Download NetwoRC provider user's guide - Carafa Christian Engineering

NetwoRC provider user's guide
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4.2.39. CaoRobot::Execute method ...........................................................................................53
4.2.40. CaoTask::AddVariable method .......................................................................................72
4.2.41. CaoTask::get_VariableNames property ..........................................................................73
4.2.42. CaoTask::Start method ...................................................................................................73
4.2.43. CaoTask::Stop method ...................................................................................................73
4.2.44. CaoVariable::get_Value property ....................................................................................73
4.2.45. CaoVariable::put_Value property ....................................................................................73
4.2.46. CaoVariable::put_ID property .........................................................................................73
4.2.47. CaoVariable::get_ID property .........................................................................................74
4.2.48. CaoVariable::get_Microsecond property.........................................................................74
4.2.49. CaoMessage::Clear method...........................................................................................74
4.3. Variable list..............................................................................................................................75
4.3.1. Controller class.................................................................................................................75
4.3.2. Robot class.......................................................................................................................78
4.3.3. Task class .........................................................................................................................80
4.3.4. File class ..........................................................................................................................81
5. Outline of robot operation command execution..................................... 82
6. Tips........................................................................................................ 83
6.1. How to write data in an error state ..........................................................................................83
6.1.1. Enable a supervisory task ................................................................................................84
6.1.2. Make a supervisory task...................................................................................................85
6.1.3. Notify to a supervisory task from a PC .............................................................................86
Appendix A. POSEDATA type definition .................................................... 87
Appendix A.1. Examples ................................................................................................................88
Appendix B. PAC Commands supported by NetwoRC provider ............... 93
Appendix C. Trouble-Shooting .................................................................. 96
Appendix C.1. I cannot connect with a robot controller... ...............................................................96
Appendix C.2. I cannot access variables of a robot controller........................................................97
Appendix C.3. I cannot move a robot.............................................................................................97
Appendix D. Controllers supported by NetwoRC provider ........................ 98
Appendix E. Error code of NetwoRC provider ......................................... 103
Appendix F. Non-Stop Motion Calculator - Trajectory Generator Command
for Non Stop Inspection ........................................................................... 105
Appendix F.1. Parameter..............................................................................................................105
Appendix F.2. Error Codes ...........................................................................................................105
Appendix F.3. Restrictions............................................................................................................107
Appendix F.4. Sample Program ...................................................................................................107
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