C# program- g code with ABB robot?

charly99

Hello

I'm trying to develop a school proyect using a 120-503244 ABB robot and a IRC5 controller

i have to do a 3D printer with the robotic arm 

i want to do a program in C# preferently, in which i can  import a g- code and sent it to the robot, or some function to send a rapid file to the robot

and some way at the same time to connect that C# program with pronterface software to be able to print

Now i have a C# program in which i can detected the controller and select the controller and start comunication with rapid, but the rapid program is on the flex pedant

this is the code:

using System;

using System.Collections.Generic;

using System.ComponentModel;

using System.Data;

using System.Drawing;

using System.Linq;

using System.Text;

using System.Threading.Tasks;

using System.Windows.Forms;

using ABB.Robotics;

using ABB.Robotics.Controllers;

using ABB.Robotics.Controllers.Discovery;

using ABB.Robotics.Controllers.RapidDomain;

using System.Threading;

namespace PCSDK_Csharp_BasicScanApp_560

{

    public partial class Form1 : Form

    {

        private NetworkScanner scanner = new NetworkScanner();

        private Controller controller = null;

        public Form1()

        {

            InitializeComponent();

        }

        private void Form1_Load(object sender, EventArgs e)

        {

        }

        private void btnScan_Click(object sender, EventArgs e)

        {

            DisableControllerFunctionality();

            listView1.Items.Clear();

            this.scanner.Scan();

            ControllerInfoCollection controllers = scanner.Controllers;

            ListViewItem item = null;

            foreach (ControllerInfo controllerInfo in controllers)

            {

                item = new ListViewItem(controllerInfo.IPAddress.ToString());

                item.SubItems.Add(controllerInfo.Availability.ToString());

                item.SubItems.Add(controllerInfo.IsVirtual.ToString());

                item.SubItems.Add(controllerInfo.SystemName);

                item.SubItems.Add(controllerInfo.Version.ToString());

                item.SubItems.Add(controllerInfo.ControllerName);

                this.listView1.Items.Add(item);

                item.Tag = controllerInfo;

            }

        }

        private void EnableControllerFunctionality()

        {

            // put all the enable and disable functionality in the same place so that it is easy to reuse

            label1.Visible = false;

            listView1.Enabled = false;

            gbxControllerSelected.Visible = true;

        }

        private void DisableControllerFunctionality()

        {

            // put all the enable and disable functionality in the same place so that it is easy to reuse

            label1.Visible = true;

            listView1.Enabled = true;

            gbxControllerSelected.Visible = false;

            if (this.controller != null) //if selecting a new controller

            {

                this.controller.Logoff();

                this.controller.Dispose();

                this.controller = null;

            }

        }

        private void StartProduction()

        {

            try

            {

                if (controller.OperatingMode == ControllerOperatingMode.Auto)

                {

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

                    {

                        this.controller.Rapid.Start();

                    }

                }

                else

                {

                    MessageBox.Show("Automatic mode is required to start execution from a remote client.");

                }

            }

            catch (System.InvalidOperationException ex)

            {

                MessageBox.Show("Mastership is held by another client. " + ex.Message);

            }

            catch (System.Exception ex)

            {

                MessageBox.Show("Unexpected error occurred: " + ex.Message);

            }

        }

        private void listView1_SelectedIndexChanged(object sender, EventArgs e)

        {

        }

        private void listView1_DoubleClick_1(object sender, EventArgs e)

        {

            ListViewItem item = this.listView1.SelectedItems[0]; if (item.Tag != null)

            {

                ControllerInfo controllerInfo = (ControllerInfo)item.Tag; 

                if (controllerInfo.Availability == Availability.Available)

                {

                    if (controllerInfo.IsVirtual)

                    {

                        this.controller = ControllerFactory.CreateFrom(controllerInfo);

                        this.controller.Logon(UserInfo.DefaultUser);

                        listView1.Items.Clear();

                        listView1.Items.Add(item);

                        EnableControllerFunctionality();

                    }

                    else //real controller

                    {

                        if (MessageBox.Show("This is NOT a virtual controller, do you really want to connect to that?", "Warning", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == System.Windows.Forms.DialogResult.Yes)

                        {

                            this.controller = ControllerFactory.CreateFrom(controllerInfo);

                            this.controller.Logon(UserInfo.DefaultUser);

                            listView1.Items.Clear();

                            listView1.Items.Add(item);

                            EnableControllerFunctionality();

                        }

                    }

                }

                else

                {

                    MessageBox.Show("Selected controller not available.");

                }

            }

        }

        private void btnProduction_Click_1(object sender, EventArgs e)

        {

            if (controller.IsVirtual)

            {

                StartProduction();

            }

            else

            {

                if (MessageBox.Show("Do you want to start production for the selected controller?", "Warning", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == System.Windows.Forms.DialogResult.Yes)

                {

                    StartProduction();

                }

            }

        }

    }

}