] pipe_num :INTEGER
[out] status :INTEGER
Remarks
pipe_num – The number of the pipe (1 – 5) to be unregistered.
status - The status of the attempted operation. If not 0, then an error occurred
and the pipe was not unregistered.
Unregistering a pipe allows the pipe to be re-configured for a different data size,
pipe size, pipe name, etc. You must unregister the pipe before re-registering
using DAQ_REGPIPE.
Good coordination between the KAREL task and the PC application must be
maintained to ensure that data is not lost when the pipe is unregistered. The
FRCPipe_Unregister event is raised immediately and it disables any
subsequent FRCPipe_Receive events. If there are still data records in the
network queues from this pipe, they will be discarded.
See Also:
Data Acquisition KAREL Built-Ins
DAQ_REGPIPE Built-In
FRCPipes_Unregister Event
FRCPipe_Unregister Event
Example
The following example unregisters KAREL pipe 1.
PROGRAM DAQUNREG
%ENVIRONMENT DAQ
CONST
er_abort = 2
VAR
status: INTEGER
BEGIN
-- unregister pipe 1
DAQ_UNREG(1, status)
IF status<>0 THEN
POST_ERR(status,‘ ‘,0,er_abort)
ENDIF
END DAQUNREG
TPP Macros
Send Data() Macro
The Send Data macro is used to send up to seven values to a PC application that is waiting for the event. The request code tells
the PC application what data is being sent and what the PC is supposed to do with it.
Table 1-2 lists and describes the Send Data macro
Send Data Macro Description
MACRO ITEM
DESCRIPTION
Syntax: Send Data(request_code, wait_sw, status_reg,
val1[,val2[,val3[,val4[,val5[,val6[,val7]]]]]])
Parameters: request_code - This item determines which event is triggered on the PC. It can be
a value between 0 and 255.
Wait_sw - This item is a wait switch. Valid values are either 0 or 1.
If 0, don’t wait for an answer form the PC.
If 1, wait for an answer from the PC.
See Satisfying the Send Macro Wait_sw.
The default value of wait_sw is 0.
Status_reg - This item is a register which stores the value of either the answer or
the error status for which the teach pendant program is waiting. Valid values are
either 0 or a register number.
If 0, no register is used, and no answer from the PC is reported back to the teach
pendant program. If wait_sw = 1, then the teach pendant program waits for the PC
to answer, but the answer value is not placed into a teach pendant register. If an
error occurs in the macro, the teach pendant program is aborted.
If status_reg is not 0, this is the register number used to report the PC’s answer
or error status to the calling teach pendant program. If wait_sw = 0, the teach
pendant program will not wait for the PC to answer and the register will only be
used to report errors. R[number] is set to 9999 if an error occurs.
The default value of status_reg is 0. This parameter is optional.
Val1 through Val7 - These items are data that are sent to the PC. Valid items are:
INTEGER constants, REAL constants, the values of registers, and STRING
constants. At least one value must be sent, but the others are optional. If no data
is to be sent, use the Send Event( ) macro instead.
See Also
Error! Hyperlink reference not valid.
FRCPacketEvent Object Overview
FRCRobot.CreatePacketEvent Method
Example teach pendant program that uses the Send Data macro.
PROG TEST1
1: ! Send Event 42 and Data
2: ! No Answer from PC
3: Send Data(42,0,0,’PARTS_ITEM3’,R[1],5,6,7,’TOOL_ITEM1’)
PROG TEST2
1: ! Send Event 9
2: ! Wait for PC Answer
3: ! Answer in R[3]
4: Send Data(9,1,3,’TOOLING’,R[1],5,’TEST’)
5: IF R[3]<9999,JMP BLB[10]
6: ! Error in macro
7: !
8: LBL[10]
Using FTP
Starting an Internet Session
An Internet session handle is the first thing required before any FTP operations can be performed. The connection can be made
directly, through a proxy, or using a registry configuration. Typically, the connection is made directly. If the session is created, the
function will return a session ID number.
Example – Starting an Internet Session
'Declare the InternetOpen() Function
Declare Function InternetOpenA Lib "wininet.dll" _
(ByVal lpszCallerName As String, _
ByVal dwAccessType As Long, _
ByVal lpszProxyName As String, _
ByVal nProxyPort As String, _
ByVal dwFlags As Long) As Long
'Access types for InternetOpen()
Public Const INTERNET_OPEN_TYPE_PRECONFIG As Long = 0 'use reg config
Public Const INTERNET_OPEN_TYPE_DIRECT As Long = 1 'direct to net
Public Const INTERNET_OPEN_TYPE_PROXY As Long = 3 'via named proxy
Public Const INTERNET_OPEN_TYPE_PRECONFIG_WITH_NO_AUTOPROXY = 4
'prevent using
‘java/script/INS
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
' Function: FTPStart
'
' Purpose: Start an FTP session, can be local or through gateway
'
' Inputs: vlngAccessType Type of access to request
' vstrProxy Name of Proxy server
' vstrProxyBy Proxy server bypass list
'
' Outputs: rlngSession Handle to the FTP session
'
' Returns: Success or error for calling application to trap
'
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
Public Function FTPStart(ByVal vlngAccessType As Long, _
ByVal vstrProxy As String, _
ByVal vstrProxyBy As String, _
ByRef rlngSession As Long) As Integer
'Default to success for return value
FTPStart = mintSUCCESSFUL_C
'cannot pass an empty string as will attempt to connect to empty string
' as proxy server set to NULL instead
If vstrProxy = "" Then
vstrProxy = vbNullChar
End If
If vstrProxyBy = "" Then
vstrProxyBy = vbNullChar
End If
'open the specified Internet Access Type
'these constants come from the Wininet API (wininet.h)
'Note: We are only dealing with the FTP portion of the Wininet functions
Select Case vlngAccessType
Case INTERNET_OPEN_TYPE_PRECONFIG:
rlngSession = InternetOpenA(App.EXEName, _
INTERNET_OPEN_TYPE_PRECONFIG, _
vstrProxy, _
vstrProxyBy, 0)
Case INTERNET_OPEN_TYPE_DIRECT:
rlngSession = InternetOpenA(App.EXEName, _
INTERNET_OPEN_TYPE_DIRECT, _
vbNullChar, _
vbNullChar, 0)
Case INTERNET_OPEN_TYPE_PROXY:
rlngSession = InternetOpenA(App.EXEName, _
INTERNET_OPEN_TYPE_PROXY, _
vstrProxy, _
vstrProxyBy, 0)
Case INTERNET_OPEN_TYPE_PRECONFIG_WITH_NO_AUTOPROXY:
rlngSession = InternetOpenA(App.EXEName, _
INTERNET_OPEN_TYPE_PRECONFIG_WITH_NO_AUTOPROXY, _
vstrProxy, _
vstrProxyBy, 0)
Case Else:
'default to direct connection type for FTP
rlngSession = InternetOpenA(App.EXEName, _
INTERNET_OPEN_TYPE_DIRECT, _
vbNullChar, _
vbNullChar, 0)
End Select
FTPStart = mintSUCCESSFUL_C
End Function
Reading a File Directory into a Collection
Reading a directory into a collection involves using two WININET.DLL function calls. The first finds the first file in the directory
and returns its information as well as a file find handle. The second one finds the next file based off of the previous file find
function. At the end of the routine, the find handle that is returned by the "find first file" function call must be closed. Because the
data is returned with extra spaces and extraneous data, a function was written to remove the extra spaces and data.
Example – Reading a Directory into a Collection
Const MAX_PATH = 260
Type WIN32_FIND_DATA
dwFileAttributes As Long
ftCreationTime As FILETIME
ftLastAccessTime As FILETIME
ftLastWriteTime As FILETIME
nFileSizeHigh As Long
nFileSizeLow As Long
dwReserved0 As Long
dwReserved1 As Long
cFileName As String * MAX_PATH
cAlternate As String * 14
End Type
Declare Function InternetFindNextFileA Lib "wininet.dll" _
(ByVal hFind As Long, _
ByRef lpFindFile As WIN32_FIND_DATA) As Boolean
Declare Function FtpFindFirstFileA Lib "wininet.dll" _
(ByVal hFtpSession As Long, _
ByVal lpszSearch As String, _
ByRef lpFindFile As WIN32_FIND_DATA, _
ByVal dwFlags As Long, _
ByVal dwContext As Long) As Long
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
' Function: FTPDirToCollection
'
' Purpose: Returns directory listing specified by user into a control
'
' Inputs: vlngConnect Connection ID to get directory for
' robjCollName Name of collection to put directory listing
' into
' vstrDirString Directory filter (i.e. *.tp)
'
' Outputs: N/A
'
' Returns: Success or error (raises error for calling application to
' trap)
'
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
Public Function FTPDirToCollection(ByVal vlngConnect As Long, _
ByRef robjCollName As Collection, _
ByVal vstrDirString As String) As Integer
Dim strLine As String * 261
Dim blnMoreFiles As Boolean
Dim hFind As Long
Dim intReturnCode As Integer
Dim strFileName As String
Dim intPosition As Integer
Dim udtDirFiles As WIN32_FIND_DATA
Dim intCounter As Integer
'default to success for return value
FTPDirToCollection = mintSUCCESSFUL_C
'initialize the structure variables
udtDirFiles.cFileName = Space(MAX_PATH)
udtDirFiles.cAlternate = Space(14)
'attempt to find the first file specified in ldirstring
hFind = FtpFindFirstFileA(vlngConnect, vstrDirString, udtDirFiles, 0, 0)
'clear the collection Since collections are reindexed automatically,
' remove the first member on each iteration.
For intCounter = 1 To robjCollName.Count
robjCollName.Remove 1
Next intCounter
'get an entry from the directory structure
strLine = udtDirFiles.cFileName
'Must parse FROM and RAM Disk devices differently
'returns file size and date and pads file name with spaces
If InStr(vstrDirString, "fr:\") Or InStr(vstrDirString, "rd:\") Then
'remove the leading fr:\ or rd:\ from the string
strLine = Mid(strLine, 5, Len(strLine))
'chop off the file size and date
intPosition = InStr(1, strLine, ".") + 2
Else ' Get intPositionition Of Next Space
intPosition = InStr(1, strLine, vbNullChar) – 1
End If
'if something found then process it
If intPosition >= 1 Then
strFileName = Left(strLine, intPosition)
RemoveSpaces strFileName
If (strFileName <> "klevaxdf.vr") _
And (strFileName <> "-bckedt-.tp") Then
'this is the parsed filename (put into control)
robjCollName.Add strFileName
End If
End If
'while there are more file in the directory, add them to the list
blnMoreFiles = True
Do While blnMoreFiles = True
If (InternetFindNextFileA(hFind, udtDirFiles) = False) Then
If (GetLastError() = ERROR_NO_MORE_FILES) Then
blnMoreFiles = False
Else
FTPDirToCollection = GetLastError()
'raise error back to calling application
Err.Raise mintFTP_DIRECTORY_ERR_C + vbObjectError, App.EXEName, _
"Error locating any " & vstrDirString & _
" files [FTPDirToCollection]."
Exit Function
End If
Else
'get the next entry from the directory structure
strLine = udtDirFiles.cFileName
If InStr(vstrDirString, "fr:\") Or InStr(vstrDirString, "rd:\") Then
'remove the leading fr:\ or rd:\ from the string
strLine = Mid(strLine, 5, Len(strLine))
'chop off the file size and date
intPosition = InStr(1, strLine, ".") + 2
Else ' Get intPositionition Of Next Space
intPosition = InStr(1, strLine, vbNullChar) - 1
End If
'if something found then process it
If intPosition >= 1 Then
strFileName = Left(strLine, intPosition)
RemoveSpaces strFileName
If (strFileName <> "klevaxdf.vr") _
And (strFileName <> "-bckedt-.tp") Then
'this is the parsed filename (put into control)
robjCollName.Add Left(strFileName, intPosition)
End If
End If
End If
Loop
InternetCloseHandle hFind
FTPDirToCollection = mintSUCCESSFUL_C
End Function
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
' Function: RemoveSpaces
'
' Purpose: Removes spaces from a passed in string
'
' Inputs: rstrString String that may contain a space
'
' Outputs: rstrString String with no space
'
' Returns: Success or error (raises error for calling application to
' trap)
'
'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
Private Sub RemoveSpaces(ByRef rstrString As String)
Dim intPosition As Integer
Dim strTempString As String, strTempString2 As String
Dim strLine As String
'no error handling is required by this routine
strLine = rstrString
'find 1st space in string
intPosition = InStr(1, strLine, Chr$(32))
'if found remove space
If intPosition > 1 Then
strTempString = Left(strLine, intPosition - 1)
strTempString2 = Right(strLine, 3)
strLine = strTempString & strTempString2
End If
'set return value for calling function
rstrString = strLine
End Sub
Legacy Support
Robot Manager Overview
Managing Connections
Using Persistent Connections
Another advantage the Robot Manager provides is the ability to save your connections. Any
connection can be saved or deleted from a persistent storage area.
Connections can be saved by calling the FRCRobotManagerConnection.Save method. A connection
can be removed from the persistent list by calling the FRCRobotManagerConnection.Delete method
The FRCRobotManagerConnectiion.IsSaved property can be used to determine whether or not the
connection is saved.
Note that by calling the Delete method, the connection is only removed from the stored list of
connections. It does NOT remove the connection from the internal collection in the Robot Manager.
The Load method can be used to load the default saved values for the connection.
Below is a brief example using the Save, Delete and Load methods and the IsSaved property.
Dim objRobMan As FRCRobotManager
Dim objRobManConnections As FRCRobotManagerConnections
Dim objRobManConnection As FRCRobotManagerConnection
' Get a copy of the Robot Manager
Set objRobMan = New FRCRobotManager
' Get the connections collection
Set objRobManConnections = objRobMan.Connections
' Get a connection
Set objRobManConnection = objRobManConnections.Item("MyRobot")
' Check if already saved
If objRobManConnection.IsSaved Then
' Ask the user if they wish to delete the connection
If MsgBox("Delete the connnection 'MyRobot'?", _
vbYesNo, "Confirm Delete") = vbYes Then
'Delete it from the store list
objRobManConnection.Delete
Else
' Load the defaults for the connection
objRobManConnection.Load
End If
Else
' Is not Saved so Save it to the store list
objRobManConnection.Save
End If
Connecting to the Controller
the most important feature of the Robot Manager is to get a Robot Server object and connect it to an
R-J3 controller. The Robot Server provides the ability to have NoWait (asynchronous) connects to the
controller. This concept allows you to tell the Robot Server to connect, and it will return from the call
immediately instead of waiting for a successful connection. The Robot Manager uses this feature of the
Robot Server. For more detail see the Connecting to an R-J3 Controller and the FRCRobot.ConnectEx
method.
With a NoWait connect, the connection process has two steps. The steps are initiating the connection,
and waiting for a success notification.
To initiate a connection using the Robot Manager you simply need to call the
FRCRobotManagerConnection.Connect method. This method will return an FRCRobot object.
However, the Robot Server may or may not be connected at this point.
The second step is to check if the Robot Server is connected. There are two ways to do this. The
preferred way is to check the FRCRobotManagerConnection.ConnectionStatus property.If the value is
frRMRobotConnected then the Robot Server is connected.
The other way is to check the FRCRobot.IsConnected property. This way is less preferred than the first
as the Robot Manager will usually be the first to detect any connection problems, therefore will have
the most updated information.
If the Robot Server is not already connected, you must wait for a notification that the connection has
been made. You can receive this notification by subscribing to the
FRCRobotManagerConnection_StatusChange event. Then when the Robot Server connects this event
will be fired supplying you with the new status. When the status changes to frRMRobotConnected the
Robot Server is connected and ready for use.
Below is an example of how to complete a connection to an R-J3 controller using the Robot Manager.
Private WithEvents mobjRobManConnection As _
FRCRobotManagerConnection
Private mobjRobot As FRCRobot
Private mblnConnected As Boolean
Private Sub subInitialize()
Dim objRobMan As FRCRobotManager
Dim objRobManConnections As FRCRobotManagerConnections
Dim objRobManConnection As FRCRobotManagerConnection
' Get a copy of the Robot Manager
Set objRobMan = New FRCRobotManager
' Get the connections collection
Set objRobManConnections = objRobMan.Connections
' Get a connection
Set objRobManConnection = objRobManConnections.Item("MyRobot")
' Set the Connect to try forever
objRobManConnection.ConnectNumRetries = 0
' Set up to try to Connect every 30 seconds
objRobManConnection.ConnectPeriod = 30
' Initiate the Robot connection
Set mobjRobot = objRobManConnection.Connect
End Sub
Private Sub subMain()
' Start robot connection
subInitialize
' Do some work while we wait for a connection
subDoBackgroundWork
' We are done with everything so check
' if Robot Server is connected
If Not mblnConnected And _
Not (mobjRobManConnection.ConnectionStatus = _
frRMRobotConnected) Then
' Loop till done
Do While Not mblnConnected
' Wait 50 ms
Sleep (50)
Loop
End If
End Sub
Private Sub mobjRobManConnection_StatusChange(ByVal _
NewStatus As Long)
If NewStatus = frRMRobotConnected Then
mblnConnected = True
End If
End Sub
Special Features
Using HeartBeat
The HeartBeat feature of the Robot Manager allows applications to check the connection between the
R-J3 controller and the PC that the Robot Manager resides periodically. This allows the application to
update the status of the connection periodically.
The FRCRobotManagerConnection.HeartBeat property is used to setup the HeartBeat feature. .
HeartBeat
Used to enable/disable the HeartBeat feature.
Must be greater or equal to zero.
If zero, the HeartBeat feature is disabled.
If greater than zero, the value is the period at which the
HeartBeat feature checks the connection.
Units are in seconds.
Use the FRCRobotManagerConnection.ConnectionStatus property and the
FRCRobotManagerConnection_StatusChange event to monitor the current connection status. The
HeartBeat feature will change the status values between frRMRobotAvailable and
frRMRobotUnAvailable if no Robot Server is connected. If a Robot Server is connected and the
HeartBeat feature detects a bad connection to the R-J 3 controller, it will force the Robot Server to
disconnect. This will cause the appropriate status changes.
The following is an example on how to set up the HeartBeat feature.
Dim objRobMan As FRCRobotManager
Dim objRobManConnections As FRCRobotManagerConnections
Dim objRobManConnection As FRCRobotManagerConnection
' Get a copy of the Robot Manager
Set objRobMan = New FRCRobotManager
' Get the connections collection
Set objRobManConnections = objRobMan.Connections
' Get a connection
Set objRobManConnection = objRobManConnections.Item("MyRobot")
' Set the HeartBeat to check connection every 30 seconds
objRobManConnection.HeartBeat = 30
' Get a different connection
Set objRobManConnection = objRobManConnections.Item("MyOtherRobot")
' Disable this connections HeartBeat
objRobManConnection.HeartBeat = 0
Robot Manager Object Interface
RobotManager
FRCRobotManager
FRCRobotManager Object Overview
Description
The FRCRobotManager object is the parent object of the Robot Server
Connection Manager server. This object provides access to the list of
connections and status change events.
Properties
Connections as FRCRobotManagerConnections (read-only)
Methods
None.
Events
None.
FRERobotManagerErrors
FRERobotManagerErrors Overview
Description
The object provides an enumerated list to represent the different errors that can
occur while using the Robot Manager.
Overview
Use these constants to decode the error number that is raised by the Robot
Manager.
Values
frRMCannotDeleteRegistry
frRMCannotOpenRegistry
frRMCannotReadRegistry
frRMCannotWriteRegistry
frRMConcurrentConnects
frRMConnectionNotFound
frRMConnectionNotSaved
frRMDuplicateRobotName
frRMValueOutOfRange
frRMInvalidIndex
frRMCannotWriteRegistry
Description
The Robot Manager could not write a key/value to the system Registry.
Resolution
Make sure your Windows User account has sufficient permissions to complete
the operation.
See Also
FRERobotManagerErrors Overview
FRCRobotManagerConnection.Delete Method
FRCRobotManagerConnection.Load Method
Connections
FRCRobotManagerConnections
FRCRobotManagerConnections Properties
FRCRobotManagerConnections.Item Property
Description
Returns the specified FRCRobotManagerConnection object from the
FRCRobotManagerConnections collection.
Syntax
[objNewConnection =] objConnections.Item(strRobotName)
OR
[objNewConnection =] objConnections.Item(strRobotName, _
enuConnectionType)
OR
[objNewConnection =] objConnections.Item(,,lngIndex)
Parts
objConnections as FRCRobotManagerConnections
objNewConnection as FRCRobotManagerConnection
strRobotName as String
enuConnectionType as FRERobotManagerConnectionTypes
lngIndex as Long
Remarks
To specify the item that is desired, several combinations of parameters can be
used.
RobotName – Can be used by itself or in combination with Connection Type.
This is the user-friendly robot name specified in the Add method.
ConnectionType – Must be used in combination with RobotName. This
parameter is only needed when a RobotName is shared between more than
one connection type.
Index – Must be used alone. Returns the FRCRobotManagerConnection object
at the specified index within the collection.
If an invalid parameter is given, an exception will be raised.
See Also
FRCRobotManagerConnections Object Overview
FRCRobotManagerConnection Object Overview
Example
Dim objRobMan As FRCRobotManager
Dim objRobManConnections As FRCRobotManagerConnections
Dim objRobManConnection As FRCRobotManagerConnection
' Get a copy of the Robot Manager
Set objRobMan = New FRCRobotManager
' Get the connections collection
Set objRobManConnections = objRobMan.Connections
' Get a connection
Set objRobManConnection = _
objRobManConnections.Item("MyRobot")
' Get a connection by index
Set objRobManConnection = objRobManConnections.Item(, , 1)
' or
Set objRobManConnection = _
objRobManConnections.Item(Index:=1)
FRCRobotManagerConnection
FRCRobotMangerConnection Properties
FRCRobotManagerConnection.HostName Property
Description
Returns the domain name for the RJ-3 controller that the connection
represents.
Syntax
[strHostName = ]objRobotOnlineController.HostName
Parts
objRobotOnlineController as FRCRobotManagerOnlineController
strHostName as String
Remarks
None.
See Also
FRCRobotManagerConnection Object Overview
FRCRobot.ConnectEx Method
FRCRobotManagerConnections.AddOnline Method
Example
Dim objRobMan As FRCRobotManager
Dim objRobManConnections As FRCRobotManagerConnections
Dim objRobManConnection As FRCRobotManagerConnection
' Get a copy of the Robot Manager
Set objRobMan = New FRCRobotManager
' Get the connections collection
Set objRobManConnections = objRobMan.Connections
' Get a connection
Set objRobManConnection = _
objRobManConnections.Item("MyRobot")
' Get the host name of the controller
MsgBox "The controllers host name is: " & _
objRobManConnection.HostName
FRCRobotManagerConnection.IsSaved Property
Description
Returns a boolean value signifying whether or not the connection parameters
have been saved.
Syntax
[blnIsSaved] = objRobotConnection.IsSaved
Parts
objRobotConnection as FRCRobotManagerConnection
blnIsSaved as Boolean
Remarks
If this property returns True, the connection settings have been saved.
Otherwise, the connection settings are not present in the saved connection list.
This information is stored in the Microsoft System Registry. Saved connections
are restored when the Robot Manager is first instantiated.
See Also
FRCRobotManagerConnection Object Overview
FRCRobotManagerConnection.Save Method
Example
Dim objRobMan As FRCRobotManager
Dim objRobManConnections As FRCRobotManagerConnections
Dim objRobManConnection As FRCRobotManagerConnection
' Get a copy of the Robot Manager
Set objRobMan = New FRCRobotManager
' Get the connections collection
Set objRobManConnections = objRobMan.Connections
' Get a connection
Set objRobManConnection = _
objRobManConnections.Item("MyRobot")
' Check is connection is saved
If objRobManConnection.IsSaved Then
MsgBox "The connection is saved"
Else
MsgBox "The connection is not saved"
End If
FRCRobotMangerConnection Methods
FRCRobotManagerConnection.Delete Method
Description
Removes the connection data from the system Registry.
Syntax
objRMConnection.Delete()
Parts
objRMConnection as FRCRobotManagerConnection
Remarks
This information is stored in the Microsoft system Registry. Saved connections
are restored when the Robot Manager is first instantiated.
By deleting the connection from the system Registry, the Robot Manager will no
longer load the connection on start up.
This method will succeed if the connection is not stored in the Registry.
See Also
FRCRobotManagerConnection Object Overview
FRCRobotManagerConnection.Save Method
Example
Dim objRobMan As FRCRobotManager
Dim objRobManConnections As FRCRobotManagerConnections
Dim objRobManConnection As FRCRobotManagerConnection
' Get a copy of the Robot Manager
Set objRobMan = New FRCRobotManager
' Get the connections collection
Set objRobManConnections = objRobMan.Connections
' Get a connection
Set objRobManConnection = _
objRobManConnections.Item("MyRobot")
' Check if already saved
If objRobManConnection.IsSaved Then
' Ask the user if they wish to delete the connection
If MsgBox("Do you wish to delete the connnection 'MyRobot'?", _
vbYesNo, "Confirm Delete") = vbYes Then
‘ Delete it from the store list
objRobManConnection.Delete
Else
' Load the defaults for the connection
objRobManConnection.Load
End If
Else
' Is not Saved so Save it to the store list
objRobManConnection.Save
End If
FRCRobotMangerConnection Events
FRCRobotManagerConnection_Change Event
Description
Occurs when a change in a connections property is detected.
Syntax
objRobMan_Change(lngProp, varNewValue)
Parts
objRobMan as FRCRobotManager
lngProp as FRERobotManagerConnectionProperties
varNewValue as Variant
Remarks
This event allows clients to monitor specific properties for changes.
An enumerated value representing the changed property and the value of the
property will be sent with the event.
Client applications must synchronize the setting/resetting of properties values,
otherwise a run away loop can result.
See Also
FRCRobotManagerConnection Object Overview
FRERobotManagerConnectionProperties Overview
Example
Private WithEvents mobjRobManConnection As _
FRCRobotManagerConnection
Private Sub mobjRobManConnection_Change(Property _
As FRERobotManagerConnectionProperties, _
NewValue As Variant)
Select Case Property
Case frRMCAutoReconnectEnable
MsgBox "AutoReconnectEnable has changed to: " & _
CStr(NewValue)
Case frRMCAutoReconnectPeriod
MsgBox "AutoReconnectPeriod has changed to: " & _
CStr(NewValue)
Case frRMCAutoReconnectNumRetries
MsgBox "AutoReconnectNumRetries has changed to: " _
& CStr(NewValue)
Case frRMCConnectPeriod
MsgBox "ConnectPeriod has changed to: " & _
CStr(NewValue)
Case frRMCConnectNumRetries
MsgBox "ConnectNumRetries has changed to: " & _
CStr(NewValue)
Case frRMCKeepAlive
MsgBox "KeepAlive has changed to: " & CStr(NewValue)
Case frRMCHeartBeat
MsgBox "HeartBeat has changed to: " & CStr(NewValue)
Case frRMCIsSaved
MsgBox "IsSaved has changed to: " & CStr(NewValue)
End Select
End Sub
FRCRobotManagerConnection_StatusChange Event
Description
Occurs when a change in a connections status is detected.
Syntax
objRobMan_StatusChange(lngNewStatus)
Parts
objRobMan as FRCRobotManager
lngNewStatus as FRERobotManagerConnectionStatus
Remarks
This event will be fired in conjunction with the StatusChange event on the
FRCRobotManager object.
The new status will be passed with the event.
See Also
FRCRobotManagerConnection Object Overview
FRERobotManagerConnectionStatus Overview
FRCRobotManagerConnections_StatusChange Event
Example
Private WithEvents mobjRobManConnection As _
FRCRobotManagerConnection
Private Sub mobjRobManConnection_StatusChange(ByVal _
NewStatus As FRERobotManagerConnectionStatus)
Select Case NewStatus
Case frRMRobotAvailable
MsgBox "Robot Available"
Case frRMRobotUnavailable
MsgBox "Robot UnAvailable"
Case frRMRobotConnected
MsgBox "Robot Connected"
Case frRMConnecting
MsgBox "Robot Connecting"
Case frRMDisconnecting
MsgBox "Robot Disconnected"
Case frRMAutoReconnecting
MsgBox "Robot AutoReconnecting"
End Select
End Sub
FRERobotManagerConnectionProperties
FRERobotManagerConnectionProperties Overview
Description
An enumeration of constants used to represent the properties of the
FRCRobotManagerConnection object.
Overview
These constants are used as parameters when a
FRCRobotManagerConnection_Change event is triggered.
Values
frRMCAutoReconnectEnable
frRMCAutoReconnectNumRetries
frRMCAutoReconnectPeriod
frRMCConnectNumRetries
frRMCConnectPeriod
frRMCHeartBeat
frRMCIsSaved
frRMCKeepAlive
See Also
FRCRobotManagerConnection.AutoReconnectEnable Property
FRCRobotManagerConnection.AutoReconnectNumRetries Property
FRCRobotManagerConnection.AutoReconnectPeriod
PropertyFRCRobotManagerConnection.ConnectNumRetries
PropertyFRCRobotManagerConnection.ConnectPeriod
PropertyFRCRobotManagerConnection.Heartbeat
PropertyFRCRobotManagerConnection.IsSaved
PropertyFRCRobotManagerConnection.KeepAlive
PropertyFRCRobotManagerConnection.Change Event
Limitations
FRCAxesCollection is not updated when extended axes added
Symptom
Create a TP program on a six-axis robot. Record a TP Position. Save the TP program. Now load the TP program on a nine-axis
robot. Look at the Position. ie )make sure the AxesCollection object is created. Record the existing TP Position. The type will
change from frXyzWpr to frExtXyzWpr, but the AxesCollection is not updated. The data is correct on the controller, however, it is
not reflected properly in the object.
Avoidance
Record the TP position before creating the AxesCollection or disconnect the Robot Server and reconnect.
Problems loading invisible programs over visible & vice versa
Symptom
When an invisible program overwrites a visible program, there is no delete event; when a visible program overwrites an invisible
one, there is no create event. The Invisible property will change appropriately in both cases, but the program doesn't change. So
when an invisible program is loaded over a visible, it's still in the collection but its Invisible property is true, and vice-versa.
Other events, such as the program object's Refresh will occur as expected.
Avoidance
Always use unique names for visible and invisible programs
Index
D
DAQ_STOP Built-In 219
F
FRCAlarm.CauseMessage Property 101
FRCAlarm.ErrorClass Property 102
FRCAlarm.ErrorFacility Property 103
FRCAlarm.ErrorMnemonic Property 104
FRCAlarm.ErrorSeverity Property 104
FRCAlarms.Item Property 105
FRCAlarms.Max Property 105
FRCAlarms.Reset Method 106
FRCAnalogIOType Object Overview 139
FRCAnalogIOType.CanConfigure Property 139
FRCAnalogIOType.CanSimulate Property 140
FRCApplications Object Overview 176
FRCApplications.Count Property 177
FRCApplications.Item Property 177
FRCApplications.Remove Method 178
FRCAxesCollection is not updated when extended axes
added 241
FRCAxesCollection.Item Property 69
FRCCommonAssoc Object Overview 48
FRCConfig.Left Property 71
FRCCurGroupPosition Object Overview 71
FRCCurGroupPosition.Parent Property 72
FRCCurPosition.Group Property 73
FRCCurPosition.StopMonitor Method 74
FRCDigitalIOType.CanConfigure Property 140
FRCDigitalIOType.CanSimulate Property 141
FRCFlag.CanComplement Property 142
FRCFlag.CanConfigure Property 143
FRCFlag.CanSimulate Property 143
FRCFlagSignal Object Overview 124
FRCGroupIOType.CanComplement Property 144
FRCGroupIOType.CanConfigure Property 144
FRCGroupIOType.CanSimulate Property 145
FRCGroupPosition Object Overview 75
FRCGroupPosition.Parent Property 76
FRCIndGroupPosition Object Overview 76
FRCIndGroupPosition.Parent Property 78
FRCIndPosition.Unitialize Method 78
FRCIOConfig.FirstLogicalNum Property 110
FRCIOConfig_Delete Event 111
FRCIOConfigs.Item Property 112
FRCIOConfigs_Create Event 113
FRCIOConfigs_Delete Event 114
FRCIOSignal.NoRefresh Property 119
FRCIOSignal.NoUpdate Property 120
FRCIOSignal.StopMonitor Method 122
FRCIOSignal_Change Event 123
FRCIOSignal_Delete Event 123
FRCIOSignals.Refresh Method 138
FRCIOSignals.StopMonitor Method 138
FRCJoint.Item Property 79
FRCLaserAnalogIOSignal.Simulate Property 125
FRCLaserAnalogIOType Object Overview 145
FRCLaserAnalogIOType.CanConfigure Property 146
FRCLaserAnalogIOType.CanSimulate Property 146
FRCLaserDigitalIOType.CanConfigure Property 148
FRCLaserDigitalIOType.CanSimulate Property 148
FRCMarkerType.CanConfigure Property 149
FRCMarkerType.CanSimulateProperty 149
FRCMotionErrorInfo Object Overview 80
FRCPipe.StopMonitor Method 167
FRCPipeField Object Overview 170
FRCPipeFields.Count Property 168
FRCPipeFields.VarName Property 169
FRCPipes.Count Property 166
FRCPipes.Item Property 166
FRCPipes_Register Event 167
FRCPLCIOSignal Object Overview 126
FRCPLCIOSignal.Value Property 128
FRCPosition.IsMonitoring Property 81
FRCPosition.IsReachable Property 82
FRCPosition.StartMonitor Method 85
FRCPosition.StopMonitor Method 86
FRCPosition.Uninitialize Method 87
FRCPosition.UserTool Property 83
FRCProgram.IgnoreAbort Property 21
FRCProgram.IgnorePause Property 21
FRCProgram.StackSize Property 22
FRCProgram.TimeSlice Property 22
FRCProgram.Variables Property 23
FRCProgram_RefreshVars Event 23
FRCPrograms Object Overview 24
FRCPrograms.Item Property 25
FRCPrograms.Selected Property 27
FRCPrograms_AttrChange Event 28
FRCPrograms_RefreshVars Event 28
FRCPrograms_SubTypeChange Event 29
FRCRegNumeric.Parent Property 49
FRCRegNumeric.RegLong Property 49
FRCRegString.Comment Property 50
FRCRegString.Parent Property 51
FRCRegString.Value Property 51
FRCRNRDMResponses.DoScan Method 201
FRCRNRDMResponses.Item Property 200
FRCRNRobot.HeartbeatEnable Property 196
FRCRNRobot.HeartBeatPeriodProperty 197
FRCRNRobot.KeepAliveDurationProperty 197
FRCRNRobots.Item Property 195
FRCRNRobots.Name Property 195
FRCRNServices.Count Property 201
FRCRNServices.Item Property 202
FRCRobot.IOTypes Property 11
FRCRobot.Language Property 12
FRCRobot.Programs Property 13
FRCRobotIOType Object Overview 150
FRCRobotIOType.CanConfigure Property 152
FRCRobotIOType.CanSimulate Property 152
FRCRobotManagerConnection HostName 236
FRCRobotManagerConnection IsSaved 237
FRCRobotManagerConnections Item 235
FRCRobotNeighborhood.DefaultAutoReconnectNumRetrie
s Property 193
FRCRobotNeighborhood.StartModeAutoDelay Property
193
FRCRobotNeighborhood.VirtualRestartTolerance Property
194
FRCScatteredAccess Refresh Method 173
FRCScatteredAccess Update Method 175
FRCSOPIOSignal.Value Property 129
FRCSOPIOType.CanConfigure Property 153
FRCSOPIOType.CanSimulate Property 154
FRCSynchData.Features Property 180
FRCSysGroupPosition.Parent Property 89
FRCSysInfo.Clock Property 180
FRCSysInfo.CMOS Property 181
FRCSysInfo.DRAM Property 181
FRCSysInfo.FROM Property 182
FRCSysInfo.PermMemUsed Property 185
FRCSysInfo.SystemMemUsed Property 186
FRCSysInfo.TempMemUsed Property 187
FRCSysInfo.TPPMemFree Property 188
FRCSysInfo.TPPMemLargestFreeBlock Property 189
FRCSysInfo.TPPMemUsed Property 190
FRCSysPosition.Uninitialize Method 91
FRCSysPosition_Change Event 91
FRCSysPosition_CommentChange Event 92
FRCSysPositions.Count Property 93
FRCSysPositions.Item Property 93
FRCSysPositions.Selected Property 94
FRCSysPositions_Change Event 95
FRCTask.CurProgram Property 34
FRCTask.CurRoutine Property 35
FRCTask.ProgramType Property 36
FRCTask.StepType Property 37
FRCTask.SystemTask Property 37
FRCTask.TimeSlice Property 38
FRCTask.TopProgram Property 38
FRCTask.TraceEnable Property 39
FRCTask.TraceLength Property 39
FRCTasks.Count Property 40
FRCTasks.IsMonitoring Property 40
FRCTasks.StopMonitor Method 41
FRCTPIOSignal Object Overview 130
FRCTPIOSignal.Value Property 131
FRCTPIOType.CanComplement Property 154
FRCTPIOType.CanConfigure Property 155
FRCTPIOType.CanSimulate Property 155
FRCTPPosition.IsAtCurPosition Property 96
FRCTPPosition.ReferenceCount Property 96
FRCTPPosition_Change Event 97
FRCTPPositions.Count Property 98
FRCTPPositions.Item Property 98
FRCTPPositions_BeginRenumberAll Event 99
FRCTPProgram_SubTypeChange Event 30
FRCUOPIOSignal.Value Property 133
FRCUOPIOType.CanConfigure Property 157
FRCUOPIOType.CanSimulate Property 157
FRCVar.FieldName Property 52
FRCVar.GroupNum Property 53
FRCVar.IsMonitoring Property 54
FRCVar.MaxStringLen Property 55
FRCVar.NoUpdate Property 55
FRCVar.Program Property 57
FRCVar.StopMonitor Method 59
FRCVar.StorageClass Property 58
FRCVars.IsMonitoring Property 61
FRCVars.NoUpdate Property 61
FRCVars.Program Property 62
FRCVars.Update Method 64
FRCVars_Rename Event 65
FRCWeldDigitalIOType Object Overview 160
FRCWeldDigitalIOType.CanConfigure Property 161
FRCWeldDigitalIOType.CanSimulate Property 161
FRCWeldStickIOSignal Object Overview 136
FRCWeldStickIOType Object Overview 158
FRCWeldStickIOType.CanConfigure Property 159
FRCWeldStickIOType.CanSimulate Property 159
FREAlarmSeverityConstants Overview 106
FREProgramTypeConstants Overview 32
FREProtectionConstants Overview 32
FRERejectModeConstants Overview 32
FRERobotManagerConnectionProperties Overview 241
frErrorReset 107
FREStartModeConstants Overview 190
frExecuteNormBwd 42
frFrenchLanguage 14
frHoldAMRPkt 42
frHoldChgExe 42
frHoldFailLk 42
frHoldMoDone 43
frHoldMoStrt 43
frHoldUAMRPkt 43
frHoldUnlock 43
frHoldUnwait 43
frHoldVBltin 44
frIgnorePauseAttr 30
frInvalidDateTime 17
frInvVarName 17
frInvVarType 18
frInvVectIndex 18
frPacketEventInvSSC 19
frPacketEventNoSuchItem 19
frPipeCantCreateMonitor 20
frPipeInvalidFieldIndex 20
frPipeInvalidFieldName 20
frProgInvalidParam 17
frProgramNotLoaded 17
frRMCannotWriteRegistry 235
frRNRDMDNSFlag 207
frRNRDMEGDFlag 207
frRNRDMEIPFlag 207
frRNRDMFTPFlag 208
frRNRDMProfiSFlag 208
frRNRDMServiceID 206
frRNVirtualFatalErrorDuringRecovery 204
frRNVirtualVersionNotSupported 205
frSevExMask 108
frSevExNone 108
frSevPause 109
frSevServo 109
frSevStopL 109
frSSC_Wild 165
frStandardSave 20
frStepTPMotion 44
frTaskAttrCircMotion 44
frTaskAttrERPrgName 44
frTaskAttrNumChild 45
frTaskAttrParenNum 45
frTaskAttrPauseOnShift 45
frTaskAttrStkSize 46
frTaskAttrSuperMotion 46
frTaskAttrSystemTask 46
frTaskAttrTaskPri 46
frTaskAttrTaskSt 47
frTaskAttrTCDStatus 47
frTaskAttrTPMotion 47
frTaskAttrTraceEnb 47
frTaskAttrTraceLength 48
frTaskAttrUserTaskID 48
P
Problems loading invisible programs over visible & vice
versa 242