Write to RAPID variable from C# PC SDK

Nazarinho

Hello, i'am trying to write to the RAPID variable from my PC SDK App written on C# (Visual Studio 2017).

Here is a piece my code where the problem occurs:
                
double val;

RapidData rd = this.controller.Rapid.GetRapidData("T_ROB1", "Module1", "val_try");

      if (rd.Value is ABB.Robotics.Controllers.RapidDomain.Dnum)

                {

                    val = (ABB.Robotics.Controllers.RapidDomain.Dnum)rd.Value;

                    val = 1.25;

                    using (Mastership.Request(this.controller.Rapid))

                    {

                        rd.Value = val; //here I have an error which says that it is not possible to convert the type double to 'ABB.Robotics.Controllers.IRapidData'

                    }

                }
I have tried this with a bool variable and it works fine, but Ido not understand how to change the number value from C# in RAPID code running on the controller. 

Thanks in advance,
Nazar

Maxim Riabichev

Hello,

Have you tried searching the forum before writing your post?

I did a quick search and found this post: https://forums.robotstudio.com/discussion/comment/22811#Comment_22811

Is it perhaps all you need?

msalminen

Hi,
Dnum is structure so casting or setting directly the value won't work.
You can fill the Dum from string like following

     Dnum dn = new Dnum();

     dn.FillFromString(newValue);

     _rapidData.Value = dn;
or at Dnum constructor give the double value, so no need to fill from string. (Like: Dnum dn = new Dnum(val);)
There is also method dn.FillFromDnum(val) but don't use it as documentation said it is obsolete

Mika

Nazarinho

Hello Maxim and Mika, first of all thanks for your answer.

Maxim Riabichev said:

Hello,

Have you tried searching the forum before writing your post?

I did a quick search and found this post: https://forums.robotstudio.com/discussion/comment/22811#Comment_22811

Is it perhaps all you need?

I have already used API from the link like a base for my code project, and finally, after modifying some assignments I have solved the problem of writing on variables.

msalminen said:

Hi,
Dnum is structure so casting or setting directly the value won't work.
You can fill the Dum from string like following

     Dnum dn = new Dnum();

     dn.FillFromString(newValue);

     _rapidData.Value = dn;
or at Dnum constructor give the double value, so no need to fill from string. (Like: Dnum dn = new Dnum(val);)
There is also method dn.FillFromDnum(val) but don't use it as documentation said it is obsolete

Mika

My solution is using the following method:

//After establishing comunication with controller i am asigning tasks
 aTask = controller.Rapid.GetTasks();
//After that i am updating my RapidData variables :

        void update_values()

        {

            rdice = aTask[0].GetRapidData("Module1", "dice_txt");

            rangle = aTask[0].GetRapidData("Module1", "angle_txt");

            rx = aTask[0].GetRapidData("Module1", "x_txt");

            ry = aTask[0].GetRapidData("Module1", "y_txt");

            if ((rdice.Value is ABB.Robotics.Controllers.RapidDomain.Num)

                &&(rangle.Value is ABB.Robotics.Controllers.RapidDomain.Num)

                && (rx.Value is ABB.Robotics.Controllers.RapidDomain.Num)

                && ((ry.Value is ABB.Robotics.Controllers.RapidDomain.Num)))

            {

                val = (ABB.Robotics.Controllers.RapidDomain.Num)rdice.Value;

                val.FillFromNum(arr[0]);

                val = (ABB.Robotics.Controllers.RapidDomain.Num)rangle.Value;

                val.FillFromNum(arr[1]);

                val = (ABB.Robotics.Controllers.RapidDomain.Num)rx.Value;

                val.FillFromNum(arr[2]);

                val = (ABB.Robotics.Controllers.RapidDomain.Num)ry.Value;

                val.FillFromNum(arr[3]);

                Mastership m;

                using (m = Mastership.Request(controller.Rapid))

                {

                    rdice.Value = val;

                    rangle.Value = val;

                    rx.Value = val;

                    ry.Value = val;

                    m.Release();

                }

                

            }

At this point everything is working fine if the update_values() is executing ones, for example by clicking on the button. 
But If I try to execute it periodically (every 500ms), using a timer:

 
private void timer1_Tick(object sender, EventArgs e)

        {
         update_values();
        }
I have another problem related to the mastership. It says that there is another request holding on. Can it be robotstuido fault? It will be a problem with the real controller? 
Thanks in advance,
Best regards,
Nazar